From 314835d40a3109d15c6d2adda6d1104afc390d45 Mon Sep 17 00:00:00 2001 From: Miguel Risco-Castillo Date: Sun, 12 Mar 2023 17:11:56 -0500 Subject: [PATCH] What's new in Boreal Spring 20230312 version - Fix https://github.com/mriscoc/Ender3V2S1/issues/742 - Increased the number of sorted files to 50 - Preview works in DWIN and DACAI screens (selected automatically, S1 F4 preview supports only DACAI screens in the precompiled firmware) - Fix C125 issue: https://github.com/mriscoc/Ender3V2S1/issues/667 - Power outage recovery can be enabled/disabled in tune menu - Improved power outage recovery - Added Extrude 100 mm to Move menu for aid with extruder calibration - Optimize print percent and remain time to use Marlin's processing - Decrease HOTEND_IDLE_MIN_TRIGGER to 150 - Removed forcing automatic cool down and motor disable - Axes are not immediately disabled after abort print, now using timeout. - Allows enable/disable file list sorting if MEDIASORT_MENU_ITEM is defined - Enable/Disable tune menu items: RUNOUT_TUNE_ITEM, PLR_TUNE_ITEM, JD_TUNE_ITEM, ADVK_TUNE_ITEM - Use LCD_BED_TRAMMING settings for bed tramming - Some fixes in source code for special configurations - Several minor fixes - Marlin'sFix UBL 'G29 J' mesh tilt (#25453) - Marlin's Enhanced IS and LA - Marlin's Fix FastPWM calculations (#25343) - Marlin's AVOID_OBSTACLES for UBL (#25256) - and many more fixes from latest Marlin's bugfix 2.1.x --- .editorconfig | 23 + .gitattributes | 21 + .gitignore | 173 + .vscode/extensions.json | 11 + Makefile | 52 + Marlin/Configuration.h | 3494 + Marlin/Configuration_adv.h | 4269 + Marlin/Makefile | 1037 + Marlin/Marlin.ino | 57 + Marlin/Version.h | 79 + Marlin/config.ini | 211 + Marlin/lib/proui/gd32f10/libproui_abl.a | Bin 11 -> 53656 bytes Marlin/lib/proui/gd32f10/libproui_mbl.a | Bin 11 -> 48672 bytes Marlin/lib/proui/gd32f10/libproui_ubl.a | Bin 11 -> 54644 bytes Marlin/lib/proui/stm32f1/libproui_abl.a | Bin 11 -> 53680 bytes 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create mode 100644 gallery/rnaharro_Ender3V2-427-BLTUBL.jpg create mode 100644 get_test_targets.py create mode 100644 ini/avr.ini create mode 100644 ini/due.ini create mode 100644 ini/esp32.ini create mode 100644 ini/features.ini create mode 100644 ini/lpc176x.ini create mode 100644 ini/native.ini create mode 100644 ini/renamed.ini create mode 100644 ini/samd21.ini create mode 100644 ini/samd51.ini create mode 100644 ini/stm32-common.ini create mode 100644 ini/stm32f0.ini create mode 100644 ini/stm32f1-maple.ini create mode 100644 ini/stm32f1.ini create mode 100644 ini/stm32f4.ini create mode 100644 ini/stm32f7.ini create mode 100644 ini/stm32g0.ini create mode 100644 ini/stm32h7.ini create mode 100644 ini/teensy.ini create mode 100644 platformio.ini create mode 100644 process-palette.json create mode 100644 screenshots/Octoprint-settings.jpg create mode 100644 slicer scripts/prusa-superslicer/PrusaSlicer2.5+.jpg diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 0000000000..57a5b2fb5e --- /dev/null +++ b/.editorconfig @@ -0,0 +1,23 @@ +# editorconfig.org +root = true + +[{*.patch,syntax_test_*}] +trim_trailing_whitespace = false + +[{*.c,*.cpp,*.h,*.ino}] +charset = utf-8 + +[{*.c,*.cpp,*.h,*.ino,Makefile}] +trim_trailing_whitespace = true +insert_final_newline = true +end_of_line = lf +indent_style = space +indent_size = 2 + +[{*.py}] +indent_style = space +indent_size = 4 + +[{*.conf,*.sublime-project}] +indent_style = tab +indent_size = 4 diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000000..83897cba6e --- /dev/null +++ b/.gitattributes @@ -0,0 +1,21 @@ +# Set the default behavior, in case people don't have core.autocrlf set. +* text=auto + +# Files with Unix line endings +*.c text eol=lf +*.cpp text eol=lf +*.h text eol=lf +*.ino text eol=lf +*.py text eol=lf +*.sh text eol=lf +*.scad text eol=lf + +# Files with native line endings +# *.sln text + +# Binary files +*.png binary +*.jpg binary +*.fon binary +*.bin binary +*.woff binary diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..555bde8622 --- /dev/null +++ b/.gitignore @@ -0,0 +1,173 @@ +# +# Marlin 3D Printer Firmware +# Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] +# +# Based on Sprinter and grbl. +# Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm +# +# This program is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program. If not, see . +# + +# Generated files +_Version.h +bdf2u8g.exe +genpages.exe +marlin_config.json +mczip.h +*.gen +*.sublime-workspace + +# +# OS +# +applet/ +.DS_Store + +# +# Misc +# +*~ +*.orig +*.rej +*.bak +*.idea +*.i +*.ii +*.swp +tags + +# +# C++ +# +# Compiled Object files +*.slo +*.lo +*.o +*.obj +*.ino.cpp + +# Precompiled Headers +*.gch +*.pch + +# Compiled Dynamic libraries +*.so +*.dylib +*.dll + +# Fortran module files +*.mod +*.smod + +# Compiled Static libraries +*.lai +*.la +*.a +*.lib + +# Executables +*.exe +*.out +*.app + +# +# C +# +# Object files +*.o +*.ko +*.obj +*.elf + +# Precompiled Headers +*.gch +*.pch + +# Libraries +*.lib +*.a +*.la +*.lo + +# Shared objects (inc. Windows DLLs) +*.dll +*.so +*.so.* +*.dylib + +# Executables +*.exe +*.out +*.app +*.i*86 +*.x86_64 +*.hex + +# Debug files +*.dSYM/ +*.su + +# PlatformIO files/dirs +.pio* +.pioenvs +.piolibdeps +.clang_complete +.gcc-flags.json +/lib/ + +# Secure Credentials +Configuration_Secure.h + +# Visual Studio +*.sln +*.vcxproj +*.vcxproj.user +*.vcxproj.filters +Release/ +Debug/ +__vm/ +.vs/ +vc-fileutils.settings + +# Visual Studio Code +.vscode/* +!.vscode/extensions.json + +#Simulation +imgui.ini +eeprom.dat +spi_flash.bin +fs.img + +#cmake +CMakeLists.txt +src/CMakeLists.txt +CMakeListsPrivate.txt +build/ + +# CLion +cmake-build-* + +# Eclipse +.project +.cproject +.pydevproject +.settings +.classpath + +# Python +__pycache__ + +# IOLogger logs +*_log.csv diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000000..f495d14f53 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,11 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "marlinfirmware.auto-build", + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/Makefile b/Makefile new file mode 100644 index 0000000000..d0495dc7d8 --- /dev/null +++ b/Makefile @@ -0,0 +1,52 @@ +help: + @echo "Tasks for local development:" + @echo "* tests-single-ci: Run a single test from inside the CI" + @echo "* tests-single-local: Run a single test locally" + @echo "* tests-single-local-docker: Run a single test locally, using docker-compose" + @echo "* tests-all-local: Run all tests locally" + @echo "* tests-all-local-docker: Run all tests locally, using docker-compose" + @echo "* setup-local-docker: Setup local docker-compose" + @echo "" + @echo "Options for testing:" + @echo " TEST_TARGET Set when running tests-single-*, to select the" + @echo " test. If you set it to ALL it will run all " + @echo " tests, but some of them are broken: use " + @echo " tests-all-* instead to run only the ones that " + @echo " run on GitHub CI" + @echo " ONLY_TEST Limit tests to only those that contain this, or" + @echo " the index of the test (1-based)" + @echo " VERBOSE_PLATFORMIO If you want the full PIO output, set any value" + @echo " GIT_RESET_HARD Used by CI: reset all local changes. WARNING:" + @echo " THIS WILL UNDO ANY CHANGES YOU'VE MADE!" +.PHONY: help + +tests-single-ci: + export GIT_RESET_HARD=true + $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) +.PHONY: tests-single-ci + +tests-single-local: + @if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET= or use make tests-all-local" ; return 1; fi + export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \ + && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \ + && run_tests . $(TEST_TARGET) "$(ONLY_TEST)" +.PHONY: tests-single-local + +tests-single-local-docker: + @if ! test -n "$(TEST_TARGET)" ; then echo "***ERROR*** Set TEST_TARGET= or use make tests-all-local-docker" ; return 1; fi + docker-compose run --rm marlin $(MAKE) tests-single-local TEST_TARGET=$(TEST_TARGET) VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) ONLY_TEST="$(ONLY_TEST)" +.PHONY: tests-single-local-docker + +tests-all-local: + export PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \ + && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \ + && for TEST_TARGET in $$(./get_test_targets.py) ; do echo "Running tests for $$TEST_TARGET" ; run_tests . $$TEST_TARGET ; done +.PHONY: tests-all-local + +tests-all-local-docker: + docker-compose run --rm marlin $(MAKE) tests-all-local VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) GIT_RESET_HARD=$(GIT_RESET_HARD) +.PHONY: tests-all-local-docker + +setup-local-docker: + docker-compose build +.PHONY: setup-local-docker diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h new file mode 100644 index 0000000000..7f503a79a8 --- /dev/null +++ b/Marlin/Configuration.h @@ -0,0 +1,3494 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Created by configs generator for Professional firmware +// https://github.com/mriscoc/Ender3V2S1 + +/** + * Configuration.h + * + * Basic settings such as: + * + * - Type of electronics + * - Type of temperature sensor + * - Printer geometry + * - Endstop configuration + * - LCD controller + * - Extra features + * + * Advanced settings can be found in Configuration_adv.h + */ +#define CONFIGURATION_H_VERSION 02010300 + +//=========================================================================== +//============================= Getting Started ============================= +//=========================================================================== + +/** + * Here are some useful links to help get your machine configured and calibrated: + * + * Example Configs: https://github.com/MarlinFirmware/Configurations/branches/all + * + * Průša Calculator: https://blog.prusaprinters.org/calculator_3416/ + * + * Calibration Guides: https://reprap.org/wiki/Calibration + * https://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide + * https://sites.google.com/site/repraplogphase/calibration-of-your-reprap + * https://youtu.be/wAL9d7FgInk + * + * Calibration Objects: https://www.thingiverse.com/thing:5573 + * https://www.thingiverse.com/thing:1278865 + */ + +// @section info + +// Author info of this build printed to the host during boot and M115 +#define STRING_CONFIG_H_AUTHOR "Miguel A. Risco-Castillo (MRiscoC)" // Who made the changes. +#define CUSTOM_VERSION_FILE Version.h // Path from the root directory (no quotes) + +/** + * *** VENDORS PLEASE READ *** + * + * Marlin allows you to add a custom boot image for Graphical LCDs. + * With this option Marlin will first show your custom screen followed + * by the standard Marlin logo with version number and web URL. + * + * We encourage you to take advantage of this new feature and we also + * respectfully request that you retain the unmodified Marlin boot screen. + */ + +// Show the Marlin bootscreen on startup. ** ENABLE FOR PRODUCTION ** +#define SHOW_BOOTSCREEN + +// Show the bitmap in Marlin/_Bootscreen.h on startup. +//#define SHOW_CUSTOM_BOOTSCREEN + +// Show the bitmap in Marlin/_Statusscreen.h on the status screen. +//#define CUSTOM_STATUS_SCREEN_IMAGE + +// @section machine + +// Choose the name from boards.h that matches your setup +#ifndef MOTHERBOARD + #define MOTHERBOARD BOARD_CREALITY_V4 // Creality Board v4.2.2 +#endif + +/** + * Select the serial port on the board to use for communication with the host. + * This allows the connection of wireless adapters (for instance) to non-default port pins. + * Serial port -1 is the USB emulated serial port, if available. + * Note: The first serial port (-1 or 0) will always be used by the Arduino bootloader. + * + * :[-1, 0, 1, 2, 3, 4, 5, 6, 7] + */ +#define SERIAL_PORT 1 // Ender Configs +#define NO_AUTO_ASSIGN_WARNING // Disable serial warnings + +/** + * Serial Port Baud Rate + * This is the default communication speed for all serial ports. + * Set the baud rate defaults for additional serial ports below. + * + * 250000 works in most cases, but you might try a lower speed if + * you commonly experience drop-outs during host printing. + * You may try up to 1000000 to speed up SD file transfer. + * + * :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] + */ +#define BAUDRATE 250000 // MRiscoC increase serial performace + +#define BAUD_RATE_GCODE // Enable G-code M575 to set the baud rate // MRiscoC Enables change the baudrate + +/** + * Select a secondary serial port on the board to use for communication with the host. + * Currently Ethernet (-2) is only supported on Teensy 4.1 boards. + * :[-2, -1, 0, 1, 2, 3, 4, 5, 6, 7] + */ +//#define SERIAL_PORT_2 -1 +//#define BAUDRATE_2 250000 // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE + +/** + * Select a third serial port on the board to use for communication with the host. + * Currently only supported for AVR, DUE, LPC1768/9 and STM32/STM32F1 + * :[-1, 0, 1, 2, 3, 4, 5, 6, 7] + */ +//#define SERIAL_PORT_3 1 +//#define BAUDRATE_3 250000 // :[2400, 9600, 19200, 38400, 57600, 115200, 250000, 500000, 1000000] Enable to override BAUDRATE + +// Enable the Bluetooth serial interface on AT90USB devices +//#define BLUETOOTH + +// Name displayed in the LCD "Ready" message and Info menu +#define CUSTOM_MACHINE_NAME "Ender3V2-422-MM" + +// Printer's unique ID, used by some programs to differentiate between machines. +// Choose your own or use a service like https://www.uuidgenerator.net/version4 +//#define MACHINE_UUID "00000000-0000-0000-0000-000000000000" + +// @section stepper drivers + +/** + * Stepper Drivers + * + * These settings allow Marlin to tune stepper driver timing and enable advanced options for + * stepper drivers that support them. You may also override timing options in Configuration_adv.h. + * + * Use TMC2208/TMC2208_STANDALONE for TMC2225 drivers and TMC2209/TMC2209_STANDALONE for TMC2226 drivers. + * + * Options: A4988, A5984, DRV8825, LV8729, TB6560, TB6600, TMC2100, + * TMC2130, TMC2130_STANDALONE, TMC2160, TMC2160_STANDALONE, + * TMC2208, TMC2208_STANDALONE, TMC2209, TMC2209_STANDALONE, + * TMC26X, TMC26X_STANDALONE, TMC2660, TMC2660_STANDALONE, + * TMC5130, TMC5130_STANDALONE, TMC5160, TMC5160_STANDALONE + * :['A4988', 'A5984', 'DRV8825', 'LV8729', 'TB6560', 'TB6600', 'TMC2100', 'TMC2130', 'TMC2130_STANDALONE', 'TMC2160', 'TMC2160_STANDALONE', 'TMC2208', 'TMC2208_STANDALONE', 'TMC2209', 'TMC2209_STANDALONE', 'TMC26X', 'TMC26X_STANDALONE', 'TMC2660', 'TMC2660_STANDALONE', 'TMC5130', 'TMC5130_STANDALONE', 'TMC5160', 'TMC5160_STANDALONE'] + */ +#define X_DRIVER_TYPE TMC2208_STANDALONE // Ender Configs +#define Y_DRIVER_TYPE TMC2208_STANDALONE // Ender Configs +#define Z_DRIVER_TYPE TMC2208_STANDALONE // Ender Configs +//#define X2_DRIVER_TYPE A4988 +//#define Y2_DRIVER_TYPE A4988 +//#define Z2_DRIVER_TYPE A4988 +//#define Z3_DRIVER_TYPE A4988 +//#define Z4_DRIVER_TYPE A4988 +//#define I_DRIVER_TYPE A4988 +//#define J_DRIVER_TYPE A4988 +//#define K_DRIVER_TYPE A4988 +//#define U_DRIVER_TYPE A4988 +//#define V_DRIVER_TYPE A4988 +//#define W_DRIVER_TYPE A4988 +#define E0_DRIVER_TYPE TMC2208_STANDALONE // Ender Configs +//#define E1_DRIVER_TYPE A4988 +//#define E2_DRIVER_TYPE A4988 +//#define E3_DRIVER_TYPE A4988 +//#define E4_DRIVER_TYPE A4988 +//#define E5_DRIVER_TYPE A4988 +//#define E6_DRIVER_TYPE A4988 +//#define E7_DRIVER_TYPE A4988 + +/** + * Additional Axis Settings + * + * Define AXISn_ROTATES for all axes that rotate or pivot. + * Rotational axis coordinates are expressed in degrees. + * + * AXISn_NAME defines the letter used to refer to the axis in (most) G-code commands. + * By convention the names and roles are typically: + * 'A' : Rotational axis parallel to X + * 'B' : Rotational axis parallel to Y + * 'C' : Rotational axis parallel to Z + * 'U' : Secondary linear axis parallel to X + * 'V' : Secondary linear axis parallel to Y + * 'W' : Secondary linear axis parallel to Z + * + * Regardless of these settings the axes are internally named I, J, K, U, V, W. + */ +#ifdef I_DRIVER_TYPE + #define AXIS4_NAME 'A' // :['A', 'B', 'C', 'U', 'V', 'W'] + #define AXIS4_ROTATES +#endif +#ifdef J_DRIVER_TYPE + #define AXIS5_NAME 'B' // :['B', 'C', 'U', 'V', 'W'] + #define AXIS5_ROTATES +#endif +#ifdef K_DRIVER_TYPE + #define AXIS6_NAME 'C' // :['C', 'U', 'V', 'W'] + #define AXIS6_ROTATES +#endif +#ifdef U_DRIVER_TYPE + #define AXIS7_NAME 'U' // :['U', 'V', 'W'] + //#define AXIS7_ROTATES +#endif +#ifdef V_DRIVER_TYPE + #define AXIS8_NAME 'V' // :['V', 'W'] + //#define AXIS8_ROTATES +#endif +#ifdef W_DRIVER_TYPE + #define AXIS9_NAME 'W' // :['W'] + //#define AXIS9_ROTATES +#endif + +// @section extruder + +// This defines the number of extruders +// :[0, 1, 2, 3, 4, 5, 6, 7, 8] +#define EXTRUDERS 1 + +// Generally expected filament diameter (1.75, 2.85, 3.0, ...). Used for Volumetric, Filament Width Sensor, etc. +#define DEFAULT_NOMINAL_FILAMENT_DIA 1.75 + +// For Cyclops or any "multi-extruder" that shares a single nozzle. +//#define SINGLENOZZLE + +// Save and restore temperature and fan speed on tool-change. +// Set standby for the unselected tool with M104/106/109 T... +#if ENABLED(SINGLENOZZLE) + //#define SINGLENOZZLE_STANDBY_TEMP + //#define SINGLENOZZLE_STANDBY_FAN +#endif + +// @section multi-material + +/** + * Multi-Material Unit + * Set to one of these predefined models: + * + * PRUSA_MMU1 : Průša MMU1 (The "multiplexer" version) + * PRUSA_MMU2 : Průša MMU2 + * PRUSA_MMU2S : Průša MMU2S (Requires MK3S extruder with motion sensor, EXTRUDERS = 5) + * EXTENDABLE_EMU_MMU2 : MMU with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware) + * EXTENDABLE_EMU_MMU2S : MMUS with configurable number of filaments (ERCF, SMuFF or similar with Průša MMU2 compatible firmware) + * + * Requires NOZZLE_PARK_FEATURE to park print head in case MMU unit fails. + * See additional options in Configuration_adv.h. + * :["PRUSA_MMU1", "PRUSA_MMU2", "PRUSA_MMU2S", "EXTENDABLE_EMU_MMU2", "EXTENDABLE_EMU_MMU2S"] + */ +//#define MMU_MODEL PRUSA_MMU2 + +// A dual extruder that uses a single stepper motor +//#define SWITCHING_EXTRUDER +#if ENABLED(SWITCHING_EXTRUDER) + #define SWITCHING_EXTRUDER_SERVO_NR 0 + #define SWITCHING_EXTRUDER_SERVO_ANGLES { 0, 90 } // Angles for E0, E1[, E2, E3] + #if EXTRUDERS > 3 + #define SWITCHING_EXTRUDER_E23_SERVO_NR 1 + #endif +#endif + +// Switch extruders by bumping the toolhead. Requires EVENT_GCODE_TOOLCHANGE_#. +//#define MECHANICAL_SWITCHING_EXTRUDER + +/** + * A dual-nozzle that uses a servomotor to raise/lower one (or both) of the nozzles. + * Can be combined with SWITCHING_EXTRUDER. + */ +//#define SWITCHING_NOZZLE +#if ENABLED(SWITCHING_NOZZLE) + #define SWITCHING_NOZZLE_SERVO_NR 0 + //#define SWITCHING_NOZZLE_E1_SERVO_NR 1 // If two servos are used, the index of the second + #define SWITCHING_NOZZLE_SERVO_ANGLES { 0, 90 } // Angles for E0, E1 (single servo) or lowered/raised (dual servo) + #define SWITCHING_NOZZLE_SERVO_DWELL 2500 // Dwell time to wait for servo to make physical move +#endif + +// Switch nozzles by bumping the toolhead. Requires EVENT_GCODE_TOOLCHANGE_#. +//#define MECHANICAL_SWITCHING_NOZZLE + +/** + * Two separate X-carriages with extruders that connect to a moving part + * via a solenoid docking mechanism. Requires SOL1_PIN and SOL2_PIN. + */ +//#define PARKING_EXTRUDER + +/** + * Two separate X-carriages with extruders that connect to a moving part + * via a magnetic docking mechanism using movements and no solenoid + * + * project : https://www.thingiverse.com/thing:3080893 + * movements : https://youtu.be/0xCEiG9VS3k + * https://youtu.be/Bqbcs0CU2FE + */ +//#define MAGNETIC_PARKING_EXTRUDER + +#if EITHER(PARKING_EXTRUDER, MAGNETIC_PARKING_EXTRUDER) + + #define PARKING_EXTRUDER_PARKING_X { -78, 184 } // X positions for parking the extruders + #define PARKING_EXTRUDER_GRAB_DISTANCE 1 // (mm) Distance to move beyond the parking point to grab the extruder + + #if ENABLED(PARKING_EXTRUDER) + + #define PARKING_EXTRUDER_SOLENOIDS_INVERT // If enabled, the solenoid is NOT magnetized with applied voltage + #define PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE LOW // LOW or HIGH pin signal energizes the coil + #define PARKING_EXTRUDER_SOLENOIDS_DELAY 250 // (ms) Delay for magnetic field. No delay if 0 or not defined. + //#define MANUAL_SOLENOID_CONTROL // Manual control of docking solenoids with M380 S / M381 + + #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) + + #define MPE_FAST_SPEED 9000 // (mm/min) Speed for travel before last distance point + #define MPE_SLOW_SPEED 4500 // (mm/min) Speed for last distance travel to park and couple + #define MPE_TRAVEL_DISTANCE 10 // (mm) Last distance point + #define MPE_COMPENSATION 0 // Offset Compensation -1 , 0 , 1 (multiplier) only for coupling + + #endif + +#endif + +/** + * Switching Toolhead + * + * Support for swappable and dockable toolheads, such as + * the E3D Tool Changer. Toolheads are locked with a servo. + */ +//#define SWITCHING_TOOLHEAD + +/** + * Magnetic Switching Toolhead + * + * Support swappable and dockable toolheads with a magnetic + * docking mechanism using movement and no servo. + */ +//#define MAGNETIC_SWITCHING_TOOLHEAD + +/** + * Electromagnetic Switching Toolhead + * + * Parking for CoreXY / HBot kinematics. + * Toolheads are parked at one edge and held with an electromagnet. + * Supports more than 2 Toolheads. See https://youtu.be/JolbsAKTKf4 + */ +//#define ELECTROMAGNETIC_SWITCHING_TOOLHEAD + +#if ANY(SWITCHING_TOOLHEAD, MAGNETIC_SWITCHING_TOOLHEAD, ELECTROMAGNETIC_SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_Y_POS 235 // (mm) Y position of the toolhead dock + #define SWITCHING_TOOLHEAD_Y_SECURITY 10 // (mm) Security distance Y axis + #define SWITCHING_TOOLHEAD_Y_CLEAR 60 // (mm) Minimum distance from dock for unobstructed X axis + #define SWITCHING_TOOLHEAD_X_POS { 215, 0 } // (mm) X positions for parking the extruders + #if ENABLED(SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_SERVO_NR 2 // Index of the servo connector + #define SWITCHING_TOOLHEAD_SERVO_ANGLES { 0, 180 } // (degrees) Angles for Lock, Unlock + #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_Y_RELEASE 5 // (mm) Security distance Y axis + #define SWITCHING_TOOLHEAD_X_SECURITY { 90, 150 } // (mm) Security distance X axis (T0,T1) + //#define PRIME_BEFORE_REMOVE // Prime the nozzle before release from the dock + #if ENABLED(PRIME_BEFORE_REMOVE) + #define SWITCHING_TOOLHEAD_PRIME_MM 20 // (mm) Extruder prime length + #define SWITCHING_TOOLHEAD_RETRACT_MM 10 // (mm) Retract after priming length + #define SWITCHING_TOOLHEAD_PRIME_FEEDRATE 300 // (mm/min) Extruder prime feedrate + #define SWITCHING_TOOLHEAD_RETRACT_FEEDRATE 2400 // (mm/min) Extruder retract feedrate + #endif + #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) + #define SWITCHING_TOOLHEAD_Z_HOP 2 // (mm) Z raise for switching + #endif +#endif + +/** + * "Mixing Extruder" + * - Adds G-codes M163 and M164 to set and "commit" the current mix factors. + * - Extends the stepping routines to move multiple steppers in proportion to the mix. + * - Optional support for Repetier Firmware's 'M164 S' supporting virtual tools. + * - This implementation supports up to two mixing extruders. + * - Enable DIRECT_MIXING_IN_G1 for M165 and mixing in G1 (from Pia Taubert's reference implementation). + */ +//#define MIXING_EXTRUDER +#if ENABLED(MIXING_EXTRUDER) + #define MIXING_STEPPERS 2 // Number of steppers in your mixing extruder + #define MIXING_VIRTUAL_TOOLS 16 // Use the Virtual Tool method with M163 and M164 + //#define DIRECT_MIXING_IN_G1 // Allow ABCDHI mix factors in G1 movement commands + //#define GRADIENT_MIX // Support for gradient mixing with M166 and LCD + //#define MIXING_PRESETS // Assign 8 default V-tool presets for 2 or 3 MIXING_STEPPERS + #if ENABLED(GRADIENT_MIX) + //#define GRADIENT_VTOOL // Add M166 T to use a V-tool index as a Gradient alias + #endif +#endif + +// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). +// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder). +// For the other hotends it is their distance from the extruder 0 hotend. +//#define HOTEND_OFFSET_X { 0.0, 20.00 } // (mm) relative X-offset for each nozzle +//#define HOTEND_OFFSET_Y { 0.0, 5.00 } // (mm) relative Y-offset for each nozzle +//#define HOTEND_OFFSET_Z { 0.0, 0.00 } // (mm) relative Z-offset for each nozzle + +// @section psu control + +/** + * Power Supply Control + * + * Enable and connect the power supply to the PS_ON_PIN. + * Specify whether the power supply is active HIGH or active LOW. + */ +//#define PSU_CONTROL +//#define PSU_NAME "Power Supply" + +#if ENABLED(PSU_CONTROL) + //#define MKS_PWC // Using the MKS PWC add-on + //#define PS_OFF_CONFIRM // Confirm dialog when power off + //#define PS_OFF_SOUND // Beep 1s when power off + #define PSU_ACTIVE_STATE LOW // Set 'LOW' for ATX, 'HIGH' for X-Box + + //#define PSU_DEFAULT_OFF // Keep power off until enabled directly with M80 + //#define PSU_POWERUP_DELAY 250 // (ms) Delay for the PSU to warm up to full power + //#define LED_POWEROFF_TIMEOUT 10000 // (ms) Turn off LEDs after power-off, with this amount of delay + + //#define POWER_OFF_TIMER // Enable M81 D to power off after a delay + //#define POWER_OFF_WAIT_FOR_COOLDOWN // Enable M81 S to power off only after cooldown + + //#define PSU_POWERUP_GCODE "M355 S1" // G-code to run after power-on (e.g., case light on) + //#define PSU_POWEROFF_GCODE "M355 S0" // G-code to run before power-off (e.g., case light off) + + //#define AUTO_POWER_CONTROL // Enable automatic control of the PS_ON pin + #if ENABLED(AUTO_POWER_CONTROL) + #define AUTO_POWER_FANS // Turn on PSU if fans need power + #define AUTO_POWER_E_FANS + #define AUTO_POWER_CONTROLLERFAN + #define AUTO_POWER_CHAMBER_FAN + #define AUTO_POWER_COOLER_FAN + #define POWER_TIMEOUT 30 // (s) Turn off power if the machine is idle for this duration + //#define POWER_OFF_DELAY 60 // (s) Delay of poweroff after M81 command. Useful to let fans run for extra time. + #endif + #if EITHER(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN) + //#define AUTO_POWER_E_TEMP 50 // (°C) PSU on if any extruder is over this temperature + //#define AUTO_POWER_CHAMBER_TEMP 30 // (°C) PSU on if the chamber is over this temperature + //#define AUTO_POWER_COOLER_TEMP 26 // (°C) PSU on if the cooler is over this temperature + #endif +#endif + +//=========================================================================== +//============================= Thermal Settings ============================ +//=========================================================================== +// @section temperature + +/** + * --NORMAL IS 4.7kΩ PULLUP!-- 1kΩ pullup can be used on hotend sensor, using correct resistor and table + * + * Temperature sensors available: + * + * SPI RTD/Thermocouple Boards - IMPORTANT: Read the NOTE below! + * ------- + * -5 : MAX31865 with Pt100/Pt1000, 2, 3, or 4-wire (only for sensors 0-1) + * NOTE: You must uncomment/set the MAX31865_*_OHMS_n defines below. + * -3 : MAX31855 with Thermocouple, -200°C to +700°C (only for sensors 0-1) + * -2 : MAX6675 with Thermocouple, 0°C to +700°C (only for sensors 0-1) + * + * NOTE: Ensure TEMP_n_CS_PIN is set in your pins file for each TEMP_SENSOR_n using an SPI Thermocouple. By default, + * Hardware SPI on the default serial bus is used. If you have also set TEMP_n_SCK_PIN and TEMP_n_MISO_PIN, + * Software SPI will be used on those ports instead. You can force Hardware SPI on the default bus in the + * Configuration_adv.h file. At this time, separate Hardware SPI buses for sensors are not supported. + * + * Analog Themocouple Boards + * ------- + * -4 : AD8495 with Thermocouple + * -1 : AD595 with Thermocouple + * + * Analog Thermistors - 4.7kΩ pullup - Normal + * ------- + * 1 : 100kΩ EPCOS - Best choice for EPCOS thermistors + * 331 : 100kΩ Same as #1, but 3.3V scaled for MEGA + * 332 : 100kΩ Same as #1, but 3.3V scaled for DUE + * 2 : 200kΩ ATC Semitec 204GT-2 + * 202 : 200kΩ Copymaster 3D + * 3 : ???Ω Mendel-parts thermistor + * 4 : 10kΩ Generic Thermistor !! DO NOT use for a hotend - it gives bad resolution at high temp. !! + * 5 : 100kΩ ATC Semitec 104GT-2/104NT-4-R025H42G - Used in ParCan, J-Head, and E3D, SliceEngineering 300°C + * 501 : 100kΩ Zonestar - Tronxy X3A + * 502 : 100kΩ Zonestar - used by hot bed in Zonestar Průša P802M + * 503 : 100kΩ Zonestar (Z8XM2) Heated Bed thermistor + * 504 : 100kΩ Zonestar P802QR2 (Part# QWG-104F-B3950) Hotend Thermistor + * 505 : 100kΩ Zonestar P802QR2 (Part# QWG-104F-3950) Bed Thermistor + * 512 : 100kΩ RPW-Ultra hotend + * 6 : 100kΩ EPCOS - Not as accurate as table #1 (created using a fluke thermocouple) + * 7 : 100kΩ Honeywell 135-104LAG-J01 + * 71 : 100kΩ Honeywell 135-104LAF-J01 + * 8 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT + * 9 : 100kΩ GE Sensing AL03006-58.2K-97-G1 + * 10 : 100kΩ RS PRO 198-961 + * 11 : 100kΩ Keenovo AC silicone mats, most Wanhao i3 machines - beta 3950, 1% + * 12 : 100kΩ Vishay 0603 SMD NTCS0603E3104FXT (#8) - calibrated for Makibox hot bed + * 13 : 100kΩ Hisens up to 300°C - for "Simple ONE" & "All In ONE" hotend - beta 3950, 1% + * 15 : 100kΩ Calibrated for JGAurora A5 hotend + * 18 : 200kΩ ATC Semitec 204GT-2 Dagoma.Fr - MKS_Base_DKU001327 + * 22 : 100kΩ GTM32 Pro vB - hotend - 4.7kΩ pullup to 3.3V and 220Ω to analog input + * 23 : 100kΩ GTM32 Pro vB - bed - 4.7kΩ pullup to 3.3v and 220Ω to analog input + * 30 : 100kΩ Kis3d Silicone heating mat 200W/300W with 6mm precision cast plate (EN AW 5083) NTC100K - beta 3950 + * 60 : 100kΩ Maker's Tool Works Kapton Bed Thermistor - beta 3950 + * 61 : 100kΩ Formbot/Vivedino 350°C Thermistor - beta 3950 + * 66 : 4.7MΩ Dyze Design / Trianglelab T-D500 500°C High Temperature Thermistor + * 67 : 500kΩ SliceEngineering 450°C Thermistor + * 68 : PT100 amplifier board from Dyze Design + * 70 : 100kΩ bq Hephestos 2 + * 75 : 100kΩ Generic Silicon Heat Pad with NTC100K MGB18-104F39050L32 + * 2000 : 100kΩ Ultimachine Rambo TDK NTCG104LH104KT1 NTC100K motherboard Thermistor + * + * Analog Thermistors - 1kΩ pullup - Atypical, and requires changing out the 4.7kΩ pullup for 1kΩ. + * ------- (but gives greater accuracy and more stable PID) + * 51 : 100kΩ EPCOS (1kΩ pullup) + * 52 : 200kΩ ATC Semitec 204GT-2 (1kΩ pullup) + * 55 : 100kΩ ATC Semitec 104GT-2 - Used in ParCan & J-Head (1kΩ pullup) + * + * Analog Thermistors - 10kΩ pullup - Atypical + * ------- + * 99 : 100kΩ Found on some Wanhao i3 machines with a 10kΩ pull-up resistor + * + * Analog RTDs (Pt100/Pt1000) + * ------- + * 110 : Pt100 with 1kΩ pullup (atypical) + * 147 : Pt100 with 4.7kΩ pullup + * 1010 : Pt1000 with 1kΩ pullup (atypical) + * 1022 : Pt1000 with 2.2kΩ pullup + * 1047 : Pt1000 with 4.7kΩ pullup (E3D) + * 20 : Pt100 with circuit in the Ultimainboard V2.x with mainboard ADC reference voltage = INA826 amplifier-board supply voltage. + * NOTE: (1) Must use an ADC input with no pullup. (2) Some INA826 amplifiers are unreliable at 3.3V so consider using sensor 147, 110, or 21. + * 21 : Pt100 with circuit in the Ultimainboard V2.x with 3.3v ADC reference voltage (STM32, LPC176x....) and 5V INA826 amplifier board supply. + * NOTE: ADC pins are not 5V tolerant. Not recommended because it's possible to damage the CPU by going over 500°C. + * 201 : Pt100 with circuit in Overlord, similar to Ultimainboard V2.x + * + * Custom/Dummy/Other Thermal Sensors + * ------ + * 0 : not used + * 1000 : Custom - Specify parameters in Configuration_adv.h + * + * !!! Use these for Testing or Development purposes. NEVER for production machine. !!! + * 998 : Dummy Table that ALWAYS reads 25°C or the temperature defined below. + * 999 : Dummy Table that ALWAYS reads 100°C or the temperature defined below. + * + */ +#define TEMP_SENSOR_0 1 +#define TEMP_SENSOR_1 0 +#define TEMP_SENSOR_2 0 +#define TEMP_SENSOR_3 0 +#define TEMP_SENSOR_4 0 +#define TEMP_SENSOR_5 0 +#define TEMP_SENSOR_6 0 +#define TEMP_SENSOR_7 0 +#define TEMP_SENSOR_BED 1 // Ender Configs +#define TEMP_SENSOR_PROBE 0 +#define TEMP_SENSOR_CHAMBER 0 +#define TEMP_SENSOR_COOLER 0 +#define TEMP_SENSOR_BOARD 0 +#define TEMP_SENSOR_REDUNDANT 0 + +// Dummy thermistor constant temperature readings, for use with 998 and 999 +#define DUMMY_THERMISTOR_998_VALUE 25 +#define DUMMY_THERMISTOR_999_VALUE 100 + +// Resistor values when using MAX31865 sensors (-5) on TEMP_SENSOR_0 / 1 +#if TEMP_SENSOR_IS_MAX_TC(0) + #define MAX31865_SENSOR_OHMS_0 100 // (Ω) Typically 100 or 1000 (PT100 or PT1000) + #define MAX31865_CALIBRATION_OHMS_0 430 // (Ω) Typically 430 for Adafruit PT100; 4300 for Adafruit PT1000 +#endif +#if TEMP_SENSOR_IS_MAX_TC(1) + #define MAX31865_SENSOR_OHMS_1 100 + #define MAX31865_CALIBRATION_OHMS_1 430 +#endif +#if TEMP_SENSOR_IS_MAX_TC(2) + #define MAX31865_SENSOR_OHMS_2 100 + #define MAX31865_CALIBRATION_OHMS_2 430 +#endif + +#if HAS_E_TEMP_SENSOR + #define TEMP_RESIDENCY_TIME 10 // (seconds) Time to wait for hotend to "settle" in M109 + #define TEMP_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer + #define TEMP_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target +#endif + +#if TEMP_SENSOR_BED + #define TEMP_BED_RESIDENCY_TIME 10 // (seconds) Time to wait for bed to "settle" in M190 + #define TEMP_BED_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer + #define TEMP_BED_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target +#endif + +#if TEMP_SENSOR_CHAMBER + #define TEMP_CHAMBER_RESIDENCY_TIME 10 // (seconds) Time to wait for chamber to "settle" in M191 + #define TEMP_CHAMBER_WINDOW 1 // (°C) Temperature proximity for the "temperature reached" timer + #define TEMP_CHAMBER_HYSTERESIS 3 // (°C) Temperature proximity considered "close enough" to the target +#endif + +/** + * Redundant Temperature Sensor (TEMP_SENSOR_REDUNDANT) + * + * Use a temp sensor as a redundant sensor for another reading. Select an unused temperature sensor, and another + * sensor you'd like it to be redundant for. If the two thermistors differ by TEMP_SENSOR_REDUNDANT_MAX_DIFF (°C), + * the print will be aborted. Whichever sensor is selected will have its normal functions disabled; i.e. selecting + * the Bed sensor (-1) will disable bed heating/monitoring. + * + * For selecting source/target use: COOLER, PROBE, BOARD, CHAMBER, BED, E0, E1, E2, E3, E4, E5, E6, E7 + */ +#if TEMP_SENSOR_REDUNDANT + #define TEMP_SENSOR_REDUNDANT_SOURCE E1 // The sensor that will provide the redundant reading. + #define TEMP_SENSOR_REDUNDANT_TARGET E0 // The sensor that we are providing a redundant reading for. + #define TEMP_SENSOR_REDUNDANT_MAX_DIFF 10 // (°C) Temperature difference that will trigger a print abort. +#endif + +// Below this temperature the heater will be switched off +// because it probably indicates a broken thermistor wire. +#define HEATER_0_MINTEMP 0 // Ender Configs +#define HEATER_1_MINTEMP 5 +#define HEATER_2_MINTEMP 5 +#define HEATER_3_MINTEMP 5 +#define HEATER_4_MINTEMP 5 +#define HEATER_5_MINTEMP 5 +#define HEATER_6_MINTEMP 5 +#define HEATER_7_MINTEMP 5 +#define BED_MINTEMP 0 // Ender Configs +#define CHAMBER_MINTEMP 5 + +// Above this temperature the heater will be switched off. +// This can protect components from overheating, but NOT from shorts and failures. +// (Use MINTEMP for thermistor short/failure protection.) +#define HEATER_0_MAXTEMP 275 +#define HEATER_1_MAXTEMP 275 +#define HEATER_2_MAXTEMP 275 +#define HEATER_3_MAXTEMP 275 +#define HEATER_4_MAXTEMP 275 +#define HEATER_5_MAXTEMP 275 +#define HEATER_6_MAXTEMP 275 +#define HEATER_7_MAXTEMP 275 +#define BED_MAXTEMP 120 // Ender3V2 Configs +#define CHAMBER_MAXTEMP 60 + +/** + * Thermal Overshoot + * During heatup (and printing) the temperature can often "overshoot" the target by many degrees + * (especially before PID tuning). Setting the target temperature too close to MAXTEMP guarantees + * a MAXTEMP shutdown! Use these values to forbid temperatures being set too close to MAXTEMP. + */ +#define HOTEND_OVERSHOOT 15 // (°C) Forbid temperatures over MAXTEMP - OVERSHOOT +#define BED_OVERSHOOT 10 // (°C) Forbid temperatures over MAXTEMP - OVERSHOOT +#define COOLER_OVERSHOOT 2 // (°C) Forbid temperatures closer than OVERSHOOT + +//=========================================================================== +//============================= PID Settings ================================ +//=========================================================================== + +// @section hotend temp + +// Enable PIDTEMP for PID control or MPCTEMP for Predictive Model. +// temperature control. Disable both for bang-bang heating. +#define PIDTEMP // See the PID Tuning Guide at https://reprap.org/wiki/PID_Tuning +//#define MPCTEMP // ** EXPERIMENTAL ** + +#define BANG_MAX 255 // Limits current to nozzle while in bang-bang mode; 255=full current +#define PID_MAX BANG_MAX // Limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current +#define PID_K1 0.95 // Smoothing factor within any PID loop + +#if ENABLED(PIDTEMP) + //#define PID_DEBUG // Print PID debug data to the serial port. Use 'M303 D' to toggle activation. + //#define PID_PARAMS_PER_HOTEND // Use separate PID parameters for each extruder (useful for mismatched extruders) + // Set/get with G-code: M301 E[extruder number, 0-2] + + #if ENABLED(PID_PARAMS_PER_HOTEND) + // Specify up to one value per hotend here, according to your setup. + // If there are fewer values, the last one applies to the remaining hotends. + #define DEFAULT_Kp_LIST { 22.20, 22.20 } + #define DEFAULT_Ki_LIST { 1.08, 1.08 } + #define DEFAULT_Kd_LIST { 114.00, 114.00 } + #else + #define DEFAULT_Kp 22.89 + #define DEFAULT_Ki 1.87 + #define DEFAULT_Kd 70.18 + #endif +#endif + +/** + * Model Predictive Control for hotend + * + * Use a physical model of the hotend to control temperature. When configured correctly + * this gives better responsiveness and stability than PID and it also removes the need + * for PID_EXTRUSION_SCALING and PID_FAN_SCALING. Use M306 T to autotune the model. + * @section mpctemp + */ +#if ENABLED(MPCTEMP) + //#define MPC_EDIT_MENU // Add MPC editing to the "Advanced Settings" menu. (~1300 bytes of flash) + //#define MPC_AUTOTUNE_MENU // Add MPC auto-tuning to the "Advanced Settings" menu. (~350 bytes of flash) + + #define MPC_MAX BANG_MAX // (0..255) Current to nozzle while MPC is active. + #define MPC_HEATER_POWER { 40.0f } // (W) Heat cartridge powers. + + #define MPC_INCLUDE_FAN // Model the fan speed? + + // Measured physical constants from M306 + #define MPC_BLOCK_HEAT_CAPACITY { 16.7f } // (J/K) Heat block heat capacities. + #define MPC_SENSOR_RESPONSIVENESS { 0.22f } // (K/s per ∆K) Rate of change of sensor temperature from heat block. + #define MPC_AMBIENT_XFER_COEFF { 0.068f } // (W/K) Heat transfer coefficients from heat block to room air with fan off. + #if ENABLED(MPC_INCLUDE_FAN) + #define MPC_AMBIENT_XFER_COEFF_FAN255 { 0.097f } // (W/K) Heat transfer coefficients from heat block to room air with fan on full. + #endif + + // For one fan and multiple hotends MPC needs to know how to apply the fan cooling effect. + #if ENABLED(MPC_INCLUDE_FAN) + //#define MPC_FAN_0_ALL_HOTENDS + //#define MPC_FAN_0_ACTIVE_HOTEND + #endif + + #define FILAMENT_HEAT_CAPACITY_PERMM { 5.6e-3f } // 0.0056 J/K/mm for 1.75mm PLA (0.0149 J/K/mm for 2.85mm PLA). + //#define FILAMENT_HEAT_CAPACITY_PERMM { 3.6e-3f } // 0.0036 J/K/mm for 1.75mm PETG (0.0094 J/K/mm for 2.85mm PETG). + + // Advanced options + #define MPC_SMOOTHING_FACTOR 0.5f // (0.0...1.0) Noisy temperature sensors may need a lower value for stabilization. + #define MPC_MIN_AMBIENT_CHANGE 1.0f // (K/s) Modeled ambient temperature rate of change, when correcting model inaccuracies. + #define MPC_STEADYSTATE 0.5f // (K/s) Temperature change rate for steady state logic to be enforced. + + #define MPC_TUNING_POS { X_CENTER, Y_CENTER, 1.0f } // (mm) M306 Autotuning position, ideally bed center at first layer height. + #define MPC_TUNING_END_Z 10.0f // (mm) M306 Autotuning final Z position. +#endif + +//=========================================================================== +//====================== PID > Bed Temperature Control ====================== +//=========================================================================== + +/** + * PID Bed Heating + * + * If this option is enabled set PID constants below. + * If this option is disabled, bang-bang will be used and BED_LIMIT_SWITCHING will enable hysteresis. + * + * The PID frequency will be the same as the extruder PWM. + * If PID_dT is the default, and correct for the hardware/configuration, that means 7.689Hz, + * which is fine for driving a square wave into a resistive load and does not significantly + * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W + * heater. If your configuration is significantly different than this and you don't understand + * the issues involved, don't use bed PID until someone else verifies that your hardware works. + * @section bed temp + */ +#define PIDTEMPBED // Ender Configs + +//#define BED_LIMIT_SWITCHING + +/** + * Max Bed Power + * Applies to all forms of bed control (PID, bang-bang, and bang-bang with hysteresis). + * When set to any value below 255, enables a form of PWM to the bed that acts like a divider + * so don't use it unless you are OK with PWM on your bed. (See the comment on enabling PIDTEMPBED) + */ +#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current + +#if ENABLED(PIDTEMPBED) + //#define MIN_BED_POWER 0 + //#define PID_BED_DEBUG // Print Bed PID debug data to the serial port. + + // 120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+) + // from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10) + #define DEFAULT_bedKp 462.10 + #define DEFAULT_bedKi 85.47 + #define DEFAULT_bedKd 624.59 + + // FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles. +#endif // PIDTEMPBED + +//=========================================================================== +//==================== PID > Chamber Temperature Control ==================== +//=========================================================================== + +/** + * PID Chamber Heating + * + * If this option is enabled set PID constants below. + * If this option is disabled, bang-bang will be used and CHAMBER_LIMIT_SWITCHING will enable + * hysteresis. + * + * The PID frequency will be the same as the extruder PWM. + * If PID_dT is the default, and correct for the hardware/configuration, that means 7.689Hz, + * which is fine for driving a square wave into a resistive load and does not significantly + * impact FET heating. This also works fine on a Fotek SSR-10DA Solid State Relay into a 200W + * heater. If your configuration is significantly different than this and you don't understand + * the issues involved, don't use chamber PID until someone else verifies that your hardware works. + * @section chamber temp + */ +//#define PIDTEMPCHAMBER +//#define CHAMBER_LIMIT_SWITCHING + +/** + * Max Chamber Power + * Applies to all forms of chamber control (PID, bang-bang, and bang-bang with hysteresis). + * When set to any value below 255, enables a form of PWM to the chamber heater that acts like a divider + * so don't use it unless you are OK with PWM on your heater. (See the comment on enabling PIDTEMPCHAMBER) + */ +#define MAX_CHAMBER_POWER 255 // limits duty cycle to chamber heater; 255=full current + +#if ENABLED(PIDTEMPCHAMBER) + #define MIN_CHAMBER_POWER 0 + //#define PID_CHAMBER_DEBUG // Print Chamber PID debug data to the serial port. + + // Lasko "MyHeat Personal Heater" (200w) modified with a Fotek SSR-10DA to control only the heating element + // and placed inside the small Creality printer enclosure tent. + // + #define DEFAULT_chamberKp 37.04 + #define DEFAULT_chamberKi 1.40 + #define DEFAULT_chamberKd 655.17 + // M309 P37.04 I1.04 D655.17 + + // FIND YOUR OWN: "M303 E-2 C8 S50" to run autotune on the chamber at 50 degreesC for 8 cycles. +#endif // PIDTEMPCHAMBER + +#if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER) + //#define PID_OPENLOOP // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX + //#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay + #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature + // is more than PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. + + //#define PID_EDIT_MENU // Add PID editing to the "Advanced Settings" menu. (~700 bytes of flash) + //#define PID_AUTOTUNE_MENU // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of flash) +#endif + +// @section safety + +/** + * Prevent extrusion if the temperature is below EXTRUDE_MINTEMP. + * Add M302 to set the minimum extrusion temperature and/or turn + * cold extrusion prevention on and off. + * + * *** IT IS HIGHLY RECOMMENDED TO LEAVE THIS OPTION ENABLED! *** + */ +#define PREVENT_COLD_EXTRUSION +#define EXTRUDE_MINTEMP 180 // MRiscoC Customizable by menu + +/** + * Prevent a single extrusion longer than EXTRUDE_MAXLENGTH. + * Note: For Bowden Extruders make this large enough to allow load/unload. + */ +#define PREVENT_LENGTHY_EXTRUDE +#define EXTRUDE_MAXLENGTH 1000 // Ender Configs + +//=========================================================================== +//======================== Thermal Runaway Protection ======================= +//=========================================================================== + +/** + * Thermal Protection provides additional protection to your printer from damage + * and fire. Marlin always includes safe min and max temperature ranges which + * protect against a broken or disconnected thermistor wire. + * + * The issue: If a thermistor falls out, it will report the much lower + * temperature of the air in the room, and the the firmware will keep + * the heater on. + * + * If you get "Thermal Runaway" or "Heating failed" errors the + * details can be tuned in Configuration_adv.h + */ + +#define THERMAL_PROTECTION_HOTENDS // Enable thermal protection for all extruders +#define THERMAL_PROTECTION_BED // Enable thermal protection for the heated bed +//#define THERMAL_PROTECTION_CHAMBER // Enable thermal protection for the heated chamber +//#define THERMAL_PROTECTION_COOLER // Enable thermal protection for the laser cooling + +//=========================================================================== +//============================= Mechanical Settings ========================= +//=========================================================================== + +// @section machine + +// Enable one of the options below for CoreXY, CoreXZ, or CoreYZ kinematics, +// either in the usual order or reversed +//#define COREXY +//#define COREXZ +//#define COREYZ +//#define COREYX +//#define COREZX +//#define COREZY +//#define MARKFORGED_XY // MarkForged. See https://reprap.org/forum/read.php?152,504042 +//#define MARKFORGED_YX + +// Enable for a belt style printer with endless "Z" motion +//#define BELTPRINTER + +// Enable for Polargraph Kinematics +//#define POLARGRAPH +#if ENABLED(POLARGRAPH) + #define POLARGRAPH_MAX_BELT_LEN 1035.0 // (mm) Belt length at full extension. Override with M665 H. + #define DEFAULT_SEGMENTS_PER_SECOND 5 // Move segmentation based on duration + #define PEN_UP_DOWN_MENU // Add "Pen Up" and "Pen Down" to the MarlinUI menu +#endif + +// @section delta + +// Enable for DELTA kinematics and configure below +//#define DELTA +#if ENABLED(DELTA) + + // Make delta curves from many straight lines (linear interpolation). + // This is a trade-off between visible corners (not enough segments) + // and processor overload (too many expensive sqrt calls). + #define DEFAULT_SEGMENTS_PER_SECOND 200 + + // After homing move down to a height where XY movement is unconstrained + //#define DELTA_HOME_TO_SAFE_ZONE + + // Delta calibration menu + // Add three-point calibration to the MarlinUI menu. + // See http://minow.blogspot.com/index.html#4918805519571907051 + //#define DELTA_CALIBRATION_MENU + + // G33 Delta Auto-Calibration. Enable EEPROM_SETTINGS to store results. + //#define DELTA_AUTO_CALIBRATION + + #if ENABLED(DELTA_AUTO_CALIBRATION) + // Default number of probe points : n*n (1 -> 7) + #define DELTA_CALIBRATION_DEFAULT_POINTS 4 + #endif + + #if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU) + // Step size for paper-test probing + #define PROBE_MANUALLY_STEP 0.05 // (mm) + #endif + + // Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers). + #define PRINTABLE_RADIUS 140.0 // (mm) + + // Maximum reachable area + #define DELTA_MAX_RADIUS 140.0 // (mm) + + // Center-to-center distance of the holes in the diagonal push rods. + #define DELTA_DIAGONAL_ROD 250.0 // (mm) + + // Distance between bed and nozzle Z home position + #define DELTA_HEIGHT 250.00 // (mm) Get this value from G33 auto calibrate + + #define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate + + // Horizontal distance bridged by diagonal push rods when effector is centered. + #define DELTA_RADIUS 124.0 // (mm) Get this value from G33 auto calibrate + + // Trim adjustments for individual towers + // tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0 + // measured in degrees anticlockwise looking from above the printer + #define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate + + // Delta radius and diagonal rod adjustments (mm) + //#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 } + //#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 } +#endif + +// @section scara + +/** + * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013. + * Implemented and slightly reworked by JCERNY in June, 2014. + * + * Mostly Printed SCARA is an open source design by Tyler Williams. See: + * https://www.thingiverse.com/thing:2487048 + * https://www.thingiverse.com/thing:1241491 + */ +//#define MORGAN_SCARA +//#define MP_SCARA +#if EITHER(MORGAN_SCARA, MP_SCARA) + // If movement is choppy try lowering this value + #define DEFAULT_SEGMENTS_PER_SECOND 200 + + // Length of inner and outer support arms. Measure arm lengths precisely. + #define SCARA_LINKAGE_1 150 // (mm) + #define SCARA_LINKAGE_2 150 // (mm) + + // SCARA tower offset (position of Tower relative to bed zero position) + // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. + #define SCARA_OFFSET_X 100 // (mm) + #define SCARA_OFFSET_Y -56 // (mm) + + #if ENABLED(MORGAN_SCARA) + + //#define DEBUG_SCARA_KINEMATICS + #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + + // Radius around the center where the arm cannot reach + #define MIDDLE_DEAD_ZONE_R 0 // (mm) + + #define THETA_HOMING_OFFSET 0 // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073 + #define PSI_HOMING_OFFSET 0 // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073 + + #elif ENABLED(MP_SCARA) + + #define SCARA_OFFSET_THETA1 12 // degrees + #define SCARA_OFFSET_THETA2 131 // degrees + + #endif + +#endif + +// @section tpara + +// Enable for TPARA kinematics and configure below +//#define AXEL_TPARA +#if ENABLED(AXEL_TPARA) + #define DEBUG_TPARA_KINEMATICS + #define DEFAULT_SEGMENTS_PER_SECOND 200 + + // Length of inner and outer support arms. Measure arm lengths precisely. + #define TPARA_LINKAGE_1 120 // (mm) + #define TPARA_LINKAGE_2 120 // (mm) + + // SCARA tower offset (position of Tower relative to bed zero position) + // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. + #define TPARA_OFFSET_X 0 // (mm) + #define TPARA_OFFSET_Y 0 // (mm) + #define TPARA_OFFSET_Z 0 // (mm) + + #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + + // Radius around the center where the arm cannot reach + #define MIDDLE_DEAD_ZONE_R 0 // (mm) + + // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073 + #define THETA_HOMING_OFFSET 0 + #define PSI_HOMING_OFFSET 0 +#endif + +// @section polar + +/** + * POLAR Kinematics + * developed by Kadir ilkimen for PolarBear CNC and babyBear + * https://github.com/kadirilkimen/Polar-Bear-Cnc-Machine + * https://github.com/kadirilkimen/babyBear-3D-printer + * + * A polar machine can have different configurations. + * This kinematics is only compatible with the following configuration: + * X : Independent linear + * Y or B : Polar + * Z : Independent linear + * + * For example, PolarBear has CoreXZ plus Polar Y or B. + * + * Motion problem for Polar axis near center / origin: + * + * 3D printing: + * Movements very close to the center of the polar axis take more time than others. + * This brief delay results in more material deposition due to the pressure in the nozzle. + * + * Current Kinematics and feedrate scaling deals with this by making the movement as fast + * as possible. It works for slow movements but doesn't work well with fast ones. A more + * complicated extrusion compensation must be implemented. + * + * Ideally, it should estimate that a long rotation near the center is ahead and will cause + * unwanted deposition. Therefore it can compensate the extrusion beforehand. + * + * Laser cutting: + * Same thing would be a problem for laser engraving too. As it spends time rotating at the + * center point, more likely it will burn more material than it should. Therefore similar + * compensation would be implemented for laser-cutting operations. + * + * Milling: + * This shouldn't be a problem for cutting/milling operations. + */ +//#define POLAR +#if ENABLED(POLAR) + #define DEFAULT_SEGMENTS_PER_SECOND 180 // If movement is choppy try lowering this value + #define PRINTABLE_RADIUS 82.0f // (mm) Maximum travel of X axis + + // Movements fall inside POLAR_FAST_RADIUS are assigned the highest possible feedrate + // to compensate unwanted deposition related to the near-origin motion problem. + #define POLAR_FAST_RADIUS 3.0f // (mm) + + // Radius which is unreachable by the tool. + // Needed if the tool is not perfectly aligned to the center of the polar axis. + #define POLAR_CENTER_OFFSET 0.0f // (mm) + + #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly +#endif + +// @section machine + +// Articulated robot (arm). Joints are directly mapped to axes with no kinematics. +//#define ARTICULATED_ROBOT_ARM + +// For a hot wire cutter with parallel horizontal axes (X, I) where the heights of the two wire +// ends are controlled by parallel axes (Y, J). Joints are directly mapped to axes (no kinematics). +//#define FOAMCUTTER_XYUV + +//=========================================================================== +//============================== Endstop Settings =========================== +//=========================================================================== + +// @section endstops + +// Specify here all the endstop connectors that are connected to any endstop or probe. +// Almost all printers will be using one per axis. Probes will use one or more of the +// extra connectors. Leave undefined any used for non-endstop and non-probe purposes. +#define USE_XMIN_PLUG +#define USE_YMIN_PLUG +#define USE_ZMIN_PLUG +//#define USE_IMIN_PLUG +//#define USE_JMIN_PLUG +//#define USE_KMIN_PLUG +//#define USE_UMIN_PLUG +//#define USE_VMIN_PLUG +//#define USE_WMIN_PLUG +//#define USE_XMAX_PLUG +//#define USE_YMAX_PLUG +//#define USE_ZMAX_PLUG +//#define USE_IMAX_PLUG +//#define USE_JMAX_PLUG +//#define USE_KMAX_PLUG +//#define USE_UMAX_PLUG +//#define USE_VMAX_PLUG +//#define USE_WMAX_PLUG + +// Enable pullup for all endstops to prevent a floating state +#define ENDSTOPPULLUPS +#if DISABLED(ENDSTOPPULLUPS) + // Disable ENDSTOPPULLUPS to set pullups individually + //#define ENDSTOPPULLUP_XMIN + //#define ENDSTOPPULLUP_YMIN + //#define ENDSTOPPULLUP_ZMIN + //#define ENDSTOPPULLUP_IMIN + //#define ENDSTOPPULLUP_JMIN + //#define ENDSTOPPULLUP_KMIN + //#define ENDSTOPPULLUP_UMIN + //#define ENDSTOPPULLUP_VMIN + //#define ENDSTOPPULLUP_WMIN + //#define ENDSTOPPULLUP_XMAX + //#define ENDSTOPPULLUP_YMAX + //#define ENDSTOPPULLUP_ZMAX + //#define ENDSTOPPULLUP_IMAX + //#define ENDSTOPPULLUP_JMAX + //#define ENDSTOPPULLUP_KMAX + //#define ENDSTOPPULLUP_UMAX + //#define ENDSTOPPULLUP_VMAX + //#define ENDSTOPPULLUP_WMAX + //#define ENDSTOPPULLUP_ZMIN_PROBE +#endif + +// Enable pulldown for all endstops to prevent a floating state +//#define ENDSTOPPULLDOWNS +#if DISABLED(ENDSTOPPULLDOWNS) + // Disable ENDSTOPPULLDOWNS to set pulldowns individually + //#define ENDSTOPPULLDOWN_XMIN + //#define ENDSTOPPULLDOWN_YMIN + //#define ENDSTOPPULLDOWN_ZMIN + //#define ENDSTOPPULLDOWN_IMIN + //#define ENDSTOPPULLDOWN_JMIN + //#define ENDSTOPPULLDOWN_KMIN + //#define ENDSTOPPULLDOWN_UMIN + //#define ENDSTOPPULLDOWN_VMIN + //#define ENDSTOPPULLDOWN_WMIN + //#define ENDSTOPPULLDOWN_XMAX + //#define ENDSTOPPULLDOWN_YMAX + //#define ENDSTOPPULLDOWN_ZMAX + //#define ENDSTOPPULLDOWN_IMAX + //#define ENDSTOPPULLDOWN_JMAX + //#define ENDSTOPPULLDOWN_KMAX + //#define ENDSTOPPULLDOWN_UMAX + //#define ENDSTOPPULLDOWN_VMAX + //#define ENDSTOPPULLDOWN_WMAX + //#define ENDSTOPPULLDOWN_ZMIN_PROBE +#endif + +// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup). +#define X_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define Y_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define Z_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define I_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define J_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define K_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define U_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define V_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define W_MIN_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define X_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define Y_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define Z_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define I_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define J_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define K_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define U_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define V_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define W_MAX_ENDSTOP_INVERTING false // Set to true to invert the logic of the endstop. +#define Z_MIN_PROBE_ENDSTOP_INVERTING false // Set to true to invert the logic of the probe. + +// Enable this feature if all enabled endstop pins are interrupt-capable. +// This will remove the need to poll the interrupt pins, saving many CPU cycles. +#define ENDSTOP_INTERRUPTS_FEATURE // Ender Configs + +/** + * Endstop Noise Threshold + * + * Enable if your probe or endstops falsely trigger due to noise. + * + * - Higher values may affect repeatability or accuracy of some bed probes. + * - To fix noise install a 100nF ceramic capacitor in parallel with the switch. + * - This feature is not required for common micro-switches mounted on PCBs + * based on the Makerbot design, which already have the 100nF capacitor. + * + * :[2,3,4,5,6,7] + */ +//#define ENDSTOP_NOISE_THRESHOLD 2 + +// Check for stuck or disconnected endstops during homing moves. +//#define DETECT_BROKEN_ENDSTOP + +//============================================================================= +//============================== Movement Settings ============================ +//============================================================================= +// @section motion + +/** + * Default Settings + * + * These settings can be reset by M502 + * + * Note that if EEPROM is enabled, saved values will override these. + */ + +/** + * With this option each E stepper can have its own factors for the + * following movement settings. If fewer factors are given than the + * total number of extruders, the last value applies to the rest. + */ +//#define DISTINCT_E_FACTORS + +/** + * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°) + * Override with M92 + * X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]] + */ +#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 400, 93 } // Ender Configs + +/** + * Default Max Feed Rate (linear=mm/s, rotational=°/s) + * Override with M203 + * X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]] + */ +#define DEFAULT_MAX_FEEDRATE { 300, 300, 25, 60 } // Ender Configs + +#define LIMITED_MAX_FR_EDITING // Limit edit via M203 or LCD to DEFAULT_MAX_FEEDRATE * 2 // MRiscoC allows higher limits +#if ENABLED(LIMITED_MAX_FR_EDITING) + #define MAX_FEEDRATE_EDIT_VALUES { 1000, 1000, 40, 200 } // ...or, set your own edit limits // MRiscoC allows higher limits +#endif + +/** + * Default Max Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2)) + * (Maximum start speed for accelerated moves) + * Override with M201 + * X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]] + */ +#define DEFAULT_MAX_ACCELERATION { 500, 500, 100, 1000 } // Ender Configs + +#define LIMITED_MAX_ACCEL_EDITING // Limit edit via M201 or LCD to DEFAULT_MAX_ACCELERATION * 2 // MRiscoC allows higher limits +#if ENABLED(LIMITED_MAX_ACCEL_EDITING) + #define MAX_ACCEL_EDIT_VALUES { 9999, 9999, 999, 9999 } // ...or, set your own edit limits // MRiscoC allows higher limits +#endif + +/** + * Default Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2)) + * Override with M204 + * + * M204 P Acceleration + * M204 R Retract Acceleration + * M204 T Travel Acceleration + */ +#define DEFAULT_ACCELERATION 500 // X, Y, Z and E acceleration for printing moves // Ender Configs +#define DEFAULT_RETRACT_ACCELERATION 800 // E acceleration for retracts // Ender Configs +#define DEFAULT_TRAVEL_ACCELERATION 1000 // X, Y, Z acceleration for travel (non printing) moves // Ender Configs + +/** + * Default Jerk limits (mm/s) + * Override with M205 X Y Z . . . E + * + * "Jerk" specifies the minimum speed change that requires acceleration. + * When changing speed and direction, if the difference is less than the + * value set here, it may happen instantaneously. + */ +#define CLASSIC_JERK // Ender Configs +#if ENABLED(CLASSIC_JERK) + #define DEFAULT_XJERK 8.0 // Ender Configs + #define DEFAULT_YJERK 8.0 // Ender Configs + #define DEFAULT_ZJERK 0.4 // Ender Configs + //#define DEFAULT_IJERK 0.3 + //#define DEFAULT_JJERK 0.3 + //#define DEFAULT_KJERK 0.3 + //#define DEFAULT_UJERK 0.3 + //#define DEFAULT_VJERK 0.3 + //#define DEFAULT_WJERK 0.3 + + //#define TRAVEL_EXTRA_XYJERK 0.0 // Additional jerk allowance for all travel moves + + #define LIMITED_JERK_EDITING // Limit edit via M205 or LCD to DEFAULT_aJERK * 2 // Ender Configs + #if ENABLED(LIMITED_JERK_EDITING) + #define MAX_JERK_EDIT_VALUES { 20, 20, 1, 20 } // ...or, set your own edit limits // MRiscoC allows higher limits + #endif +#endif + +#define DEFAULT_EJERK 5.0 // May be used by Linear Advance // Ender Configs + +/** + * Junction Deviation Factor + * + * See: + * https://reprap.org/forum/read.php?1,739819 + * https://blog.kyneticcnc.com/2018/10/computing-junction-deviation-for-marlin.html + */ +#if DISABLED(CLASSIC_JERK) + #define JUNCTION_DEVIATION_MM 0.013 // (mm) Distance from real junction edge + #define JD_HANDLE_SMALL_SEGMENTS // Use curvature estimation instead of just the junction angle + // for small segments (< 1mm) with large junction angles (> 135°). +#endif + +/** + * S-Curve Acceleration + * + * This option eliminates vibration during printing by fitting a Bézier + * curve to move acceleration, producing much smoother direction changes. + * + * See https://github.com/synthetos/TinyG/wiki/Jerk-Controlled-Motion-Explained + */ +#define S_CURVE_ACCELERATION // MRiscoC Enabled + +//=========================================================================== +//============================= Z Probe Options ============================= +//=========================================================================== +// @section probes + +// +// See https://marlinfw.org/docs/configuration/probes.html +// + +/** + * Enable this option for a probe connected to the Z-MIN pin. + * The probe replaces the Z-MIN endstop and is used for Z homing. + * (Automatically enables USE_PROBE_FOR_Z_HOMING.) + */ +#define Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN + +// Force the use of the probe for Z-axis homing +//#define USE_PROBE_FOR_Z_HOMING // Manual mesh not have a probe + +/** + * Z_MIN_PROBE_PIN + * + * Define this pin if the probe is not connected to Z_MIN_PIN. + * If not defined the default pin for the selected MOTHERBOARD + * will be used. Most of the time the default is what you want. + * + * - The simplest option is to use a free endstop connector. + * - Use 5V for powered (usually inductive) sensors. + * + * - RAMPS 1.3/1.4 boards may use the 5V, GND, and Aux4->D32 pin: + * - For simple switches connect... + * - normally-closed switches to GND and D32. + * - normally-open switches to 5V and D32. + */ +//#define Z_MIN_PROBE_PIN 32 // Pin 32 is the RAMPS default + +/** + * Probe Type + * + * Allen Key Probes, Servo Probes, Z-Sled Probes, FIX_MOUNTED_PROBE, etc. + * Activate one of these to use Auto Bed Leveling below. + */ + +/** + * The "Manual Probe" provides a means to do "Auto" Bed Leveling without a probe. + * Use G29 repeatedly, adjusting the Z height at each point with movement commands + * or (with LCD_BED_LEVELING) the LCD controller. + */ +#define PROBE_MANUALLY // Manual mesh version + +/** + * A Fix-Mounted Probe either doesn't deploy or needs manual deployment. + * (e.g., an inductive probe or a nozzle-based probe-switch.) + */ +//#define FIX_MOUNTED_PROBE + +/** + * Use the nozzle as the probe, as with a conductive + * nozzle system or a piezo-electric smart effector. + */ +//#define NOZZLE_AS_PROBE + +/** + * Z Servo Probe, such as an endstop switch on a rotating arm. + */ +//#define Z_PROBE_SERVO_NR 0 // Defaults to SERVO 0 connector. +//#define Z_SERVO_ANGLES { 70, 0 } // Z Servo Deploy and Stow angles + +/** + * The BLTouch probe uses a Hall effect sensor and emulates a servo. + */ +//#define BLTOUCH + +/** + * MagLev V4 probe by MDD + * + * This probe is deployed and activated by powering a built-in electromagnet. + */ +//#define MAGLEV4 +#if ENABLED(MAGLEV4) + //#define MAGLEV_TRIGGER_PIN 11 // Set to the connected digital output + #define MAGLEV_TRIGGER_DELAY 15 // Changing this risks overheating the coil +#endif + +/** + * Touch-MI Probe by hotends.fr + * + * This probe is deployed and activated by moving the X-axis to a magnet at the edge of the bed. + * By default, the magnet is assumed to be on the left and activated by a home. If the magnet is + * on the right, enable and set TOUCH_MI_DEPLOY_XPOS to the deploy position. + * + * Also requires: BABYSTEPPING, BABYSTEP_ZPROBE_OFFSET, Z_SAFE_HOMING, + * and a minimum Z_HOMING_HEIGHT of 10. + */ +//#define TOUCH_MI_PROBE +#if ENABLED(TOUCH_MI_PROBE) + #define TOUCH_MI_RETRACT_Z 0.5 // Height at which the probe retracts + //#define TOUCH_MI_DEPLOY_XPOS (X_MAX_BED + 2) // For a magnet on the right side of the bed + //#define TOUCH_MI_MANUAL_DEPLOY // For manual deploy (LCD menu) +#endif + +// A probe that is deployed and stowed with a solenoid pin (SOL1_PIN) +//#define SOLENOID_PROBE + +// A sled-mounted probe like those designed by Charles Bell. +//#define Z_PROBE_SLED +//#define SLED_DOCKING_OFFSET 5 // The extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like. + +// A probe deployed by moving the x-axis, such as the Wilson II's rack-and-pinion probe designed by Marty Rice. +//#define RACK_AND_PINION_PROBE +#if ENABLED(RACK_AND_PINION_PROBE) + #define Z_PROBE_DEPLOY_X X_MIN_POS + #define Z_PROBE_RETRACT_X X_MAX_POS +#endif + +/** + * Magnetically Mounted Probe + * For probes such as Euclid, Klicky, Klackender, etc. + */ +//#define MAG_MOUNTED_PROBE +#if ENABLED(MAG_MOUNTED_PROBE) + #define PROBE_DEPLOY_FEEDRATE (133*60) // (mm/min) Probe deploy speed + #define PROBE_STOW_FEEDRATE (133*60) // (mm/min) Probe stow speed + + #define MAG_MOUNTED_DEPLOY_1 { PROBE_DEPLOY_FEEDRATE, { 245, 114, 30 } } // Move to side Dock & Attach probe + #define MAG_MOUNTED_DEPLOY_2 { PROBE_DEPLOY_FEEDRATE, { 210, 114, 30 } } // Move probe off dock + #define MAG_MOUNTED_DEPLOY_3 { PROBE_DEPLOY_FEEDRATE, { 0, 0, 0 } } // Extra move if needed + #define MAG_MOUNTED_DEPLOY_4 { PROBE_DEPLOY_FEEDRATE, { 0, 0, 0 } } // Extra move if needed + #define MAG_MOUNTED_DEPLOY_5 { PROBE_DEPLOY_FEEDRATE, { 0, 0, 0 } } // Extra move if needed + #define MAG_MOUNTED_STOW_1 { PROBE_STOW_FEEDRATE, { 245, 114, 20 } } // Move to dock + #define MAG_MOUNTED_STOW_2 { PROBE_STOW_FEEDRATE, { 245, 114, 0 } } // Place probe beside remover + #define MAG_MOUNTED_STOW_3 { PROBE_STOW_FEEDRATE, { 230, 114, 0 } } // Side move to remove probe + #define MAG_MOUNTED_STOW_4 { PROBE_STOW_FEEDRATE, { 210, 114, 20 } } // Side move to remove probe + #define MAG_MOUNTED_STOW_5 { PROBE_STOW_FEEDRATE, { 0, 0, 0 } } // Extra move if needed +#endif + +// Duet Smart Effector (for delta printers) - https://bit.ly/2ul5U7J +// When the pin is defined you can use M672 to set/reset the probe sensitivity. +//#define DUET_SMART_EFFECTOR +#if ENABLED(DUET_SMART_EFFECTOR) + #define SMART_EFFECTOR_MOD_PIN -1 // Connect a GPIO pin to the Smart Effector MOD pin +#endif + +/** + * Use StallGuard2 to probe the bed with the nozzle. + * Requires stallGuard-capable Trinamic stepper drivers. + * CAUTION: This can damage machines with Z lead screws. + * Take extreme care when setting up this feature. + */ +//#define SENSORLESS_PROBING + +/** + * Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe + * Deploys by touching z-axis belt. Retracts by pushing the probe down. + */ +//#define Z_PROBE_ALLEN_KEY +#if ENABLED(Z_PROBE_ALLEN_KEY) + // 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29, + // if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe. + + #define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, PRINTABLE_RADIUS, 100.0 } + #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, PRINTABLE_RADIUS, 100.0 } + #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10 + + #define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (PRINTABLE_RADIUS) * 0.75, 100.0 } + #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position + #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down + #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10 + + #define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear + #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 } + #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE + +#endif // Z_PROBE_ALLEN_KEY + +/** + * Nozzle-to-Probe offsets { X, Y, Z } + * + * X and Y offset + * Use a caliper or ruler to measure the distance from the tip of + * the Nozzle to the center-point of the Probe in the X and Y axes. + * + * Z offset + * - For the Z offset use your best known value and adjust at runtime. + * - Common probes trigger below the nozzle and have negative values for Z offset. + * - Probes triggering above the nozzle height are uncommon but do exist. When using + * probes such as this, carefully set Z_CLEARANCE_DEPLOY_PROBE and Z_CLEARANCE_BETWEEN_PROBES + * to avoid collisions during probing. + * + * Tune and Adjust + * - Probe Offsets can be tuned at runtime with 'M851', LCD menus, babystepping, etc. + * - PROBE_OFFSET_WIZARD (configuration_adv.h) can be used for setting the Z offset. + * + * Assuming the typical work area orientation: + * - Probe to RIGHT of the Nozzle has a Positive X offset + * - Probe to LEFT of the Nozzle has a Negative X offset + * - Probe in BACK of the Nozzle has a Positive Y offset + * - Probe in FRONT of the Nozzle has a Negative Y offset + * + * Some examples: + * #define NOZZLE_TO_PROBE_OFFSET { 10, 10, -1 } // Example "1" + * #define NOZZLE_TO_PROBE_OFFSET {-10, 5, -1 } // Example "2" + * #define NOZZLE_TO_PROBE_OFFSET { 5, -5, -1 } // Example "3" + * #define NOZZLE_TO_PROBE_OFFSET {-15,-10, -1 } // Example "4" + * + * +-- BACK ---+ + * | [+] | + * L | 1 | R <-- Example "1" (right+, back+) + * E | 2 | I <-- Example "2" ( left-, back+) + * F |[-] N [+]| G <-- Nozzle + * T | 3 | H <-- Example "3" (right+, front-) + * | 4 | T <-- Example "4" ( left-, front-) + * | [-] | + * O-- FRONT --+ + */ +#define NOZZLE_TO_PROBE_OFFSET { 0, 0, 0 } // MRiscoC BLTouch offset for support: https://www.thingiverse.com/thing:4605354 (z-offset = -1.80 mm) // Manual mesh use the nozzle as probe + +// Most probes should stay away from the edges of the bed, but +// with NOZZLE_AS_PROBE this can be negative for a wider probing area. +#define PROBING_MARGIN 10 // MRiscoC Avoid clips on borders + +// X and Y axis travel speed (mm/min) between probes +#define XY_PROBE_FEEDRATE (200*60) // MRiscoC increase travel speed between probes + +// Feedrate (mm/min) for the first approach when double-probing (MULTIPLE_PROBING == 2) +#define Z_PROBE_FEEDRATE_FAST (16*60) // MRiscoC increase probe Z speed + +// Feedrate (mm/min) for the "accurate" probe of each point +#define Z_PROBE_FEEDRATE_SLOW (Z_PROBE_FEEDRATE_FAST / 2) + +/** + * Probe Activation Switch + * A switch indicating proper deployment, or an optical + * switch triggered when the carriage is near the bed. + */ +//#define PROBE_ACTIVATION_SWITCH +#if ENABLED(PROBE_ACTIVATION_SWITCH) + #define PROBE_ACTIVATION_SWITCH_STATE LOW // State indicating probe is active + //#define PROBE_ACTIVATION_SWITCH_PIN PC6 // Override default pin +#endif + +/** + * Tare Probe (determine zero-point) prior to each probe. + * Useful for a strain gauge or piezo sensor that needs to factor out + * elements such as cables pulling on the carriage. + */ +//#define PROBE_TARE +#if ENABLED(PROBE_TARE) + #define PROBE_TARE_TIME 200 // (ms) Time to hold tare pin + #define PROBE_TARE_DELAY 200 // (ms) Delay after tare before + #define PROBE_TARE_STATE HIGH // State to write pin for tare + //#define PROBE_TARE_PIN PA5 // Override default pin + #if ENABLED(PROBE_ACTIVATION_SWITCH) + //#define PROBE_TARE_ONLY_WHILE_INACTIVE // Fail to tare/probe if PROBE_ACTIVATION_SWITCH is active + #endif +#endif + +/** + * Probe Enable / Disable + * The probe only provides a triggered signal when enabled. + */ +//#define PROBE_ENABLE_DISABLE +#if ENABLED(PROBE_ENABLE_DISABLE) + //#define PROBE_ENABLE_PIN -1 // Override the default pin here +#endif + +/** + * Multiple Probing + * + * You may get improved results by probing 2 or more times. + * With EXTRA_PROBING the more atypical reading(s) will be disregarded. + * + * A total of 2 does fast/slow probes with a weighted average. + * A total of 3 or more adds more slow probes, taking the average. + */ +//#define MULTIPLE_PROBING 2 +//#define EXTRA_PROBING 1 + +/** + * Z probes require clearance when deploying, stowing, and moving between + * probe points to avoid hitting the bed and other hardware. + * Servo-mounted probes require extra space for the arm to rotate. + * Inductive probes need space to keep from triggering early. + * + * Use these settings to specify the distance (mm) to raise the probe (or + * lower the bed). The values set here apply over and above any (negative) + * probe Z Offset set with NOZZLE_TO_PROBE_OFFSET, M851, or the LCD. + * Only integer values >= 1 are valid here. + * + * Example: `M851 Z-5` with a CLEARANCE of 4 => 9mm from bed to nozzle. + * But: `M851 Z+1` with a CLEARANCE of 2 => 2mm from bed to nozzle. + */ +#define Z_CLEARANCE_DEPLOY_PROBE 10 // Z Clearance for Deploy/Stow +#define Z_CLEARANCE_BETWEEN_PROBES 5 // Z Clearance between probe points +#define Z_CLEARANCE_MULTI_PROBE 5 // Z Clearance between multiple probes +//#define Z_AFTER_PROBING 5 // Z position after probing is done + +#define Z_PROBE_LOW_POINT -2 // Farthest distance below the trigger-point to go before stopping + +// For M851 give a range for adjusting the Z probe offset +#define Z_PROBE_OFFSET_RANGE_MIN -20 +#define Z_PROBE_OFFSET_RANGE_MAX 20 + +// Enable the M48 repeatability test to test probe accuracy +//#define Z_MIN_PROBE_REPEATABILITY_TEST + +// Before deploy/stow pause for user confirmation +//#define PAUSE_BEFORE_DEPLOY_STOW +#if ENABLED(PAUSE_BEFORE_DEPLOY_STOW) + //#define PAUSE_PROBE_DEPLOY_WHEN_TRIGGERED // For Manual Deploy Allenkey Probe +#endif + +/** + * Enable one or more of the following if probing seems unreliable. + * Heaters and/or fans can be disabled during probing to minimize electrical + * noise. A delay can also be added to allow noise and vibration to settle. + * These options are most useful for the BLTouch probe, but may also improve + * readings with inductive probes and piezo sensors. + */ +//#define PROBING_HEATERS_OFF // Turn heaters off when probing +#if ENABLED(PROBING_HEATERS_OFF) + //#define WAIT_FOR_BED_HEATER // Wait for bed to heat back up between probes (to improve accuracy) + //#define WAIT_FOR_HOTEND // Wait for hotend to heat back up between probes (to improve accuracy & prevent cold extrude) +#endif +//#define PROBING_FANS_OFF // Turn fans off when probing +//#define PROBING_ESTEPPERS_OFF // Turn all extruder steppers off when probing +//#define PROBING_STEPPERS_OFF // Turn all steppers off (unless needed to hold position) when probing (including extruders) +//#define DELAY_BEFORE_PROBING 200 // (ms) To prevent vibrations from triggering piezo sensors + +// Require minimum nozzle and/or bed temperature for probing +//#define PREHEAT_BEFORE_PROBING +#if ENABLED(PREHEAT_BEFORE_PROBING) + #define PROBING_NOZZLE_TEMP 120 // (°C) Only applies to E0 at this time + #define PROBING_BED_TEMP 50 +#endif + +// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +// :{ 0:'Low', 1:'High' } +#define X_ENABLE_ON 0 +#define Y_ENABLE_ON 0 +#define Z_ENABLE_ON 0 +#define E_ENABLE_ON 0 // For all extruders +//#define I_ENABLE_ON 0 +//#define J_ENABLE_ON 0 +//#define K_ENABLE_ON 0 +//#define U_ENABLE_ON 0 +//#define V_ENABLE_ON 0 +//#define W_ENABLE_ON 0 + +// Disable axis steppers immediately when they're not being stepped. +// WARNING: When motors turn off there is a chance of losing position accuracy! +//#define DISABLE_X +//#define DISABLE_Y +//#define DISABLE_Z +//#define DISABLE_I +//#define DISABLE_J +//#define DISABLE_K +//#define DISABLE_U +//#define DISABLE_V +//#define DISABLE_W + +// Turn off the display blinking that warns about possible accuracy reduction +//#define DISABLE_REDUCED_ACCURACY_WARNING + +// @section extruder + +//#define DISABLE_E // Disable the extruder when not stepping +#define DISABLE_INACTIVE_EXTRUDER // Keep only the active extruder enabled + +// @section motion + +// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way. +#define INVERT_X_DIR false // Ender Configs +#define INVERT_Y_DIR false // Ender Configs +#define INVERT_Z_DIR true // Ender Configs +//#define INVERT_I_DIR false +//#define INVERT_J_DIR false +//#define INVERT_K_DIR false +//#define INVERT_U_DIR false +//#define INVERT_V_DIR false +//#define INVERT_W_DIR false + +// @section extruder + +// For direct drive extruder v9 set to true, for geared extruder set to false. +#define INVERT_E0_DIR false +#define INVERT_E1_DIR false +#define INVERT_E2_DIR false +#define INVERT_E3_DIR false +#define INVERT_E4_DIR false +#define INVERT_E5_DIR false +#define INVERT_E6_DIR false +#define INVERT_E7_DIR false + +// @section homing + +//#define NO_MOTION_BEFORE_HOMING // Inhibit movement until all axes have been homed. Also enable HOME_AFTER_DEACTIVATE for extra safety. +#define HOME_AFTER_DEACTIVATE // Require rehoming after steppers are deactivated. Also enable NO_MOTION_BEFORE_HOMING for extra safety. // MRiscoC Enabled for safety + +/** + * Set Z_IDLE_HEIGHT if the Z-Axis moves on its own when steppers are disabled. + * - Use a low value (i.e., Z_MIN_POS) if the nozzle falls down to the bed. + * - Use a large value (i.e., Z_MAX_POS) if the bed falls down, away from the nozzle. + */ +//#define Z_IDLE_HEIGHT Z_HOME_POS + +//#define Z_HOMING_HEIGHT 10 // (mm) Minimal Z height before homing (G28) for Z clearance above the bed, clamps, ... // MRiscoC Crearance over the bed + // Be sure to have this much clearance over your Z_MAX_POS to prevent grinding. + +#define Z_AFTER_HOMING 5 // (mm) Height to move to after homing Z // MRiscoC Crearance over the bed + +// Direction of endstops when homing; 1=MAX, -1=MIN +// :[-1,1] +#define X_HOME_DIR -1 +#define Y_HOME_DIR -1 +#define Z_HOME_DIR -1 +//#define I_HOME_DIR -1 +//#define J_HOME_DIR -1 +//#define K_HOME_DIR -1 +//#define U_HOME_DIR -1 +//#define V_HOME_DIR -1 +//#define W_HOME_DIR -1 + +// @section geometry + +// The size of the printable area +#define X_BED_SIZE 230 // MRiscoC Max usable bed size +#define Y_BED_SIZE 230 // MRiscoC Max usable bed size + +// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions. +#define X_MIN_POS 0 // MRiscoC Stock physical limit +#define Y_MIN_POS 0 // MRiscoC Stock physical limit +#define Z_MIN_POS 0 +#define X_MAX_POS 248 // MRiscoC Stock physical limit +#define Y_MAX_POS 231 // MRiscoC Stock physical limit +#define Z_MAX_POS 250 // Ender Configs +//#define I_MIN_POS 0 +//#define I_MAX_POS 50 +//#define J_MIN_POS 0 +//#define J_MAX_POS 50 +//#define K_MIN_POS 0 +//#define K_MAX_POS 50 +//#define U_MIN_POS 0 +//#define U_MAX_POS 50 +//#define V_MIN_POS 0 +//#define V_MAX_POS 50 +//#define W_MIN_POS 0 +//#define W_MAX_POS 50 + +/** + * Software Endstops + * + * - Prevent moves outside the set machine bounds. + * - Individual axes can be disabled, if desired. + * - X and Y only apply to Cartesian robots. + * - Use 'M211' to set software endstops on/off or report current state + */ + +// Min software endstops constrain movement within minimum coordinate bounds +#define MIN_SOFTWARE_ENDSTOPS +#if ENABLED(MIN_SOFTWARE_ENDSTOPS) + #define MIN_SOFTWARE_ENDSTOP_X + #define MIN_SOFTWARE_ENDSTOP_Y + #define MIN_SOFTWARE_ENDSTOP_Z + #define MIN_SOFTWARE_ENDSTOP_I + #define MIN_SOFTWARE_ENDSTOP_J + #define MIN_SOFTWARE_ENDSTOP_K + #define MIN_SOFTWARE_ENDSTOP_U + #define MIN_SOFTWARE_ENDSTOP_V + #define MIN_SOFTWARE_ENDSTOP_W +#endif + +// Max software endstops constrain movement within maximum coordinate bounds +#define MAX_SOFTWARE_ENDSTOPS +#if ENABLED(MAX_SOFTWARE_ENDSTOPS) + #define MAX_SOFTWARE_ENDSTOP_X + #define MAX_SOFTWARE_ENDSTOP_Y + #define MAX_SOFTWARE_ENDSTOP_Z + #define MAX_SOFTWARE_ENDSTOP_I + #define MAX_SOFTWARE_ENDSTOP_J + #define MAX_SOFTWARE_ENDSTOP_K + #define MAX_SOFTWARE_ENDSTOP_U + #define MAX_SOFTWARE_ENDSTOP_V + #define MAX_SOFTWARE_ENDSTOP_W +#endif + +#if EITHER(MIN_SOFTWARE_ENDSTOPS, MAX_SOFTWARE_ENDSTOPS) + //#define SOFT_ENDSTOPS_MENU_ITEM // Enable/Disable software endstops from the LCD +#endif + +/** + * Filament Runout Sensors + * Mechanical or opto endstops are used to check for the presence of filament. + * + * IMPORTANT: Runout will only trigger if Marlin is aware that a print job is running. + * Marlin knows a print job is running when: + * 1. Running a print job from media started with M24. + * 2. The Print Job Timer has been started with M75. + * 3. The heaters were turned on and PRINTJOB_TIMER_AUTOSTART is enabled. + * + * RAMPS-based boards use SERVO3_PIN for the first runout sensor. + * For other boards you may need to define FIL_RUNOUT_PIN, FIL_RUNOUT2_PIN, etc. + */ +#define FILAMENT_RUNOUT_SENSOR // MRiscoC Enabled runout sensor support +#if ENABLED(FILAMENT_RUNOUT_SENSOR) + #define FIL_RUNOUT_ENABLED_DEFAULT true // Enable the sensor on startup. Override with M412 followed by M500. + #define NUM_RUNOUT_SENSORS 1 // Number of sensors, up to one per extruder. Define a FIL_RUNOUT#_PIN for each. + + #define FIL_RUNOUT_STATE LOW // Pin state indicating that filament is NOT present. + #define FIL_RUNOUT_PULLUP // Use internal pullup for filament runout pins. + //#define FIL_RUNOUT_PULLDOWN // Use internal pulldown for filament runout pins. + //#define WATCH_ALL_RUNOUT_SENSORS // Execute runout script on any triggering sensor, not only for the active extruder. + // This is automatically enabled for MIXING_EXTRUDERs. + + // Override individually if the runout sensors vary + //#define FIL_RUNOUT1_STATE LOW + //#define FIL_RUNOUT1_PULLUP + //#define FIL_RUNOUT1_PULLDOWN + + //#define FIL_RUNOUT2_STATE LOW + //#define FIL_RUNOUT2_PULLUP + //#define FIL_RUNOUT2_PULLDOWN + + //#define FIL_RUNOUT3_STATE LOW + //#define FIL_RUNOUT3_PULLUP + //#define FIL_RUNOUT3_PULLDOWN + + //#define FIL_RUNOUT4_STATE LOW + //#define FIL_RUNOUT4_PULLUP + //#define FIL_RUNOUT4_PULLDOWN + + //#define FIL_RUNOUT5_STATE LOW + //#define FIL_RUNOUT5_PULLUP + //#define FIL_RUNOUT5_PULLDOWN + + //#define FIL_RUNOUT6_STATE LOW + //#define FIL_RUNOUT6_PULLUP + //#define FIL_RUNOUT6_PULLDOWN + + //#define FIL_RUNOUT7_STATE LOW + //#define FIL_RUNOUT7_PULLUP + //#define FIL_RUNOUT7_PULLDOWN + + //#define FIL_RUNOUT8_STATE LOW + //#define FIL_RUNOUT8_PULLUP + //#define FIL_RUNOUT8_PULLDOWN + + // Commands to execute on filament runout. + // With multiple runout sensors use the %c placeholder for the current tool in commands (e.g., "M600 T%c") + // NOTE: After 'M412 H1' the host handles filament runout and this script does not apply. + #define FILAMENT_RUNOUT_SCRIPT "M600" + + // After a runout is detected, continue printing this length of filament + // before executing the runout script. Useful for a sensor at the end of + // a feed tube. Requires 4 bytes SRAM per sensor, plus 4 bytes overhead. + #define FILAMENT_RUNOUT_DISTANCE_MM 25 // MRiscoC Customizable by menu + + #ifdef FILAMENT_RUNOUT_DISTANCE_MM + // Enable this option to use an encoder disc that toggles the runout pin + // as the filament moves. (Be sure to set FILAMENT_RUNOUT_DISTANCE_MM + // large enough to avoid false positives.) + //#define FILAMENT_MOTION_SENSOR + #endif +#endif + +//=========================================================================== +//=============================== Bed Leveling ============================== +//=========================================================================== +// @section calibrate + +/** + * Choose one of the options below to enable G29 Bed Leveling. The parameters + * and behavior of G29 will change depending on your selection. + * + * If using a Probe for Z Homing, enable Z_SAFE_HOMING also! + * + * - AUTO_BED_LEVELING_3POINT + * Probe 3 arbitrary points on the bed (that aren't collinear) + * You specify the XY coordinates of all 3 points. + * The result is a single tilted plane. Best for a flat bed. + * + * - AUTO_BED_LEVELING_LINEAR + * Probe several points in a grid. + * You specify the rectangle and the density of sample points. + * The result is a single tilted plane. Best for a flat bed. + * + * - AUTO_BED_LEVELING_BILINEAR + * Probe several points in a grid. + * You specify the rectangle and the density of sample points. + * The result is a mesh, best for large or uneven beds. + * + * - AUTO_BED_LEVELING_UBL (Unified Bed Leveling) + * A comprehensive bed leveling system combining the features and benefits + * of other systems. UBL also includes integrated Mesh Generation, Mesh + * Validation and Mesh Editing systems. + * + * - MESH_BED_LEVELING + * Probe a grid manually + * The result is a mesh, suitable for large or uneven beds. (See BILINEAR.) + * For machines without a probe, Mesh Bed Leveling provides a method to perform + * leveling in steps so you can manually adjust the Z height at each grid-point. + * With an LCD controller the process is guided step-by-step. + */ +//#define AUTO_BED_LEVELING_3POINT +//#define AUTO_BED_LEVELING_LINEAR +//#define AUTO_BED_LEVELING_BILINEAR +//#define AUTO_BED_LEVELING_UBL +#define MESH_BED_LEVELING // Manual Mesh + +/** + * Normally G28 leaves leveling disabled on completion. Enable one of + * these options to restore the prior leveling state or to always enable + * leveling immediately after G28. + */ +//#define RESTORE_LEVELING_AFTER_G28 +//#define ENABLE_LEVELING_AFTER_G28 + +/** + * Auto-leveling needs preheating + */ +#define PREHEAT_BEFORE_LEVELING // MRiscoC Heatting to compensate thermal expansions +#if ENABLED(PREHEAT_BEFORE_LEVELING) + #define LEVELING_NOZZLE_TEMP 175 // (°C) Only applies to E0 at this time // Preheat nozzle without oozing + #define LEVELING_BED_TEMP 50 +#endif + +/** + * Bed Distance Sensor + * + * Measures the distance from bed to nozzle with accuracy of 0.01mm. + * For information about this sensor https://github.com/markniu/Bed_Distance_sensor + * Uses I2C port, so it requires I2C library markyue/Panda_SoftMasterI2C. + */ +//#define BD_SENSOR + +/** + * Enable detailed logging of G28, G29, M48, etc. + * Turn on with the command 'M111 S32'. + * NOTE: Requires a lot of PROGMEM! + */ +//#define DEBUG_LEVELING_FEATURE + +#if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL, PROBE_MANUALLY) + // Set a height for the start of manual adjustment + #define MANUAL_PROBE_START_Z 0.2 // (mm) Comment out to use the last-measured height +#endif + +#if ANY(MESH_BED_LEVELING, AUTO_BED_LEVELING_BILINEAR, AUTO_BED_LEVELING_UBL) + /** + * Gradually reduce leveling correction until a set height is reached, + * at which point movement will be level to the machine's XY plane. + * The height can be set with M420 Z + */ + #define ENABLE_LEVELING_FADE_HEIGHT + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + #define DEFAULT_LEVELING_FADE_HEIGHT 10.0 // (mm) Default fade height. + #endif + + /** + * For Cartesian machines, instead of dividing moves on mesh boundaries, + * split up moves into short segments like a Delta. This follows the + * contours of the bed more closely than edge-to-edge straight moves. + */ + #define SEGMENT_LEVELED_MOVES + #define LEVELED_SEGMENT_LENGTH 5.0 // (mm) Length of all segments (except the last one) + + /** + * Enable the G26 Mesh Validation Pattern tool. + */ + //#define G26_MESH_VALIDATION + #if ENABLED(G26_MESH_VALIDATION) + #define MESH_TEST_NOZZLE_SIZE 0.4 // (mm) Diameter of primary nozzle. + #define MESH_TEST_LAYER_HEIGHT 0.2 // (mm) Default layer height for G26. + #define MESH_TEST_HOTEND_TEMP 205 // (°C) Default nozzle temperature for G26. + #define MESH_TEST_BED_TEMP 60 // (°C) Default bed temperature for G26. + #define G26_XY_FEEDRATE 20 // (mm/s) Feedrate for G26 XY moves. + #define G26_XY_FEEDRATE_TRAVEL 100 // (mm/s) Feedrate for G26 XY travel moves. + #define G26_RETRACT_MULTIPLIER 1.0 // G26 Q (retraction) used by default between mesh test elements. + #endif + +#endif + +#if EITHER(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_BILINEAR) + + // Set the number of grid points per dimension. + #define GRID_MAX_POINTS_X 5 // MRiscoC Customizable by menu + #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X + + // Probe along the Y axis, advancing X after each column + //#define PROBE_Y_FIRST + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + // Beyond the probed grid, continue the implied tilt? + // Default is to maintain the height of the nearest edge. + //#define EXTRAPOLATE_BEYOND_GRID // MRiscoC Disabled for better accuracy at edges + + // + // Subdivision of the grid by Catmull-Rom method. + // Synthesizes intermediate points to produce a more detailed mesh. + // + //#define ABL_BILINEAR_SUBDIVISION + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + // Number of subdivisions between probe points + #define BILINEAR_SUBDIVISIONS 3 + #endif + + #endif + +#elif ENABLED(AUTO_BED_LEVELING_UBL) + + //=========================================================================== + //========================= Unified Bed Leveling ============================ + //=========================================================================== + + //#define MESH_EDIT_GFX_OVERLAY // Display a graphics overlay while editing the mesh + + #define MESH_INSET 25 // Set Mesh bounds as an inset region of the bed // MRiscoC Center mesh + #define GRID_MAX_POINTS_X 5 // Don't use more than 15 points per axis, implementation limited. // MRiscoC Customizable by menu + #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X + + //#define UBL_HILBERT_CURVE // Use Hilbert distribution for less travel when probing multiple points + + #define UBL_MESH_EDIT_MOVES_Z // Sophisticated users prefer no movement of nozzle + #define UBL_SAVE_ACTIVE_ON_M500 // Save the currently active mesh in the current slot on M500 + + //#define UBL_Z_RAISE_WHEN_OFF_MESH 2.5 // When the nozzle is off the mesh, this value is used + // as the Z-Height correction value. + + //#define UBL_MESH_WIZARD // Run several commands in a row to get a complete mesh + + /** + * Probing not allowed within the position of an obstacle. + */ + //#define AVOID_OBSTACLES + #if ENABLED(AVOID_OBSTACLES) + #define CLIP_W 23 // Bed clip width, should be padded a few mm over its physical size + #define CLIP_H 14 // Bed clip height, should be padded a few mm over its physical size + + // Obstacle Rectangles defined as { X1, Y1, X2, Y2 } + #define OBSTACLE1 { (X_BED_SIZE) / 4 - (CLIP_W) / 2, 0, (X_BED_SIZE) / 4 + (CLIP_W) / 2, CLIP_H } + #define OBSTACLE2 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2, 0, (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, CLIP_H } + #define OBSTACLE3 { (X_BED_SIZE) / 4 - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) / 4 + (CLIP_W) / 2, Y_BED_SIZE } + #define OBSTACLE4 { (X_BED_SIZE) * 3 / 4 - (CLIP_W) / 2, (Y_BED_SIZE) - (CLIP_H), (X_BED_SIZE) * 3 / 4 + (CLIP_W) / 2, Y_BED_SIZE } + + // The probed grid must be inset for G29 J. This is okay, since it is + // only used to compute a linear transformation for the mesh itself. + #define G29J_MESH_TILT_MARGIN ((CLIP_H) + 1) + #endif + +#elif ENABLED(MESH_BED_LEVELING) + + //=========================================================================== + //=================================== Mesh ================================== + //=========================================================================== + + #define MESH_INSET 25 // Set Mesh bounds as an inset region of the bed // MRiscoC Center mesh + #define GRID_MAX_POINTS_X 5 // Don't use more than 7 points per axis, implementation limited. // MRiscoC Customizable by menu + #define GRID_MAX_POINTS_Y GRID_MAX_POINTS_X + + //#define MESH_G28_REST_ORIGIN // After homing all axes ('G28' or 'G28 XYZ') rest Z at Z_MIN_POS + +#endif // BED_LEVELING + +/** + * Add a bed leveling sub-menu for ABL or MBL. + * Include a guided procedure if manual probing is enabled. + */ +//#define LCD_BED_LEVELING + +#if ENABLED(LCD_BED_LEVELING) + #define MESH_EDIT_Z_STEP 0.025 // (mm) Step size while manually probing Z axis. + #define LCD_PROBE_Z_RANGE 4 // (mm) Z Range centered on Z_MIN_POS for LCD Z adjustment + //#define MESH_EDIT_MENU // Add a menu to edit mesh points +#endif + +// Add a menu item to move between bed corners for manual bed adjustment +#define LCD_BED_TRAMMING // ProUI has a bed tramming menu + +#if ENABLED(LCD_BED_TRAMMING) + #define BED_TRAMMING_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets + #define BED_TRAMMING_HEIGHT 0.0 // (mm) Z height of nozzle at leveling points + #define BED_TRAMMING_Z_HOP 5.0 // (mm) Z height of nozzle between leveling points + //#define BED_TRAMMING_INCLUDE_CENTER // Move to the center after the last corner + //#define BED_TRAMMING_USE_PROBE + #if ENABLED(BED_TRAMMING_USE_PROBE) + #define BED_TRAMMING_PROBE_TOLERANCE 0.1 // (mm) + #define BED_TRAMMING_VERIFY_RAISED // After adjustment triggers the probe, re-probe to verify + //#define BED_TRAMMING_AUDIO_FEEDBACK + #endif + + /** + * Corner Leveling Order + * + * Set 2 or 4 points. When 2 points are given, the 3rd is the center of the opposite edge. + * + * LF Left-Front RF Right-Front + * LB Left-Back RB Right-Back + * + * Examples: + * + * Default {LF,RB,LB,RF} {LF,RF} {LB,LF} + * LB --------- RB LB --------- RB LB --------- RB LB --------- RB + * | 4 3 | | 3 2 | | <3> | | 1 | + * | | | | | | | <3>| + * | 1 2 | | 1 4 | | 1 2 | | 2 | + * LF --------- RF LF --------- RF LF --------- RF LF --------- RF + */ + #define BED_TRAMMING_LEVELING_ORDER { LF, RF, RB, LB } +#endif + +/** + * Commands to execute at the end of G29 probing. + * Useful to retract or move the Z probe out of the way. + */ +//#define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" + +// @section homing + +// The center of the bed is at (X=0, Y=0) +//#define BED_CENTER_AT_0_0 + +// Manually set the home position. Leave these undefined for automatic settings. +// For DELTA this is the top-center of the Cartesian print volume. +//#define MANUAL_X_HOME_POS 0 +//#define MANUAL_Y_HOME_POS 0 +//#define MANUAL_Z_HOME_POS 0 +//#define MANUAL_I_HOME_POS 0 +//#define MANUAL_J_HOME_POS 0 +//#define MANUAL_K_HOME_POS 0 +//#define MANUAL_U_HOME_POS 0 +//#define MANUAL_V_HOME_POS 0 +//#define MANUAL_W_HOME_POS 0 + +/** + * Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area. + * + * - Moves the Z probe (or nozzle) to a defined XY point before Z homing. + * - Allows Z homing only when XY positions are known and trusted. + * - If stepper drivers sleep, XY homing may be required again before Z homing. + */ +//#define Z_SAFE_HOMING + +#if ENABLED(Z_SAFE_HOMING) + #define Z_SAFE_HOMING_X_POINT X_CENTER // X point for Z homing + #define Z_SAFE_HOMING_Y_POINT Y_CENTER // Y point for Z homing +#endif + +// Homing speeds (linear=mm/min, rotational=°/min) +#define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (10*60) } // MRiscoC Homing speed-up + +// Validate that endstops are triggered on homing moves +#define VALIDATE_HOMING_ENDSTOPS + +// @section calibrate + +/** + * Bed Skew Compensation + * + * This feature corrects for misalignment in the XYZ axes. + * + * Take the following steps to get the bed skew in the XY plane: + * 1. Print a test square (e.g., https://www.thingiverse.com/thing:2563185) + * 2. For XY_DIAG_AC measure the diagonal A to C + * 3. For XY_DIAG_BD measure the diagonal B to D + * 4. For XY_SIDE_AD measure the edge A to D + * + * Marlin automatically computes skew factors from these measurements. + * Skew factors may also be computed and set manually: + * + * - Compute AB : SQRT(2*AC*AC+2*BD*BD-4*AD*AD)/2 + * - XY_SKEW_FACTOR : TAN(PI/2-ACOS((AC*AC-AB*AB-AD*AD)/(2*AB*AD))) + * + * If desired, follow the same procedure for XZ and YZ. + * Use these diagrams for reference: + * + * Y Z Z + * ^ B-------C ^ B-------C ^ B-------C + * | / / | / / | / / + * | / / | / / | / / + * | A-------D | A-------D | A-------D + * +-------------->X +-------------->X +-------------->Y + * XY_SKEW_FACTOR XZ_SKEW_FACTOR YZ_SKEW_FACTOR + */ +//#define SKEW_CORRECTION + +#if ENABLED(SKEW_CORRECTION) + // Input all length measurements here: + #define XY_DIAG_AC 282.8427124746 + #define XY_DIAG_BD 282.8427124746 + #define XY_SIDE_AD 200 + + // Or, set the XY skew factor directly: + //#define XY_SKEW_FACTOR 0.0 + + //#define SKEW_CORRECTION_FOR_Z + #if ENABLED(SKEW_CORRECTION_FOR_Z) + #define XZ_DIAG_AC 282.8427124746 + #define XZ_DIAG_BD 282.8427124746 + #define YZ_DIAG_AC 282.8427124746 + #define YZ_DIAG_BD 282.8427124746 + #define YZ_SIDE_AD 200 + + // Or, set the Z skew factors directly: + //#define XZ_SKEW_FACTOR 0.0 + //#define YZ_SKEW_FACTOR 0.0 + #endif + + // Enable this option for M852 to set skew at runtime + //#define SKEW_CORRECTION_GCODE +#endif + +//============================================================================= +//============================= Additional Features =========================== +//============================================================================= + +// @section eeprom + +/** + * EEPROM + * + * Persistent storage to preserve configurable settings across reboots. + * + * M500 - Store settings to EEPROM. + * M501 - Read settings from EEPROM. (i.e., Throw away unsaved changes) + * M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.) + */ +#define EEPROM_SETTINGS // Persistent storage with M500 and M501 // Ender Configs +//#define DISABLE_M503 // Saves ~2700 bytes of flash. Disable for release! +#define EEPROM_CHITCHAT // Give feedback on EEPROM commands. Disable to save PROGMEM. +#define EEPROM_BOOT_SILENT // Keep M503 quiet and only give errors during first load +#if ENABLED(EEPROM_SETTINGS) + #define EEPROM_AUTO_INIT // Init EEPROM automatically on any errors. // Ender Configs + #define EEPROM_INIT_NOW // Init EEPROM on first boot after a new build. // MRiscoC Reset EEPROM on first boot +#endif + +// @section host + +// +// Host Keepalive +// +// When enabled Marlin will send a busy status message to the host +// every couple of seconds when it can't accept commands. +// +#define HOST_KEEPALIVE_FEATURE // Disable this if your host doesn't like keepalive messages +#define DEFAULT_KEEPALIVE_INTERVAL 2 // Number of seconds between "busy" messages. Set with M113. +#define BUSY_WHILE_HEATING // Some hosts require "busy" messages even during heating + +// @section units + +// +// G20/G21 Inch mode support +// +//#define INCH_MODE_SUPPORT + +// +// M149 Set temperature units support +// +//#define TEMPERATURE_UNITS_SUPPORT + +// @section temperature + +// +// Preheat Constants - Up to 10 are supported without changes +// +#define PREHEAT_1_LABEL "PLA" +#define PREHEAT_1_TEMP_HOTEND 195 +#define PREHEAT_1_TEMP_BED 60 +#define PREHEAT_1_TEMP_CHAMBER 35 +#define PREHEAT_1_FAN_SPEED 128 // Value from 0 to 255 + +#define PREHEAT_2_LABEL "ABS" +#define PREHEAT_2_TEMP_HOTEND 240 +#define PREHEAT_2_TEMP_BED 90 +#define PREHEAT_2_TEMP_CHAMBER 35 +#define PREHEAT_2_FAN_SPEED 128 // Value from 0 to 255 + +#define PREHEAT_3_LABEL "PETG" +#define PREHEAT_3_TEMP_HOTEND 230 +#define PREHEAT_3_TEMP_BED 80 +#define PREHEAT_3_FAN_SPEED 128 + +#define PREHEAT_4_LABEL "CUSTOM" +#define PREHEAT_4_TEMP_HOTEND 190 +#define PREHEAT_4_TEMP_BED 50 +#define PREHEAT_4_FAN_SPEED 128 + +// @section motion + +/** + * Nozzle Park + * + * Park the nozzle at the given XYZ position on idle or G27. + * + * The "P" parameter controls the action applied to the Z axis: + * + * P0 (Default) If Z is below park Z raise the nozzle. + * P1 Raise the nozzle always to Z-park height. + * P2 Raise the nozzle by Z-park amount, limited to Z_MAX_POS. + */ +#define NOZZLE_PARK_FEATURE // MRiscoC Enabled + +#if ENABLED(NOZZLE_PARK_FEATURE) + // Specify a park position as { X, Y, Z_raise } + #define NOZZLE_PARK_POINT { (X_BED_SIZE + 10), (Y_MAX_POS - 10), 20 } + #define NOZZLE_PARK_MOVE 0 // Park motion: 0 = XY Move, 1 = X Only, 2 = Y Only, 3 = X before Y, 4 = Y before X + #define NOZZLE_PARK_Z_RAISE_MIN 0 // (mm) Always raise Z by at least this distance // MRiscoC uses Park Z Raise from 0 to avoid backlash issues + #define NOZZLE_PARK_XY_FEEDRATE 100 // (mm/s) X and Y axes feedrate (also used for delta Z axis) + #define NOZZLE_PARK_Z_FEEDRATE 5 // (mm/s) Z axis feedrate (not used for delta printers) +#endif + +/** + * Clean Nozzle Feature + * + * Adds the G12 command to perform a nozzle cleaning process. + * + * Parameters: + * P Pattern + * S Strokes / Repetitions + * T Triangles (P1 only) + * + * Patterns: + * P0 Straight line (default). This process requires a sponge type material + * at a fixed bed location. "S" specifies strokes (i.e. back-forth motions) + * between the start / end points. + * + * P1 Zig-zag pattern between (X0, Y0) and (X1, Y1), "T" specifies the + * number of zig-zag triangles to do. "S" defines the number of strokes. + * Zig-zags are done in whichever is the narrower dimension. + * For example, "G12 P1 S1 T3" will execute: + * + * -- + * | (X0, Y1) | /\ /\ /\ | (X1, Y1) + * | | / \ / \ / \ | + * A | | / \ / \ / \ | + * | | / \ / \ / \ | + * | (X0, Y0) | / \/ \/ \ | (X1, Y0) + * -- +--------------------------------+ + * |________|_________|_________| + * T1 T2 T3 + * + * P2 Circular pattern with middle at NOZZLE_CLEAN_CIRCLE_MIDDLE. + * "R" specifies the radius. "S" specifies the stroke count. + * Before starting, the nozzle moves to NOZZLE_CLEAN_START_POINT. + * + * Caveats: The ending Z should be the same as starting Z. + */ +//#define NOZZLE_CLEAN_FEATURE + +#if ENABLED(NOZZLE_CLEAN_FEATURE) + // Default number of pattern repetitions + #define NOZZLE_CLEAN_STROKES 12 + + // Default number of triangles + #define NOZZLE_CLEAN_TRIANGLES 3 + + // Specify positions for each tool as { { X, Y, Z }, { X, Y, Z } } + // Dual hotend system may use { { -20, (Y_BED_SIZE / 2), (Z_MIN_POS + 1) }, { 420, (Y_BED_SIZE / 2), (Z_MIN_POS + 1) }} + #define NOZZLE_CLEAN_START_POINT { { 30, 30, (Z_MIN_POS + 1) } } + #define NOZZLE_CLEAN_END_POINT { { 100, 60, (Z_MIN_POS + 1) } } + + // Circular pattern radius + #define NOZZLE_CLEAN_CIRCLE_RADIUS 6.5 + // Circular pattern circle fragments number + #define NOZZLE_CLEAN_CIRCLE_FN 10 + // Middle point of circle + #define NOZZLE_CLEAN_CIRCLE_MIDDLE NOZZLE_CLEAN_START_POINT + + // Move the nozzle to the initial position after cleaning + #define NOZZLE_CLEAN_GOBACK + + // For a purge/clean station that's always at the gantry height (thus no Z move) + //#define NOZZLE_CLEAN_NO_Z + + // For a purge/clean station mounted on the X axis + //#define NOZZLE_CLEAN_NO_Y + + // Require a minimum hotend temperature for cleaning + #define NOZZLE_CLEAN_MIN_TEMP 170 + //#define NOZZLE_CLEAN_HEATUP // Heat up the nozzle instead of skipping wipe + + // Explicit wipe G-code script applies to a G12 with no arguments. + //#define WIPE_SEQUENCE_COMMANDS "G1 X-17 Y25 Z10 F4000\nG1 Z1\nM114\nG1 X-17 Y25\nG1 X-17 Y95\nG1 X-17 Y25\nG1 X-17 Y95\nG1 X-17 Y25\nG1 X-17 Y95\nG1 X-17 Y25\nG1 X-17 Y95\nG1 X-17 Y25\nG1 X-17 Y95\nG1 X-17 Y25\nG1 X-17 Y95\nG1 Z15\nM400\nG0 X-10.0 Y-9.0" + +#endif + +// @section host + +/** + * Print Job Timer + * + * Automatically start and stop the print job timer on M104/M109/M140/M190/M141/M191. + * The print job timer will only be stopped if the bed/chamber target temp is + * below BED_MINTEMP/CHAMBER_MINTEMP. + * + * M104 (hotend, no wait) - high temp = none, low temp = stop timer + * M109 (hotend, wait) - high temp = start timer, low temp = stop timer + * M140 (bed, no wait) - high temp = none, low temp = stop timer + * M190 (bed, wait) - high temp = start timer, low temp = none + * M141 (chamber, no wait) - high temp = none, low temp = stop timer + * M191 (chamber, wait) - high temp = start timer, low temp = none + * + * For M104/M109, high temp is anything over EXTRUDE_MINTEMP / 2. + * For M140/M190, high temp is anything over BED_MINTEMP. + * For M141/M191, high temp is anything over CHAMBER_MINTEMP. + * + * The timer can also be controlled with the following commands: + * + * M75 - Start the print job timer + * M76 - Pause the print job timer + * M77 - Stop the print job timer + */ +#define PRINTJOB_TIMER_AUTOSTART + +// @section stats + +/** + * Print Counter + * + * Track statistical data such as: + * + * - Total print jobs + * - Total successful print jobs + * - Total failed print jobs + * - Total time printing + * + * View the current statistics with M78. + */ +#define PRINTCOUNTER // MRiscoC Enable Print Statistics +#if ENABLED(PRINTCOUNTER) + #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print. A value of 0 will save stats at end of print. +#endif + +// @section security + +/** + * Password + * + * Set a numerical password for the printer which can be requested: + * + * - When the printer boots up + * - Upon opening the 'Print from Media' Menu + * - When SD printing is completed or aborted + * + * The following G-codes can be used: + * + * M510 - Lock Printer. Blocks all commands except M511. + * M511 - Unlock Printer. + * M512 - Set, Change and Remove Password. + * + * If you forget the password and get locked out you'll need to re-flash + * the firmware with the feature disabled, reset EEPROM, and (optionally) + * re-flash the firmware again with this feature enabled. + */ +//#define PASSWORD_FEATURE +#if ENABLED(PASSWORD_FEATURE) + #define PASSWORD_LENGTH 4 // (#) Number of digits (1-9). 3 or 4 is recommended + #define PASSWORD_ON_STARTUP + #define PASSWORD_UNLOCK_GCODE // Unlock with the M511 P command. Disable to prevent brute-force attack. + #define PASSWORD_CHANGE_GCODE // Change the password with M512 P S. + //#define PASSWORD_ON_SD_PRINT_MENU // This does not prevent gcodes from running + //#define PASSWORD_AFTER_SD_PRINT_END + //#define PASSWORD_AFTER_SD_PRINT_ABORT + //#include "Configuration_Secure.h" // External file with PASSWORD_DEFAULT_VALUE +#endif + +//============================================================================= +//============================= LCD and SD support ============================ +//============================================================================= + +// @section interface + +/** + * LCD LANGUAGE + * + * Select the language to display on the LCD. These languages are available: + * + * en, an, bg, ca, cz, da, de, el, el_CY, es, eu, fi, fr, gl, hr, hu, it, + * jp_kana, ko_KR, nl, pl, pt, pt_br, ro, ru, sk, sv, tr, uk, vi, zh_CN, zh_TW + * + * :{ 'en':'English', 'an':'Aragonese', 'bg':'Bulgarian', 'ca':'Catalan', 'cz':'Czech', 'da':'Danish', 'de':'German', 'el':'Greek (Greece)', 'el_CY':'Greek (Cyprus)', 'es':'Spanish', 'eu':'Basque-Euskera', 'fi':'Finnish', 'fr':'French', 'gl':'Galician', 'hr':'Croatian', 'hu':'Hungarian', 'it':'Italian', 'jp_kana':'Japanese', 'ko_KR':'Korean (South Korea)', 'nl':'Dutch', 'pl':'Polish', 'pt':'Portuguese', 'pt_br':'Portuguese (Brazilian)', 'ro':'Romanian', 'ru':'Russian', 'sk':'Slovak', 'sv':'Swedish', 'tr':'Turkish', 'uk':'Ukrainian', 'vi':'Vietnamese', 'zh_CN':'Chinese (Simplified)', 'zh_TW':'Chinese (Traditional)' } + */ +#define LCD_LANGUAGE en + +/** + * LCD Character Set + * + * Note: This option is NOT applicable to Graphical Displays. + * + * All character-based LCDs provide ASCII plus one of these + * language extensions: + * + * - JAPANESE ... the most common + * - WESTERN ... with more accented characters + * - CYRILLIC ... for the Russian language + * + * To determine the language extension installed on your controller: + * + * - Compile and upload with LCD_LANGUAGE set to 'test' + * - Click the controller to view the LCD menu + * - The LCD will display Japanese, Western, or Cyrillic text + * + * See https://marlinfw.org/docs/development/lcd_language.html + * + * :['JAPANESE', 'WESTERN', 'CYRILLIC'] + */ +#define DISPLAY_CHARSET_HD44780 JAPANESE + +/** + * Info Screen Style (0:Classic, 1:Průša) + * + * :[0:'Classic', 1:'Průša'] + */ +#define LCD_INFO_SCREEN_STYLE 0 + +/** + * SD CARD + * + * SD Card support is disabled by default. If your controller has an SD slot, + * you must uncomment the following option or it won't work. + */ +#define SDSUPPORT // Ender Configs + +/** + * SD CARD: ENABLE CRC + * + * Use CRC checks and retries on the SD communication. + */ +//#define SD_CHECK_AND_RETRY + +/** + * LCD Menu Items + * + * Disable all menus and only display the Status Screen, or + * just remove some extraneous menu items to recover space. + */ +//#define NO_LCD_MENUS +//#define SLIM_LCD_MENUS + +// +// ENCODER SETTINGS +// +// This option overrides the default number of encoder pulses needed to +// produce one step. Should be increased for high-resolution encoders. +// +#define ENCODER_PULSES_PER_STEP 4 // Ender Configs + +// +// Use this option to override the number of step signals required to +// move between next/prev menu items. +// +#define ENCODER_STEPS_PER_MENU_ITEM 1 // Ender Configs + +/** + * Encoder Direction Options + * + * Test your encoder's behavior first with both options disabled. + * + * Reversed Value Edit and Menu Nav? Enable REVERSE_ENCODER_DIRECTION. + * Reversed Menu Navigation only? Enable REVERSE_MENU_DIRECTION. + * Reversed Value Editing only? Enable BOTH options. + */ + +// +// This option reverses the encoder direction everywhere. +// +// Set this option if CLOCKWISE causes values to DECREASE +// +//#define REVERSE_ENCODER_DIRECTION + +// +// This option reverses the encoder direction for navigating LCD menus. +// +// If CLOCKWISE normally moves DOWN this makes it go UP. +// If CLOCKWISE normally moves UP this makes it go DOWN. +// +//#define REVERSE_MENU_DIRECTION + +// +// This option reverses the encoder direction for Select Screen. +// +// If CLOCKWISE normally moves LEFT this makes it go RIGHT. +// If CLOCKWISE normally moves RIGHT this makes it go LEFT. +// +//#define REVERSE_SELECT_DIRECTION + +// +// Encoder EMI Noise Filter +// +// This option increases encoder samples to filter out phantom encoder clicks caused by EMI noise. +// +//#define ENCODER_NOISE_FILTER +#if ENABLED(ENCODER_NOISE_FILTER) + #define ENCODER_SAMPLES 10 +#endif + +// +// Individual Axis Homing +// +// Add individual axis homing items (Home X, Home Y, and Home Z) to the LCD menu. +// +//#define INDIVIDUAL_AXIS_HOMING_MENU +#define INDIVIDUAL_AXIS_HOMING_SUBMENU + +// +// SPEAKER/BUZZER +// +// If you have a speaker that can produce tones, enable it here. +// By default Marlin assumes you have a buzzer with a fixed frequency. +// +//#define SPEAKER + +// +// The duration and frequency for the UI feedback sound. +// Set these to 0 to disable audio feedback in the LCD menus. +// +// Note: Test audio output with the G-Code: +// M300 S P +// +#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 2 // Ender Configs +#define LCD_FEEDBACK_FREQUENCY_HZ 5000 // Ender Configs + +//============================================================================= +//======================== LCD / Controller Selection ========================= +//======================== (Character-based LCDs) ========================= +//============================================================================= +// @section lcd + +// +// RepRapDiscount Smart Controller. +// https://reprap.org/wiki/RepRapDiscount_Smart_Controller +// +// Note: Usually sold with a white PCB. +// +//#define REPRAP_DISCOUNT_SMART_CONTROLLER + +// +// GT2560 (YHCB2004) LCD Display +// +// Requires Testato, Koepel softwarewire library and +// Andriy Golovnya's LiquidCrystal_AIP31068 library. +// +//#define YHCB2004 + +// +// Original RADDS LCD Display+Encoder+SDCardReader +// http://doku.radds.org/dokumentation/lcd-display/ +// +//#define RADDS_DISPLAY + +// +// ULTIMAKER Controller. +// +//#define ULTIMAKERCONTROLLER + +// +// ULTIPANEL as seen on Thingiverse. +// +//#define ULTIPANEL + +// +// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3) +// https://reprap.org/wiki/PanelOne +// +//#define PANEL_ONE + +// +// GADGETS3D G3D LCD/SD Controller +// https://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel +// +// Note: Usually sold with a blue PCB. +// +//#define G3D_PANEL + +// +// RigidBot Panel V1.0 +// http://www.inventapart.com/ +// +//#define RIGIDBOT_PANEL + +// +// Makeboard 3D Printer Parts 3D Printer Mini Display 1602 Mini Controller +// https://www.aliexpress.com/item/32765887917.html +// +//#define MAKEBOARD_MINI_2_LINE_DISPLAY_1602 + +// +// ANET and Tronxy 20x4 Controller +// +//#define ZONESTAR_LCD // Requires ADC_KEYPAD_PIN to be assigned to an analog pin. + // This LCD is known to be susceptible to electrical interference + // which scrambles the display. Pressing any button clears it up. + // This is a LCD2004 display with 5 analog buttons. + +// +// Generic 16x2, 16x4, 20x2, or 20x4 character-based LCD. +// +//#define ULTRA_LCD + +//============================================================================= +//======================== LCD / Controller Selection ========================= +//===================== (I2C and Shift-Register LCDs) ===================== +//============================================================================= + +// +// CONTROLLER TYPE: I2C +// +// Note: These controllers require the installation of Arduino's LiquidCrystal_I2C +// library. For more info: https://github.com/kiyoshigawa/LiquidCrystal_I2C +// + +// +// Elefu RA Board Control Panel +// https://web.archive.org/web/20140823033947/http://www.elefu.com/index.php?route=product/product&product_id=53 +// +//#define RA_CONTROL_PANEL + +// +// Sainsmart (YwRobot) LCD Displays +// +// These require F.Malpartida's LiquidCrystal_I2C library +// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home +// +//#define LCD_SAINSMART_I2C_1602 +//#define LCD_SAINSMART_I2C_2004 + +// +// Generic LCM1602 LCD adapter +// +//#define LCM1602 + +// +// PANELOLU2 LCD with status LEDs, +// separate encoder and click inputs. +// +// Note: This controller requires Arduino's LiquidTWI2 library v1.2.3 or later. +// For more info: https://github.com/lincomatic/LiquidTWI2 +// +// Note: The PANELOLU2 encoder click input can either be directly connected to +// a pin (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1). +// +//#define LCD_I2C_PANELOLU2 + +// +// Panucatt VIKI LCD with status LEDs, +// integrated click & L/R/U/D buttons, separate encoder inputs. +// +//#define LCD_I2C_VIKI + +// +// CONTROLLER TYPE: Shift register panels +// + +// +// 2-wire Non-latching LCD SR from https://goo.gl/aJJ4sH +// LCD configuration: https://reprap.org/wiki/SAV_3D_LCD +// +//#define SAV_3DLCD + +// +// 3-wire SR LCD with strobe using 74HC4094 +// https://github.com/mikeshub/SailfishLCD +// Uses the code directly from Sailfish +// +//#define FF_INTERFACEBOARD + +// +// TFT GLCD Panel with Marlin UI +// Panel connected to main board by SPI or I2C interface. +// See https://github.com/Serhiy-K/TFTGLCDAdapter +// +//#define TFTGLCD_PANEL_SPI +//#define TFTGLCD_PANEL_I2C + +//============================================================================= +//======================= LCD / Controller Selection ======================= +//========================= (Graphical LCDs) ======================== +//============================================================================= + +// +// CONTROLLER TYPE: Graphical 128x64 (DOGM) +// +// IMPORTANT: The U8glib library is required for Graphical Display! +// https://github.com/olikraus/U8glib_Arduino +// +// NOTE: If the LCD is unresponsive you may need to reverse the plugs. +// + +// +// RepRapDiscount FULL GRAPHIC Smart Controller +// https://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller +// +//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER + +// +// K.3D Full Graphic Smart Controller +// +//#define K3D_FULL_GRAPHIC_SMART_CONTROLLER + +// +// ReprapWorld Graphical LCD +// https://reprapworld.com/electronics/3d-printer-modules/autonomous-printing/graphical-lcd-screen-v1-0/ +// +//#define REPRAPWORLD_GRAPHICAL_LCD + +// +// Activate one of these if you have a Panucatt Devices +// Viki 2.0 or mini Viki with Graphic LCD +// https://www.panucatt.com +// +//#define VIKI2 +//#define miniVIKI + +// +// Alfawise Ex8 printer LCD marked as WYH L12864 COG +// +//#define WYH_L12864 + +// +// MakerLab Mini Panel with graphic +// controller and SD support - https://reprap.org/wiki/Mini_panel +// +//#define MINIPANEL + +// +// MaKr3d Makr-Panel with graphic controller and SD support. +// https://reprap.org/wiki/MaKr3d_MaKrPanel +// +//#define MAKRPANEL + +// +// Adafruit ST7565 Full Graphic Controller. +// https://github.com/eboston/Adafruit-ST7565-Full-Graphic-Controller/ +// +//#define ELB_FULL_GRAPHIC_CONTROLLER + +// +// BQ LCD Smart Controller shipped by +// default with the BQ Hephestos 2 and Witbox 2. +// +//#define BQ_LCD_SMART_CONTROLLER + +// +// Cartesio UI +// http://mauk.cc/webshop/cartesio-shop/electronics/user-interface +// +//#define CARTESIO_UI + +// +// LCD for Melzi Card with Graphical LCD +// +//#define LCD_FOR_MELZI + +// +// Original Ulticontroller from Ultimaker 2 printer with SSD1309 I2C display and encoder +// https://github.com/Ultimaker/Ultimaker2/tree/master/1249_Ulticontroller_Board_(x1) +// +//#define ULTI_CONTROLLER + +// +// MKS MINI12864 with graphic controller and SD support +// https://reprap.org/wiki/MKS_MINI_12864 +// +//#define MKS_MINI_12864 + +// +// MKS MINI12864 V3 is an alias for FYSETC_MINI_12864_2_1. Type A/B. NeoPixel RGB Backlight. +// +//#define MKS_MINI_12864_V3 + +// +// MKS LCD12864A/B with graphic controller and SD support. Follows MKS_MINI_12864 pinout. +// https://www.aliexpress.com/item/33018110072.html +// +//#define MKS_LCD12864A +//#define MKS_LCD12864B + +// +// FYSETC variant of the MINI12864 graphic controller with SD support +// https://wiki.fysetc.com/Mini12864_Panel/ +// +//#define FYSETC_MINI_12864_X_X // Type C/D/E/F. No tunable RGB Backlight by default +//#define FYSETC_MINI_12864_1_2 // Type C/D/E/F. Simple RGB Backlight (always on) +//#define FYSETC_MINI_12864_2_0 // Type A/B. Discreet RGB Backlight +//#define FYSETC_MINI_12864_2_1 // Type A/B. NeoPixel RGB Backlight +//#define FYSETC_GENERIC_12864_1_1 // Larger display with basic ON/OFF backlight. + +// +// BigTreeTech Mini 12864 V1.0 is an alias for FYSETC_MINI_12864_2_1. Type A/B. NeoPixel RGB Backlight. +// +//#define BTT_MINI_12864_V1 + +// +// Factory display for Creality CR-10 +// https://www.aliexpress.com/item/32833148327.html +// +// This is RAMPS-compatible using a single 10-pin connector. +// (For CR-10 owners who want to replace the Melzi Creality board but retain the display) +// +//#define CR10_STOCKDISPLAY + +// +// Ender-2 OEM display, a variant of the MKS_MINI_12864 +// +//#define ENDER2_STOCKDISPLAY + +// +// ANET and Tronxy Graphical Controller +// +// Anet 128x64 full graphics lcd with rotary encoder as used on Anet A6 +// A clone of the RepRapDiscount full graphics display but with +// different pins/wiring (see pins_ANET_10.h). Enable one of these. +// +//#define ANET_FULL_GRAPHICS_LCD +//#define ANET_FULL_GRAPHICS_LCD_ALT_WIRING + +// +// AZSMZ 12864 LCD with SD +// https://www.aliexpress.com/item/32837222770.html +// +//#define AZSMZ_12864 + +// +// Silvergate GLCD controller +// https://github.com/android444/Silvergate +// +//#define SILVER_GATE_GLCD_CONTROLLER + +// +// eMotion Tech LCD with SD +// https://www.reprap-france.com/produit/1234568748-ecran-graphique-128-x-64-points-2-1 +// +//#define EMOTION_TECH_LCD + +//============================================================================= +//============================== OLED Displays ============================== +//============================================================================= + +// +// SSD1306 OLED full graphics generic display +// +//#define U8GLIB_SSD1306 + +// +// SAV OLEd LCD module support using either SSD1306 or SH1106 based LCD modules +// +//#define SAV_3DGLCD +#if ENABLED(SAV_3DGLCD) + #define U8GLIB_SSD1306 + //#define U8GLIB_SH1106 +#endif + +// +// TinyBoy2 128x64 OLED / Encoder Panel +// +//#define OLED_PANEL_TINYBOY2 + +// +// MKS OLED 1.3" 128×64 Full Graphics Controller +// https://reprap.org/wiki/MKS_12864OLED +// +// Tiny, but very sharp OLED display +// +//#define MKS_12864OLED // Uses the SH1106 controller (default) +//#define MKS_12864OLED_SSD1306 // Uses the SSD1306 controller + +// +// Zonestar OLED 128×64 Full Graphics Controller +// +//#define ZONESTAR_12864LCD // Graphical (DOGM) with ST7920 controller +//#define ZONESTAR_12864OLED // 1.3" OLED with SH1106 controller (default) +//#define ZONESTAR_12864OLED_SSD1306 // 0.96" OLED with SSD1306 controller + +// +// Einstart S OLED SSD1306 +// +//#define U8GLIB_SH1106_EINSTART + +// +// Overlord OLED display/controller with i2c buzzer and LEDs +// +//#define OVERLORD_OLED + +// +// FYSETC OLED 2.42" 128×64 Full Graphics Controller with WS2812 RGB +// Where to find : https://www.aliexpress.com/item/4000345255731.html +//#define FYSETC_242_OLED_12864 // Uses the SSD1309 controller + +// +// K.3D SSD1309 OLED 2.42" 128×64 Full Graphics Controller +// +//#define K3D_242_OLED_CONTROLLER // Software SPI + +//============================================================================= +//========================== Extensible UI Displays =========================== +//============================================================================= + +/** + * DGUS Touch Display with DWIN OS. (Choose one.) + * + * ORIGIN (Marlin DWIN_SET) + * - Download https://github.com/coldtobi/Marlin_DGUS_Resources + * - Copy the downloaded DWIN_SET folder to the SD card. + * - Product: https://www.aliexpress.com/item/32993409517.html + * + * FYSETC (Supplier default) + * - Download https://github.com/FYSETC/FYSTLCD-2.0 + * - Copy the downloaded SCREEN folder to the SD card. + * - Product: https://www.aliexpress.com/item/32961471929.html + * + * HIPRECY (Supplier default) + * - Download https://github.com/HiPrecy/Touch-Lcd-LEO + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * MKS (MKS-H43) (Supplier default) + * - Download https://github.com/makerbase-mks/MKS-H43 + * - Copy the downloaded DWIN_SET folder to the SD card. + * - Product: https://www.aliexpress.com/item/1005002008179262.html + * + * RELOADED (T5UID1) + * - Download https://github.com/Desuuuu/DGUS-reloaded/releases + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * IA_CREALITY (T5UID1) + * - Download https://github.com/InsanityAutomation/Marlin/raw/CrealityDwin_2.0/TM3D_Combined480272_Landscape_V7.7z + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * Flash display with DGUS Displays for Marlin: + * - Format the SD card to FAT32 with an allocation size of 4kb. + * - Download files as specified for your type of display. + * - Plug the microSD card into the back of the display. + * - Boot the display and wait for the update to complete. + */ +//#define DGUS_LCD_UI ORIGIN +#if DGUS_UI_IS(MKS) + #define USE_MKS_GREEN_UI +#elif DGUS_UI_IS(IA_CREALITY) + //#define LCD_SCREEN_ROTATE 90 // Portrait Mode or 800x480 displays +#endif + +// +// Touch-screen LCD for Malyan M200/M300 printers +// +//#define MALYAN_LCD + +// +// Touch UI for FTDI EVE (FT800/FT810) displays +// See Configuration_adv.h for all configuration options. +// +//#define TOUCH_UI_FTDI_EVE + +// +// Touch-screen LCD for Anycubic printers +// +//#define ANYCUBIC_LCD_I3MEGA +//#define ANYCUBIC_LCD_CHIRON +#if EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON) + //#define ANYCUBIC_LCD_DEBUG + //#define ANYCUBIC_LCD_GCODE_EXT // Add ".gcode" to menu entries for DGUS clone compatibility +#endif + +// +// 320x240 Nextion 2.8" serial TFT Resistive Touch Screen NX3224T028 +// +//#define NEXTION_TFT + +// +// Third-party or vendor-customized controller interfaces. +// Sources should be installed in 'src/lcd/extui'. +// +//#define EXTENSIBLE_UI + +#if ENABLED(EXTENSIBLE_UI) + //#define EXTUI_LOCAL_BEEPER // Enables use of local Beeper pin with external display +#endif + +//============================================================================= +//=============================== Graphical TFTs ============================== +//============================================================================= + +/** + * Specific TFT Model Presets. Enable one of the following options + * or enable TFT_GENERIC and set sub-options. + */ + +// +// 480x320, 3.5", SPI Display with Rotary Encoder from MKS +// Usually paired with MKS Robin Nano V2 & V3 +// +//#define MKS_TS35_V2_0 + +// +// 320x240, 2.4", FSMC Display From MKS +// Usually paired with MKS Robin Nano V1.2 +// +//#define MKS_ROBIN_TFT24 + +// +// 320x240, 2.8", FSMC Display From MKS +// Usually paired with MKS Robin Nano V1.2 +// +//#define MKS_ROBIN_TFT28 + +// +// 320x240, 3.2", FSMC Display From MKS +// Usually paired with MKS Robin Nano V1.2 +// +//#define MKS_ROBIN_TFT32 + +// +// 480x320, 3.5", FSMC Display From MKS +// Usually paired with MKS Robin Nano V1.2 +// +//#define MKS_ROBIN_TFT35 + +// +// 480x272, 4.3", FSMC Display From MKS +// +//#define MKS_ROBIN_TFT43 + +// +// 320x240, 3.2", FSMC Display From MKS +// Usually paired with MKS Robin +// +//#define MKS_ROBIN_TFT_V1_1R + +// +// 480x320, 3.5", FSMC Stock Display from Tronxy +// +//#define TFT_TRONXY_X5SA + +// +// 480x320, 3.5", FSMC Stock Display from AnyCubic +// +//#define ANYCUBIC_TFT35 + +// +// 320x240, 2.8", FSMC Stock Display from Longer/Alfawise +// +//#define LONGER_LK_TFT28 + +// +// 320x240, 2.8", FSMC Stock Display from ET4 +// +//#define ANET_ET4_TFT28 + +// +// 480x320, 3.5", FSMC Stock Display from ET5 +// +//#define ANET_ET5_TFT35 + +// +// 1024x600, 7", RGB Stock Display with Rotary Encoder from BIQU-BX +// +//#define BIQU_BX_TFT70 + +// +// 480x320, 3.5", SPI Stock Display with Rotary Encoder from BIQU B1 SE Series +// +//#define BTT_TFT35_SPI_V1_0 + +// +// Generic TFT with detailed options +// +//#define TFT_GENERIC +#if ENABLED(TFT_GENERIC) + // :[ 'AUTO', 'ST7735', 'ST7789', 'ST7796', 'R61505', 'ILI9328', 'ILI9341', 'ILI9488' ] + #define TFT_DRIVER AUTO + + // Interface. Enable one of the following options: + //#define TFT_INTERFACE_FSMC + //#define TFT_INTERFACE_SPI + + // TFT Resolution. Enable one of the following options: + //#define TFT_RES_320x240 + //#define TFT_RES_480x272 + //#define TFT_RES_480x320 + //#define TFT_RES_1024x600 +#endif + +/** + * TFT UI - User Interface Selection. Enable one of the following options: + * + * TFT_CLASSIC_UI - Emulated DOGM - 128x64 Upscaled + * TFT_COLOR_UI - Marlin Default Menus, Touch Friendly, using full TFT capabilities + * TFT_LVGL_UI - A Modern UI using LVGL + * + * For LVGL_UI also copy the 'assets' folder from the build directory to the + * root of your SD card, together with the compiled firmware. + */ +//#define TFT_CLASSIC_UI +//#define TFT_COLOR_UI +//#define TFT_LVGL_UI + +#if ENABLED(TFT_COLOR_UI) + /** + * TFT Font for Color_UI. Choose one of the following: + * + * NOTOSANS - Default font with antialiasing. Supports Latin Extended and non-Latin characters. + * UNIFONT - Lightweight font, no antialiasing. Supports Latin Extended and non-Latin characters. + * HELVETICA - Lightweight font, no antialiasing. Supports Basic Latin (0x0020-0x007F) and Latin-1 Supplement (0x0080-0x00FF) characters only. + */ + #define TFT_FONT NOTOSANS + + //#define TFT_SHARED_SPI // SPI is shared between TFT display and other devices. Disable async data transfer +#endif + +#if ENABLED(TFT_LVGL_UI) + //#define MKS_WIFI_MODULE // MKS WiFi module +#endif + +/** + * TFT Rotation. Set to one of the following values: + * + * TFT_ROTATE_90, TFT_ROTATE_90_MIRROR_X, TFT_ROTATE_90_MIRROR_Y, + * TFT_ROTATE_180, TFT_ROTATE_180_MIRROR_X, TFT_ROTATE_180_MIRROR_Y, + * TFT_ROTATE_270, TFT_ROTATE_270_MIRROR_X, TFT_ROTATE_270_MIRROR_Y, + * TFT_MIRROR_X, TFT_MIRROR_Y, TFT_NO_ROTATION + */ +//#define TFT_ROTATION TFT_NO_ROTATION + +//============================================================================= +//============================ Other Controllers ============================ +//============================================================================= + +// +// Ender-3 v2 OEM display. A DWIN display with Rotary Encoder. +// +//#define DWIN_CREALITY_LCD // Creality UI +#define DWIN_LCD_PROUI // Pro UI by MRiscoC +#define USE_STOCK_DWIN_SET + +// Professional firmware features: +#define ProUIex 1 +#if ProUIex + #define HAS_GCODE_PREVIEW 1 + #define HAS_TOOLBAR 1 +#endif +#define HAS_PLOT 1 +#define HAS_ESDIAG 1 +#define HAS_CGCODE 1 +#define HAS_LOCKSCREEN 1 +//#define HAS_SD_EXTENDER 1 // Enable to support SD card extender cables +#define MESH_EDIT_MENU +#define SHOW_REAL_POS +//#define ACTIVATE_MESH_ITEM // Allows temporary enabling of mesh leveling +#define RUNOUT_TUNE_ITEM +#define PLR_TUNE_ITEM +//#define JD_TUNE_ITEM // Enable only if Juntion Deviation is enabled +//#define ADVK_TUNE_ITEM // Enable only if Linear Advance is enabled +//#define MEDIASORT_MENU_ITEM // Allows enable/disable file list sorting + +//#define DWIN_CREALITY_LCD_JYERSUI // Jyers UI by Jacob Myers +//#define DWIN_MARLINUI_PORTRAIT // MarlinUI (portrait orientation) +//#define DWIN_MARLINUI_LANDSCAPE // MarlinUI (landscape orientation) + +// +// Touch Screen Settings +// +//#define TOUCH_SCREEN +#if ENABLED(TOUCH_SCREEN) + #define BUTTON_DELAY_EDIT 50 // (ms) Button repeat delay for edit screens + #define BUTTON_DELAY_MENU 250 // (ms) Button repeat delay for menus + + //#define DISABLE_ENCODER // Disable the click encoder, if any + //#define TOUCH_IDLE_SLEEP_MINS 5 // (minutes) Display Sleep after a period of inactivity. Set with M255 S. + + #define TOUCH_SCREEN_CALIBRATION + + //#define TOUCH_CALIBRATION_X 12316 + //#define TOUCH_CALIBRATION_Y -8981 + //#define TOUCH_OFFSET_X -43 + //#define TOUCH_OFFSET_Y 257 + //#define TOUCH_ORIENTATION TOUCH_LANDSCAPE + + #if BOTH(TOUCH_SCREEN_CALIBRATION, EEPROM_SETTINGS) + #define TOUCH_CALIBRATION_AUTO_SAVE // Auto save successful calibration values to EEPROM + #endif + + #if ENABLED(TFT_COLOR_UI) + //#define SINGLE_TOUCH_NAVIGATION + #endif +#endif + +// +// RepRapWorld REPRAPWORLD_KEYPAD v1.1 +// https://reprapworld.com/products/electronics/ramps/keypad_v1_0_fully_assembled/ +// +//#define REPRAPWORLD_KEYPAD +//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // (mm) Distance to move per key-press + +// +// EasyThreeD ET-4000+ with button input and status LED +// +//#define EASYTHREED_UI + +//============================================================================= +//=============================== Extra Features ============================== +//============================================================================= + +// @section fans + +// Set number of user-controlled fans. Disable to use all board-defined fans. +// :[1,2,3,4,5,6,7,8] +//#define NUM_M106_FANS 1 + +// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency +// which is not as annoying as with the hardware PWM. On the other hand, if this frequency +// is too low, you should also increment SOFT_PWM_SCALE. +#define FAN_SOFT_PWM // Ender Configs + +// Incrementing this by 1 will double the software PWM frequency, +// affecting heaters, and the fan if FAN_SOFT_PWM is enabled. +// However, control resolution will be halved for each increment; +// at zero value, there are 128 effective control positions. +// :[0,1,2,3,4,5,6,7] +#define SOFT_PWM_SCALE 0 + +// If SOFT_PWM_SCALE is set to a value higher than 0, dithering can +// be used to mitigate the associated resolution loss. If enabled, +// some of the PWM cycles are stretched so on average the desired +// duty cycle is attained. +//#define SOFT_PWM_DITHER + +// @section extras + +// Support for the BariCUDA Paste Extruder +//#define BARICUDA + +// @section lights + +// Temperature status LEDs that display the hotend and bed temperature. +// If all hotends, bed temperature, and target temperature are under 54C +// then the BLUE led is on. Otherwise the RED led is on. (1C hysteresis) +//#define TEMP_STAT_LEDS + +// Support for BlinkM/CyzRgb +//#define BLINKM + +// Support for PCA9632 PWM LED driver +//#define PCA9632 + +// Support for PCA9533 PWM LED driver +//#define PCA9533 + +/** + * RGB LED / LED Strip Control + * + * Enable support for an RGB LED connected to 5V digital pins, or + * an RGB Strip connected to MOSFETs controlled by digital pins. + * + * Adds the M150 command to set the LED (or LED strip) color. + * If pins are PWM capable (e.g., 4, 5, 6, 11) then a range of + * luminance values can be set from 0 to 255. + * For NeoPixel LED an overall brightness parameter is also available. + * + * === CAUTION === + * LED Strips require a MOSFET Chip between PWM lines and LEDs, + * as the Arduino cannot handle the current the LEDs will require. + * Failure to follow this precaution can destroy your Arduino! + * + * NOTE: A separate 5V power supply is required! The NeoPixel LED needs + * more current than the Arduino 5V linear regulator can produce. + * + * Requires PWM frequency between 50 <> 100Hz (Check HAL or variant) + * Use FAST_PWM_FAN, if possible, to reduce fan noise. + */ + +// LED Type. Enable only one of the following two options: +//#define RGB_LED +//#define RGBW_LED + +#if EITHER(RGB_LED, RGBW_LED) + //#define RGB_LED_R_PIN 34 + //#define RGB_LED_G_PIN 43 + //#define RGB_LED_B_PIN 35 + //#define RGB_LED_W_PIN -1 +#endif + +#if ANY(RGB_LED, RGBW_LED, PCA9632) + //#define RGB_STARTUP_TEST // For PWM pins, fade between all colors + #if ENABLED(RGB_STARTUP_TEST) + #define RGB_STARTUP_TEST_INNER_MS 10 // (ms) Reduce or increase fading speed + #endif +#endif + +// Support for Adafruit NeoPixel LED driver +//#define NEOPIXEL_LED +#if ENABLED(NEOPIXEL_LED) + #define NEOPIXEL_TYPE NEO_GRBW // NEO_GRBW, NEO_RGBW, NEO_GRB, NEO_RBG, etc. + // See https://github.com/adafruit/Adafruit_NeoPixel/blob/master/Adafruit_NeoPixel.h + #define NEOPIXEL_PIN PA13 // LED driving pin + //#define NEOPIXEL2_TYPE NEOPIXEL_TYPE + //#define NEOPIXEL2_PIN 5 + #define NEOPIXEL_PIXELS 30 // Number of LEDs in the strip. (Longest strip when NEOPIXEL2_SEPARATE is disabled.) + #define NEOPIXEL_IS_SEQUENTIAL // Sequential display for temperature change - LED by LED. Disable to change all LEDs at once. + #define NEOPIXEL_BRIGHTNESS 127 // Initial brightness (0-255) + //#define NEOPIXEL_STARTUP_TEST // Cycle through colors at startup + + // Support for second Adafruit NeoPixel LED driver controlled with M150 S1 ... + //#define NEOPIXEL2_SEPARATE + #if ENABLED(NEOPIXEL2_SEPARATE) + #define NEOPIXEL2_PIXELS 15 // Number of LEDs in the second strip + #define NEOPIXEL2_BRIGHTNESS 127 // Initial brightness (0-255) + #define NEOPIXEL2_STARTUP_TEST // Cycle through colors at startup + #define NEOPIXEL_M150_DEFAULT -1 // Default strip for M150 without 'S'. Use -1 to set all by default. + #else + //#define NEOPIXEL2_INSERIES // Default behavior is NeoPixel 2 in parallel + #endif + + // Use some of the NeoPixel LEDs for static (background) lighting + //#define NEOPIXEL_BKGD_INDEX_FIRST 0 // Index of the first background LED + //#define NEOPIXEL_BKGD_INDEX_LAST 5 // Index of the last background LED + //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 } // R, G, B, W + //#define NEOPIXEL_BKGD_TIMEOUT_COLOR { 25, 25, 25, 0 } // R, G, B, W + //#define NEOPIXEL_BKGD_ALWAYS_ON // Keep the backlight on when other NeoPixels are off +#endif + +/** + * Printer Event LEDs + * + * During printing, the LEDs will reflect the printer status: + * + * - Gradually change from blue to violet as the heated bed gets to target temp + * - Gradually change from violet to red as the hotend gets to temperature + * - Change to white to illuminate work surface + * - Change to green once print has finished + * - Turn off after the print has finished and the user has pushed a button + */ +#if ANY(BLINKM, RGB_LED, RGBW_LED, PCA9632, PCA9533, NEOPIXEL_LED) + #define PRINTER_EVENT_LEDS +#endif + +// @section servos + +/** + * Number of servos + * + * For some servo-related options NUM_SERVOS will be set automatically. + * Set this manually if there are extra servos needing manual control. + * Set to 0 to turn off servo support. + */ +//#define NUM_SERVOS 3 // Note: Servo index starts with 0 for M280-M282 commands + +// (ms) Delay before the next move will start, to give the servo time to reach its target angle. +// 300ms is a good value but you can try less delay. +// If the servo can't reach the requested position, increase it. +#define SERVO_DELAY { 300 } + +// Only power servos during movement, otherwise leave off to prevent jitter +//#define DEACTIVATE_SERVOS_AFTER_MOVE + +// Edit servo angles with M281 and save to EEPROM with M500 +//#define EDITABLE_SERVO_ANGLES + +// Disable servo with M282 to reduce power consumption, noise, and heat when not in use +//#define SERVO_DETACH_GCODE diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h new file mode 100644 index 0000000000..5ce15a7a35 --- /dev/null +++ b/Marlin/Configuration_adv.h @@ -0,0 +1,4269 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Created by configs generator for Professional firmware +// https://github.com/mriscoc/Ender3V2S1 + +/** + * Configuration_adv.h + * + * Advanced settings. + * Only change these if you know exactly what you're doing. + * Some of these settings can damage your printer if improperly set! + * + * Basic settings can be found in Configuration.h + */ +#define CONFIGURATION_ADV_H_VERSION 02010300 + +// @section develop + +/** + * Configuration Export + * + * Export the configuration as part of the build. (See signature.py) + * Output files are saved with the build (e.g., .pio/build/mega2560). + * + * See `build_all_examples --ini` as an example of config.ini archiving. + * + * 1 = marlin_config.json - Dictionary containing the configuration. + * This file is also generated for CONFIGURATION_EMBEDDING. + * 2 = config.ini - File format for PlatformIO preprocessing. + * 3 = schema.json - The entire configuration schema. (13 = pattern groups) + * 4 = schema.yml - The entire configuration schema. + */ +//#define CONFIG_EXPORT 2 // :[1:'JSON', 2:'config.ini', 3:'schema.json', 4:'schema.yml'] + +//=========================================================================== +//============================= Thermal Settings ============================ +//=========================================================================== +// @section temperature + +/** + * Thermocouple sensors are quite sensitive to noise. Any noise induced in + * the sensor wires, such as by stepper motor wires run in parallel to them, + * may result in the thermocouple sensor reporting spurious errors. This + * value is the number of errors which can occur in a row before the error + * is reported. This allows us to ignore intermittent error conditions while + * still detecting an actual failure, which should result in a continuous + * stream of errors from the sensor. + * + * Set this value to 0 to fail on the first error to occur. + */ +#define THERMOCOUPLE_MAX_ERRORS 15 + +// +// Custom Thermistor 1000 parameters +// +#if TEMP_SENSOR_0 == 1000 + #define HOTEND0_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND0_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND0_BETA 3950 // Beta value + #define HOTEND0_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_1 == 1000 + #define HOTEND1_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND1_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND1_BETA 3950 // Beta value + #define HOTEND1_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_2 == 1000 + #define HOTEND2_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND2_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND2_BETA 3950 // Beta value + #define HOTEND2_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_3 == 1000 + #define HOTEND3_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND3_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND3_BETA 3950 // Beta value + #define HOTEND3_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_4 == 1000 + #define HOTEND4_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND4_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND4_BETA 3950 // Beta value + #define HOTEND4_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_5 == 1000 + #define HOTEND5_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND5_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND5_BETA 3950 // Beta value + #define HOTEND5_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_6 == 1000 + #define HOTEND6_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND6_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND6_BETA 3950 // Beta value + #define HOTEND6_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_7 == 1000 + #define HOTEND7_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define HOTEND7_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define HOTEND7_BETA 3950 // Beta value + #define HOTEND7_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_BED == 1000 + #define BED_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define BED_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define BED_BETA 3950 // Beta value + #define BED_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_CHAMBER == 1000 + #define CHAMBER_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define CHAMBER_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define CHAMBER_BETA 3950 // Beta value + #define CHAMBER_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_COOLER == 1000 + #define COOLER_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define COOLER_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define COOLER_BETA 3950 // Beta value + #define COOLER_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_PROBE == 1000 + #define PROBE_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define PROBE_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define PROBE_BETA 3950 // Beta value + #define PROBE_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_BOARD == 1000 + #define BOARD_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define BOARD_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define BOARD_BETA 3950 // Beta value + #define BOARD_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +#if TEMP_SENSOR_REDUNDANT == 1000 + #define REDUNDANT_PULLUP_RESISTOR_OHMS 4700 // Pullup resistor + #define REDUNDANT_RESISTANCE_25C_OHMS 100000 // Resistance at 25C + #define REDUNDANT_BETA 3950 // Beta value + #define REDUNDANT_SH_C_COEFF 0 // Steinhart-Hart C coefficient +#endif + +/** + * Thermocouple Options — for MAX6675 (-2), MAX31855 (-3), and MAX31865 (-5). + */ +//#define TEMP_SENSOR_FORCE_HW_SPI // Ignore SCK/MOSI/MISO pins; use CS and the default SPI bus. +//#define MAX31865_SENSOR_WIRES_0 2 // (2-4) Number of wires for the probe connected to a MAX31865 board. +//#define MAX31865_SENSOR_WIRES_1 2 +//#define MAX31865_SENSOR_WIRES_2 2 + +//#define MAX31865_50HZ_FILTER // Use a 50Hz filter instead of the default 60Hz. +//#define MAX31865_USE_READ_ERROR_DETECTION // Treat value spikes (20°C delta in under 1s) as read errors. + +//#define MAX31865_USE_AUTO_MODE // Read faster and more often than 1-shot; bias voltage always on; slight effect on RTD temperature. +//#define MAX31865_MIN_SAMPLING_TIME_MSEC 100 // (ms) 1-shot: minimum read interval. Reduces bias voltage effects by leaving sensor unpowered for longer intervals. +//#define MAX31865_IGNORE_INITIAL_FAULTY_READS 10 // Ignore some read faults (keeping the temperature reading) to work around a possible issue (#23439). + +//#define MAX31865_WIRE_OHMS_0 0.95f // For 2-wire, set the wire resistances for more accurate readings. +//#define MAX31865_WIRE_OHMS_1 0.0f +//#define MAX31865_WIRE_OHMS_2 0.0f + +/** + * Hephestos 2 24V heated bed upgrade kit. + * https://store.bq.com/en/heated-bed-kit-hephestos2 + */ +//#define HEPHESTOS2_HEATED_BED_KIT +#if ENABLED(HEPHESTOS2_HEATED_BED_KIT) + #undef TEMP_SENSOR_BED + #define TEMP_SENSOR_BED 70 + #define HEATER_BED_INVERTING true +#endif + +// +// Heated Bed Bang-Bang options +// +#if DISABLED(PIDTEMPBED) + #define BED_CHECK_INTERVAL 5000 // (ms) Interval between checks in bang-bang control + #if ENABLED(BED_LIMIT_SWITCHING) + #define BED_HYSTERESIS 2 // (°C) Only set the relevant heater state when ABS(T-target) > BED_HYSTERESIS + #endif +#endif + +// +// Heated Chamber options +// +#if DISABLED(PIDTEMPCHAMBER) + #define CHAMBER_CHECK_INTERVAL 5000 // (ms) Interval between checks in bang-bang control + #if ENABLED(CHAMBER_LIMIT_SWITCHING) + #define CHAMBER_HYSTERESIS 2 // (°C) Only set the relevant heater state when ABS(T-target) > CHAMBER_HYSTERESIS + #endif +#endif + +#if TEMP_SENSOR_CHAMBER + //#define HEATER_CHAMBER_PIN P2_04 // Required heater on/off pin (example: SKR 1.4 Turbo HE1 plug) + //#define HEATER_CHAMBER_INVERTING false + //#define FAN1_PIN -1 // Remove the fan signal on pin P2_04 (example: SKR 1.4 Turbo HE1 plug) + + //#define CHAMBER_FAN // Enable a fan on the chamber + #if ENABLED(CHAMBER_FAN) + //#define CHAMBER_FAN_INDEX 2 // Index of a fan to repurpose as the chamber fan. (Default: first unused fan) + #define CHAMBER_FAN_MODE 2 // Fan control mode: 0=Static; 1=Linear increase when temp is higher than target; 2=V-shaped curve; 3=similar to 1 but fan is always on. + #if CHAMBER_FAN_MODE == 0 + #define CHAMBER_FAN_BASE 255 // Chamber fan PWM (0-255) + #elif CHAMBER_FAN_MODE == 1 + #define CHAMBER_FAN_BASE 128 // Base chamber fan PWM (0-255); turns on when chamber temperature is above the target + #define CHAMBER_FAN_FACTOR 25 // PWM increase per °C above target + #elif CHAMBER_FAN_MODE == 2 + #define CHAMBER_FAN_BASE 128 // Minimum chamber fan PWM (0-255) + #define CHAMBER_FAN_FACTOR 25 // PWM increase per °C difference from target + #elif CHAMBER_FAN_MODE == 3 + #define CHAMBER_FAN_BASE 128 // Base chamber fan PWM (0-255) + #define CHAMBER_FAN_FACTOR 25 // PWM increase per °C above target + #endif + #endif + + //#define CHAMBER_VENT // Enable a servo-controlled vent on the chamber + #if ENABLED(CHAMBER_VENT) + #define CHAMBER_VENT_SERVO_NR 1 // Index of the vent servo + #define HIGH_EXCESS_HEAT_LIMIT 5 // How much above target temp to consider there is excess heat in the chamber + #define LOW_EXCESS_HEAT_LIMIT 3 + #define MIN_COOLING_SLOPE_TIME_CHAMBER_VENT 20 + #define MIN_COOLING_SLOPE_DEG_CHAMBER_VENT 1.5 + #endif +#endif + +// +// Laser Cooler options +// +#if TEMP_SENSOR_COOLER + #define COOLER_MINTEMP 8 // (°C) + #define COOLER_MAXTEMP 26 // (°C) + #define COOLER_DEFAULT_TEMP 16 // (°C) + #define TEMP_COOLER_HYSTERESIS 1 // (°C) Temperature proximity considered "close enough" to the target + #define COOLER_PIN 8 // Laser cooler on/off pin used to control power to the cooling element (e.g., TEC, External chiller via relay) + #define COOLER_INVERTING false + #define TEMP_COOLER_PIN 15 // Laser/Cooler temperature sensor pin. ADC is required. + #define COOLER_FAN // Enable a fan on the cooler, Fan# 0,1,2,3 etc. + #define COOLER_FAN_INDEX 0 // FAN number 0, 1, 2 etc. e.g. + #if ENABLED(COOLER_FAN) + #define COOLER_FAN_BASE 100 // Base Cooler fan PWM (0-255); turns on when Cooler temperature is above the target + #define COOLER_FAN_FACTOR 25 // PWM increase per °C above target + #endif +#endif + +// +// Motherboard Sensor options +// +#if TEMP_SENSOR_BOARD + #define THERMAL_PROTECTION_BOARD // Halt the printer if the board sensor leaves the temp range below. + #define BOARD_MINTEMP 8 // (°C) + #define BOARD_MAXTEMP 70 // (°C) + #ifndef TEMP_BOARD_PIN + //#define TEMP_BOARD_PIN -1 // Board temp sensor pin, if not set in pins file. + #endif +#endif + +/** + * Thermal Protection provides additional protection to your printer from damage + * and fire. Marlin always includes safe min and max temperature ranges which + * protect against a broken or disconnected thermistor wire. + * + * The issue: If a thermistor falls out, it will report the much lower + * temperature of the air in the room, and the the firmware will keep + * the heater on. + * + * The solution: Once the temperature reaches the target, start observing. + * If the temperature stays too far below the target (hysteresis) for too + * long (period), the firmware will halt the machine as a safety precaution. + * + * If you get false positives for "Thermal Runaway", increase + * THERMAL_PROTECTION_HYSTERESIS and/or THERMAL_PROTECTION_PERIOD + */ +#if ENABLED(THERMAL_PROTECTION_HOTENDS) + #define THERMAL_PROTECTION_PERIOD 40 // Seconds + #define THERMAL_PROTECTION_HYSTERESIS 4 // Degrees Celsius + + //#define ADAPTIVE_FAN_SLOWING // Slow part cooling fan if temperature drops + #if ENABLED(ADAPTIVE_FAN_SLOWING) && EITHER(MPCTEMP, PIDTEMP) + //#define TEMP_TUNING_MAINTAIN_FAN // Don't slow fan speed during M303 or M306 T + #endif + + /** + * Whenever an M104, M109, or M303 increases the target temperature, the + * firmware will wait for the WATCH_TEMP_PERIOD to expire. If the temperature + * hasn't increased by WATCH_TEMP_INCREASE degrees, the machine is halted and + * requires a hard reset. This test restarts with any M104/M109/M303, but only + * if the current temperature is far enough below the target for a reliable + * test. + * + * If you get false positives for "Heating failed", increase WATCH_TEMP_PERIOD + * and/or decrease WATCH_TEMP_INCREASE. WATCH_TEMP_INCREASE should not be set + * below 2. + */ + #define WATCH_TEMP_PERIOD 40 // Seconds // Ender Configs + #define WATCH_TEMP_INCREASE 2 // Degrees Celsius +#endif + +/** + * Thermal Protection parameters for the bed are just as above for hotends. + */ +#if ENABLED(THERMAL_PROTECTION_BED) + #define THERMAL_PROTECTION_BED_PERIOD 180 // Seconds // Ender Configs + #define THERMAL_PROTECTION_BED_HYSTERESIS 2 // Degrees Celsius + + /** + * As described above, except for the bed (M140/M190/M303). + */ + #define WATCH_BED_TEMP_PERIOD 180 // Seconds // Ender Configs + #define WATCH_BED_TEMP_INCREASE 2 // Degrees Celsius +#endif + +/** + * Thermal Protection parameters for the heated chamber. + */ +#if ENABLED(THERMAL_PROTECTION_CHAMBER) + #define THERMAL_PROTECTION_CHAMBER_PERIOD 20 // Seconds + #define THERMAL_PROTECTION_CHAMBER_HYSTERESIS 2 // Degrees Celsius + + /** + * Heated chamber watch settings (M141/M191). + */ + #define WATCH_CHAMBER_TEMP_PERIOD 60 // Seconds + #define WATCH_CHAMBER_TEMP_INCREASE 2 // Degrees Celsius +#endif + +/** + * Thermal Protection parameters for the laser cooler. + */ +#if ENABLED(THERMAL_PROTECTION_COOLER) + #define THERMAL_PROTECTION_COOLER_PERIOD 10 // Seconds + #define THERMAL_PROTECTION_COOLER_HYSTERESIS 3 // Degrees Celsius + + /** + * Laser cooling watch settings (M143/M193). + */ + #define WATCH_COOLER_TEMP_PERIOD 60 // Seconds + #define WATCH_COOLER_TEMP_INCREASE 3 // Degrees Celsius +#endif + +#if ANY(THERMAL_PROTECTION_HOTENDS, THERMAL_PROTECTION_BED, THERMAL_PROTECTION_CHAMBER, THERMAL_PROTECTION_COOLER) + /** + * Thermal Protection Variance Monitor - EXPERIMENTAL. + * Kill the machine on a stuck temperature sensor. Disable if you get false positives. + */ + //#define THERMAL_PROTECTION_VARIANCE_MONITOR // Detect a sensor malfunction preventing temperature updates // MRiscoC disabled because it gives false positives +#endif + +#if ENABLED(PIDTEMP) + // Add an additional term to the heater power, proportional to the extrusion speed. + // A well-chosen Kc value should add just enough power to melt the increased material volume. + //#define PID_EXTRUSION_SCALING + #if ENABLED(PID_EXTRUSION_SCALING) + #define DEFAULT_Kc (100) // heating power = Kc * e_speed + #define LPQ_MAX_LEN 50 + #endif + + /** + * Add an additional term to the heater power, proportional to the fan speed. + * A well-chosen Kf value should add just enough power to compensate for power-loss from the cooling fan. + * You can either just add a constant compensation with the DEFAULT_Kf value + * or follow the instruction below to get speed-dependent compensation. + * + * Constant compensation (use only with fanspeeds of 0% and 100%) + * --------------------------------------------------------------------- + * A good starting point for the Kf-value comes from the calculation: + * kf = (power_fan * eff_fan) / power_heater * 255 + * where eff_fan is between 0.0 and 1.0, based on fan-efficiency and airflow to the nozzle / heater. + * + * Example: + * Heater: 40W, Fan: 0.1A * 24V = 2.4W, eff_fan = 0.8 + * Kf = (2.4W * 0.8) / 40W * 255 = 12.24 + * + * Fan-speed dependent compensation + * -------------------------------- + * 1. To find a good Kf value, set the hotend temperature, wait for it to settle, and enable the fan (100%). + * Make sure PID_FAN_SCALING_LIN_FACTOR is 0 and PID_FAN_SCALING_ALTERNATIVE_DEFINITION is not enabled. + * If you see the temperature drop repeat the test, increasing the Kf value slowly, until the temperature + * drop goes away. If the temperature overshoots after enabling the fan, the Kf value is too big. + * 2. Note the Kf-value for fan-speed at 100% + * 3. Determine a good value for PID_FAN_SCALING_MIN_SPEED, which is around the speed, where the fan starts moving. + * 4. Repeat step 1. and 2. for this fan speed. + * 5. Enable PID_FAN_SCALING_ALTERNATIVE_DEFINITION and enter the two identified Kf-values in + * PID_FAN_SCALING_AT_FULL_SPEED and PID_FAN_SCALING_AT_MIN_SPEED. Enter the minimum speed in PID_FAN_SCALING_MIN_SPEED + */ + //#define PID_FAN_SCALING + #if ENABLED(PID_FAN_SCALING) + //#define PID_FAN_SCALING_ALTERNATIVE_DEFINITION + #if ENABLED(PID_FAN_SCALING_ALTERNATIVE_DEFINITION) + // The alternative definition is used for an easier configuration. + // Just figure out Kf at fullspeed (255) and PID_FAN_SCALING_MIN_SPEED. + // DEFAULT_Kf and PID_FAN_SCALING_LIN_FACTOR are calculated accordingly. + + #define PID_FAN_SCALING_AT_FULL_SPEED 13.0 //=PID_FAN_SCALING_LIN_FACTOR*255+DEFAULT_Kf + #define PID_FAN_SCALING_AT_MIN_SPEED 6.0 //=PID_FAN_SCALING_LIN_FACTOR*PID_FAN_SCALING_MIN_SPEED+DEFAULT_Kf + #define PID_FAN_SCALING_MIN_SPEED 10.0 // Minimum fan speed at which to enable PID_FAN_SCALING + + #define DEFAULT_Kf (255.0*PID_FAN_SCALING_AT_MIN_SPEED-PID_FAN_SCALING_AT_FULL_SPEED*PID_FAN_SCALING_MIN_SPEED)/(255.0-PID_FAN_SCALING_MIN_SPEED) + #define PID_FAN_SCALING_LIN_FACTOR (PID_FAN_SCALING_AT_FULL_SPEED-DEFAULT_Kf)/255.0 + + #else + #define PID_FAN_SCALING_LIN_FACTOR (0) // Power loss due to cooling = Kf * (fan_speed) + #define DEFAULT_Kf 10 // A constant value added to the PID-tuner + #define PID_FAN_SCALING_MIN_SPEED 10 // Minimum fan speed at which to enable PID_FAN_SCALING + #endif + #endif +#endif + +/** + * Automatic Temperature Mode + * + * Dynamically adjust the hotend target temperature based on planned E moves. + * + * (Contrast with PID_EXTRUSION_SCALING, which tracks E movement and adjusts PID + * behavior using an additional kC value.) + * + * Autotemp is calculated by (mintemp + factor * mm_per_sec), capped to maxtemp. + * + * Enable Autotemp Mode with M104/M109 F S B. + * Disable by sending M104/M109 with no F parameter (or F0 with AUTOTEMP_PROPORTIONAL). + */ +#define AUTOTEMP +#if ENABLED(AUTOTEMP) + #define AUTOTEMP_OLDWEIGHT 0.98 // Factor used to weight previous readings (0.0 < value < 1.0) + #define AUTOTEMP_MIN 210 + #define AUTOTEMP_MAX 250 + #define AUTOTEMP_FACTOR 0.1f + // Turn on AUTOTEMP on M104/M109 by default using proportions set here + //#define AUTOTEMP_PROPORTIONAL + #if ENABLED(AUTOTEMP_PROPORTIONAL) + #define AUTOTEMP_MIN_P 0 // (°C) Added to the target temperature + #define AUTOTEMP_MAX_P 5 // (°C) Added to the target temperature + #define AUTOTEMP_FACTOR_P 1 // Apply this F parameter by default (overridden by M104/M109 F) + #endif +#endif + +// Show Temperature ADC value +// Enable for M105 to include ADC values read from temperature sensors. +//#define SHOW_TEMP_ADC_VALUES + +/** + * High Temperature Thermistor Support + * + * Thermistors able to support high temperature tend to have a hard time getting + * good readings at room and lower temperatures. This means TEMP_SENSOR_X_RAW_LO_TEMP + * will probably be caught when the heating element first turns on during the + * preheating process, which will trigger a MINTEMP error as a safety measure + * and force stop everything. + * To circumvent this limitation, we allow for a preheat time (during which, + * MINTEMP error won't be triggered) and add a min_temp buffer to handle + * aberrant readings. + * + * If you want to enable this feature for your hotend thermistor(s) + * uncomment and set values > 0 in the constants below + */ + +// The number of consecutive low temperature errors that can occur +// before a MINTEMP error is triggered. (Shouldn't be more than 10.) +//#define MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED 0 + +/** + * The number of milliseconds a hotend will preheat before starting to check + * the temperature. This value should NOT be set to the time it takes the + * hot end to reach the target temperature, but the time it takes to reach + * the minimum temperature your thermistor can read. The lower the better/safer. + * This shouldn't need to be more than 30 seconds (30000) + */ +//#define PREHEAT_TIME_HOTEND_MS 0 +//#define PREHEAT_TIME_BED_MS 0 + +// @section extruder + +/** + * Extruder runout prevention. + * If the machine is idle and the temperature over MINTEMP + * then extrude some filament every couple of SECONDS. + */ +//#define EXTRUDER_RUNOUT_PREVENT +#if ENABLED(EXTRUDER_RUNOUT_PREVENT) + #define EXTRUDER_RUNOUT_MINTEMP 190 + #define EXTRUDER_RUNOUT_SECONDS 30 + #define EXTRUDER_RUNOUT_SPEED 1500 // (mm/min) + #define EXTRUDER_RUNOUT_EXTRUDE 5 // (mm) +#endif + +/** + * Hotend Idle Timeout + * Prevent filament in the nozzle from charring and causing a critical jam. + */ +#define HOTEND_IDLE_TIMEOUT // MRiscoC Disable heaters after timeout +#if ENABLED(HOTEND_IDLE_TIMEOUT) + #define HOTEND_IDLE_TIMEOUT_SEC (10*60) // (seconds) Time without extruder movement to trigger protection // MRiscoC 10 minutes for heaters timeout + #define HOTEND_IDLE_MIN_TRIGGER 150 // (°C) Minimum temperature to enable hotend protection // MRiscoC set idle trigger lower than default EXTRUDE_MINTEMP + #define HOTEND_IDLE_NOZZLE_TARGET 0 // (°C) Safe temperature for the nozzle after timeout + #define HOTEND_IDLE_BED_TARGET 0 // (°C) Safe temperature for the bed after timeout +#endif + +// @section temperature + +// Calibration for AD595 / AD8495 sensor to adjust temperature measurements. +// The final temperature is calculated as (measuredTemp * GAIN) + OFFSET. +#define TEMP_SENSOR_AD595_OFFSET 0.0 +#define TEMP_SENSOR_AD595_GAIN 1.0 +#define TEMP_SENSOR_AD8495_OFFSET 0.0 +#define TEMP_SENSOR_AD8495_GAIN 1.0 + +/** + * Controller Fan + * To cool down the stepper drivers and MOSFETs. + * + * The fan turns on automatically whenever any driver is enabled and turns + * off (or reduces to idle speed) shortly after drivers are turned off. + */ +//#define USE_CONTROLLER_FAN +#if ENABLED(USE_CONTROLLER_FAN) + //#define CONTROLLER_FAN_PIN -1 // Set a custom pin for the controller fan + //#define CONTROLLER_FAN2_PIN -1 // Set a custom pin for second controller fan + //#define CONTROLLER_FAN_USE_Z_ONLY // With this option only the Z axis is considered + //#define CONTROLLER_FAN_IGNORE_Z // Ignore Z stepper. Useful when stepper timeout is disabled. + #define CONTROLLERFAN_SPEED_MIN 0 // (0-255) Minimum speed. (If set below this value the fan is turned off.) + #define CONTROLLERFAN_SPEED_ACTIVE 255 // (0-255) Active speed, used when any motor is enabled + #define CONTROLLERFAN_SPEED_IDLE 0 // (0-255) Idle speed, used when motors are disabled + #define CONTROLLERFAN_IDLE_TIME 60 // (seconds) Extra time to keep the fan running after disabling motors + + // Use TEMP_SENSOR_BOARD as a trigger for enabling the controller fan + //#define CONTROLLER_FAN_MIN_BOARD_TEMP 40 // (°C) Turn on the fan if the board reaches this temperature + + //#define CONTROLLER_FAN_EDITABLE // Enable M710 configurable settings + #if ENABLED(CONTROLLER_FAN_EDITABLE) + #define CONTROLLER_FAN_MENU // Enable the Controller Fan submenu + #endif +#endif + +/** + * Fan Kickstart + * When part cooling or controller fans first start, run at a speed that + * gets it spinning reliably for a short time before setting the requested speed. + * (Does not work on Sanguinololu with FAN_SOFT_PWM.) + */ +//#define FAN_KICKSTART_TIME 100 // (ms) +//#define FAN_KICKSTART_POWER 180 // 64-255 + +// Some coolers may require a non-zero "off" state. +//#define FAN_OFF_PWM 1 + +/** + * PWM Fan Scaling + * + * Define the min/max speeds for PWM fans (as set with M106). + * + * With these options the M106 0-255 value range is scaled to a subset + * to ensure that the fan has enough power to spin, or to run lower + * current fans with higher current. (e.g., 5V/12V fans with 12V/24V) + * Value 0 always turns off the fan. + * + * Define one or both of these to override the default 0-255 range. + */ +#define FAN_MIN_PWM 50 // Ender Configs +//#define FAN_MAX_PWM 128 + +/** + * Fan Fast PWM + * + * Combinations of PWM Modes, prescale values and TOP resolutions are used internally + * to produce a frequency as close as possible to the desired frequency. + * + * FAST_PWM_FAN_FREQUENCY + * Set this to your desired frequency. + * For AVR, if left undefined this defaults to F = F_CPU/(2*255*1) + * i.e., F = 31.4kHz on 16MHz microcontrollers or F = 39.2kHz on 20MHz microcontrollers. + * For non AVR, if left undefined this defaults to F = 1Khz. + * This F value is only to protect the hardware from an absence of configuration + * and not to complete it when users are not aware that the frequency must be specifically set to support the target board. + * + * NOTE: Setting very low frequencies (< 10 Hz) may result in unexpected timer behavior. + * Setting very high frequencies can damage your hardware. + * + * USE_OCR2A_AS_TOP [undefined by default] + * Boards that use TIMER2 for PWM have limitations resulting in only a few possible frequencies on TIMER2: + * 16MHz MCUs: [62.5kHz, 31.4kHz (default), 7.8kHz, 3.92kHz, 1.95kHz, 977Hz, 488Hz, 244Hz, 60Hz, 122Hz, 30Hz] + * 20MHz MCUs: [78.1kHz, 39.2kHz (default), 9.77kHz, 4.9kHz, 2.44kHz, 1.22kHz, 610Hz, 305Hz, 153Hz, 76Hz, 38Hz] + * A greater range can be achieved by enabling USE_OCR2A_AS_TOP. But note that this option blocks the use of + * PWM on pin OC2A. Only use this option if you don't need PWM on 0C2A. (Check your schematic.) + * USE_OCR2A_AS_TOP sacrifices duty cycle control resolution to achieve this broader range of frequencies. + */ +//#define FAST_PWM_FAN // Increase the fan PWM frequency. Removes the PWM noise but increases heating in the FET/Arduino +#if ENABLED(FAST_PWM_FAN) + //#define FAST_PWM_FAN_FREQUENCY 31400 // Define here to override the defaults below + //#define USE_OCR2A_AS_TOP + #ifndef FAST_PWM_FAN_FREQUENCY + #ifdef __AVR__ + #define FAST_PWM_FAN_FREQUENCY ((F_CPU) / (2 * 255 * 1)) + #else + #define FAST_PWM_FAN_FREQUENCY 1000U + #endif + #endif +#endif + +/** + * Use one of the PWM fans as a redundant part-cooling fan + */ +//#define REDUNDANT_PART_COOLING_FAN 2 // Index of the fan to sync with FAN 0. + +// @section extruder + +/** + * Extruder cooling fans + * + * Extruder auto fans automatically turn on when their extruders' + * temperatures go above EXTRUDER_AUTO_FAN_TEMPERATURE. + * + * Your board's pins file specifies the recommended pins. Override those here + * or set to -1 to disable completely. + * + * Multiple extruders can be assigned to the same pin in which case + * the fan will turn on when any selected extruder is above the threshold. + */ +#define E0_AUTO_FAN_PIN -1 // Ender3V2 Configs +#define E1_AUTO_FAN_PIN -1 +#define E2_AUTO_FAN_PIN -1 +#define E3_AUTO_FAN_PIN -1 +#define E4_AUTO_FAN_PIN -1 +#define E5_AUTO_FAN_PIN -1 +#define E6_AUTO_FAN_PIN -1 +#define E7_AUTO_FAN_PIN -1 +#define CHAMBER_AUTO_FAN_PIN -1 +#define COOLER_AUTO_FAN_PIN -1 + +#define EXTRUDER_AUTO_FAN_TEMPERATURE 50 +#define EXTRUDER_AUTO_FAN_SPEED 255 // 255 == full speed +#define CHAMBER_AUTO_FAN_TEMPERATURE 30 +#define CHAMBER_AUTO_FAN_SPEED 255 +#define COOLER_AUTO_FAN_TEMPERATURE 18 +#define COOLER_AUTO_FAN_SPEED 255 + +/** + * Hotend Cooling Fans tachometers + * + * Define one or more tachometer pins to enable fan speed + * monitoring, and reporting of fan speeds with M123. + * + * NOTE: Only works with fans up to 7000 RPM. + */ +//#define FOURWIRES_FANS // Needed with AUTO_FAN when 4-wire PWM fans are installed +//#define E0_FAN_TACHO_PIN -1 +//#define E0_FAN_TACHO_PULLUP +//#define E0_FAN_TACHO_PULLDOWN +//#define E1_FAN_TACHO_PIN -1 +//#define E1_FAN_TACHO_PULLUP +//#define E1_FAN_TACHO_PULLDOWN +//#define E2_FAN_TACHO_PIN -1 +//#define E2_FAN_TACHO_PULLUP +//#define E2_FAN_TACHO_PULLDOWN +//#define E3_FAN_TACHO_PIN -1 +//#define E3_FAN_TACHO_PULLUP +//#define E3_FAN_TACHO_PULLDOWN +//#define E4_FAN_TACHO_PIN -1 +//#define E4_FAN_TACHO_PULLUP +//#define E4_FAN_TACHO_PULLDOWN +//#define E5_FAN_TACHO_PIN -1 +//#define E5_FAN_TACHO_PULLUP +//#define E5_FAN_TACHO_PULLDOWN +//#define E6_FAN_TACHO_PIN -1 +//#define E6_FAN_TACHO_PULLUP +//#define E6_FAN_TACHO_PULLDOWN +//#define E7_FAN_TACHO_PIN -1 +//#define E7_FAN_TACHO_PULLUP +//#define E7_FAN_TACHO_PULLDOWN + +/** + * Part-Cooling Fan Multiplexer + * + * This feature allows you to digitally multiplex the fan output. + * The multiplexer is automatically switched at tool-change. + * Set FANMUX[012]_PINs below for up to 2, 4, or 8 multiplexed fans. + */ +#define FANMUX0_PIN -1 +#define FANMUX1_PIN -1 +#define FANMUX2_PIN -1 + +/** + * M355 Case Light on-off / brightness + */ +//#define CASE_LIGHT_ENABLE +#if ENABLED(CASE_LIGHT_ENABLE) + //#define CASE_LIGHT_PIN 4 // Override the default pin if needed + #define INVERT_CASE_LIGHT false // Set true if Case Light is ON when pin is LOW + #define CASE_LIGHT_DEFAULT_ON true // Set default power-up state on + #define CASE_LIGHT_DEFAULT_BRIGHTNESS 105 // Set default power-up brightness (0-255, requires PWM pin) + //#define CASE_LIGHT_NO_BRIGHTNESS // Disable brightness control. Enable for non-PWM lighting. + //#define CASE_LIGHT_MAX_PWM 128 // Limit PWM duty cycle (0-255) + //#define CASE_LIGHT_MENU // Add Case Light options to the LCD menu + #if ENABLED(NEOPIXEL_LED) + //#define CASE_LIGHT_USE_NEOPIXEL // Use NeoPixel LED as case light + #endif + #if EITHER(RGB_LED, RGBW_LED) + //#define CASE_LIGHT_USE_RGB_LED // Use RGB / RGBW LED as case light + #endif + #if EITHER(CASE_LIGHT_USE_NEOPIXEL, CASE_LIGHT_USE_RGB_LED) + #define CASE_LIGHT_DEFAULT_COLOR { 255, 255, 255, 255 } // { Red, Green, Blue, White } + #endif +#endif + +// @section homing + +// If you want endstops to stay on (by default) even when not homing +// enable this option. Override at any time with M120, M121. +//#define ENDSTOPS_ALWAYS_ON_DEFAULT + +// @section extras + +//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats. + +// Employ an external closed loop controller. Override pins here if needed. +//#define EXTERNAL_CLOSED_LOOP_CONTROLLER +#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + //#define CLOSED_LOOP_ENABLE_PIN -1 + //#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1 +#endif + +/** + * Dual X Carriage + * + * This setup has two X carriages that can move independently, each with its own hotend. + * The carriages can be used to print an object with two colors or materials, or in + * "duplication mode" it can print two identical or X-mirrored objects simultaneously. + * The inactive carriage is parked automatically to prevent oozing. + * X1 is the left carriage, X2 the right. They park and home at opposite ends of the X axis. + * By default the X2 stepper is assigned to the first unused E plug on the board. + * + * The following Dual X Carriage modes can be selected with M605 S: + * + * 0 : (FULL_CONTROL) The slicer has full control over both X-carriages and can achieve optimal travel + * results as long as it supports dual X-carriages. (M605 S0) + * + * 1 : (AUTO_PARK) The firmware automatically parks and unparks the X-carriages on tool-change so + * that additional slicer support is not required. (M605 S1) + * + * 2 : (DUPLICATION) The firmware moves the second X-carriage and extruder in synchronization with + * the first X-carriage and extruder, to print 2 copies of the same object at the same time. + * Set the constant X-offset and temperature differential with M605 S2 X[offs] R[deg] and + * follow with M605 S2 to initiate duplicated movement. + * + * 3 : (MIRRORED) Formbot/Vivedino-inspired mirrored mode in which the second extruder duplicates + * the movement of the first except the second extruder is reversed in the X axis. + * Set the initial X offset and temperature differential with M605 S2 X[offs] R[deg] and + * follow with M605 S3 to initiate mirrored movement. + */ +//#define DUAL_X_CARRIAGE +#if ENABLED(DUAL_X_CARRIAGE) + #define X1_MIN_POS X_MIN_POS // Set to X_MIN_POS + #define X1_MAX_POS X_BED_SIZE // A max coordinate so the X1 carriage can't hit the parked X2 carriage + #define X2_MIN_POS 80 // A min coordinate so the X2 carriage can't hit the parked X1 carriage + #define X2_MAX_POS 353 // The max position of the X2 carriage, typically also the home position + #define X2_HOME_DIR 1 // Set to 1. The X2 carriage always homes to the max endstop position + #define X2_HOME_POS X2_MAX_POS // Default X2 home position. Set to X2_MAX_POS. + // NOTE: For Dual X Carriage use M218 T1 Xn to override the X2_HOME_POS. + // This allows recalibration of endstops distance without a rebuild. + // Remember to set the second extruder's X-offset to 0 in your slicer. + + // This is the default power-up mode which can be changed later using M605 S. + #define DEFAULT_DUAL_X_CARRIAGE_MODE DXC_AUTO_PARK_MODE + + // Default x offset in duplication mode (typically set to half print bed width) + #define DEFAULT_DUPLICATION_X_OFFSET 100 + + // Default action to execute following M605 mode change commands. Typically G28X to apply new mode. + //#define EVENT_GCODE_IDEX_AFTER_MODECHANGE "G28X" +#endif + +/** + * Multi-Stepper / Multi-Endstop + * + * When X2_DRIVER_TYPE is defined, this indicates that the X and X2 motors work in tandem. + * The following explanations for X also apply to Y and Z multi-stepper setups. + * Endstop offsets may be changed by 'M666 X Y Z' and stored to EEPROM. + * + * - Enable INVERT_X2_VS_X_DIR if the X2 motor requires an opposite DIR signal from X. + * + * - Enable X_DUAL_ENDSTOPS if the second motor has its own endstop, with adjustable offset. + * + * - Extra endstops are included in the output of 'M119'. + * + * - Set X_DUAL_ENDSTOP_ADJUSTMENT to the known error in the X2 endstop. + * Applied to the X2 motor on 'G28' / 'G28 X'. + * Get the offset by homing X and measuring the error. + * Also set with 'M666 X' and stored to EEPROM with 'M500'. + * + * - Use X2_USE_ENDSTOP to set the endstop plug by name. (_XMIN_, _XMAX_, _YMIN_, _YMAX_, _ZMIN_, _ZMAX_) + */ +#if HAS_X2_STEPPER && DISABLED(DUAL_X_CARRIAGE) + //#define INVERT_X2_VS_X_DIR // X2 direction signal is the opposite of X + //#define X_DUAL_ENDSTOPS // X2 has its own endstop + #if ENABLED(X_DUAL_ENDSTOPS) + #define X2_USE_ENDSTOP _XMAX_ // X2 endstop board plug. Don't forget to enable USE_*_PLUG. + #define X2_ENDSTOP_ADJUSTMENT 0 // X2 offset relative to X endstop + #endif +#endif + +#if HAS_DUAL_Y_STEPPERS + //#define INVERT_Y2_VS_Y_DIR // Y2 direction signal is the opposite of Y + //#define Y_DUAL_ENDSTOPS // Y2 has its own endstop + #if ENABLED(Y_DUAL_ENDSTOPS) + #define Y2_USE_ENDSTOP _YMAX_ // Y2 endstop board plug. Don't forget to enable USE_*_PLUG. + #define Y2_ENDSTOP_ADJUSTMENT 0 // Y2 offset relative to Y endstop + #endif +#endif + +// +// Multi-Z steppers +// +#ifdef Z2_DRIVER_TYPE + //#define INVERT_Z2_VS_Z_DIR // Z2 direction signal is the opposite of Z + + //#define Z_MULTI_ENDSTOPS // Other Z axes have their own endstops + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z2_USE_ENDSTOP _XMAX_ // Z2 endstop board plug. Don't forget to enable USE_*_PLUG. + #define Z2_ENDSTOP_ADJUSTMENT 0 // Z2 offset relative to Z endstop + #endif + #ifdef Z3_DRIVER_TYPE + //#define INVERT_Z3_VS_Z_DIR // Z3 direction signal is the opposite of Z + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z3_USE_ENDSTOP _YMAX_ // Z3 endstop board plug. Don't forget to enable USE_*_PLUG. + #define Z3_ENDSTOP_ADJUSTMENT 0 // Z3 offset relative to Z endstop + #endif + #endif + #ifdef Z4_DRIVER_TYPE + //#define INVERT_Z4_VS_Z_DIR // Z4 direction signal is the opposite of Z + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z4_USE_ENDSTOP _ZMAX_ // Z4 endstop board plug. Don't forget to enable USE_*_PLUG. + #define Z4_ENDSTOP_ADJUSTMENT 0 // Z4 offset relative to Z endstop + #endif + #endif +#endif + +// Drive the E axis with two synchronized steppers +//#define E_DUAL_STEPPER_DRIVERS +#if ENABLED(E_DUAL_STEPPER_DRIVERS) + //#define INVERT_E1_VS_E0_DIR // E direction signals are opposites +#endif + +// Activate a solenoid on the active extruder with M380. Disable all with M381. +// Define SOL0_PIN, SOL1_PIN, etc., for each extruder that has a solenoid. +//#define EXT_SOLENOID + +// @section homing + +/** + * Homing Procedure + * Homing (G28) does an indefinite move towards the endstops to establish + * the position of the toolhead relative to the workspace. + */ + +//#define SENSORLESS_BACKOFF_MM { 2, 2, 0 } // (linear=mm, rotational=°) Backoff from endstops before sensorless homing + +#define HOMING_BUMP_MM { 5, 5, 2 } // (linear=mm, rotational=°) Backoff from endstops after first bump +#define HOMING_BUMP_DIVISOR { 2, 2, 4 } // Re-Bump Speed Divisor (Divides the Homing Feedrate) + +//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 } // (linear=mm, rotational=°) Backoff from endstops after homing +//#define XY_COUNTERPART_BACKOFF_MM 0 // (mm) Backoff X after homing Y, and vice-versa + +#define QUICK_HOME // If G28 contains XY do a diagonal move first // Ender Configs +//#define HOME_Y_BEFORE_X // If G28 contains XY home Y before X +//#define HOME_Z_FIRST // Home Z first. Requires a Z-MIN endstop (not a probe). +//#define CODEPENDENT_XY_HOMING // If X/Y can't home without homing Y/X first + +// @section bltouch + +#if ENABLED(BLTOUCH) + /** + * Either: Use the defaults (recommended) or: For special purposes, use the following DEFINES + * Do not activate settings that the probe might not understand. Clones might misunderstand + * advanced commands. + * + * Note: If the probe is not deploying, do a "Reset" and "Self-Test" and then check the + * wiring of the BROWN, RED and ORANGE wires. + * + * Note: If the trigger signal of your probe is not being recognized, it has been very often + * because the BLACK and WHITE wires needed to be swapped. They are not "interchangeable" + * like they would be with a real switch. So please check the wiring first. + * + * Settings for all BLTouch and clone probes: + */ + + // Safety: The probe needs time to recognize the command. + // Minimum command delay (ms). Enable and increase if needed. + //#define BLTOUCH_DELAY 500 + + /** + * Settings for BLTOUCH Classic 1.2, 1.3 or BLTouch Smart 1.0, 2.0, 2.2, 3.0, 3.1, and most clones: + */ + + // Feature: Switch into SW mode after a deploy. It makes the output pulse longer. Can be useful + // in special cases, like noisy or filtered input configurations. + //#define BLTOUCH_FORCE_SW_MODE + + /** + * Settings for BLTouch Smart 3.0 and 3.1 + * Summary: + * - Voltage modes: 5V and OD (open drain - "logic voltage free") output modes + * - High-Speed mode + * - Disable LCD voltage options + */ + + /** + * Danger: Don't activate 5V mode unless attached to a 5V-tolerant controller! + * V3.0 or 3.1: Set default mode to 5V mode at Marlin startup. + * If disabled, OD mode is the hard-coded default on 3.0 + * On startup, Marlin will compare its eeprom to this value. If the selected mode + * differs, a mode set eeprom write will be completed at initialization. + * Use the option below to force an eeprom write to a V3.1 probe regardless. + */ + //#define BLTOUCH_SET_5V_MODE + + /** + * Safety: Activate if connecting a probe with an unknown voltage mode. + * V3.0: Set a probe into mode selected above at Marlin startup. Required for 5V mode on 3.0 + * V3.1: Force a probe with unknown mode into selected mode at Marlin startup ( = Probe EEPROM write ) + * To preserve the life of the probe, use this once then turn it off and re-flash. + */ + //#define BLTOUCH_FORCE_MODE_SET + + /** + * Enable "HIGH SPEED" option for probing. + * Danger: Disable if your probe sometimes fails. Only suitable for stable well-adjusted systems. + * This feature was designed for Deltabots with very fast Z moves; however, higher speed Cartesians + * might be able to use it. If the machine can't raise Z fast enough the BLTouch may go into ALARM. + * + * Set the default state here, change with 'M401 S' or UI, use M500 to save, M502 to reset. + */ + //#define BLTOUCH_HS_MODE true + + // Safety: Enable voltage mode settings in the LCD menu. + //#define BLTOUCH_LCD_VOLTAGE_MENU + +#endif // BLTOUCH + +// @section extras + +/** + * Z Steppers Auto-Alignment + * Add the G34 command to align multiple Z steppers using a bed probe. + */ +//#define Z_STEPPER_AUTO_ALIGN +#if ENABLED(Z_STEPPER_AUTO_ALIGN) + /** + * Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]] + * These positions are machine-relative and do not shift with the M206 home offset! + * If not defined, probe limits will be used. + * Override with 'M422 S X Y'. + */ + //#define Z_STEPPER_ALIGN_XY { { 10, 190 }, { 100, 10 }, { 190, 190 } } + + /** + * Orientation for the automatically-calculated probe positions. + * Override Z stepper align points with 'M422 S X Y' + * + * 2 Steppers: (0) (1) + * | | 2 | + * | 1 2 | | + * | | 1 | + * + * 3 Steppers: (0) (1) (2) (3) + * | 3 | 1 | 2 1 | 2 | + * | | 3 | | 3 | + * | 1 2 | 2 | 3 | 1 | + * + * 4 Steppers: (0) (1) (2) (3) + * | 4 3 | 1 4 | 2 1 | 3 2 | + * | | | | | + * | 1 2 | 2 3 | 3 4 | 4 1 | + */ + #ifndef Z_STEPPER_ALIGN_XY + //#define Z_STEPPERS_ORIENTATION 0 + #endif + + /** + * Z Stepper positions for more rapid convergence in bed alignment. + * Requires 3 or 4 Z steppers. + * + * Define Stepper XY positions for Z1, Z2, Z3... corresponding to the screw + * positions in the bed carriage, with one position per Z stepper in stepper + * driver order. + */ + //#define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } } + + #ifndef Z_STEPPER_ALIGN_STEPPER_XY + // Amplification factor. Used to scale the correction step up or down in case + // the stepper (spindle) position is farther out than the test point. + #define Z_STEPPER_ALIGN_AMP 1.0 // Use a value > 1.0 NOTE: This may cause instability! + #endif + + // On a 300mm bed a 5% grade would give a misalignment of ~1.5cm + #define G34_MAX_GRADE 5 // (%) Maximum incline that G34 will handle + #define Z_STEPPER_ALIGN_ITERATIONS 5 // Number of iterations to apply during alignment + #define Z_STEPPER_ALIGN_ACC 0.02 // Stop iterating early if the accuracy is better than this + #define RESTORE_LEVELING_AFTER_G34 // Restore leveling after G34 is done? + // After G34, re-home Z (G28 Z) or just calculate it from the last probe heights? + // Re-homing might be more precise in reproducing the actual 'G28 Z' homing height, especially on an uneven bed. + #define HOME_AFTER_G34 +#endif + +// +// Add the G35 command to read bed corners to help adjust screws. Requires a bed probe. +// +//#define ASSISTED_TRAMMING +#if ENABLED(ASSISTED_TRAMMING) + + // Define from 3 to 9 points to probe. + #define TRAMMING_POINT_XY { { 29, 29 }, { 199, 29 }, { 199, 199 }, { 29, 199 } } + + // Define position names for probe points. + #define TRAMMING_POINT_NAME_1 "Front-Left" + #define TRAMMING_POINT_NAME_2 "Front-Right" + #define TRAMMING_POINT_NAME_3 "Back-Right" + #define TRAMMING_POINT_NAME_4 "Back-Left" + + #define RESTORE_LEVELING_AFTER_G35 // Enable to restore leveling setup after operation + //#define REPORT_TRAMMING_MM // Report Z deviation (mm) for each point relative to the first + + //#define ASSISTED_TRAMMING_WIZARD // Add a Tramming Wizard to the LCD menu + + //#define ASSISTED_TRAMMING_WAIT_POSITION { X_CENTER, Y_CENTER, 30 } // Move the nozzle out of the way for adjustment + + /** + * Screw thread: + * M3: 30 = Clockwise, 31 = Counter-Clockwise + * M4: 40 = Clockwise, 41 = Counter-Clockwise + * M5: 50 = Clockwise, 51 = Counter-Clockwise + */ + #define TRAMMING_SCREW_THREAD 40 + +#endif + +// @section motion + +/** + * Input Shaping -- EXPERIMENTAL + * + * Zero Vibration (ZV) Input Shaping for X and/or Y movements. + * + * This option uses a lot of SRAM for the step buffer. The buffer size is + * calculated automatically from SHAPING_FREQ_[XY], DEFAULT_AXIS_STEPS_PER_UNIT, + * DEFAULT_MAX_FEEDRATE and ADAPTIVE_STEP_SMOOTHING. The default calculation can + * be overridden by setting SHAPING_MIN_FREQ and/or SHAPING_MAX_FEEDRATE. + * The higher the frequency and the lower the feedrate, the smaller the buffer. + * If the buffer is too small at runtime, input shaping will have reduced + * effectiveness during high speed movements. + * + * Tune with M593 D F: + * + * D Set the zeta/damping factor. If axes (X, Y, etc.) are not specified, set for all axes. + * F Set the frequency. If axes (X, Y, etc.) are not specified, set for all axes. + * T[map] Input Shaping type, 0:ZV, 1:EI, 2:2H EI (not implemented yet) + * X<1> Set the given parameters only for the X axis. + * Y<1> Set the given parameters only for the Y axis. + */ +//#define INPUT_SHAPING_X +//#define INPUT_SHAPING_Y +#if EITHER(INPUT_SHAPING_X, INPUT_SHAPING_Y) + #if ENABLED(INPUT_SHAPING_X) + #define SHAPING_FREQ_X 40 // (Hz) The default dominant resonant frequency on the X axis. + #define SHAPING_ZETA_X 0.15f // Damping ratio of the X axis (range: 0.0 = no damping to 1.0 = critical damping). + #endif + #if ENABLED(INPUT_SHAPING_Y) + #define SHAPING_FREQ_Y 40 // (Hz) The default dominant resonant frequency on the Y axis. + #define SHAPING_ZETA_Y 0.15f // Damping ratio of the Y axis (range: 0.0 = no damping to 1.0 = critical damping). + #endif + //#define SHAPING_MIN_FREQ 20 // By default the minimum of the shaping frequencies. Override to affect SRAM usage. + //#define SHAPING_MAX_STEPRATE 10000 // By default the maximum total step rate of the shaped axes. Override to affect SRAM usage. + //#define SHAPING_MENU // Add a menu to the LCD to set shaping parameters. +#endif + +#define AXIS_RELATIVE_MODES { false, false, false, false } + +// Add a Duplicate option for well-separated conjoined nozzles +//#define MULTI_NOZZLE_DUPLICATION + +// By default stepper drivers require an active-HIGH signal but some high-power drivers require an active-LOW signal to step. +#define STEP_STATE_X HIGH +#define STEP_STATE_Y HIGH +#define STEP_STATE_Z HIGH +#define STEP_STATE_I HIGH +#define STEP_STATE_J HIGH +#define STEP_STATE_K HIGH +#define STEP_STATE_U HIGH +#define STEP_STATE_V HIGH +#define STEP_STATE_W HIGH +#define STEP_STATE_E HIGH + +/** + * Idle Stepper Shutdown + * Enable DISABLE_INACTIVE_* to shut down axis steppers after an idle period. + * The Deactive Time can be overridden with M18 and M84. Set to 0 for No Timeout. + */ +#define DEFAULT_STEPPER_DEACTIVE_TIME 120 +#define DISABLE_INACTIVE_X +#define DISABLE_INACTIVE_Y +#define DISABLE_INACTIVE_Z // Disable if the nozzle could fall onto your printed part! +//#define DISABLE_INACTIVE_I +//#define DISABLE_INACTIVE_J +//#define DISABLE_INACTIVE_K +//#define DISABLE_INACTIVE_U +//#define DISABLE_INACTIVE_V +//#define DISABLE_INACTIVE_W + +// Default Minimum Feedrates for printing and travel moves +#define DEFAULT_MINIMUMFEEDRATE 0.0 // (mm/s. °/s for rotational-only moves) Minimum feedrate. Set with M205 S. +#define DEFAULT_MINTRAVELFEEDRATE 0.0 // (mm/s. °/s for rotational-only moves) Minimum travel feedrate. Set with M205 T. + +// Minimum time that a segment needs to take as the buffer gets emptied +#define DEFAULT_MINSEGMENTTIME 20000 // (µs) Set with M205 B. + +// Slow down the machine if the lookahead buffer is (by default) half full. +// Increase the slowdown divisor for larger buffer sizes. +#define SLOWDOWN +#if ENABLED(SLOWDOWN) + #define SLOWDOWN_DIVISOR 2 +#endif + +/** + * XY Frequency limit + * Reduce resonance by limiting the frequency of small zigzag infill moves. + * See https://hydraraptor.blogspot.com/2010/12/frequency-limit.html + * Use M201 F G to change limits at runtime. + */ +//#define XY_FREQUENCY_LIMIT 10 // (Hz) Maximum frequency of small zigzag infill moves. Set with M201 F. +#ifdef XY_FREQUENCY_LIMIT + #define XY_FREQUENCY_MIN_PERCENT 5 // (percent) Minimum FR percentage to apply. Set with M201 G. +#endif + +// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end +// of the buffer and all stops. This should not be much greater than zero and should only be changed +// if unwanted behavior is observed on a user's machine when running at very slow speeds. +#define MINIMUM_PLANNER_SPEED 0.05 // (mm/s) + +// +// Backlash Compensation +// Adds extra movement to axes on direction-changes to account for backlash. +// +//#define BACKLASH_COMPENSATION +#if ENABLED(BACKLASH_COMPENSATION) + // Define values for backlash distance and correction. + // If BACKLASH_GCODE is enabled these values are the defaults. + #define BACKLASH_DISTANCE_MM { 0, 0, 0 } // (linear=mm, rotational=°) One value for each linear axis + #define BACKLASH_CORRECTION 0.0 // 0.0 = no correction; 1.0 = full correction + + // Add steps for motor direction changes on CORE kinematics + //#define CORE_BACKLASH + + // Set BACKLASH_SMOOTHING_MM to spread backlash correction over multiple segments + // to reduce print artifacts. (Enabling this is costly in memory and computation!) + //#define BACKLASH_SMOOTHING_MM 3 // (mm) + + // Add runtime configuration and tuning of backlash values (M425) + //#define BACKLASH_GCODE + + #if ENABLED(BACKLASH_GCODE) + // Measure the Z backlash when probing (G29) and set with "M425 Z" + #define MEASURE_BACKLASH_WHEN_PROBING + + #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + // When measuring, the probe will move up to BACKLASH_MEASUREMENT_LIMIT + // mm away from point of contact in BACKLASH_MEASUREMENT_RESOLUTION + // increments while checking for the contact to be broken. + #define BACKLASH_MEASUREMENT_LIMIT 0.5 // (mm) + #define BACKLASH_MEASUREMENT_RESOLUTION 0.005 // (mm) + #define BACKLASH_MEASUREMENT_FEEDRATE Z_PROBE_FEEDRATE_SLOW // (mm/min) + #endif + #endif +#endif + +/** + * Automatic backlash, position, and hotend offset calibration + * + * Enable G425 to run automatic calibration using an electrically- + * conductive cube, bolt, or washer mounted on the bed. + * + * G425 uses the probe to touch the top and sides of the calibration object + * on the bed and measures and/or correct positional offsets, axis backlash + * and hotend offsets. + * + * Note: HOTEND_OFFSET and CALIBRATION_OBJECT_CENTER must be set to within + * ±5mm of true values for G425 to succeed. + */ +//#define CALIBRATION_GCODE +#if ENABLED(CALIBRATION_GCODE) + + //#define CALIBRATION_SCRIPT_PRE "M117 Starting Auto-Calibration\nT0\nG28\nG12\nM117 Calibrating..." + //#define CALIBRATION_SCRIPT_POST "M500\nM117 Calibration data saved" + + #define CALIBRATION_MEASUREMENT_RESOLUTION 0.01 // mm + + #define CALIBRATION_FEEDRATE_SLOW 60 // mm/min + #define CALIBRATION_FEEDRATE_FAST 1200 // mm/min + #define CALIBRATION_FEEDRATE_TRAVEL 3000 // mm/min + + // The following parameters refer to the conical section of the nozzle tip. + #define CALIBRATION_NOZZLE_TIP_HEIGHT 1.0 // mm + #define CALIBRATION_NOZZLE_OUTER_DIAMETER 2.0 // mm + + // Uncomment to enable reporting (required for "G425 V", but consumes PROGMEM). + //#define CALIBRATION_REPORTING + + // The true location and dimension the cube/bolt/washer on the bed. + #define CALIBRATION_OBJECT_CENTER { 264.0, -22.0, -2.0 } // mm + #define CALIBRATION_OBJECT_DIMENSIONS { 10.0, 10.0, 10.0 } // mm + + // Comment out any sides which are unreachable by the probe. For best + // auto-calibration results, all sides must be reachable. + #define CALIBRATION_MEASURE_RIGHT + #define CALIBRATION_MEASURE_FRONT + #define CALIBRATION_MEASURE_LEFT + #define CALIBRATION_MEASURE_BACK + + //#define CALIBRATION_MEASURE_IMIN + //#define CALIBRATION_MEASURE_IMAX + //#define CALIBRATION_MEASURE_JMIN + //#define CALIBRATION_MEASURE_JMAX + //#define CALIBRATION_MEASURE_KMIN + //#define CALIBRATION_MEASURE_KMAX + //#define CALIBRATION_MEASURE_UMIN + //#define CALIBRATION_MEASURE_UMAX + //#define CALIBRATION_MEASURE_VMIN + //#define CALIBRATION_MEASURE_VMAX + //#define CALIBRATION_MEASURE_WMIN + //#define CALIBRATION_MEASURE_WMAX + + // Probing at the exact top center only works if the center is flat. If + // probing on a screwhead or hollow washer, probe near the edges. + //#define CALIBRATION_MEASURE_AT_TOP_EDGES + + // Define the pin to read during calibration + #ifndef CALIBRATION_PIN + //#define CALIBRATION_PIN -1 // Define here to override the default pin + #define CALIBRATION_PIN_INVERTING false // Set to true to invert the custom pin + //#define CALIBRATION_PIN_PULLDOWN + #define CALIBRATION_PIN_PULLUP + #endif +#endif + +/** + * Adaptive Step Smoothing increases the resolution of multi-axis moves, particularly at step frequencies + * below 1kHz (for AVR) or 10kHz (for ARM), where aliasing between axes in multi-axis moves causes audible + * vibration and surface artifacts. The algorithm adapts to provide the best possible step smoothing at the + * lowest stepping frequencies. + */ +#define ADAPTIVE_STEP_SMOOTHING + +/** + * Custom Microstepping + * Override as-needed for your setup. Up to 3 MS pins are supported. + */ +//#define MICROSTEP1 LOW,LOW,LOW +//#define MICROSTEP2 HIGH,LOW,LOW +//#define MICROSTEP4 LOW,HIGH,LOW +//#define MICROSTEP8 HIGH,HIGH,LOW +//#define MICROSTEP16 LOW,LOW,HIGH +//#define MICROSTEP32 HIGH,LOW,HIGH + +// Microstep settings (Requires a board with pins named X_MS1, X_MS2, etc.) +#define MICROSTEP_MODES { 16, 16, 16, 16, 16, 16 } // [1,2,4,8,16] + +/** + * @section stepper motor current + * + * Some boards have a means of setting the stepper motor current via firmware. + * + * The power on motor currents are set by: + * PWM_MOTOR_CURRENT - used by MINIRAMBO & ULTIMAIN_2 + * known compatible chips: A4982 + * DIGIPOT_MOTOR_CURRENT - used by BQ_ZUM_MEGA_3D, RAMBO & SCOOVO_X9H + * known compatible chips: AD5206 + * DAC_MOTOR_CURRENT_DEFAULT - used by PRINTRBOARD_REVF & RIGIDBOARD_V2 + * known compatible chips: MCP4728 + * DIGIPOT_I2C_MOTOR_CURRENTS - used by 5DPRINT, AZTEEG_X3_PRO, AZTEEG_X5_MINI_WIFI, MIGHTYBOARD_REVE + * known compatible chips: MCP4451, MCP4018 + * + * Motor currents can also be set by M907 - M910 and by the LCD. + * M907 - applies to all. + * M908 - BQ_ZUM_MEGA_3D, RAMBO, PRINTRBOARD_REVF, RIGIDBOARD_V2 & SCOOVO_X9H + * M909, M910 & LCD - only PRINTRBOARD_REVF & RIGIDBOARD_V2 + */ +//#define PWM_MOTOR_CURRENT { 1300, 1300, 1250 } // Values in milliamps +//#define DIGIPOT_MOTOR_CURRENT { 135,135,135,135,135 } // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A) +//#define DAC_MOTOR_CURRENT_DEFAULT { 70, 80, 90, 80 } // Default drive percent - X, Y, Z, E axis + +/** + * I2C-based DIGIPOTs (e.g., Azteeg X3 Pro) + */ +//#define DIGIPOT_MCP4018 // Requires https://github.com/felias-fogg/SlowSoftI2CMaster +//#define DIGIPOT_MCP4451 +#if EITHER(DIGIPOT_MCP4018, DIGIPOT_MCP4451) + #define DIGIPOT_I2C_NUM_CHANNELS 8 // 5DPRINT:4 AZTEEG_X3_PRO:8 MKS_SBASE:5 MIGHTYBOARD_REVE:5 + + // Actual motor currents in Amps. The number of entries must match DIGIPOT_I2C_NUM_CHANNELS. + // These correspond to the physical drivers, so be mindful if the order is changed. + #define DIGIPOT_I2C_MOTOR_CURRENTS { 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0 } // AZTEEG_X3_PRO + + //#define DIGIPOT_USE_RAW_VALUES // Use DIGIPOT_MOTOR_CURRENT raw wiper values (instead of A4988 motor currents) + + /** + * Common slave addresses: + * + * A (A shifted) B (B shifted) IC + * Smoothie 0x2C (0x58) 0x2D (0x5A) MCP4451 + * AZTEEG_X3_PRO 0x2C (0x58) 0x2E (0x5C) MCP4451 + * AZTEEG_X5_MINI 0x2C (0x58) 0x2E (0x5C) MCP4451 + * AZTEEG_X5_MINI_WIFI 0x58 0x5C MCP4451 + * MIGHTYBOARD_REVE 0x2F (0x5E) MCP4018 + */ + //#define DIGIPOT_I2C_ADDRESS_A 0x2C // Unshifted slave address for first DIGIPOT + //#define DIGIPOT_I2C_ADDRESS_B 0x2D // Unshifted slave address for second DIGIPOT +#endif + +//=========================================================================== +//=============================Additional Features=========================== +//=========================================================================== + +// @section lcd + +#if HAS_MANUAL_MOVE_MENU + #define MANUAL_FEEDRATE { 50*60, 50*60, 4*60, 2*60 } // (mm/min) Feedrates for manual moves along X, Y, Z, E from panel + #define FINE_MANUAL_MOVE 0.025 // (mm) Smallest manual move (< 0.1mm) applying to Z on most machines + #if IS_ULTIPANEL + #define MANUAL_E_MOVES_RELATIVE // Display extruder move distance rather than "position" + #define ULTIPANEL_FEEDMULTIPLY // Encoder sets the feedrate multiplier on the Status Screen + #endif +#endif + +// Change values more rapidly when the encoder is rotated faster +#define ENCODER_RATE_MULTIPLIER +#if ENABLED(ENCODER_RATE_MULTIPLIER) + #define ENCODER_5X_STEPS_PER_SEC 30 // Ender Configs + #define ENCODER_10X_STEPS_PER_SEC 80 // (steps/s) Encoder rate for 10x speed // Ender Configs + #define ENCODER_100X_STEPS_PER_SEC 130 // (steps/s) Encoder rate for 100x speed // Ender Configs +#endif + +// Play a beep when the feedrate is changed from the Status Screen +//#define BEEP_ON_FEEDRATE_CHANGE +#if ENABLED(BEEP_ON_FEEDRATE_CHANGE) + #define FEEDRATE_CHANGE_BEEP_DURATION 10 + #define FEEDRATE_CHANGE_BEEP_FREQUENCY 440 +#endif + +// +// LCD Backlight Timeout +// +//#define LCD_BACKLIGHT_TIMEOUT_MINS 1 // (minutes) Timeout before turning off the backlight + +#if HAS_BED_PROBE && EITHER(HAS_MARLINUI_MENU, HAS_TFT_LVGL_UI) + //#define PROBE_OFFSET_WIZARD // Add a Probe Z Offset calibration option to the LCD menu + #if ENABLED(PROBE_OFFSET_WIZARD) + /** + * Enable to init the Probe Z-Offset when starting the Wizard. + * Use a height slightly above the estimated nozzle-to-probe Z offset. + * For example, with an offset of -5, consider a starting height of -4. + */ + //#define PROBE_OFFSET_WIZARD_START_Z -4.0 + + // Set a convenient position to do the calibration (probing point and nozzle/bed-distance) + //#define PROBE_OFFSET_WIZARD_XY_POS { X_CENTER, Y_CENTER } + #endif +#endif + +#if HAS_MARLINUI_MENU + + #if HAS_BED_PROBE + // Add calibration in the Probe Offsets menu to compensate for X-axis twist. + //#define X_AXIS_TWIST_COMPENSATION + #if ENABLED(X_AXIS_TWIST_COMPENSATION) + /** + * Enable to init the Probe Z-Offset when starting the Wizard. + * Use a height slightly above the estimated nozzle-to-probe Z offset. + * For example, with an offset of -5, consider a starting height of -4. + */ + #define XATC_START_Z 0.0 + #define XATC_MAX_POINTS 3 // Number of points to probe in the wizard + #define XATC_Y_POSITION Y_CENTER // (mm) Y position to probe + #define XATC_Z_OFFSETS { 0, 0, 0 } // Z offsets for X axis sample points + #endif + + // Show Deploy / Stow Probe options in the Motion menu. + #define PROBE_DEPLOY_STOW_MENU + #endif + + // Include a page of printer information in the LCD Main Menu + //#define LCD_INFO_MENU + #if ENABLED(LCD_INFO_MENU) + //#define LCD_PRINTER_INFO_IS_BOOTSCREEN // Show bootscreen(s) instead of Printer Info pages + #endif + + // Add 50/100mm moves to MarlinUI even with a smaller bed + //#define LARGE_MOVE_ITEMS + + // BACK menu items keep the highlight at the top + //#define TURBO_BACK_MENU_ITEM + + // Insert a menu for preheating at the top level to allow for quick access + //#define PREHEAT_SHORTCUT_MENU_ITEM + +#endif // HAS_MARLINUI_MENU + +#if HAS_DISPLAY + #define SOUND_MENU_ITEM // Add a mute option to the LCD menu // MRiscoC Enable Sound Menu Item + #define SOUND_ON_DEFAULT // Buzzer/speaker default enabled state + + // The timeout to return to the status screen from sub-menus + //#define LCD_TIMEOUT_TO_STATUS 15000 // (ms) + + #if ENABLED(SHOW_BOOTSCREEN) + #define BOOTSCREEN_TIMEOUT 4000 // (ms) Total Duration to display the boot screen(s) + #if EITHER(HAS_MARLINUI_U8GLIB, TFT_COLOR_UI) + #define BOOT_MARLIN_LOGO_SMALL // Show a smaller Marlin logo on the Boot Screen (saving lots of flash) + #endif + #endif + + // Scroll a longer status message into view + #define STATUS_MESSAGE_SCROLLING // MRiscoC Allow scrolling of large status messages + + // Apply a timeout to low-priority status messages + #define STATUS_MESSAGE_TIMEOUT_SEC 30 // (seconds) // MRiscoC Enable Status Message Timeout + + // On the Info Screen, display XY with one decimal place when possible + //#define LCD_DECIMAL_SMALL_XY + + // Show the E position (filament used) during printing + //#define LCD_SHOW_E_TOTAL + + // Display a negative temperature instead of "err" + //#define SHOW_TEMPERATURE_BELOW_ZERO + + /** + * LED Control Menu + * Add LED Control to the LCD menu + */ + //#define LED_CONTROL_MENU + #if ENABLED(LED_CONTROL_MENU) + #define LED_COLOR_PRESETS // Enable the Preset Color menu option + //#define NEO2_COLOR_PRESETS // Enable a second NeoPixel Preset Color menu option + #if ENABLED(LED_COLOR_PRESETS) + #define LED_USER_PRESET_RED 255 // User defined RED value + #define LED_USER_PRESET_GREEN 128 // User defined GREEN value + #define LED_USER_PRESET_BLUE 0 // User defined BLUE value + #define LED_USER_PRESET_WHITE 255 // User defined WHITE value + #define LED_USER_PRESET_BRIGHTNESS 255 // User defined intensity + //#define LED_USER_PRESET_STARTUP // Have the printer display the user preset color on startup + #endif + #if ENABLED(NEO2_COLOR_PRESETS) + #define NEO2_USER_PRESET_RED 255 // User defined RED value + #define NEO2_USER_PRESET_GREEN 128 // User defined GREEN value + #define NEO2_USER_PRESET_BLUE 0 // User defined BLUE value + #define NEO2_USER_PRESET_WHITE 255 // User defined WHITE value + #define NEO2_USER_PRESET_BRIGHTNESS 255 // User defined intensity + //#define NEO2_USER_PRESET_STARTUP // Have the printer display the user preset color on startup for the second strip + #endif + #endif + +#endif // HAS_DISPLAY + +// Add 'M73' to set print job progress, overrides Marlin's built-in estimate +#define SET_PROGRESS_MANUALLY // MRiscoC Allow display feedback of host printing through GCode M73 +#if ENABLED(SET_PROGRESS_MANUALLY) + #define SET_PROGRESS_PERCENT // Add 'P' parameter to set percentage done // MRiscoC Allow display feedback of host printing through GCode M73 + #define SET_REMAINING_TIME // Add 'R' parameter to set remaining time // MRiscoC Allow display feedback of host printing through GCode M73 + //#define SET_INTERACTION_TIME // Add 'C' parameter to set time until next filament change or other user interaction + //#define M73_REPORT // Report M73 values to host + #if BOTH(M73_REPORT, SDSUPPORT) + #define M73_REPORT_SD_ONLY // Report only when printing from SD + #endif +#endif + +// LCD Print Progress options. Multiple times may be displayed in turn. +#if HAS_DISPLAY && EITHER(SDSUPPORT, SET_PROGRESS_MANUALLY) + #define SHOW_PROGRESS_PERCENT // Show print progress percentage (doesn't affect progress bar) + #define SHOW_ELAPSED_TIME // Display elapsed printing time (prefix 'E') + //#define SHOW_REMAINING_TIME // Display estimated time to completion (prefix 'R') + #if ENABLED(SET_INTERACTION_TIME) + #define SHOW_INTERACTION_TIME // Display time until next user interaction ('C' = filament change) + #endif + //#define PRINT_PROGRESS_SHOW_DECIMALS // Show/report progress with decimal digits, not all UIs support this + + #if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL) + //#define LCD_PROGRESS_BAR // Show a progress bar on HD44780 LCDs for SD printing + #if ENABLED(LCD_PROGRESS_BAR) + #define PROGRESS_BAR_BAR_TIME 2000 // (ms) Amount of time to show the bar + #define PROGRESS_BAR_MSG_TIME 3000 // (ms) Amount of time to show the status message + #define PROGRESS_MSG_EXPIRE 0 // (ms) Amount of time to retain the status message (0=forever) + //#define PROGRESS_MSG_ONCE // Show the message for MSG_TIME then clear it + //#define LCD_PROGRESS_BAR_TEST // Add a menu item to test the progress bar + #endif + #endif +#endif + +#if ENABLED(SDSUPPORT) + /** + * SD Card SPI Speed + * May be required to resolve "volume init" errors. + * + * Enable and set to SPI_HALF_SPEED, SPI_QUARTER_SPEED, or SPI_EIGHTH_SPEED + * otherwise full speed will be applied. + * + * :['SPI_HALF_SPEED', 'SPI_QUARTER_SPEED', 'SPI_EIGHTH_SPEED'] + */ + //#define SD_SPI_SPEED SPI_HALF_SPEED + + // The standard SD detect circuit reads LOW when media is inserted and HIGH when empty. + // Enable this option and set to HIGH if your SD cards are incorrectly detected. + //#define SD_DETECT_STATE HIGH + + //#define SD_IGNORE_AT_STARTUP // Don't mount the SD card when starting up + //#define SDCARD_READONLY // Read-only SD card (to save over 2K of flash) + + //#define GCODE_REPEAT_MARKERS // Enable G-code M808 to set repeat markers and do looping + + //#define SD_PROCEDURE_DEPTH 1 // Increase if you need more nested M32 calls // MRiscoC save program memory + + #define SD_FINISHED_STEPPERRELEASE true // Disable steppers when SD Print is finished + #define SD_FINISHED_RELEASECOMMAND "M84" // Use "M84XYE" to keep Z enabled so your bed stays in place + + // Reverse SD sort to show "more recent" files first, according to the card's FAT. + // Since the FAT gets out of order with usage, SDCARD_SORT_ALPHA is recommended. + #define SDCARD_RATHERRECENTFIRST + + #define SD_MENU_CONFIRM_START // Confirm the selected SD file before printing + + //#define NO_SD_AUTOSTART // Remove auto#.g file support completely to save some Flash, SRAM + //#define MENU_ADDAUTOSTART // Add a menu option to run auto#.g files + + //#define BROWSE_MEDIA_ON_INSERT // Open the file browser when media is inserted + + //#define MEDIA_MENU_AT_TOP // Force the media menu to be listed on the top of the main menu + + #define EVENT_GCODE_SD_ABORT "G28XY" // G-code to run on SD Abort Print (e.g., "G28XY" or "G27") + + #if ENABLED(PRINTER_EVENT_LEDS) + #define PE_LEDS_COMPLETED_TIME (30*60) // (seconds) Time to keep the LED "done" color before restoring normal illumination + #endif + + /** + * Continue after Power-Loss (Creality3D) + * + * Store the current state to the SD Card at the start of each layer + * during SD printing. If the recovery file is found at boot time, present + * an option on the LCD screen to continue the print from the last-known + * point in the file. + */ + #define POWER_LOSS_RECOVERY // Ender Configs + #if ENABLED(POWER_LOSS_RECOVERY) + #define PLR_ENABLED_DEFAULT false // Power Loss Recovery enabled by default. (Set with 'M413 Sn' & M500) + //#define BACKUP_POWER_SUPPLY // Backup power / UPS to move the steppers on power loss + //#define POWER_LOSS_ZRAISE 2 // (mm) Z axis raise on resume (on power loss with UPS) + //#define POWER_LOSS_PIN 44 // Pin to detect power loss. Set to -1 to disable default pin on boards without module. + //#define POWER_LOSS_STATE HIGH // State of pin indicating power loss + //#define POWER_LOSS_PULLUP // Set pullup / pulldown as appropriate for your sensor + //#define POWER_LOSS_PULLDOWN + //#define POWER_LOSS_PURGE_LEN 20 // (mm) Length of filament to purge on resume + //#define POWER_LOSS_RETRACT_LEN 10 // (mm) Length of filament to retract on fail. Requires backup power. + + // Without a POWER_LOSS_PIN the following option helps reduce wear on the SD card, + // especially with "vase mode" printing. Set too high and vases cannot be continued. + #define POWER_LOSS_MIN_Z_CHANGE 0.05 // (mm) Minimum Z change before saving power-loss data + + // Enable if Z homing is needed for proper recovery. 99.9% of the time this should be disabled! + //#define POWER_LOSS_RECOVER_ZHOME + #if ENABLED(POWER_LOSS_RECOVER_ZHOME) + //#define POWER_LOSS_ZHOME_POS { 0, 0 } // Safe XY position to home Z while avoiding objects on the bed + #endif + #endif + + /** + * Sort SD file listings in alphabetical order. + * + * With this option enabled, items on SD cards will be sorted + * by name for easier navigation. + * + * By default... + * + * - Use the slowest -but safest- method for sorting. + * - Folders are sorted to the top. + * - The sort key is statically allocated. + * - No added G-code (M34) support. + * - 40 item sorting limit. (Items after the first 40 are unsorted.) + * + * SD sorting uses static allocation (as set by SDSORT_LIMIT), allowing the + * compiler to calculate the worst-case usage and throw an error if the SRAM + * limit is exceeded. + * + * - SDSORT_USES_RAM provides faster sorting via a static directory buffer. + * - SDSORT_USES_STACK does the same, but uses a local stack-based buffer. + * - SDSORT_CACHE_NAMES will retain the sorted file listing in RAM. (Expensive!) + * - SDSORT_DYNAMIC_RAM only uses RAM when the SD menu is visible. (Use with caution!) + */ + #define SDCARD_SORT_ALPHA // Ender Configs + + // SD Card Sorting options + #if ENABLED(SDCARD_SORT_ALPHA) + #define SDSORT_LIMIT 50 // Maximum number of sorted items (10-256). Costs 27 bytes each. // MRiscoC Increase number of sorted items + #define FOLDER_SORTING -1 // -1=above 0=none 1=below + #define SDSORT_GCODE true // Allow turning sorting on/off with LCD and M34 G-code. // MRiscoC Allows disable file sort by M34 g-code + #define SDSORT_USES_RAM true // Pre-allocate a static array for faster pre-sorting. // Ender Configs + #define SDSORT_USES_STACK false // Prefer the stack for pre-sorting to give back some SRAM. (Negated by next 2 options.) + #define SDSORT_CACHE_NAMES true // Keep sorted items in RAM longer for speedy performance. Most expensive option. // Ender Configs + #define SDSORT_DYNAMIC_RAM true // Use dynamic allocation (within SD menus). Least expensive option. Set SDSORT_LIMIT before use! // Ender Configs + #define SDSORT_CACHE_VFATS 2 // Maximum number of 13-byte VFAT entries to use for sorting. + // Note: Only affects SCROLL_LONG_FILENAMES with SDSORT_CACHE_NAMES but not SDSORT_DYNAMIC_RAM. + #endif + + // Allow international symbols in long filenames. To display correctly, the + // LCD's font must contain the characters. Check your selected LCD language. + //#define UTF_FILENAME_SUPPORT + + #define LONG_FILENAME_HOST_SUPPORT // Get the long filename of a file/folder with 'M33 ' and list long filenames with 'M20 L' // MRiscoC Enabled + #define LONG_FILENAME_WRITE_SUPPORT // Create / delete files with long filenames via M28, M30, and Binary Transfer Protocol // MRiscoC Enabled + //#define M20_TIMESTAMP_SUPPORT // Include timestamps by adding the 'T' flag to M20 commands + + #define SCROLL_LONG_FILENAMES // Scroll long filenames in the SD card menu // MRiscoC Enabled + + //#define SD_ABORT_NO_COOLDOWN // Leave the heaters on after Stop Print (not recommended!) + + /** + * Abort SD printing when any endstop is triggered. + * This feature is enabled with 'M540 S1' or from the LCD menu. + * Endstops must be activated for this option to work. + */ + //#define SD_ABORT_ON_ENDSTOP_HIT + #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) + //#define SD_ABORT_ON_ENDSTOP_HIT_GCODE "G28XY" // G-code to run on endstop hit (e.g., "G28XY" or "G27") + #endif + + //#define SD_REPRINT_LAST_SELECTED_FILE // On print completion open the LCD Menu and select the same file + + //#define AUTO_REPORT_SD_STATUS // Auto-report media status with 'M27 S' + + /** + * Support for USB thumb drives using an Arduino USB Host Shield or + * equivalent MAX3421E breakout board. The USB thumb drive will appear + * to Marlin as an SD card. + * + * The MAX3421E can be assigned the same pins as the SD card reader, with + * the following pin mapping: + * + * SCLK, MOSI, MISO --> SCLK, MOSI, MISO + * INT --> SD_DETECT_PIN [1] + * SS --> SDSS + * + * [1] On AVR an interrupt-capable pin is best for UHS3 compatibility. + */ + //#define USB_FLASH_DRIVE_SUPPORT + #if ENABLED(USB_FLASH_DRIVE_SUPPORT) + /** + * USB Host Shield Library + * + * - UHS2 uses no interrupts and has been production-tested + * on a LulzBot TAZ Pro with a 32-bit Archim board. + * + * - UHS3 is newer code with better USB compatibility. But it + * is less tested and is known to interfere with Servos. + * [1] This requires USB_INTR_PIN to be interrupt-capable. + */ + //#define USE_UHS2_USB + //#define USE_UHS3_USB + + #define DISABLE_DUE_SD_MMC // Disable USB Host access to USB Drive to prevent hangs on block access for DUE platform + + /** + * Native USB Host supported by some boards (USB OTG) + */ + //#define USE_OTG_USB_HOST + + #if DISABLED(USE_OTG_USB_HOST) + #define USB_CS_PIN SDSS + #define USB_INTR_PIN SD_DETECT_PIN + #endif + #endif + + /** + * When using a bootloader that supports SD-Firmware-Flashing, + * add a menu item to activate SD-FW-Update on the next reboot. + * + * Requires ATMEGA2560 (Arduino Mega) + * + * Tested with this bootloader: + * https://github.com/FleetProbe/MicroBridge-Arduino-ATMega2560 + */ + //#define SD_FIRMWARE_UPDATE + #if ENABLED(SD_FIRMWARE_UPDATE) + #define SD_FIRMWARE_UPDATE_EEPROM_ADDR 0x1FF + #define SD_FIRMWARE_UPDATE_ACTIVE_VALUE 0xF0 + #define SD_FIRMWARE_UPDATE_INACTIVE_VALUE 0xFF + #endif + + /** + * Enable this option if you have more than ~3K of unused flash space. + * Marlin will embed all settings in the firmware binary as compressed data. + * Use 'M503 C' to write the settings out to the SD Card as 'mc.zip'. + * See docs/ConfigEmbedding.md for details on how to use 'mc-apply.py'. + */ + //#define CONFIGURATION_EMBEDDING + + // Add an optimized binary file transfer mode, initiated with 'M28 B1' + #define BINARY_FILE_TRANSFER // MRiscoC Enabled for easy firmware upgrade + + #if ENABLED(BINARY_FILE_TRANSFER) + // Include extra facilities (e.g., 'M20 F') supporting firmware upload via BINARY_FILE_TRANSFER + //#define CUSTOM_FIRMWARE_UPLOAD // MRiscoC Enabled for easy firmware upgrade + #endif + + /** + * Set this option to one of the following (or the board's defaults apply): + * + * LCD - Use the SD drive in the external LCD controller. + * ONBOARD - Use the SD drive on the control board. + * CUSTOM_CABLE - Use a custom cable to access the SD (as defined in a pins file). + * + * :[ 'LCD', 'ONBOARD', 'CUSTOM_CABLE' ] + */ + //#define SDCARD_CONNECTION LCD + + // Enable if SD detect is rendered useless (e.g., by using an SD extender) + //#define NO_SD_DETECT + + /** + * Multiple volume support - EXPERIMENTAL. + * Adds 'M21 Pm' / 'M21 S' / 'M21 U' to mount SD Card / USB Drive. + */ + //#define MULTI_VOLUME + #if ENABLED(MULTI_VOLUME) + #define VOLUME_SD_ONBOARD + #define VOLUME_USB_FLASH_DRIVE + #define DEFAULT_VOLUME SV_SD_ONBOARD + #define DEFAULT_SHARED_VOLUME SV_USB_FLASH_DRIVE + #endif + +#endif // SDSUPPORT + +/** + * By default an onboard SD card reader may be shared as a USB mass- + * storage device. This option hides the SD card from the host PC. + */ +#define NO_SD_HOST_DRIVE // Disable SD Card access over USB (for security). // Ender Configs + +/** + * Additional options for Graphical Displays + * + * Use the optimizations here to improve printing performance, + * which can be adversely affected by graphical display drawing, + * especially when doing several short moves, and when printing + * on DELTA and SCARA machines. + * + * Some of these options may result in the display lagging behind + * controller events, as there is a trade-off between reliable + * printing performance versus fast display updates. + */ +#if HAS_MARLINUI_U8GLIB + // Save many cycles by drawing a hollow frame or no frame on the Info Screen + //#define XYZ_NO_FRAME + #define XYZ_HOLLOW_FRAME + + // A bigger font is available for edit items. Costs 3120 bytes of flash. + // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese. + //#define USE_BIG_EDIT_FONT + + // A smaller font may be used on the Info Screen. Costs 2434 bytes of flash. + // Western only. Not available for Cyrillic, Kana, Turkish, Greek, or Chinese. + //#define USE_SMALL_INFOFONT + + /** + * Graphical Display Sleep + * + * The U8G library provides sleep / wake functions for SH1106, SSD1306, + * SSD1309, and some other DOGM displays. + * Enable this option to save energy and prevent OLED pixel burn-in. + * Adds the menu item Configuration > LCD Timeout (m) to set a wait period + * from 0 (disabled) to 99 minutes. + */ + //#define DISPLAY_SLEEP_MINUTES 2 // (minutes) Timeout before turning off the screen. Set with M255 S. + + /** + * ST7920-based LCDs can emulate a 16 x 4 character display using + * the ST7920 character-generator for very fast screen updates. + * Enable LIGHTWEIGHT_UI to use this special display mode. + * + * Since LIGHTWEIGHT_UI has limited space, the position and status + * message occupy the same line. Set STATUS_EXPIRE_SECONDS to the + * length of time to display the status message before clearing. + * + * Set STATUS_EXPIRE_SECONDS to zero to never clear the status. + * This will prevent position updates from being displayed. + */ + #if IS_U8GLIB_ST7920 + // Enable this option and reduce the value to optimize screen updates. + // The normal delay is 10µs. Use the lowest value that still gives a reliable display. + //#define DOGM_SPI_DELAY_US 5 + + //#define LIGHTWEIGHT_UI + #if ENABLED(LIGHTWEIGHT_UI) + #define STATUS_EXPIRE_SECONDS 20 + #endif + #endif + + /** + * Status (Info) Screen customizations + * These options may affect code size and screen render time. + * Custom status screens can forcibly override these settings. + */ + //#define STATUS_COMBINE_HEATERS // Use combined heater images instead of separate ones + //#define STATUS_HOTEND_NUMBERLESS // Use plain hotend icons instead of numbered ones (with 2+ hotends) + #define STATUS_HOTEND_INVERTED // Show solid nozzle bitmaps when heating (Requires STATUS_HOTEND_ANIM for numbered hotends) + #define STATUS_HOTEND_ANIM // Use a second bitmap to indicate hotend heating + #define STATUS_BED_ANIM // Use a second bitmap to indicate bed heating + #define STATUS_CHAMBER_ANIM // Use a second bitmap to indicate chamber heating + //#define STATUS_CUTTER_ANIM // Use a second bitmap to indicate spindle / laser active + //#define STATUS_COOLER_ANIM // Use a second bitmap to indicate laser cooling + //#define STATUS_FLOWMETER_ANIM // Use multiple bitmaps to indicate coolant flow + //#define STATUS_ALT_BED_BITMAP // Use the alternative bed bitmap + //#define STATUS_ALT_FAN_BITMAP // Use the alternative fan bitmap + //#define STATUS_FAN_FRAMES 3 // :[0,1,2,3,4] Number of fan animation frames + //#define STATUS_HEAT_PERCENT // Show heating in a progress bar + //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash. + + // Frivolous Game Options + //#define MARLIN_BRICKOUT + //#define MARLIN_INVADERS + //#define MARLIN_SNAKE + //#define GAMES_EASTER_EGG // Add extra blank lines above the "Games" sub-menu + +#endif // HAS_MARLINUI_U8GLIB + +#if HAS_MARLINUI_U8GLIB || IS_DWIN_MARLINUI + #define MENU_HOLLOW_FRAME // Enable to save many cycles by drawing a hollow frame on Menu Screens + //#define OVERLAY_GFX_REVERSE // Swap the CW/CCW indicators in the graphics overlay +#endif + +// +// Additional options for DGUS / DWIN displays +// +#if HAS_DGUS_LCD + #define LCD_BAUDRATE 115200 + + #define DGUS_RX_BUFFER_SIZE 128 + #define DGUS_TX_BUFFER_SIZE 48 + //#define SERIAL_STATS_RX_BUFFER_OVERRUNS // Fix Rx overrun situation (Currently only for AVR) + + #define DGUS_UPDATE_INTERVAL_MS 500 // (ms) Interval between automatic screen updates + + #if DGUS_UI_IS(FYSETC, MKS, HIPRECY) + #define DGUS_PRINT_FILENAME // Display the filename during printing + #define DGUS_PREHEAT_UI // Display a preheat screen during heatup + + #if DGUS_UI_IS(FYSETC, MKS) + //#define DGUS_UI_MOVE_DIS_OPTION // Disabled by default for FYSETC and MKS + #else + #define DGUS_UI_MOVE_DIS_OPTION // Enabled by default for UI_HIPRECY + #endif + + #define DGUS_FILAMENT_LOADUNLOAD + #if ENABLED(DGUS_FILAMENT_LOADUNLOAD) + #define DGUS_FILAMENT_PURGE_LENGTH 10 + #define DGUS_FILAMENT_LOAD_LENGTH_PER_TIME 0.5 // (mm) Adjust in proportion to DGUS_UPDATE_INTERVAL_MS + #endif + + #define DGUS_UI_WAITING // Show a "waiting" screen between some screens + #if ENABLED(DGUS_UI_WAITING) + #define DGUS_UI_WAITING_STATUS 10 + #define DGUS_UI_WAITING_STATUS_PERIOD 8 // Increase to slower waiting status looping + #endif + #endif +#endif // HAS_DGUS_LCD + +// +// Additional options for AnyCubic Chiron TFT displays +// +#if ENABLED(ANYCUBIC_LCD_CHIRON) + // By default the type of panel is automatically detected. + // Enable one of these options if you know the panel type. + //#define CHIRON_TFT_STANDARD + //#define CHIRON_TFT_NEW + + // Enable the longer Anycubic powerup startup tune + //#define AC_DEFAULT_STARTUP_TUNE + + /** + * Display Folders + * By default the file browser lists all G-code files (including those in subfolders) in a flat list. + * Enable this option to display a hierarchical file browser. + * + * NOTES: + * - Without this option it helps to enable SDCARD_SORT_ALPHA so files are sorted before/after folders. + * - When used with the "new" panel, folder names will also have '.gcode' appended to their names. + * This hack is currently required to force the panel to show folders. + */ + #define AC_SD_FOLDER_VIEW +#endif + +// +// Specify additional languages for the UI. Default specified by LCD_LANGUAGE. +// +#if ANY(DOGLCD, TFT_COLOR_UI, TOUCH_UI_FTDI_EVE, IS_DWIN_MARLINUI) + //#define LCD_LANGUAGE_2 fr + //#define LCD_LANGUAGE_3 de + //#define LCD_LANGUAGE_4 es + //#define LCD_LANGUAGE_5 it + #ifdef LCD_LANGUAGE_2 + //#define LCD_LANGUAGE_AUTO_SAVE // Automatically save language to EEPROM on change + #endif +#endif + +// +// Touch UI for the FTDI Embedded Video Engine (EVE) +// +#if ENABLED(TOUCH_UI_FTDI_EVE) + // Display board used + //#define LCD_FTDI_VM800B35A // FTDI 3.5" with FT800 (320x240) + //#define LCD_4DSYSTEMS_4DLCD_FT843 // 4D Systems 4.3" (480x272) + //#define LCD_HAOYU_FT800CB // Haoyu with 4.3" or 5" (480x272) + //#define LCD_HAOYU_FT810CB // Haoyu with 5" (800x480) + //#define LCD_LULZBOT_CLCD_UI // LulzBot Color LCD UI + //#define LCD_FYSETC_TFT81050 // FYSETC with 5" (800x480) + //#define LCD_EVE3_50G // Matrix Orbital 5.0", 800x480, BT815 + //#define LCD_EVE2_50G // Matrix Orbital 5.0", 800x480, FT813 + + // Correct the resolution if not using the stock TFT panel. + //#define TOUCH_UI_320x240 + //#define TOUCH_UI_480x272 + //#define TOUCH_UI_800x480 + + // Mappings for boards with a standard RepRapDiscount Display connector + //#define AO_EXP1_PINMAP // LulzBot CLCD UI EXP1 mapping + //#define AO_EXP2_PINMAP // LulzBot CLCD UI EXP2 mapping + //#define CR10_TFT_PINMAP // Rudolph Riedel's CR10 pin mapping + //#define S6_TFT_PINMAP // FYSETC S6 pin mapping + //#define F6_TFT_PINMAP // FYSETC F6 pin mapping + + //#define OTHER_PIN_LAYOUT // Define pins manually below + #if ENABLED(OTHER_PIN_LAYOUT) + // Pins for CS and MOD_RESET (PD) must be chosen + #define CLCD_MOD_RESET 9 + #define CLCD_SPI_CS 10 + + // If using software SPI, specify pins for SCLK, MOSI, MISO + //#define CLCD_USE_SOFT_SPI + #if ENABLED(CLCD_USE_SOFT_SPI) + #define CLCD_SOFT_SPI_MOSI 11 + #define CLCD_SOFT_SPI_MISO 12 + #define CLCD_SOFT_SPI_SCLK 13 + #endif + #endif + + // Display Orientation. An inverted (i.e. upside-down) display + // is supported on the FT800. The FT810 and beyond also support + // portrait and mirrored orientations. + //#define TOUCH_UI_INVERTED + //#define TOUCH_UI_PORTRAIT + //#define TOUCH_UI_MIRRORED + + // UTF8 processing and rendering. + // Unsupported characters are shown as '?'. + //#define TOUCH_UI_USE_UTF8 + #if ENABLED(TOUCH_UI_USE_UTF8) + // Western accents support. These accented characters use + // combined bitmaps and require relatively little storage. + #define TOUCH_UI_UTF8_WESTERN_CHARSET + #if ENABLED(TOUCH_UI_UTF8_WESTERN_CHARSET) + // Additional character groups. These characters require + // full bitmaps and take up considerable storage: + //#define TOUCH_UI_UTF8_SUPERSCRIPTS // ¹ ² ³ + //#define TOUCH_UI_UTF8_COPYRIGHT // © ® + //#define TOUCH_UI_UTF8_GERMANIC // ß + //#define TOUCH_UI_UTF8_SCANDINAVIAN // Æ à Ø Þ æ ð ø þ + //#define TOUCH_UI_UTF8_PUNCTUATION // « » ¿ ¡ + //#define TOUCH_UI_UTF8_CURRENCY // ¢ £ ¤ ¥ + //#define TOUCH_UI_UTF8_ORDINALS // º ª + //#define TOUCH_UI_UTF8_MATHEMATICS // ± × ÷ + //#define TOUCH_UI_UTF8_FRACTIONS // ¼ ½ ¾ + //#define TOUCH_UI_UTF8_SYMBOLS // µ ¶ ¦ § ¬ + #endif + + // Cyrillic character set, costs about 27KiB of flash + //#define TOUCH_UI_UTF8_CYRILLIC_CHARSET + #endif + + // Use a smaller font when labels don't fit buttons + #define TOUCH_UI_FIT_TEXT + + // Use a numeric passcode for "Screen lock" keypad. + // (recommended for smaller displays) + //#define TOUCH_UI_PASSCODE + + // Output extra debug info for Touch UI events + //#define TOUCH_UI_DEBUG + + // Developer menu (accessed by touching "About Printer" copyright text) + //#define TOUCH_UI_DEVELOPER_MENU +#endif + +// +// Classic UI Options +// +#if TFT_SCALED_DOGLCD + //#define TFT_MARLINUI_COLOR 0xFFFF // White + //#define TFT_MARLINBG_COLOR 0x0000 // Black + //#define TFT_DISABLED_COLOR 0x0003 // Almost black + //#define TFT_BTCANCEL_COLOR 0xF800 // Red + //#define TFT_BTARROWS_COLOR 0xDEE6 // 11011 110111 00110 Yellow + //#define TFT_BTOKMENU_COLOR 0x145F // 00010 100010 11111 Cyan +#endif + +// +// ADC Button Debounce +// +#if HAS_ADC_BUTTONS + #define ADC_BUTTON_DEBOUNCE_DELAY 16 // Increase if buttons bounce or repeat too fast +#endif + +// @section safety + +/** + * The watchdog hardware timer will do a reset and disable all outputs + * if the firmware gets too overloaded to read the temperature sensors. + * + * If you find that watchdog reboot causes your AVR board to hang forever, + * enable WATCHDOG_RESET_MANUAL to use a custom timer instead of WDTO. + * NOTE: This method is less reliable as it can only catch hangups while + * interrupts are enabled. + */ +#define USE_WATCHDOG +#if ENABLED(USE_WATCHDOG) + //#define WATCHDOG_RESET_MANUAL +#endif + +// @section lcd + +/** + * Babystepping enables movement of the axes by tiny increments without changing + * the current position values. This feature is used primarily to adjust the Z + * axis in the first layer of a print in real-time. + * + * Warning: Does not respect endstops! + */ +#define BABYSTEPPING // Ender Configs +#if ENABLED(BABYSTEPPING) + //#define INTEGRATED_BABYSTEPPING // EXPERIMENTAL integration of babystepping into the Stepper ISR + #define BABYSTEP_WITHOUT_HOMING // MRiscoC Enabled BbS without home + #define BABYSTEP_ALWAYS_AVAILABLE // Allow babystepping at all times (not just during movement). // MRiscoC Active BbS always + //#define BABYSTEP_XY // Also enable X/Y Babystepping. Not supported on DELTA! + #define BABYSTEP_INVERT_Z false // Change if Z babysteps should go the other way + //#define BABYSTEP_MILLIMETER_UNITS // Specify BABYSTEP_MULTIPLICATOR_(XY|Z) in mm instead of micro-steps + #define BABYSTEP_MULTIPLICATOR_Z 40 // (steps or mm) Steps or millimeter distance for each Z babystep // Ender Configs + #define BABYSTEP_MULTIPLICATOR_XY 1 // (steps or mm) Steps or millimeter distance for each XY babystep + + //#define DOUBLECLICK_FOR_Z_BABYSTEPPING // Double-click on the Status Screen for Z Babystepping. + #if ENABLED(DOUBLECLICK_FOR_Z_BABYSTEPPING) + #define DOUBLECLICK_MAX_INTERVAL 1250 // Maximum interval between clicks, in milliseconds. + // Note: Extra time may be added to mitigate controller latency. + //#define MOVE_Z_WHEN_IDLE // Jump to the move Z menu on doubleclick when printer is idle. + #if ENABLED(MOVE_Z_WHEN_IDLE) + #define MOVE_Z_IDLE_MULTIPLICATOR 1 // Multiply 1mm by this factor for the move step size. + #endif + #endif + + //#define BABYSTEP_DISPLAY_TOTAL // Display total babysteps since last G28 + + //#define BABYSTEP_ZPROBE_OFFSET // Combine M851 Z and Babystepping + #if ENABLED(BABYSTEP_ZPROBE_OFFSET) + //#define BABYSTEP_HOTEND_Z_OFFSET // For multiple hotends, babystep relative Z offsets + //#define BABYSTEP_GFX_OVERLAY // Enable graphical overlay on Z-offset editor + #endif +#endif + +// @section extruder + +/** + * Linear Pressure Control v1.5 + * + * Assumption: advance [steps] = k * (delta velocity [steps/s]) + * K=0 means advance disabled. + * + * NOTE: K values for LIN_ADVANCE 1.5 differ from earlier versions! + * + * Set K around 0.22 for 3mm PLA Direct Drive with ~6.5cm between the drive gear and heatbreak. + * Larger K values will be needed for flexible filament and greater distances. + * If this algorithm produces a higher speed offset than the extruder can handle (compared to E jerk) + * print acceleration will be reduced during the affected moves to keep within the limit. + * + * See https://marlinfw.org/docs/features/lin_advance.html for full instructions. + */ +//#define LIN_ADVANCE +#if ENABLED(LIN_ADVANCE) + #if ENABLED(DISTINCT_E_FACTORS) + #define ADVANCE_K { 0.22 } // (mm) Compression length per 1mm/s extruder speed, per extruder + #else + #define ADVANCE_K 0.22 // (mm) Compression length applying to all extruders + #endif + //#define ADVANCE_K_EXTRA // Add a second linear advance constant, configurable with M900 L. + //#define LA_DEBUG // Print debug information to serial during operation. Disable for production use. + //#define ALLOW_LOW_EJERK // Allow a DEFAULT_EJERK value of <10. Recommended for direct drive hotends. + //#define EXPERIMENTAL_I2S_LA // Allow I2S_STEPPER_STREAM to be used with LA. Performance degrades as the LA step rate reaches ~20kHz. +#endif + +// @section leveling + +/** + * Use Safe Bed Leveling coordinates to move axes to a useful position before bed probing. + * For example, after homing a rotational axis the Z probe might not be perpendicular to the bed. + * Choose values the orient the bed horizontally and the Z-probe vertically. + */ +//#define SAFE_BED_LEVELING_START_X 0.0 +//#define SAFE_BED_LEVELING_START_Y 0.0 +//#define SAFE_BED_LEVELING_START_Z 0.0 +//#define SAFE_BED_LEVELING_START_I 0.0 +//#define SAFE_BED_LEVELING_START_J 0.0 +//#define SAFE_BED_LEVELING_START_K 0.0 +//#define SAFE_BED_LEVELING_START_U 0.0 +//#define SAFE_BED_LEVELING_START_V 0.0 +//#define SAFE_BED_LEVELING_START_W 0.0 + +/** + * Points to probe for all 3-point Leveling procedures. + * Override if the automatically selected points are inadequate. + */ +#if EITHER(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_UBL) + //#define PROBE_PT_1_X 15 + //#define PROBE_PT_1_Y 180 + //#define PROBE_PT_2_X 15 + //#define PROBE_PT_2_Y 20 + //#define PROBE_PT_3_X 170 + //#define PROBE_PT_3_Y 20 +#endif + +/** + * Probing Margins + * + * Override PROBING_MARGIN for each side of the build plate + * Useful to get probe points to exact positions on targets or + * to allow leveling to avoid plate clamps on only specific + * sides of the bed. With NOZZLE_AS_PROBE negative values are + * allowed, to permit probing outside the bed. + * + * If you are replacing the prior *_PROBE_BED_POSITION options, + * LEFT and FRONT values in most cases will map directly over + * RIGHT and REAR would be the inverse such as + * (X/Y_BED_SIZE - RIGHT/BACK_PROBE_BED_POSITION) + * + * This will allow all positions to match at compilation, however + * should the probe position be modified with M851XY then the + * probe points will follow. This prevents any change from causing + * the probe to be unable to reach any points. + */ +#if PROBE_SELECTED && !IS_KINEMATIC + //#define PROBING_MARGIN_LEFT PROBING_MARGIN + //#define PROBING_MARGIN_RIGHT PROBING_MARGIN + //#define PROBING_MARGIN_FRONT PROBING_MARGIN + //#define PROBING_MARGIN_BACK PROBING_MARGIN +#endif + +#if EITHER(MESH_BED_LEVELING, AUTO_BED_LEVELING_UBL) + // Override the mesh area if the automatic (max) area is too large + #define MESH_MIN_X MESH_INSET + #define MESH_MIN_Y MESH_INSET + #define MESH_MAX_X X_BED_SIZE - (MESH_INSET) + #define MESH_MAX_Y Y_BED_SIZE - (MESH_INSET) +#endif + +#if BOTH(AUTO_BED_LEVELING_UBL, EEPROM_SETTINGS) + //#define OPTIMIZED_MESH_STORAGE // Store mesh with less precision to save EEPROM space +#endif + +/** + * Repeatedly attempt G29 leveling until it succeeds. + * Stop after G29_MAX_RETRIES attempts. + */ +//#define G29_RETRY_AND_RECOVER +#if ENABLED(G29_RETRY_AND_RECOVER) + #define G29_MAX_RETRIES 3 + #define G29_HALT_ON_FAILURE + /** + * Specify the GCODE commands that will be executed when leveling succeeds, + * between attempts, and after the maximum number of retries have been tried. + */ + #define G29_SUCCESS_COMMANDS "M117 Bed leveling done." + #define G29_RECOVER_COMMANDS "M117 Probe failed. Rewiping.\nG28\nG12 P0 S12 T0" + #define G29_FAILURE_COMMANDS "M117 Bed leveling failed.\nG0 Z10\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nM300 P25 S880\nM300 P50 S0\nG4 S1" + +#endif + +/** + * Thermal Probe Compensation + * + * Adjust probe measurements to compensate for distortion associated with the temperature + * of the probe, bed, and/or hotend. + * Use G76 to automatically calibrate this feature for probe and bed temperatures. + * (Extruder temperature/offset values must be calibrated manually.) + * Use M871 to set temperature/offset values manually. + * For more details see https://marlinfw.org/docs/features/probe_temp_compensation.html + */ +//#define PTC_PROBE // Compensate based on probe temperature +//#define PTC_BED // Compensate based on bed temperature +//#define PTC_HOTEND // Compensate based on hotend temperature + +#if ANY(PTC_PROBE, PTC_BED, PTC_HOTEND) + /** + * If the probe is outside the defined range, use linear extrapolation with the closest + * point and the point with index PTC_LINEAR_EXTRAPOLATION. e.g., If set to 4 it will use the + * linear extrapolation between data[0] and data[4] for values below PTC_PROBE_START. + */ + //#define PTC_LINEAR_EXTRAPOLATION 4 + + #if ENABLED(PTC_PROBE) + // Probe temperature calibration generates a table of values starting at PTC_PROBE_START + // (e.g., 30), in steps of PTC_PROBE_RES (e.g., 5) with PTC_PROBE_COUNT (e.g., 10) samples. + #define PTC_PROBE_START 30 // (°C) + #define PTC_PROBE_RES 5 // (°C) + #define PTC_PROBE_COUNT 10 + #define PTC_PROBE_ZOFFS { 0 } // (µm) Z adjustments per sample + #endif + + #if ENABLED(PTC_BED) + // Bed temperature calibration builds a similar table. + #define PTC_BED_START 60 // (°C) + #define PTC_BED_RES 5 // (°C) + #define PTC_BED_COUNT 10 + #define PTC_BED_ZOFFS { 0 } // (µm) Z adjustments per sample + #endif + + #if ENABLED(PTC_HOTEND) + // Note: There is no automatic calibration for the hotend. Use M871. + #define PTC_HOTEND_START 180 // (°C) + #define PTC_HOTEND_RES 5 // (°C) + #define PTC_HOTEND_COUNT 20 + #define PTC_HOTEND_ZOFFS { 0 } // (µm) Z adjustments per sample + #endif + + // G76 options + #if BOTH(PTC_PROBE, PTC_BED) + // Park position to wait for probe cooldown + #define PTC_PARK_POS { 0, 0, 100 } + + // Probe position to probe and wait for probe to reach target temperature + //#define PTC_PROBE_POS { 12.0f, 7.3f } // Example: MK52 magnetic heatbed + #define PTC_PROBE_POS { 90, 100 } + + // The temperature the probe should be at while taking measurements during + // bed temperature calibration. + #define PTC_PROBE_TEMP 30 // (°C) + + // Height above Z=0.0 to raise the nozzle. Lowering this can help the probe to heat faster. + // Note: The Z=0.0 offset is determined by the probe Z offset (e.g., as set with M851 Z). + #define PTC_PROBE_HEATING_OFFSET 0.5 + #endif +#endif // PTC_PROBE || PTC_BED || PTC_HOTEND + +// @section extras + +// +// G60/G61 Position Save and Return +// +//#define SAVED_POSITIONS 1 // Each saved position slot costs 12 bytes + +// +// G2/G3 Arc Support +// +#define ARC_SUPPORT // Requires ~3226 bytes +#if ENABLED(ARC_SUPPORT) + #define MIN_ARC_SEGMENT_MM 0.1 // (mm) Minimum length of each arc segment + #define MAX_ARC_SEGMENT_MM 1.0 // (mm) Maximum length of each arc segment + #define MIN_CIRCLE_SEGMENTS 72 // Minimum number of segments in a complete circle + //#define ARC_SEGMENTS_PER_SEC 50 // Use the feedrate to choose the segment length + #define N_ARC_CORRECTION 25 // Number of interpolated segments between corrections + #define ARC_P_CIRCLES // Enable the 'P' parameter to specify complete circles // MRiscoC Enabled + //#define SF_ARC_FIX // Enable only if using SkeinForge with "Arc Point" fillet procedure +#endif + +// G5 Bézier Curve Support with XYZE destination and IJPQ offsets +//#define BEZIER_CURVE_SUPPORT // Requires ~2666 bytes + +#if EITHER(ARC_SUPPORT, BEZIER_CURVE_SUPPORT) + //#define CNC_WORKSPACE_PLANES // Allow G2/G3/G5 to operate in XY, ZX, or YZ planes +#endif + +/** + * Direct Stepping + * + * Comparable to the method used by Klipper, G6 direct stepping significantly + * reduces motion calculations, increases top printing speeds, and results in + * less step aliasing by calculating all motions in advance. + * Preparing your G-code: https://github.com/colinrgodsey/step-daemon + */ +//#define DIRECT_STEPPING + +/** + * G38 Probe Target + * + * This option adds G38.2 and G38.3 (probe towards target) + * and optionally G38.4 and G38.5 (probe away from target). + * Set MULTIPLE_PROBING for G38 to probe more than once. + */ +//#define G38_PROBE_TARGET +#if ENABLED(G38_PROBE_TARGET) + //#define G38_PROBE_AWAY // Include G38.4 and G38.5 to probe away from target + #define G38_MINIMUM_MOVE 0.0275 // (mm) Minimum distance that will produce a move. +#endif + +// Moves (or segments) with fewer steps than this will be joined with the next move +#define MIN_STEPS_PER_SEGMENT 4 // MRiscoC Increase little movements accuracy + +/** + * Minimum delay before and after setting the stepper DIR (in ns) + * 0 : No delay (Expect at least 10µS since one Stepper ISR must transpire) + * 20 : Minimum for TMC2xxx drivers + * 200 : Minimum for A4988 drivers + * 400 : Minimum for A5984 drivers + * 500 : Minimum for LV8729 drivers (guess, no info in datasheet) + * 650 : Minimum for DRV8825 drivers + * 1500 : Minimum for TB6600 drivers (guess, no info in datasheet) + * 15000 : Minimum for TB6560 drivers (guess, no info in datasheet) + * + * Override the default value based on the driver type set in Configuration.h. + */ +//#define MINIMUM_STEPPER_POST_DIR_DELAY 650 +//#define MINIMUM_STEPPER_PRE_DIR_DELAY 650 + +/** + * Minimum stepper driver pulse width (in µs) + * 0 : Smallest possible width the MCU can produce, compatible with TMC2xxx drivers + * 0 : Minimum 500ns for LV8729, adjusted in stepper.h + * 1 : Minimum for A4988 and A5984 stepper drivers + * 2 : Minimum for DRV8825 stepper drivers + * 3 : Minimum for TB6600 stepper drivers + * 30 : Minimum for TB6560 stepper drivers + * + * Override the default value based on the driver type set in Configuration.h. + */ +//#define MINIMUM_STEPPER_PULSE 2 + +/** + * Maximum stepping rate (in Hz) the stepper driver allows + * If undefined, defaults to 1MHz / (2 * MINIMUM_STEPPER_PULSE) + * 5000000 : Maximum for TMC2xxx stepper drivers + * 1000000 : Maximum for LV8729 stepper driver + * 500000 : Maximum for A4988 stepper driver + * 250000 : Maximum for DRV8825 stepper driver + * 150000 : Maximum for TB6600 stepper driver + * 15000 : Maximum for TB6560 stepper driver + * + * Override the default value based on the driver type set in Configuration.h. + */ +//#define MAXIMUM_STEPPER_RATE 250000 + +// @section temperature + +// Control heater 0 and heater 1 in parallel. +//#define HEATERS_PARALLEL + +//=========================================================================== +//================================= Buffers ================================= +//=========================================================================== + +// @section motion + +// The number of linear moves that can be in the planner at once. +// The value of BLOCK_BUFFER_SIZE must be a power of 2 (e.g., 8, 16, 32) +#if BOTH(SDSUPPORT, DIRECT_STEPPING) + #define BLOCK_BUFFER_SIZE 8 +#elif ENABLED(SDSUPPORT) + #define BLOCK_BUFFER_SIZE 16 +#else + #define BLOCK_BUFFER_SIZE 16 +#endif + +// @section serial + +// The ASCII buffer for serial input +#define MAX_CMD_SIZE 96 +#define BUFSIZE 16 // MRiscoC Increase buffer for Octoprint + +// Transmission to Host Buffer Size +// To save 386 bytes of flash (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0. +// To buffer a simple "ok" you need 4 bytes. +// For ADVANCED_OK (M105) you need 32 bytes. +// For debug-echo: 128 bytes for the optimal speed. +// Other output doesn't need to be that speedy. +// :[0, 2, 4, 8, 16, 32, 64, 128, 256] +#define TX_BUFFER_SIZE 64 // MRiscoC Increase buffer for Octoprint + +// Host Receive Buffer Size +// Without XON/XOFF flow control (see SERIAL_XON_XOFF below) 32 bytes should be enough. +// To use flow control, set this buffer size to at least 1024 bytes. +// :[0, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048] +//#define RX_BUFFER_SIZE 1024 + +#if RX_BUFFER_SIZE >= 1024 + // Enable to have the controller send XON/XOFF control characters to + // the host to signal the RX buffer is becoming full. + //#define SERIAL_XON_XOFF +#endif + +#if ENABLED(SDSUPPORT) + // Enable this option to collect and display the maximum + // RX queue usage after transferring a file to SD. + //#define SERIAL_STATS_MAX_RX_QUEUED + + // Enable this option to collect and display the number + // of dropped bytes after a file transfer to SD. + //#define SERIAL_STATS_DROPPED_RX +#endif + +// Monitor RX buffer usage +// Dump an error to the serial port if the serial receive buffer overflows. +// If you see these errors, increase the RX_BUFFER_SIZE value. +// Not supported on all platforms. +//#define RX_BUFFER_MONITOR + +/** + * Emergency Command Parser + * + * Add a low-level parser to intercept certain commands as they + * enter the serial receive buffer, so they cannot be blocked. + * Currently handles M108, M112, M410, M876 + * NOTE: Not yet implemented for all platforms. + */ +#define EMERGENCY_PARSER // MRiscoC Enabled instantaneous response to emergency commands + +/** + * Realtime Reporting (requires EMERGENCY_PARSER) + * + * - Report position and state of the machine (like Grbl). + * - Auto-report position during long moves. + * - Useful for CNC/LASER. + * + * Adds support for commands: + * S000 : Report State and Position while moving. + * P000 : Instant Pause / Hold while moving. + * R000 : Resume from Pause / Hold. + * + * - During Hold all Emergency Parser commands are available, as usual. + * - Enable NANODLP_Z_SYNC and NANODLP_ALL_AXIS for move command end-state reports. + */ +//#define REALTIME_REPORTING_COMMANDS +#if ENABLED(REALTIME_REPORTING_COMMANDS) + //#define FULL_REPORT_TO_HOST_FEATURE // Auto-report the machine status like Grbl CNC +#endif + +// Bad Serial-connections can miss a received command by sending an 'ok' +// Therefore some clients abort after 30 seconds in a timeout. +// Some other clients start sending commands while receiving a 'wait'. +// This "wait" is only sent when the buffer is empty. 1 second is a good value here. +//#define NO_TIMEOUTS 1000 // Milliseconds + +// Some clients will have this feature soon. This could make the NO_TIMEOUTS unnecessary. +#define ADVANCED_OK // MRiscoC better management of buffer by host + +// Printrun may have trouble receiving long strings all at once. +// This option inserts short delays between lines of serial output. +#define SERIAL_OVERRUN_PROTECTION + +// For serial echo, the number of digits after the decimal point +//#define SERIAL_FLOAT_PRECISION 4 + +/** + * Set the number of proportional font spaces required to fill up a typical character space. + * This can help to better align the output of commands like `G29 O` Mesh Output. + * + * For clients that use a fixed-width font (like OctoPrint), leave this set to 1.0. + * Otherwise, adjust according to your client and font. + */ +#define PROPORTIONAL_FONT_RATIO 1.0 + +// @section extras + +/** + * Extra Fan Speed + * Adds a secondary fan speed for each print-cooling fan. + * 'M106 P T3-255' : Set a secondary speed for + * 'M106 P T2' : Use the set secondary speed + * 'M106 P T1' : Restore the previous fan speed + */ +//#define EXTRA_FAN_SPEED + +/** + * Firmware-based and LCD-controlled retract + * + * Add G10 / G11 commands for automatic firmware-based retract / recover. + * Use M207 and M208 to define parameters for retract / recover. + * + * Use M209 to enable or disable auto-retract. + * With auto-retract enabled, all G1 E moves within the set range + * will be converted to firmware-based retract/recover moves. + * + * Be sure to turn off auto-retract during filament change. + * + * Note that M207 / M208 / M209 settings are saved to EEPROM. + */ +#define FWRETRACT // MRiscoC Enabled support for firmware based retract +#if ENABLED(FWRETRACT) + //#define FWRETRACT_AUTORETRACT // Override slicer retractions // MRiscoC use slicer retract + #if ENABLED(FWRETRACT_AUTORETRACT) + #define MIN_AUTORETRACT 0.1 // (mm) Don't convert E moves under this length + #define MAX_AUTORETRACT 10.0 // (mm) Don't convert E moves over this length + #endif + #define RETRACT_LENGTH 5 // (mm) Default retract length (positive value) // MRiscoC Bowden + #define RETRACT_LENGTH_SWAP 13 // (mm) Default swap retract length (positive value) + #define RETRACT_FEEDRATE 40 // (mm/s) Default feedrate for retracting // MRiscoC Bowden + #define RETRACT_ZRAISE 0.2 // (mm) Default retract Z-raise // MRiscoC Bowden + #define RETRACT_RECOVER_LENGTH 0 // (mm) Default additional recover length (added to retract length on recover) + #define RETRACT_RECOVER_LENGTH_SWAP 0 // (mm) Default additional swap recover length (added to retract length on recover from toolchange) + #define RETRACT_RECOVER_FEEDRATE 40 // (mm/s) Default feedrate for recovering from retraction // MRiscoC Bowden + #define RETRACT_RECOVER_FEEDRATE_SWAP 8 // (mm/s) Default feedrate for recovering from swap retraction + #if ENABLED(MIXING_EXTRUDER) + //#define RETRACT_SYNC_MIXING // Retract and restore all mixing steppers simultaneously + #endif +#endif + +/** + * Universal tool change settings. + * Applies to all types of extruders except where explicitly noted. + */ +#if HAS_MULTI_EXTRUDER + // Z raise distance for tool-change, as needed for some extruders + #define TOOLCHANGE_ZRAISE 2 // (mm) + //#define TOOLCHANGE_ZRAISE_BEFORE_RETRACT // Apply raise before swap retraction (if enabled) + //#define TOOLCHANGE_NO_RETURN // Never return to previous position on tool-change + #if ENABLED(TOOLCHANGE_NO_RETURN) + //#define EVENT_GCODE_AFTER_TOOLCHANGE "G12X" // Extra G-code to run after tool-change + #endif + + /** + * Extra G-code to run while executing tool-change commands. Can be used to use an additional + * stepper motor (e.g., I axis in Configuration.h) to drive the tool-changer. + */ + //#define EVENT_GCODE_TOOLCHANGE_T0 "G28 A\nG1 A0" // Extra G-code to run while executing tool-change command T0 + //#define EVENT_GCODE_TOOLCHANGE_T1 "G1 A10" // Extra G-code to run while executing tool-change command T1 + //#define EVENT_GCODE_TOOLCHANGE_ALWAYS_RUN // Always execute above G-code sequences. Use with caution! + + /** + * Consider coordinates for EVENT_GCODE_TOOLCHANGE_Tx as relative to T0 + * so that moves in the specified axes are the same for all tools. + */ + //#define TC_GCODE_USE_GLOBAL_X // Use X position relative to Tool 0 + //#define TC_GCODE_USE_GLOBAL_Y // Use Y position relative to Tool 0 + //#define TC_GCODE_USE_GLOBAL_Z // Use Z position relative to Tool 0 + + /** + * Tool Sensors detect when tools have been picked up or dropped. + * Requires the pins TOOL_SENSOR1_PIN, TOOL_SENSOR2_PIN, etc. + */ + //#define TOOL_SENSOR + + /** + * Retract and prime filament on tool-change to reduce + * ooze and stringing and to get cleaner transitions. + */ + //#define TOOLCHANGE_FILAMENT_SWAP + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + // Load / Unload + #define TOOLCHANGE_FS_LENGTH 12 // (mm) Load / Unload length + #define TOOLCHANGE_FS_EXTRA_RESUME_LENGTH 0 // (mm) Extra length for better restart. Adjust with LCD or M217 B. + #define TOOLCHANGE_FS_RETRACT_SPEED (50*60) // (mm/min) (Unloading) + #define TOOLCHANGE_FS_UNRETRACT_SPEED (25*60) // (mm/min) (On SINGLENOZZLE or Bowden loading must be slowed down) + + // Longer prime to clean out a SINGLENOZZLE + #define TOOLCHANGE_FS_EXTRA_PRIME 0 // (mm) Extra priming length + #define TOOLCHANGE_FS_PRIME_SPEED (4.6*60) // (mm/min) Extra priming feedrate + #define TOOLCHANGE_FS_WIPE_RETRACT 0 // (mm) Cutting retraction out of park, for less stringing, better wipe, etc. Adjust with LCD or M217 G. + + // Cool after prime to reduce stringing + #define TOOLCHANGE_FS_FAN -1 // Fan index or -1 to skip + #define TOOLCHANGE_FS_FAN_SPEED 255 // 0-255 + #define TOOLCHANGE_FS_FAN_TIME 10 // (seconds) + + // Use TOOLCHANGE_FS_PRIME_SPEED feedrate the first time each extruder is primed + //#define TOOLCHANGE_FS_SLOW_FIRST_PRIME + + /** + * Prime T0 the first time T0 is sent to the printer: + * [ Power-On -> T0 { Activate & Prime T0 } -> T1 { Retract T0, Activate & Prime T1 } ] + * If disabled, no priming on T0 until switching back to T0 from another extruder: + * [ Power-On -> T0 { T0 Activated } -> T1 { Activate & Prime T1 } -> T0 { Retract T1, Activate & Prime T0 } ] + * Enable with M217 V1 before printing to avoid unwanted priming on host connect. + */ + //#define TOOLCHANGE_FS_PRIME_FIRST_USED + + /** + * Tool Change Migration + * This feature provides G-code and LCD options to switch tools mid-print. + * All applicable tool properties are migrated so the print can continue. + * Tools must be closely matching and other restrictions may apply. + * Useful to: + * - Change filament color without interruption + * - Switch spools automatically on filament runout + * - Switch to a different nozzle on an extruder jam + */ + #define TOOLCHANGE_MIGRATION_FEATURE + + #endif + + /** + * Position to park head during tool change. + * Doesn't apply to SWITCHING_TOOLHEAD, DUAL_X_CARRIAGE, or PARKING_EXTRUDER + */ + //#define TOOLCHANGE_PARK + #if ENABLED(TOOLCHANGE_PARK) + #define TOOLCHANGE_PARK_XY { X_MIN_POS + 10, Y_MIN_POS + 10 } + #define TOOLCHANGE_PARK_XY_FEEDRATE 6000 // (mm/min) + //#define TOOLCHANGE_PARK_X_ONLY // X axis only move + //#define TOOLCHANGE_PARK_Y_ONLY // Y axis only move + #endif +#endif // HAS_MULTI_EXTRUDER + +// @section advanced pause + +/** + * Advanced Pause for Filament Change + * - Adds the G-code M600 Filament Change to initiate a filament change. + * - This feature is required for the default FILAMENT_RUNOUT_SCRIPT. + * + * Requirements: + * - For Filament Change parking enable and configure NOZZLE_PARK_FEATURE. + * - For user interaction enable an LCD display, HOST_PROMPT_SUPPORT, or EMERGENCY_PARSER. + * + * Enable PARK_HEAD_ON_PAUSE to add the G-code M125 Pause and Park. + */ +#define ADVANCED_PAUSE_FEATURE // MRiscoC Enabled +#if ENABLED(ADVANCED_PAUSE_FEATURE) + #define PAUSE_PARK_RETRACT_FEEDRATE 60 // (mm/s) Initial retract feedrate. + #define PAUSE_PARK_RETRACT_LENGTH 2 // (mm) Initial retract. + // This short retract is done immediately, before parking the nozzle. + #define FILAMENT_CHANGE_UNLOAD_FEEDRATE 20 // (mm/s) Unload filament feedrate. This can be pretty fast. // MRiscoC Increased filament unload speed + #define FILAMENT_CHANGE_UNLOAD_ACCEL 25 // (mm/s^2) Lower acceleration may allow a faster feedrate. + #define FILAMENT_CHANGE_UNLOAD_LENGTH 100 // (mm) The length of filament for a complete unload. + // For Bowden, the full length of the tube and nozzle. + // For direct drive, the full length of the nozzle. + // Set to 0 for manual unloading. + #define FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE 6 // (mm/s) Slow move when starting load. + #define FILAMENT_CHANGE_SLOW_LOAD_LENGTH 0 // (mm) Slow length, to allow time to insert material. + // 0 to disable start loading and skip to fast load only + #define FILAMENT_CHANGE_FAST_LOAD_FEEDRATE 12 // (mm/s) Load filament feedrate. This can be pretty fast. // MRiscoC Increased filament load speed + #define FILAMENT_CHANGE_FAST_LOAD_ACCEL 25 // (mm/s^2) Lower acceleration may allow a faster feedrate. + #define FILAMENT_CHANGE_FAST_LOAD_LENGTH 0 // (mm) Load length of filament, from extruder gear to nozzle. + // For Bowden, the full length of the tube and nozzle. + // For direct drive, the full length of the nozzle. + //#define ADVANCED_PAUSE_CONTINUOUS_PURGE // Purge continuously up to the purge length until interrupted. + #define ADVANCED_PAUSE_PURGE_FEEDRATE 3 // (mm/s) Extrude feedrate (after loading). Should be slower than load feedrate. + #define ADVANCED_PAUSE_PURGE_LENGTH 50 // (mm) Length to extrude after loading. + // Set to 0 for manual extrusion. + // Filament can be extruded repeatedly from the Filament Change menu + // until extrusion is consistent, and to purge old filament. + #define ADVANCED_PAUSE_RESUME_PRIME 0 // (mm) Extra distance to prime nozzle after returning from park. + //#define ADVANCED_PAUSE_FANS_PAUSE // Turn off print-cooling fans while the machine is paused. + + // Filament Unload does a Retract, Delay, and Purge first: + #define FILAMENT_UNLOAD_PURGE_RETRACT 13 // (mm) Unload initial retract length. + #define FILAMENT_UNLOAD_PURGE_DELAY 5000 // (ms) Delay for the filament to cool after retract. + #define FILAMENT_UNLOAD_PURGE_LENGTH 8 // (mm) An unretract is done, then this length is purged. + #define FILAMENT_UNLOAD_PURGE_FEEDRATE 25 // (mm/s) feedrate to purge before unload + + #define PAUSE_PARK_NOZZLE_TIMEOUT 90 // (seconds) Time limit before the nozzle is turned off for safety. + #define FILAMENT_CHANGE_ALERT_BEEPS 10 // Number of alert beeps to play when a response is needed. + #define PAUSE_PARK_NO_STEPPER_TIMEOUT // Enable for XYZ steppers to stay powered on during filament change. + //#define FILAMENT_CHANGE_RESUME_ON_INSERT // Automatically continue / load filament when runout sensor is triggered again. + //#define PAUSE_REHEAT_FAST_RESUME // Reduce number of waits by not prompting again post-timeout before continuing. + + #define PARK_HEAD_ON_PAUSE // Park the nozzle during pause and filament change. // MRiscoC Enabled park head when pause command was issued + //#define HOME_BEFORE_FILAMENT_CHANGE // If needed, home before parking for filament change + + #define FILAMENT_LOAD_UNLOAD_GCODES // Add M701/M702 Load/Unload G-codes, plus Load/Unload in the LCD Prepare menu. // MRiscoC Enabled load/unload Filament G-codes + //#define FILAMENT_UNLOAD_ALL_EXTRUDERS // Allow M702 to unload all extruders above a minimum target temp (as set by M302) +#endif + +// @section tmc_smart + +/** + * Trinamic Smart Drivers + * + * To use TMC2130, TMC2160, TMC2660, TMC5130, TMC5160 stepper drivers in SPI mode: + * - Connect your SPI pins to the Hardware SPI interface on the board. + * Some boards have simple jumper connections! See your board's documentation. + * - Define the required Stepper CS pins in your `pins_MYBOARD.h` file. + * (See the RAMPS pins, for example.) + * - You can also use Software SPI with GPIO pins instead of Hardware SPI. + * + * To use TMC220x stepper drivers with Serial UART: + * - Connect PDN_UART to the #_SERIAL_TX_PIN through a 1K resistor. + * For reading capabilities also connect PDN_UART to #_SERIAL_RX_PIN with no resistor. + * Some boards have simple jumper connections! See your board's documentation. + * - These drivers can also be used with Hardware Serial. + * + * The TMC26XStepper library is required for TMC26X stepper drivers. + * https://github.com/MarlinFirmware/TMC26XStepper + * + * The TMCStepper library is required for other TMC stepper drivers. + * https://github.com/teemuatlut/TMCStepper + * + * @section tmc/config + */ +#if HAS_TRINAMIC_CONFIG || HAS_TMC26X + + #define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current + + /** + * Interpolate microsteps to 256 + * Override for each driver with _INTERPOLATE settings below + */ + #define INTERPOLATE true + + #if AXIS_IS_TMC_CONFIG(X) + #define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current. + #define X_CURRENT_HOME X_CURRENT // (mA) RMS current for sensorless homing + #define X_MICROSTEPS 16 // 0..256 + #define X_RSENSE 0.11 // Multiplied x1000 for TMC26X + #define X_CHAIN_POS -1 // -1..0: Not chained. 1: MCU MOSI connected. 2: Next in chain, ... + //#define X_INTERPOLATE true // Enable to override 'INTERPOLATE' for the X axis + //#define X_HOLD_MULTIPLIER 0.5 // Enable to override 'HOLD_MULTIPLIER' for the X axis + #endif + + #if AXIS_IS_TMC_CONFIG(X2) + #define X2_CURRENT 800 + #define X2_CURRENT_HOME X2_CURRENT + #define X2_MICROSTEPS X_MICROSTEPS + #define X2_RSENSE 0.11 + #define X2_CHAIN_POS -1 + //#define X2_INTERPOLATE true + //#define X2_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(Y) + #define Y_CURRENT 800 + #define Y_CURRENT_HOME Y_CURRENT + #define Y_MICROSTEPS 16 + #define Y_RSENSE 0.11 + #define Y_CHAIN_POS -1 + //#define Y_INTERPOLATE true + //#define Y_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(Y2) + #define Y2_CURRENT 800 + #define Y2_CURRENT_HOME Y2_CURRENT + #define Y2_MICROSTEPS Y_MICROSTEPS + #define Y2_RSENSE 0.11 + #define Y2_CHAIN_POS -1 + //#define Y2_INTERPOLATE true + //#define Y2_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(Z) + #define Z_CURRENT 800 + #define Z_CURRENT_HOME Z_CURRENT + #define Z_MICROSTEPS 16 + #define Z_RSENSE 0.11 + #define Z_CHAIN_POS -1 + //#define Z_INTERPOLATE true + //#define Z_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(Z2) + #define Z2_CURRENT 800 + #define Z2_CURRENT_HOME Z2_CURRENT + #define Z2_MICROSTEPS Z_MICROSTEPS + #define Z2_RSENSE 0.11 + #define Z2_CHAIN_POS -1 + //#define Z2_INTERPOLATE true + //#define Z2_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(Z3) + #define Z3_CURRENT 800 + #define Z3_CURRENT_HOME Z3_CURRENT + #define Z3_MICROSTEPS Z_MICROSTEPS + #define Z3_RSENSE 0.11 + #define Z3_CHAIN_POS -1 + //#define Z3_INTERPOLATE true + //#define Z3_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(Z4) + #define Z4_CURRENT 800 + #define Z4_CURRENT_HOME Z4_CURRENT + #define Z4_MICROSTEPS Z_MICROSTEPS + #define Z4_RSENSE 0.11 + #define Z4_CHAIN_POS -1 + //#define Z4_INTERPOLATE true + //#define Z4_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(I) + #define I_CURRENT 800 + #define I_CURRENT_HOME I_CURRENT + #define I_MICROSTEPS 16 + #define I_RSENSE 0.11 + #define I_CHAIN_POS -1 + //#define I_INTERPOLATE true + //#define I_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(J) + #define J_CURRENT 800 + #define J_CURRENT_HOME J_CURRENT + #define J_MICROSTEPS 16 + #define J_RSENSE 0.11 + #define J_CHAIN_POS -1 + //#define J_INTERPOLATE true + //#define J_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(K) + #define K_CURRENT 800 + #define K_CURRENT_HOME K_CURRENT + #define K_MICROSTEPS 16 + #define K_RSENSE 0.11 + #define K_CHAIN_POS -1 + //#define K_INTERPOLATE true + //#define K_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(U) + #define U_CURRENT 800 + #define U_CURRENT_HOME U_CURRENT + #define U_MICROSTEPS 8 + #define U_RSENSE 0.11 + #define U_CHAIN_POS -1 + //#define U_INTERPOLATE true + //#define U_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(V) + #define V_CURRENT 800 + #define V_CURRENT_HOME V_CURRENT + #define V_MICROSTEPS 8 + #define V_RSENSE 0.11 + #define V_CHAIN_POS -1 + //#define V_INTERPOLATE true + //#define V_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(W) + #define W_CURRENT 800 + #define W_CURRENT_HOME W_CURRENT + #define W_MICROSTEPS 8 + #define W_RSENSE 0.11 + #define W_CHAIN_POS -1 + //#define W_INTERPOLATE true + //#define W_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E0) + #define E0_CURRENT 800 + #define E0_MICROSTEPS 16 + #define E0_RSENSE 0.11 + #define E0_CHAIN_POS -1 + //#define E0_INTERPOLATE true + //#define E0_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E1) + #define E1_CURRENT 800 + #define E1_MICROSTEPS E0_MICROSTEPS + #define E1_RSENSE 0.11 + #define E1_CHAIN_POS -1 + //#define E1_INTERPOLATE true + //#define E1_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E2) + #define E2_CURRENT 800 + #define E2_MICROSTEPS E0_MICROSTEPS + #define E2_RSENSE 0.11 + #define E2_CHAIN_POS -1 + //#define E2_INTERPOLATE true + //#define E2_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E3) + #define E3_CURRENT 800 + #define E3_MICROSTEPS E0_MICROSTEPS + #define E3_RSENSE 0.11 + #define E3_CHAIN_POS -1 + //#define E3_INTERPOLATE true + //#define E3_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E4) + #define E4_CURRENT 800 + #define E4_MICROSTEPS E0_MICROSTEPS + #define E4_RSENSE 0.11 + #define E4_CHAIN_POS -1 + //#define E4_INTERPOLATE true + //#define E4_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E5) + #define E5_CURRENT 800 + #define E5_MICROSTEPS E0_MICROSTEPS + #define E5_RSENSE 0.11 + #define E5_CHAIN_POS -1 + //#define E5_INTERPOLATE true + //#define E5_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E6) + #define E6_CURRENT 800 + #define E6_MICROSTEPS E0_MICROSTEPS + #define E6_RSENSE 0.11 + #define E6_CHAIN_POS -1 + //#define E6_INTERPOLATE true + //#define E6_HOLD_MULTIPLIER 0.5 + #endif + + #if AXIS_IS_TMC_CONFIG(E7) + #define E7_CURRENT 800 + #define E7_MICROSTEPS E0_MICROSTEPS + #define E7_RSENSE 0.11 + #define E7_CHAIN_POS -1 + //#define E7_INTERPOLATE true + //#define E7_HOLD_MULTIPLIER 0.5 + #endif + + // @section tmc/spi + + /** + * Override default SPI pins for TMC2130, TMC2160, TMC2660, TMC5130 and TMC5160 drivers here. + * The default pins can be found in your board's pins file. + */ + //#define X_CS_PIN -1 + //#define Y_CS_PIN -1 + //#define Z_CS_PIN -1 + //#define X2_CS_PIN -1 + //#define Y2_CS_PIN -1 + //#define Z2_CS_PIN -1 + //#define Z3_CS_PIN -1 + //#define Z4_CS_PIN -1 + //#define I_CS_PIN -1 + //#define J_CS_PIN -1 + //#define K_CS_PIN -1 + //#define U_CS_PIN -1 + //#define V_CS_PIN -1 + //#define W_CS_PIN -1 + //#define E0_CS_PIN -1 + //#define E1_CS_PIN -1 + //#define E2_CS_PIN -1 + //#define E3_CS_PIN -1 + //#define E4_CS_PIN -1 + //#define E5_CS_PIN -1 + //#define E6_CS_PIN -1 + //#define E7_CS_PIN -1 + + /** + * Software option for SPI driven drivers (TMC2130, TMC2160, TMC2660, TMC5130 and TMC5160). + * The default SW SPI pins are defined the respective pins files, + * but you can override or define them here. + */ + //#define TMC_USE_SW_SPI + //#define TMC_SW_MOSI -1 + //#define TMC_SW_MISO -1 + //#define TMC_SW_SCK -1 + + // @section tmc/serial + + /** + * Four TMC2209 drivers can use the same HW/SW serial port with hardware configured addresses. + * Set the address using jumpers on pins MS1 and MS2. + * Address | MS1 | MS2 + * 0 | LOW | LOW + * 1 | HIGH | LOW + * 2 | LOW | HIGH + * 3 | HIGH | HIGH + * + * Set *_SERIAL_TX_PIN and *_SERIAL_RX_PIN to match for all drivers + * on the same serial port, either here or in your board's pins file. + */ + //#define X_SLAVE_ADDRESS 0 + //#define Y_SLAVE_ADDRESS 0 + //#define Z_SLAVE_ADDRESS 0 + //#define X2_SLAVE_ADDRESS 0 + //#define Y2_SLAVE_ADDRESS 0 + //#define Z2_SLAVE_ADDRESS 0 + //#define Z3_SLAVE_ADDRESS 0 + //#define Z4_SLAVE_ADDRESS 0 + //#define I_SLAVE_ADDRESS 0 + //#define J_SLAVE_ADDRESS 0 + //#define K_SLAVE_ADDRESS 0 + //#define U_SLAVE_ADDRESS 0 + //#define V_SLAVE_ADDRESS 0 + //#define W_SLAVE_ADDRESS 0 + //#define E0_SLAVE_ADDRESS 0 + //#define E1_SLAVE_ADDRESS 0 + //#define E2_SLAVE_ADDRESS 0 + //#define E3_SLAVE_ADDRESS 0 + //#define E4_SLAVE_ADDRESS 0 + //#define E5_SLAVE_ADDRESS 0 + //#define E6_SLAVE_ADDRESS 0 + //#define E7_SLAVE_ADDRESS 0 + + // @section tmc/smart + + /** + * Software enable + * + * Use for drivers that do not use a dedicated enable pin, but rather handle the same + * function through a communication line such as SPI or UART. + */ + //#define SOFTWARE_DRIVER_ENABLE + + // @section tmc/stealthchop + + /** + * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only + * Use Trinamic's ultra quiet stepping mode. + * When disabled, Marlin will use spreadCycle stepping mode. + */ + #if HAS_STEALTHCHOP + #define STEALTHCHOP_XY + #define STEALTHCHOP_Z + #define STEALTHCHOP_I + #define STEALTHCHOP_J + #define STEALTHCHOP_K + #define STEALTHCHOP_U + #define STEALTHCHOP_V + #define STEALTHCHOP_W + #define STEALTHCHOP_E + #endif + + /** + * Optimize spreadCycle chopper parameters by using predefined parameter sets + * or with the help of an example included in the library. + * Provided parameter sets are + * CHOPPER_DEFAULT_12V + * CHOPPER_DEFAULT_19V + * CHOPPER_DEFAULT_24V + * CHOPPER_DEFAULT_36V + * CHOPPER_09STEP_24V // 0.9 degree steppers (24V) + * CHOPPER_PRUSAMK3_24V // Imported parameters from the official Průša firmware for MK3 (24V) + * CHOPPER_MARLIN_119 // Old defaults from Marlin v1.1.9 + * + * Define your own with: + * { , , hysteresis_start[1..8] } + */ + #define CHOPPER_TIMING CHOPPER_DEFAULT_24V // All axes (override below) // MRiscoC Correct value for UART mode drivers + //#define CHOPPER_TIMING_X CHOPPER_TIMING // For X Axes (override below) + //#define CHOPPER_TIMING_X2 CHOPPER_TIMING_X + //#define CHOPPER_TIMING_Y CHOPPER_TIMING // For Y Axes (override below) + //#define CHOPPER_TIMING_Y2 CHOPPER_TIMING_Y + //#define CHOPPER_TIMING_Z CHOPPER_TIMING // For Z Axes (override below) + //#define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z + //#define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z + //#define CHOPPER_TIMING_Z4 CHOPPER_TIMING_Z + //#define CHOPPER_TIMING_I CHOPPER_TIMING // For I Axis + //#define CHOPPER_TIMING_J CHOPPER_TIMING // For J Axis + //#define CHOPPER_TIMING_K CHOPPER_TIMING // For K Axis + //#define CHOPPER_TIMING_U CHOPPER_TIMING // For U Axis + //#define CHOPPER_TIMING_V CHOPPER_TIMING // For V Axis + //#define CHOPPER_TIMING_W CHOPPER_TIMING // For W Axis + //#define CHOPPER_TIMING_E CHOPPER_TIMING // For Extruders (override below) + //#define CHOPPER_TIMING_E1 CHOPPER_TIMING_E + //#define CHOPPER_TIMING_E2 CHOPPER_TIMING_E + //#define CHOPPER_TIMING_E3 CHOPPER_TIMING_E + //#define CHOPPER_TIMING_E4 CHOPPER_TIMING_E + //#define CHOPPER_TIMING_E5 CHOPPER_TIMING_E + //#define CHOPPER_TIMING_E6 CHOPPER_TIMING_E + //#define CHOPPER_TIMING_E7 CHOPPER_TIMING_E + + // @section tmc/status + + /** + * Monitor Trinamic drivers + * for error conditions like overtemperature and short to ground. + * To manage over-temp Marlin can decrease the driver current until the error condition clears. + * Other detected conditions can be used to stop the current print. + * Relevant G-codes: + * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. + * M911 - Report stepper driver overtemperature pre-warn condition. + * M912 - Clear stepper driver overtemperature pre-warn condition flag. + * M122 - Report driver parameters (Requires TMC_DEBUG) + */ + //#define MONITOR_DRIVER_STATUS + + #if ENABLED(MONITOR_DRIVER_STATUS) + #define CURRENT_STEP_DOWN 50 // [mA] + #define REPORT_CURRENT_CHANGE + #define STOP_ON_ERROR + #endif + + // @section tmc/hybrid + + /** + * TMC2130, TMC2160, TMC2208, TMC2209, TMC5130 and TMC5160 only + * The driver will switch to spreadCycle when stepper speed is over HYBRID_THRESHOLD. + * This mode allows for faster movements at the expense of higher noise levels. + * STEALTHCHOP_(XY|Z|E) must be enabled to use HYBRID_THRESHOLD. + * M913 X/Y/Z/E to live tune the setting + */ + //#define HYBRID_THRESHOLD + + #define X_HYBRID_THRESHOLD 100 // [mm/s] + #define X2_HYBRID_THRESHOLD 100 + #define Y_HYBRID_THRESHOLD 100 + #define Y2_HYBRID_THRESHOLD 100 + #define Z_HYBRID_THRESHOLD 3 + #define Z2_HYBRID_THRESHOLD 3 + #define Z3_HYBRID_THRESHOLD 3 + #define Z4_HYBRID_THRESHOLD 3 + #define I_HYBRID_THRESHOLD 3 // [linear=mm/s, rotational=°/s] + #define J_HYBRID_THRESHOLD 3 // [linear=mm/s, rotational=°/s] + #define K_HYBRID_THRESHOLD 3 // [linear=mm/s, rotational=°/s] + #define U_HYBRID_THRESHOLD 3 // [mm/s] + #define V_HYBRID_THRESHOLD 3 + #define W_HYBRID_THRESHOLD 3 + #define E0_HYBRID_THRESHOLD 30 + #define E1_HYBRID_THRESHOLD 30 + #define E2_HYBRID_THRESHOLD 30 + #define E3_HYBRID_THRESHOLD 30 + #define E4_HYBRID_THRESHOLD 30 + #define E5_HYBRID_THRESHOLD 30 + #define E6_HYBRID_THRESHOLD 30 + #define E7_HYBRID_THRESHOLD 30 + + /** + * Use StallGuard to home / probe X, Y, Z. + * + * TMC2130, TMC2160, TMC2209, TMC2660, TMC5130, and TMC5160 only + * Connect the stepper driver's DIAG1 pin to the X/Y endstop pin. + * X, Y, and Z homing will always be done in spreadCycle mode. + * + * X/Y/Z_STALL_SENSITIVITY is the default stall threshold. + * Use M914 X Y Z to set the stall threshold at runtime: + * + * Sensitivity TMC2209 Others + * HIGHEST 255 -64 (Too sensitive => False positive) + * LOWEST 0 63 (Too insensitive => No trigger) + * + * It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }. + * + * SPI_ENDSTOPS *** Beta feature! *** TMC2130/TMC5160 Only *** + * Poll the driver through SPI to determine load when homing. + * Removes the need for a wire from DIAG1 to an endstop pin. + * + * IMPROVE_HOMING_RELIABILITY tunes acceleration and jerk when + * homing and adds a guard period for endstop triggering. + * + * Comment *_STALL_SENSITIVITY to disable sensorless homing for that axis. + * @section tmc/stallguard + */ + //#define SENSORLESS_HOMING // StallGuard capable drivers only + + #if EITHER(SENSORLESS_HOMING, SENSORLESS_PROBING) + // TMC2209: 0...255. TMC2130: -64...63 + #define X_STALL_SENSITIVITY 8 + #define X2_STALL_SENSITIVITY X_STALL_SENSITIVITY + #define Y_STALL_SENSITIVITY 8 + #define Y2_STALL_SENSITIVITY Y_STALL_SENSITIVITY + //#define Z_STALL_SENSITIVITY 8 + //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY + //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY + //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY + //#define I_STALL_SENSITIVITY 8 + //#define J_STALL_SENSITIVITY 8 + //#define K_STALL_SENSITIVITY 8 + //#define U_STALL_SENSITIVITY 8 + //#define V_STALL_SENSITIVITY 8 + //#define W_STALL_SENSITIVITY 8 + //#define SPI_ENDSTOPS // TMC2130 only + //#define IMPROVE_HOMING_RELIABILITY + #endif + + // @section tmc/config + + /** + * TMC Homing stepper phase. + * + * Improve homing repeatability by homing to stepper coil's nearest absolute + * phase position. Trinamic drivers use a stepper phase table with 1024 values + * spanning 4 full steps with 256 positions each (ergo, 1024 positions). + * Full step positions (128, 384, 640, 896) have the highest holding torque. + * + * Values from 0..1023, -1 to disable homing phase for that axis. + */ + //#define TMC_HOME_PHASE { 896, 896, 896 } + + /** + * Beta feature! + * Create a 50/50 square wave step pulse optimal for stepper drivers. + */ + #define SQUARE_WAVE_STEPPING // Ender Configs + + /** + * Enable M122 debugging command for TMC stepper drivers. + * M122 S0/1 will enable continuous reporting. + */ + //#define TMC_DEBUG + + /** + * You can set your own advanced settings by filling in predefined functions. + * A list of available functions can be found on the library github page + * https://github.com/teemuatlut/TMCStepper + * + * Example: + * #define TMC_ADV() { \ + * stepperX.diag0_otpw(1); \ + * stepperY.intpol(0); \ + * } + */ + #define TMC_ADV() { } + +#endif // HAS_TRINAMIC_CONFIG || HAS_TMC26X + +// @section i2cbus + +// +// I2C Master ID for LPC176x LCD and Digital Current control +// Does not apply to other peripherals based on the Wire library. +// +//#define I2C_MASTER_ID 1 // Set a value from 0 to 2 + +/** + * TWI/I2C BUS + * + * This feature is an EXPERIMENTAL feature so it shall not be used on production + * machines. Enabling this will allow you to send and receive I2C data from slave + * devices on the bus. + * + * ; Example #1 + * ; This macro send the string "Marlin" to the slave device with address 0x63 (99) + * ; It uses multiple M260 commands with one B arg + * M260 A99 ; Target slave address + * M260 B77 ; M + * M260 B97 ; a + * M260 B114 ; r + * M260 B108 ; l + * M260 B105 ; i + * M260 B110 ; n + * M260 S1 ; Send the current buffer + * + * ; Example #2 + * ; Request 6 bytes from slave device with address 0x63 (99) + * M261 A99 B5 + * + * ; Example #3 + * ; Example serial output of a M261 request + * echo:i2c-reply: from:99 bytes:5 data:hello + */ + +//#define EXPERIMENTAL_I2CBUS +#if ENABLED(EXPERIMENTAL_I2CBUS) + #define I2C_SLAVE_ADDRESS 0 // Set a value from 8 to 127 to act as a slave +#endif + +// @section photo + +/** + * Photo G-code + * Add the M240 G-code to take a photo. + * The photo can be triggered by a digital pin or a physical movement. + */ +//#define PHOTO_GCODE +#if ENABLED(PHOTO_GCODE) + // A position to move to (and raise Z) before taking the photo + //#define PHOTO_POSITION { X_MAX_POS - 5, Y_MAX_POS, 0 } // { xpos, ypos, zraise } (M240 X Y Z) + //#define PHOTO_DELAY_MS 100 // (ms) Duration to pause before moving back (M240 P) + //#define PHOTO_RETRACT_MM 6.5 // (mm) E retract/recover for the photo move (M240 R S) + + // Canon RC-1 or homebrew digital camera trigger + // Data from: https://www.doc-diy.net/photo/rc-1_hacked/ + //#define PHOTOGRAPH_PIN 23 + + // Canon Hack Development Kit + // https://captain-slow.dk/2014/03/09/3d-printing-timelapses/ + //#define CHDK_PIN 4 + + // Optional second move with delay to trigger the camera shutter + //#define PHOTO_SWITCH_POSITION { X_MAX_POS, Y_MAX_POS } // { xpos, ypos } (M240 I J) + + // Duration to hold the switch or keep CHDK_PIN high + //#define PHOTO_SWITCH_MS 50 // (ms) (M240 D) + + /** + * PHOTO_PULSES_US may need adjustment depending on board and camera model. + * Pin must be running at 48.4kHz. + * Be sure to use a PHOTOGRAPH_PIN which can rise and fall quick enough. + * (e.g., MKS SBase temp sensor pin was too slow, so used P1.23 on J8.) + * + * Example pulse data for Nikon: https://bit.ly/2FKD0Aq + * IR Wiring: https://git.io/JvJf7 + */ + //#define PHOTO_PULSES_US { 2000, 27850, 400, 1580, 400, 3580, 400 } // (µs) Durations for each 48.4kHz oscillation + #ifdef PHOTO_PULSES_US + #define PHOTO_PULSE_DELAY_US 13 // (µs) Approximate duration of each HIGH and LOW pulse in the oscillation + #endif +#endif + +// @section cnc + +/** + * Spindle & Laser control + * + * Add the M3, M4, and M5 commands to turn the spindle/laser on and off, and + * to set spindle speed, spindle direction, and laser power. + * + * SuperPid is a router/spindle speed controller used in the CNC milling community. + * Marlin can be used to turn the spindle on and off. It can also be used to set + * the spindle speed from 5,000 to 30,000 RPM. + * + * You'll need to select a pin for the ON/OFF function and optionally choose a 0-5V + * hardware PWM pin for the speed control and a pin for the rotation direction. + * + * See https://marlinfw.org/docs/configuration/2.0.9/laser_spindle.html for more config details. + */ +//#define SPINDLE_FEATURE +//#define LASER_FEATURE +#if EITHER(SPINDLE_FEATURE, LASER_FEATURE) + #define SPINDLE_LASER_ACTIVE_STATE LOW // Set to "HIGH" if SPINDLE_LASER_ENA_PIN is active HIGH + + #define SPINDLE_LASER_USE_PWM // Enable if your controller supports setting the speed/power + #if ENABLED(SPINDLE_LASER_USE_PWM) + #define SPINDLE_LASER_PWM_INVERT false // Set to "true" if the speed/power goes up when you want it to go slower + #define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR, ESP32, and LPC) + // ESP32: If SPINDLE_LASER_PWM_PIN is onboard then <=78125Hz. For I2S expander + // the frequency determines the PWM resolution. 2500Hz = 0-100, 977Hz = 0-255, ... + // (250000 / SPINDLE_LASER_FREQUENCY) = max value. + #endif + + //#define AIR_EVACUATION // Cutter Vacuum / Laser Blower motor control with G-codes M10-M11 + #if ENABLED(AIR_EVACUATION) + #define AIR_EVACUATION_ACTIVE LOW // Set to "HIGH" if the on/off function is active HIGH + //#define AIR_EVACUATION_PIN 42 // Override the default Cutter Vacuum or Laser Blower pin + #endif + + //#define AIR_ASSIST // Air Assist control with G-codes M8-M9 + #if ENABLED(AIR_ASSIST) + #define AIR_ASSIST_ACTIVE LOW // Active state on air assist pin + //#define AIR_ASSIST_PIN 44 // Override the default Air Assist pin + #endif + + //#define SPINDLE_SERVO // A servo converting an angle to spindle power + #ifdef SPINDLE_SERVO + #define SPINDLE_SERVO_NR 0 // Index of servo used for spindle control + #define SPINDLE_SERVO_MIN 10 // Minimum angle for servo spindle + #endif + + /** + * Speed / Power can be set ('M3 S') and displayed in terms of: + * - PWM255 (S0 - S255) + * - PERCENT (S0 - S100) + * - RPM (S0 - S50000) Best for use with a spindle + * - SERVO (S0 - S180) + */ + #define CUTTER_POWER_UNIT PWM255 + + /** + * Relative Cutter Power + * Normally, 'M3 O' sets + * OCR power is relative to the range SPEED_POWER_MIN...SPEED_POWER_MAX. + * so input powers of 0...255 correspond to SPEED_POWER_MIN...SPEED_POWER_MAX + * instead of normal range (0 to SPEED_POWER_MAX). + * Best used with (e.g.) SuperPID router controller: S0 = 5,000 RPM and S255 = 30,000 RPM + */ + //#define CUTTER_POWER_RELATIVE // Set speed proportional to [SPEED_POWER_MIN...SPEED_POWER_MAX] + + #if ENABLED(SPINDLE_FEATURE) + //#define SPINDLE_CHANGE_DIR // Enable if your spindle controller can change spindle direction + #define SPINDLE_CHANGE_DIR_STOP // Enable if the spindle should stop before changing spin direction + #define SPINDLE_INVERT_DIR false // Set to "true" if the spin direction is reversed + + #define SPINDLE_LASER_POWERUP_DELAY 5000 // (ms) Delay to allow the spindle/laser to come up to speed/power + #define SPINDLE_LASER_POWERDOWN_DELAY 5000 // (ms) Delay to allow the spindle to stop + + /** + * M3/M4 Power Equation + * + * Each tool uses different value ranges for speed / power control. + * These parameters are used to convert between tool power units and PWM. + * + * Speed/Power = (PWMDC / 255 * 100 - SPEED_POWER_INTERCEPT) / SPEED_POWER_SLOPE + * PWMDC = (spdpwr - SPEED_POWER_MIN) / (SPEED_POWER_MAX - SPEED_POWER_MIN) / SPEED_POWER_SLOPE + */ + #if ENABLED(SPINDLE_LASER_USE_PWM) + #define SPEED_POWER_INTERCEPT 0 // (%) 0-100 i.e., Minimum power percentage + #define SPEED_POWER_MIN 5000 // (RPM) + #define SPEED_POWER_MAX 30000 // (RPM) SuperPID router controller 0 - 30,000 RPM + #define SPEED_POWER_STARTUP 25000 // (RPM) M3/M4 speed/power default (with no arguments) + #endif + + #else + + #if ENABLED(SPINDLE_LASER_USE_PWM) + #define SPEED_POWER_INTERCEPT 0 // (%) 0-100 i.e., Minimum power percentage + #define SPEED_POWER_MIN 0 // (%) 0-100 + #define SPEED_POWER_MAX 100 // (%) 0-100 + #define SPEED_POWER_STARTUP 80 // (%) M3/M4 speed/power default (with no arguments) + #endif + + // Define the minimum and maximum test pulse time values for a laser test fire function + #define LASER_TEST_PULSE_MIN 1 // (ms) Used with Laser Control Menu + #define LASER_TEST_PULSE_MAX 999 // (ms) Caution: Menu may not show more than 3 characters + + #define SPINDLE_LASER_POWERUP_DELAY 50 // (ms) Delay to allow the spindle/laser to come up to speed/power + #define SPINDLE_LASER_POWERDOWN_DELAY 50 // (ms) Delay to allow the spindle to stop + + /** + * Laser Safety Timeout + * + * The laser should be turned off when there is no movement for a period of time. + * Consider material flammability, cut rate, and G-code order when setting this + * value. Too low and it could turn off during a very slow move; too high and + * the material could ignite. + */ + #define LASER_SAFETY_TIMEOUT_MS 1000 // (ms) + + /** + * Any M3 or G1/2/3/5 command with the 'I' parameter enables continuous inline power mode. + * + * e.g., 'M3 I' enables continuous inline power which is processed by the planner. + * Power is stored in move blocks and applied when blocks are processed by the Stepper ISR. + * + * 'M4 I' sets dynamic mode which uses the current feedrate to calculate a laser power OCR value. + * + * Any move in dynamic mode will use the current feedrate to calculate the laser power. + * Feed rates are set by the F parameter of a move command e.g. G1 X0 Y10 F6000 + * Laser power would be calculated by bit shifting off 8 LSB's. In binary this is div 256. + * The calculation gives us ocr values from 0 to 255, values over F65535 will be set as 255 . + * More refined power control such as compesation for accell/decell will be addressed in future releases. + * + * M5 I clears inline mode and set power to 0, M5 sets the power output to 0 but leaves inline mode on. + */ + + /** + * Enable M3 commands for laser mode inline power planner syncing. + * This feature enables any M3 S-value to be injected into the block buffers while in + * CUTTER_MODE_CONTINUOUS. The option allows M3 laser power to be commited without waiting + * for a planner syncronization + */ + //#define LASER_POWER_SYNC + + /** + * Scale the laser's power in proportion to the movement rate. + * + * - Sets the entry power proportional to the entry speed over the nominal speed. + * - Ramps the power up every N steps to approximate the speed trapezoid. + * - Due to the limited power resolution this is only approximate. + */ + //#define LASER_POWER_TRAP + + // + // Laser I2C Ammeter (High precision INA226 low/high side module) + // + //#define I2C_AMMETER + #if ENABLED(I2C_AMMETER) + #define I2C_AMMETER_IMAX 0.1 // (Amps) Calibration value for the expected current range + #define I2C_AMMETER_SHUNT_RESISTOR 0.1 // (Ohms) Calibration shunt resistor value + #endif + + // + // Laser Coolant Flow Meter + // + //#define LASER_COOLANT_FLOW_METER + #if ENABLED(LASER_COOLANT_FLOW_METER) + #define FLOWMETER_PIN 20 // Requires an external interrupt-enabled pin (e.g., RAMPS 2,3,18,19,20,21) + #define FLOWMETER_PPL 5880 // (pulses/liter) Flow meter pulses-per-liter on the input pin + #define FLOWMETER_INTERVAL 1000 // (ms) Flow rate calculation interval in milliseconds + #define FLOWMETER_SAFETY // Prevent running the laser without the minimum flow rate set below + #if ENABLED(FLOWMETER_SAFETY) + #define FLOWMETER_MIN_LITERS_PER_MINUTE 1.5 // (liters/min) Minimum flow required when enabled + #endif + #endif + + #endif +#endif // SPINDLE_FEATURE || LASER_FEATURE + +/** + * Synchronous Laser Control with M106/M107 + * + * Marlin normally applies M106/M107 fan speeds at a time "soon after" processing + * a planner block. This is too inaccurate for a PWM/TTL laser attached to the fan + * header (as with some add-on laser kits). Enable this option to set fan/laser + * speeds with much more exact timing for improved print fidelity. + * + * NOTE: This option sacrifices some cooling fan speed options. + */ +//#define LASER_SYNCHRONOUS_M106_M107 + +/** + * Coolant Control + * + * Add the M7, M8, and M9 commands to turn mist or flood coolant on and off. + * + * Note: COOLANT_MIST_PIN and/or COOLANT_FLOOD_PIN must also be defined. + */ +//#define COOLANT_CONTROL +#if ENABLED(COOLANT_CONTROL) + #define COOLANT_MIST // Enable if mist coolant is present + #define COOLANT_FLOOD // Enable if flood coolant is present + #define COOLANT_MIST_INVERT false // Set "true" if the on/off function is reversed + #define COOLANT_FLOOD_INVERT false // Set "true" if the on/off function is reversed +#endif + +// @section filament width + +/** + * Filament Width Sensor + * + * Measures the filament width in real-time and adjusts + * flow rate to compensate for any irregularities. + * + * Also allows the measured filament diameter to set the + * extrusion rate, so the slicer only has to specify the + * volume. + * + * Only a single extruder is supported at this time. + * + * 34 RAMPS_14 : Analog input 5 on the AUX2 connector + * 81 PRINTRBOARD : Analog input 2 on the Exp1 connector (version B,C,D,E) + * 301 RAMBO : Analog input 3 + * + * Note: May require analog pins to be defined for other boards. + */ +//#define FILAMENT_WIDTH_SENSOR + +#if ENABLED(FILAMENT_WIDTH_SENSOR) + #define FILAMENT_SENSOR_EXTRUDER_NUM 0 // Index of the extruder that has the filament sensor. :[0,1,2,3,4] + #define MEASUREMENT_DELAY_CM 14 // (cm) The distance from the filament sensor to the melting chamber + + #define FILWIDTH_ERROR_MARGIN 1.0 // (mm) If a measurement differs too much from nominal width ignore it + #define MAX_MEASUREMENT_DELAY 20 // (bytes) Buffer size for stored measurements (1 byte per cm). Must be larger than MEASUREMENT_DELAY_CM. + + #define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA // Set measured to nominal initially + + // Display filament width on the LCD status line. Status messages will expire after 5 seconds. + //#define FILAMENT_LCD_DISPLAY +#endif + +// @section power + +/** + * Power Monitor + * Monitor voltage (V) and/or current (A), and -when possible- power (W) + * + * Read and configure with M430 + * + * The current sensor feeds DC voltage (relative to the measured current) to an analog pin + * The voltage sensor feeds DC voltage (relative to the measured voltage) to an analog pin + */ +//#define POWER_MONITOR_CURRENT // Monitor the system current +//#define POWER_MONITOR_VOLTAGE // Monitor the system voltage + +#if ENABLED(POWER_MONITOR_CURRENT) + #define POWER_MONITOR_VOLTS_PER_AMP 0.05000 // Input voltage to the MCU analog pin per amp - DO NOT apply more than ADC_VREF! + #define POWER_MONITOR_CURRENT_OFFSET 0 // Offset (in amps) applied to the calculated current + #define POWER_MONITOR_FIXED_VOLTAGE 13.6 // Voltage for a current sensor with no voltage sensor (for power display) +#endif + +#if ENABLED(POWER_MONITOR_VOLTAGE) + #define POWER_MONITOR_VOLTS_PER_VOLT 0.077933 // Input voltage to the MCU analog pin per volt - DO NOT apply more than ADC_VREF! + #define POWER_MONITOR_VOLTAGE_OFFSET 0 // Offset (in volts) applied to the calculated voltage +#endif + +// @section safety + +/** + * Stepper Driver Anti-SNAFU Protection + * + * If the SAFE_POWER_PIN is defined for your board, Marlin will check + * that stepper drivers are properly plugged in before applying power. + * Disable protection if your stepper drivers don't support the feature. + */ +//#define DISABLE_DRIVER_SAFE_POWER_PROTECT + +// @section cnc + +/** + * CNC Coordinate Systems + * + * Enables G53 and G54-G59.3 commands to select coordinate systems + * and G92.1 to reset the workspace to native machine space. + */ +//#define CNC_COORDINATE_SYSTEMS + +// @section reporting + +/** + * Auto-report fan speed with M123 S + * Requires fans with tachometer pins + */ +//#define AUTO_REPORT_FANS + +/** + * Auto-report temperatures with M155 S + */ +#define AUTO_REPORT_TEMPERATURES +#if ENABLED(AUTO_REPORT_TEMPERATURES) && TEMP_SENSOR_REDUNDANT + //#define AUTO_REPORT_REDUNDANT // Include the "R" sensor in the auto-report +#endif + +/** + * Auto-report position with M154 S + */ +//#define AUTO_REPORT_POSITION + +/** + * Include capabilities in M115 output + */ +#define EXTENDED_CAPABILITIES_REPORT +#if ENABLED(EXTENDED_CAPABILITIES_REPORT) + #define M115_GEOMETRY_REPORT // MRiscoC Enabled +#endif + +// @section security + +/** + * Expected Printer Check + * Add the M16 G-code to compare a string to the MACHINE_NAME. + * M16 with a non-matching string causes the printer to halt. + */ +//#define EXPECTED_PRINTER_CHECK + +// @section volumetrics + +/** + * Disable all Volumetric extrusion options + */ +//#define NO_VOLUMETRICS + +#if DISABLED(NO_VOLUMETRICS) + /** + * Volumetric extrusion default state + * Activate to make volumetric extrusion the default method, + * with DEFAULT_NOMINAL_FILAMENT_DIA as the default diameter. + * + * M200 D0 to disable, M200 Dn to set a new diameter (and enable volumetric). + * M200 S0/S1 to disable/enable volumetric extrusion. + */ + //#define VOLUMETRIC_DEFAULT_ON + + //#define VOLUMETRIC_EXTRUDER_LIMIT + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + /** + * Default volumetric extrusion limit in cubic mm per second (mm^3/sec). + * This factory setting applies to all extruders. + * Use 'M200 [T] L' to override and 'M502' to reset. + * A non-zero value activates Volume-based Extrusion Limiting. + */ + #define DEFAULT_VOLUMETRIC_EXTRUDER_LIMIT 0.00 // (mm^3/sec) + #endif +#endif + +// @section reporting + +// Extra options for the M114 "Current Position" report +//#define M114_DETAIL // Use 'M114` for details to check planner calculations +//#define M114_REALTIME // Real current position based on forward kinematics +//#define M114_LEGACY // M114 used to synchronize on every call. Enable if needed. + +//#define REPORT_FAN_CHANGE // Report the new fan speed when changed by M106 (and others) + +// @section gcode + +/** + * Spend 28 bytes of SRAM to optimize the G-code parser + */ +#define FASTER_GCODE_PARSER + +#if ENABLED(FASTER_GCODE_PARSER) + //#define GCODE_QUOTED_STRINGS // Support for quoted string parameters +#endif + +// Support for MeatPack G-code compression (https://github.com/scottmudge/OctoPrint-MeatPack) +//#define MEATPACK_ON_SERIAL_PORT_1 +//#define MEATPACK_ON_SERIAL_PORT_2 + +//#define GCODE_CASE_INSENSITIVE // Accept G-code sent to the firmware in lowercase + +//#define REPETIER_GCODE_M360 // Add commands originally from Repetier FW + +/** + * Enable this option for a leaner build of Marlin that removes all + * workspace offsets, simplifying coordinate transformations, leveling, etc. + * + * - M206 and M428 are disabled. + * - G92 will revert to its behavior from Marlin 1.0. + */ +#define NO_WORKSPACE_OFFSETS // MRiscoC Save flash space and simplify movements + +/** + * CNC G-code options + * Support CNC-style G-code dialects used by laser cutters, drawing machine cams, etc. + * Note that G0 feedrates should be used with care for 3D printing (if used at all). + * High feedrates may cause ringing and harm print quality. + */ +//#define PAREN_COMMENTS // Support for parentheses-delimited comments +//#define GCODE_MOTION_MODES // Remember the motion mode (G0 G1 G2 G3 G5 G38.X) and apply for X Y Z E F, etc. + +// Enable and set a (default) feedrate for all G0 moves +//#define G0_FEEDRATE 3000 // (mm/min) +#ifdef G0_FEEDRATE + //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode +#endif + +// @section gcode + +/** + * Startup commands + * + * Execute certain G-code commands immediately after power-on. + */ +//#define STARTUP_COMMANDS "M17 Z" + +/** + * G-code Macros + * + * Add G-codes M810-M819 to define and run G-code macros. + * Macros are not saved to EEPROM. + */ +//#define GCODE_MACROS +#if ENABLED(GCODE_MACROS) + #define GCODE_MACROS_SLOTS 5 // Up to 10 may be used + #define GCODE_MACROS_SLOT_SIZE 50 // Maximum length of a single macro +#endif + +/** + * User-defined menu items to run custom G-code. + * Up to 25 may be defined, but the actual number is LCD-dependent. + */ + +// @section custom main menu + +// Custom Menu: Main Menu +//#define CUSTOM_MENU_MAIN +#if ENABLED(CUSTOM_MENU_MAIN) + //#define CUSTOM_MENU_MAIN_TITLE "Custom Commands" + #define CUSTOM_MENU_MAIN_SCRIPT_DONE "M117 User Script Done" + #define CUSTOM_MENU_MAIN_SCRIPT_AUDIBLE_FEEDBACK + //#define CUSTOM_MENU_MAIN_SCRIPT_RETURN // Return to status screen after a script + #define CUSTOM_MENU_MAIN_ONLY_IDLE // Only show custom menu when the machine is idle + + #define MAIN_MENU_ITEM_1_DESC "Home & UBL Info" + #define MAIN_MENU_ITEM_1_GCODE "G28\nG29 W" + //#define MAIN_MENU_ITEM_1_CONFIRM // Show a confirmation dialog before this action + + #define MAIN_MENU_ITEM_2_DESC "Preheat for " PREHEAT_1_LABEL + #define MAIN_MENU_ITEM_2_GCODE "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND) + //#define MAIN_MENU_ITEM_2_CONFIRM + + //#define MAIN_MENU_ITEM_3_DESC "Preheat for " PREHEAT_2_LABEL + //#define MAIN_MENU_ITEM_3_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND) + //#define MAIN_MENU_ITEM_3_CONFIRM + + //#define MAIN_MENU_ITEM_4_DESC "Heat Bed/Home/Level" + //#define MAIN_MENU_ITEM_4_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nG28\nG29" + //#define MAIN_MENU_ITEM_4_CONFIRM + + //#define MAIN_MENU_ITEM_5_DESC "Home & Info" + //#define MAIN_MENU_ITEM_5_GCODE "G28\nM503" + //#define MAIN_MENU_ITEM_5_CONFIRM +#endif + +// @section custom config menu + +// Custom Menu: Configuration Menu +//#define CUSTOM_MENU_CONFIG +#if ENABLED(CUSTOM_MENU_CONFIG) + //#define CUSTOM_MENU_CONFIG_TITLE "Custom Commands" + #define CUSTOM_MENU_CONFIG_SCRIPT_DONE "M117 Wireless Script Done" + #define CUSTOM_MENU_CONFIG_SCRIPT_AUDIBLE_FEEDBACK + //#define CUSTOM_MENU_CONFIG_SCRIPT_RETURN // Return to status screen after a script + #define CUSTOM_MENU_CONFIG_ONLY_IDLE // Only show custom menu when the machine is idle + + #define CONFIG_MENU_ITEM_1_DESC "Wifi ON" + #define CONFIG_MENU_ITEM_1_GCODE "M118 [ESP110] WIFI-STA pwd=12345678" + //#define CONFIG_MENU_ITEM_1_CONFIRM // Show a confirmation dialog before this action + + #define CONFIG_MENU_ITEM_2_DESC "Bluetooth ON" + #define CONFIG_MENU_ITEM_2_GCODE "M118 [ESP110] BT pwd=12345678" + //#define CONFIG_MENU_ITEM_2_CONFIRM + + //#define CONFIG_MENU_ITEM_3_DESC "Radio OFF" + //#define CONFIG_MENU_ITEM_3_GCODE "M118 [ESP110] OFF pwd=12345678" + //#define CONFIG_MENU_ITEM_3_CONFIRM + + //#define CONFIG_MENU_ITEM_4_DESC "Wifi ????" + //#define CONFIG_MENU_ITEM_4_GCODE "M118 ????" + //#define CONFIG_MENU_ITEM_4_CONFIRM + + //#define CONFIG_MENU_ITEM_5_DESC "Wifi ????" + //#define CONFIG_MENU_ITEM_5_GCODE "M118 ????" + //#define CONFIG_MENU_ITEM_5_CONFIRM +#endif + +// @section custom buttons + +/** + * User-defined buttons to run custom G-code. + * Up to 25 may be defined. + */ +//#define CUSTOM_USER_BUTTONS +#if ENABLED(CUSTOM_USER_BUTTONS) + //#define BUTTON1_PIN -1 + #if PIN_EXISTS(BUTTON1) + #define BUTTON1_HIT_STATE LOW // State of the triggered button. NC=LOW. NO=HIGH. + #define BUTTON1_WHEN_PRINTING false // Button allowed to trigger during printing? + #define BUTTON1_GCODE "G28" + #define BUTTON1_DESC "Homing" // Optional string to set the LCD status + #endif + + //#define BUTTON2_PIN -1 + #if PIN_EXISTS(BUTTON2) + #define BUTTON2_HIT_STATE LOW + #define BUTTON2_WHEN_PRINTING false + #define BUTTON2_GCODE "M140 S" STRINGIFY(PREHEAT_1_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_1_TEMP_HOTEND) + #define BUTTON2_DESC "Preheat for " PREHEAT_1_LABEL + #endif + + //#define BUTTON3_PIN -1 + #if PIN_EXISTS(BUTTON3) + #define BUTTON3_HIT_STATE LOW + #define BUTTON3_WHEN_PRINTING false + #define BUTTON3_GCODE "M140 S" STRINGIFY(PREHEAT_2_TEMP_BED) "\nM104 S" STRINGIFY(PREHEAT_2_TEMP_HOTEND) + #define BUTTON3_DESC "Preheat for " PREHEAT_2_LABEL + #endif +#endif + +// @section host + +/** + * Host Action Commands + * + * Define host streamer action commands in compliance with the standard. + * + * See https://reprap.org/wiki/G-code#Action_commands + * Common commands ........ poweroff, pause, paused, resume, resumed, cancel + * G29_RETRY_AND_RECOVER .. probe_rewipe, probe_failed + * + * Some features add reason codes to extend these commands. + * + * Host Prompt Support enables Marlin to use the host for user prompts so + * filament runout and other processes can be managed from the host side. + */ +#define HOST_ACTION_COMMANDS // MRiscoC Enabled actions from host +#if ENABLED(HOST_ACTION_COMMANDS) + //#define HOST_PAUSE_M76 // Tell the host to pause in response to M76 + #define HOST_PROMPT_SUPPORT // Initiate host prompts to get user feedback // MRiscoC Enabled responses from host + #if ENABLED(HOST_PROMPT_SUPPORT) + //#define HOST_STATUS_NOTIFICATIONS // Send some status messages to the host as notifications + #endif + //#define HOST_START_MENU_ITEM // Add a menu item that tells the host to start + //#define HOST_SHUTDOWN_MENU_ITEM // Add a menu item that tells the host to shut down +#endif + +// @section extras + +/** + * Cancel Objects + * + * Implement M486 to allow Marlin to skip objects + */ +#define CANCEL_OBJECTS // MRiscoC Enabled M486 to skip objects +#if ENABLED(CANCEL_OBJECTS) + #define CANCEL_OBJECTS_REPORTING // Emit the current object as a status message +#endif + +/** + * I2C position encoders for closed loop control. + * Developed by Chris Barr at Aus3D. + * + * Wiki: https://wiki.aus3d.com.au/Magnetic_Encoder + * Github: https://github.com/Aus3D/MagneticEncoder + * + * Supplier: https://aus3d.com.au/magnetic-encoder-module + * Alternative Supplier: https://reliabuild3d.com/ + * + * Reliabuild encoders have been modified to improve reliability. + * @section i2c encoders + */ + +//#define I2C_POSITION_ENCODERS +#if ENABLED(I2C_POSITION_ENCODERS) + + #define I2CPE_ENCODER_CNT 1 // The number of encoders installed; max of 5 + // encoders supported currently. + + #define I2CPE_ENC_1_ADDR I2CPE_PRESET_ADDR_X // I2C address of the encoder. 30-200. + #define I2CPE_ENC_1_AXIS X_AXIS // Axis the encoder module is installed on. _AXIS. + #define I2CPE_ENC_1_TYPE I2CPE_ENC_TYPE_LINEAR // Type of encoder: I2CPE_ENC_TYPE_LINEAR -or- + // I2CPE_ENC_TYPE_ROTARY. + #define I2CPE_ENC_1_TICKS_UNIT 2048 // 1024 for magnetic strips with 2mm poles; 2048 for + // 1mm poles. For linear encoders this is ticks / mm, + // for rotary encoders this is ticks / revolution. + //#define I2CPE_ENC_1_TICKS_REV (16 * 200) // Only needed for rotary encoders; number of stepper + // steps per full revolution (motor steps/rev * microstepping) + //#define I2CPE_ENC_1_INVERT // Invert the direction of axis travel. + #define I2CPE_ENC_1_EC_METHOD I2CPE_ECM_MICROSTEP // Type of error error correction. + #define I2CPE_ENC_1_EC_THRESH 0.10 // Threshold size for error (in mm) above which the + // printer will attempt to correct the error; errors + // smaller than this are ignored to minimize effects of + // measurement noise / latency (filter). + + #define I2CPE_ENC_2_ADDR I2CPE_PRESET_ADDR_Y // Same as above, but for encoder 2. + #define I2CPE_ENC_2_AXIS Y_AXIS + #define I2CPE_ENC_2_TYPE I2CPE_ENC_TYPE_LINEAR + #define I2CPE_ENC_2_TICKS_UNIT 2048 + //#define I2CPE_ENC_2_TICKS_REV (16 * 200) + //#define I2CPE_ENC_2_INVERT + #define I2CPE_ENC_2_EC_METHOD I2CPE_ECM_MICROSTEP + #define I2CPE_ENC_2_EC_THRESH 0.10 + + #define I2CPE_ENC_3_ADDR I2CPE_PRESET_ADDR_Z // Encoder 3. Add additional configuration options + #define I2CPE_ENC_3_AXIS Z_AXIS // as above, or use defaults below. + + #define I2CPE_ENC_4_ADDR I2CPE_PRESET_ADDR_E // Encoder 4. + #define I2CPE_ENC_4_AXIS E_AXIS + + #define I2CPE_ENC_5_ADDR 34 // Encoder 5. + #define I2CPE_ENC_5_AXIS E_AXIS + + // Default settings for encoders which are enabled, but without settings configured above. + #define I2CPE_DEF_TYPE I2CPE_ENC_TYPE_LINEAR + #define I2CPE_DEF_ENC_TICKS_UNIT 2048 + #define I2CPE_DEF_TICKS_REV (16 * 200) + #define I2CPE_DEF_EC_METHOD I2CPE_ECM_NONE + #define I2CPE_DEF_EC_THRESH 0.1 + + //#define I2CPE_ERR_THRESH_ABORT 100.0 // Threshold size for error (in mm) error on any given + // axis after which the printer will abort. Comment out to + // disable abort behavior. + + #define I2CPE_TIME_TRUSTED 10000 // After an encoder fault, there must be no further fault + // for this amount of time (in ms) before the encoder + // is trusted again. + + /** + * Position is checked every time a new command is executed from the buffer but during long moves, + * this setting determines the minimum update time between checks. A value of 100 works well with + * error rolling average when attempting to correct only for skips and not for vibration. + */ + #define I2CPE_MIN_UPD_TIME_MS 4 // (ms) Minimum time between encoder checks. + + // Use a rolling average to identify persistent errors that indicate skips, as opposed to vibration and noise. + #define I2CPE_ERR_ROLLING_AVERAGE + +#endif // I2C_POSITION_ENCODERS + +/** + * Analog Joystick(s) + * @section joystick + */ +//#define JOYSTICK +#if ENABLED(JOYSTICK) + #define JOY_X_PIN 5 // RAMPS: Suggested pin A5 on AUX2 + #define JOY_Y_PIN 10 // RAMPS: Suggested pin A10 on AUX2 + #define JOY_Z_PIN 12 // RAMPS: Suggested pin A12 on AUX2 + #define JOY_EN_PIN 44 // RAMPS: Suggested pin D44 on AUX2 + + //#define INVERT_JOY_X // Enable if X direction is reversed + //#define INVERT_JOY_Y // Enable if Y direction is reversed + //#define INVERT_JOY_Z // Enable if Z direction is reversed + + // Use M119 with JOYSTICK_DEBUG to find reasonable values after connecting: + #define JOY_X_LIMITS { 5600, 8190-100, 8190+100, 10800 } // min, deadzone start, deadzone end, max + #define JOY_Y_LIMITS { 5600, 8250-100, 8250+100, 11000 } + #define JOY_Z_LIMITS { 4800, 8080-100, 8080+100, 11550 } + //#define JOYSTICK_DEBUG +#endif + +/** + * Mechanical Gantry Calibration + * Modern replacement for the Průša TMC_Z_CALIBRATION. + * Adds capability to work with any adjustable current drivers. + * Implemented as G34 because M915 is deprecated. + * @section calibrate + */ +//#define MECHANICAL_GANTRY_CALIBRATION +#if ENABLED(MECHANICAL_GANTRY_CALIBRATION) + #define GANTRY_CALIBRATION_CURRENT 600 // Default calibration current in ma + #define GANTRY_CALIBRATION_EXTRA_HEIGHT 15 // Extra distance in mm past Z_###_POS to move + #define GANTRY_CALIBRATION_FEEDRATE 500 // Feedrate for correction move + //#define GANTRY_CALIBRATION_TO_MIN // Enable to calibrate Z in the MIN direction + + //#define GANTRY_CALIBRATION_SAFE_POSITION XY_CENTER // Safe position for nozzle + //#define GANTRY_CALIBRATION_XY_PARK_FEEDRATE 3000 // XY Park Feedrate - MMM + //#define GANTRY_CALIBRATION_COMMANDS_PRE "" + #define GANTRY_CALIBRATION_COMMANDS_POST "G28" // G28 highly recommended to ensure an accurate position +#endif + +/** + * Instant freeze / unfreeze functionality + * Potentially useful for emergency stop that allows being resumed. + * @section interface + */ +//#define FREEZE_FEATURE +#if ENABLED(FREEZE_FEATURE) + //#define FREEZE_PIN 41 // Override the default (KILL) pin here + #define FREEZE_STATE LOW // State of pin indicating freeze +#endif + +/** + * MAX7219 Debug Matrix + * + * Add support for a low-cost 8x8 LED Matrix based on the Max7219 chip as a realtime status display. + * Requires 3 signal wires. Some useful debug options are included to demonstrate its usage. + * @section debug matrix + */ +//#define MAX7219_DEBUG +#if ENABLED(MAX7219_DEBUG) + #define MAX7219_CLK_PIN 64 + #define MAX7219_DIN_PIN 57 + #define MAX7219_LOAD_PIN 44 + + //#define MAX7219_GCODE // Add the M7219 G-code to control the LED matrix + #define MAX7219_INIT_TEST 2 // Test pattern at startup: 0=none, 1=sweep, 2=spiral + #define MAX7219_NUMBER_UNITS 1 // Number of Max7219 units in chain. + #define MAX7219_ROTATE 0 // Rotate the display clockwise (in multiples of +/- 90°) + // connector at: right=0 bottom=-90 top=90 left=180 + //#define MAX7219_REVERSE_ORDER // The order of the LED matrix units may be reversed + //#define MAX7219_REVERSE_EACH // The LEDs in each matrix unit row may be reversed + //#define MAX7219_SIDE_BY_SIDE // Big chip+matrix boards can be chained side-by-side + + /** + * Sample debug features + * If you add more debug displays, be careful to avoid conflicts! + */ + #define MAX7219_DEBUG_PRINTER_ALIVE // Blink corner LED of 8x8 matrix to show that the firmware is functioning + #define MAX7219_DEBUG_PLANNER_HEAD 2 // Show the planner queue head position on this and the next LED matrix row + #define MAX7219_DEBUG_PLANNER_TAIL 4 // Show the planner queue tail position on this and the next LED matrix row + + #define MAX7219_DEBUG_PLANNER_QUEUE 0 // Show the current planner queue depth on this and the next LED matrix row + // If you experience stuttering, reboots, etc. this option can reveal how + // tweaks made to the configuration are affecting the printer in real-time. + #define MAX7219_DEBUG_PROFILE 6 // Display the fraction of CPU time spent in profiled code on this LED matrix + // row. By default idle() is profiled so this shows how "idle" the processor is. + // See class CodeProfiler. +#endif + +/** + * NanoDLP Sync support + * + * Support for Synchronized Z moves when used with NanoDLP. G0/G1 axis moves will + * output a "Z_move_comp" string to enable synchronization with DLP projector exposure. + * This feature allows you to use [[WaitForDoneMessage]] instead of M400 commands. + * @section nanodlp + */ +//#define NANODLP_Z_SYNC +#if ENABLED(NANODLP_Z_SYNC) + //#define NANODLP_ALL_AXIS // Send a "Z_move_comp" report for any axis move (not just Z). +#endif + +/** + * Ethernet. Use M552 to enable and set the IP address. + * @section network + */ +#if HAS_ETHERNET + #define MAC_ADDRESS { 0xDE, 0xAD, 0xBE, 0xEF, 0xF0, 0x0D } // A MAC address unique to your network +#endif + +/** + * WiFi Support (Espressif ESP32 WiFi) + */ +//#define WIFISUPPORT // Marlin embedded WiFi management +//#define ESP3D_WIFISUPPORT // ESP3D Library WiFi management (https://github.com/luc-github/ESP3DLib) + +#if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT) + //#define WEBSUPPORT // Start a webserver (which may include auto-discovery) + //#define OTASUPPORT // Support over-the-air firmware updates + //#define WIFI_CUSTOM_COMMAND // Accept feature config commands (e.g., WiFi ESP3D) from the host + + /** + * To set a default WiFi SSID / Password, create a file called Configuration_Secure.h with + * the following defines, customized for your network. This specific file is excluded via + * .gitignore to prevent it from accidentally leaking to the public. + * + * #define WIFI_SSID "WiFi SSID" + * #define WIFI_PWD "WiFi Password" + */ + //#include "Configuration_Secure.h" // External file with WiFi SSID / Password +#endif + +// @section multi-material + +/** + * Průša Multi-Material Unit (MMU) + * Enable in Configuration.h + * + * These devices allow a single stepper driver on the board to drive + * multi-material feeders with any number of stepper motors. + */ +#if HAS_PRUSA_MMU1 + /** + * This option only allows the multiplexer to switch on tool-change. + * Additional options to configure custom E moves are pending. + * + * Override the default DIO selector pins here, if needed. + * Some pins files may provide defaults for these pins. + */ + //#define E_MUX0_PIN 40 // Always Required + //#define E_MUX1_PIN 42 // Needed for 3 to 8 inputs + //#define E_MUX2_PIN 44 // Needed for 5 to 8 inputs +#elif HAS_PRUSA_MMU2 + // Serial port used for communication with MMU2. + #define MMU2_SERIAL_PORT 2 + + // Use hardware reset for MMU if a pin is defined for it + //#define MMU2_RST_PIN 23 + + // Enable if the MMU2 has 12V stepper motors (MMU2 Firmware 1.0.2 and up) + //#define MMU2_MODE_12V + + // G-code to execute when MMU2 F.I.N.D.A. probe detects filament runout + #define MMU2_FILAMENT_RUNOUT_SCRIPT "M600" + + // Add an LCD menu for MMU2 + //#define MMU2_MENUS + #if EITHER(MMU2_MENUS, HAS_PRUSA_MMU2S) + // Settings for filament load / unload from the LCD menu. + // This is for Průša MK3-style extruders. Customize for your hardware. + #define MMU2_FILAMENTCHANGE_EJECT_FEED 80.0 + #define MMU2_LOAD_TO_NOZZLE_SEQUENCE \ + { 7.2, 1145 }, \ + { 14.4, 871 }, \ + { 36.0, 1393 }, \ + { 14.4, 871 }, \ + { 50.0, 198 } + + #define MMU2_RAMMING_SEQUENCE \ + { 1.0, 1000 }, \ + { 1.0, 1500 }, \ + { 2.0, 2000 }, \ + { 1.5, 3000 }, \ + { 2.5, 4000 }, \ + { -15.0, 5000 }, \ + { -14.0, 1200 }, \ + { -6.0, 600 }, \ + { 10.0, 700 }, \ + { -10.0, 400 }, \ + { -50.0, 2000 } + #endif + + /** + * Using a sensor like the MMU2S + * This mode requires a MK3S extruder with a sensor at the extruder idler, like the MMU2S. + * See https://help.prusa3d.com/en/guide/3b-mk3s-mk2-5s-extruder-upgrade_41560, step 11 + */ + #if HAS_PRUSA_MMU2S + #define MMU2_C0_RETRY 5 // Number of retries (total time = timeout*retries) + + #define MMU2_CAN_LOAD_FEEDRATE 800 // (mm/min) + #define MMU2_CAN_LOAD_SEQUENCE \ + { 0.1, MMU2_CAN_LOAD_FEEDRATE }, \ + { 60.0, MMU2_CAN_LOAD_FEEDRATE }, \ + { -52.0, MMU2_CAN_LOAD_FEEDRATE } + + #define MMU2_CAN_LOAD_RETRACT 6.0 // (mm) Keep under the distance between Load Sequence values + #define MMU2_CAN_LOAD_DEVIATION 0.8 // (mm) Acceptable deviation + + #define MMU2_CAN_LOAD_INCREMENT 0.2 // (mm) To reuse within MMU2 module + #define MMU2_CAN_LOAD_INCREMENT_SEQUENCE \ + { -MMU2_CAN_LOAD_INCREMENT, MMU2_CAN_LOAD_FEEDRATE } + + #else + + /** + * MMU1 Extruder Sensor + * + * Support for a Průša (or other) IR Sensor to detect filament near the extruder + * and make loading more reliable. Suitable for an extruder equipped with a filament + * sensor less than 38mm from the gears. + * + * During loading the extruder will stop when the sensor is triggered, then do a last + * move up to the gears. If no filament is detected, the MMU2 can make some more attempts. + * If all attempts fail, a filament runout will be triggered. + */ + //#define MMU_EXTRUDER_SENSOR + #if ENABLED(MMU_EXTRUDER_SENSOR) + #define MMU_LOADING_ATTEMPTS_NR 5 // max. number of attempts to load filament if first load fail + #endif + + #endif + + //#define MMU2_DEBUG // Write debug info to serial output + +#endif // HAS_PRUSA_MMU2 + +/** + * Advanced Print Counter settings + * @section stats + */ +#if ENABLED(PRINTCOUNTER) + #define SERVICE_WARNING_BUZZES 3 + // Activate up to 3 service interval watchdogs + //#define SERVICE_NAME_1 "Service S" + //#define SERVICE_INTERVAL_1 100 // print hours + //#define SERVICE_NAME_2 "Service L" + //#define SERVICE_INTERVAL_2 200 // print hours + //#define SERVICE_NAME_3 "Service 3" + //#define SERVICE_INTERVAL_3 1 // print hours +#endif + +// @section develop + +// +// M100 Free Memory Watcher to debug memory usage +// +//#define M100_FREE_MEMORY_WATCHER + +// +// M42 - Set pin states +// +//#define DIRECT_PIN_CONTROL + +// +// M43 - display pin status, toggle pins, watch pins, watch endstops & toggle LED, test servo probe +// +//#define PINS_DEBUGGING + +// Enable Tests that will run at startup and produce a report +//#define MARLIN_TEST_BUILD + +// Enable Marlin dev mode which adds some special commands +//#define MARLIN_DEV_MODE + +#if ENABLED(MARLIN_DEV_MODE) + /** + * D576 - Buffer Monitoring + * To help diagnose print quality issues stemming from empty command buffers. + */ + //#define BUFFER_MONITORING +#endif + +/** + * Postmortem Debugging captures misbehavior and outputs the CPU status and backtrace to serial. + * When running in the debugger it will break for debugging. This is useful to help understand + * a crash from a remote location. Requires ~400 bytes of SRAM and 5Kb of flash. + */ +//#define POSTMORTEM_DEBUGGING + +/** + * Software Reset options + */ +//#define SOFT_RESET_VIA_SERIAL // 'KILL' and '^X' commands will soft-reset the controller +//#define SOFT_RESET_ON_KILL // Use a digital button to soft-reset the controller after KILL + +// Report uncleaned reset reason from register r2 instead of MCUSR. Supported by Optiboot on AVR. +//#define OPTIBOOT_RESET_REASON diff --git a/Marlin/Makefile b/Marlin/Makefile new file mode 100644 index 0000000000..ca7cacaa6a --- /dev/null +++ b/Marlin/Makefile @@ -0,0 +1,1037 @@ +# Marlin Firmware Arduino Project Makefile +# +# Makefile Based on: +# Arduino 0011 Makefile +# Arduino adaptation by mellis, eighthave, oli.keller +# Marlin adaption by Daid +# Marlin 2.0 support and RELOC_WORKAROUND by @marcio-ao +# +# This has been tested with Arduino 0022. +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# Detailed instructions for using the makefile: +# +# 1. Modify the line containing "ARDUINO_INSTALL_DIR" to point to the directory that +# contains the Arduino installation (for example, under macOS, this +# might be /Applications/Arduino.app/Contents/Resources/Java). +# +# 2. Modify the line containing "UPLOAD_PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. UPLOAD_PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wild card (e.g. UPLOAD_PORT = /dev/tty.usb*). +# +# 3. Set the line containing "MCU" to match your board's processor. Set +# "PROG_MCU" as the AVR part name corresponding to "MCU". You can use the +# following command to get a list of correspondences: `avrdude -c alf -p x` +# Older boards are atmega8 based, newer ones like Arduino Mini, Bluetooth +# or Diecimila have the atmega168. If you're using a LilyPad Arduino, +# change F_CPU to 8000000. If you are using Gen7 electronics, you +# probably need to use 20000000. Either way, you must regenerate +# the speed lookup table with create_speed_lookuptable.py. +# +# 4. Type "make" and press enter to compile/verify your program. +# +# 5. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# Note that all settings at the top of this file can be overridden from +# the command line with, for example, "make HARDWARE_MOTHERBOARD=71" +# +# To compile for RAMPS (atmega2560) with Arduino 1.6.9 at root/arduino you would use... +# +# make ARDUINO_VERSION=10609 AVR_TOOLS_PATH=/root/arduino/hardware/tools/avr/bin/ \ +# HARDWARE_MOTHERBOARD=1200 ARDUINO_INSTALL_DIR=/root/arduino +# +# To compile and upload simply add "upload" to the end of the line... +# +# make ARDUINO_VERSION=10609 AVR_TOOLS_PATH=/root/arduino/hardware/tools/avr/bin/ \ +# HARDWARE_MOTHERBOARD=1200 ARDUINO_INSTALL_DIR=/root/arduino upload +# +# If uploading doesn't work try adding the parameter "AVRDUDE_PROGRAMMER=wiring" or +# start upload manually (using stk500) like so: +# +# avrdude -C /root/arduino/hardware/tools/avr/etc/avrdude.conf -v -p m2560 -c stk500 \ +# -U flash:w:applet/Marlin.hex:i -P /dev/ttyUSB0 +# +# Or, try disconnecting USB to power down and then reconnecting before running avrdude. +# + +# This defines the board to compile for (see boards.h for your board's ID) +HARDWARE_MOTHERBOARD ?= 1020 + +ifeq ($(OS),Windows_NT) + # Windows + ARDUINO_INSTALL_DIR ?= ${HOME}/Arduino + ARDUINO_USER_DIR ?= ${HOME}/Arduino +else + UNAME_S := $(shell uname -s) + ifeq ($(UNAME_S),Linux) + # Linux + ARDUINO_INSTALL_DIR ?= /usr/share/arduino + ARDUINO_USER_DIR ?= ${HOME}/Arduino + endif + ifeq ($(UNAME_S),Darwin) + # Darwin (macOS) + ARDUINO_INSTALL_DIR ?= /Applications/Arduino.app/Contents/Java + ARDUINO_USER_DIR ?= ${HOME}/Documents/Arduino + AVR_TOOLS_PATH ?= /Applications/Arduino.app/Contents/Java/hardware/tools/avr/bin/ + endif +endif + +# Arduino source install directory, and version number +# On most linuxes this will be /usr/share/arduino +ARDUINO_INSTALL_DIR ?= ${HOME}/Arduino +ARDUINO_VERSION ?= 106 + +# The installed Libraries are in the User folder +ARDUINO_USER_DIR ?= ${HOME}/Arduino + +# You can optionally set a path to the avr-gcc tools. +# Requires a trailing slash. For example, /usr/local/avr-gcc/bin/ +AVR_TOOLS_PATH ?= + +# Programmer configuration +UPLOAD_RATE ?= 57600 +AVRDUDE_PROGRAMMER ?= arduino +# On most linuxes this will be /dev/ttyACM0 or /dev/ttyACM1 +UPLOAD_PORT ?= /dev/ttyUSB0 + +# Directory used to build files in, contains all the build files, from object +# files to the final hex file on linux it is best to put an absolute path +# like /home/username/tmp . +BUILD_DIR ?= applet + +# This defines whether Liquid_TWI2 support will be built +LIQUID_TWI2 ?= 0 + +# This defines if Wire is needed +WIRE ?= 0 + +# This defines if Tone is needed (i.e., SPEAKER is defined in Configuration.h) +# Disabling this (and SPEAKER) saves approximately 350 bytes of memory. +TONE ?= 1 + +# This defines if U8GLIB is needed (may require RELOC_WORKAROUND) +U8GLIB ?= 0 + +# This defines whether to include the Trinamic TMCStepper library +TMC ?= 0 + +# This defines whether to include the AdaFruit NeoPixel library +NEOPIXEL ?= 0 + +############ +# Try to automatically determine whether RELOC_WORKAROUND is needed based +# on GCC versions: +# https://www.avrfreaks.net/comment/1789106#comment-1789106 + +CC_MAJ:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC__ | cut -f3 -d\ ) +CC_MIN:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_MINOR__ | cut -f3 -d\ ) +CC_PATCHLEVEL:=$(shell $(CC) -dM -E - < /dev/null | grep __GNUC_PATCHLEVEL__ | cut -f3 -d\ ) +CC_VER:=$(shell echo $$(( $(CC_MAJ) * 10000 + $(CC_MIN) * 100 + $(CC_PATCHLEVEL) ))) +ifeq ($(shell test $(CC_VER) -lt 40901 && echo 1),1) + $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.) + RELOC_WORKAROUND = 1 +endif + +############################################################################ +# Below here nothing should be changed... + +# Here the Arduino variant is selected by the board type +# HARDWARE_VARIANT = "arduino", "Sanguino", "Gen7", ... +# MCU = "atmega1280", "Mega2560", "atmega2560", "atmega644p", ... + +ifeq ($(HARDWARE_MOTHERBOARD),0) + + # No motherboard selected + +# +# RAMPS 1.3 / 1.4 - ATmega1280, ATmega2560 +# + +# MEGA/RAMPS up to 1.2 +else ifeq ($(HARDWARE_MOTHERBOARD),1000) + +# RAMPS 1.3 (Power outputs: Hotend, Fan, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1010) +# RAMPS 1.3 (Power outputs: Hotend0, Hotend1, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1011) +# RAMPS 1.3 (Power outputs: Hotend, Fan0, Fan1) +else ifeq ($(HARDWARE_MOTHERBOARD),1012) +# RAMPS 1.3 (Power outputs: Hotend0, Hotend1, Fan) +else ifeq ($(HARDWARE_MOTHERBOARD),1013) +# RAMPS 1.3 (Power outputs: Spindle, Controller Fan) +else ifeq ($(HARDWARE_MOTHERBOARD),1014) + +# RAMPS 1.4 (Power outputs: Hotend, Fan, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1020) +# RAMPS 1.4 (Power outputs: Hotend0, Hotend1, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1021) +# RAMPS 1.4 (Power outputs: Hotend, Fan0, Fan1) +else ifeq ($(HARDWARE_MOTHERBOARD),1022) +# RAMPS 1.4 (Power outputs: Hotend0, Hotend1, Fan) +else ifeq ($(HARDWARE_MOTHERBOARD),1023) +# RAMPS 1.4 (Power outputs: Spindle, Controller Fan) +else ifeq ($(HARDWARE_MOTHERBOARD),1024) + +# RAMPS Plus 3DYMY (Power outputs: Hotend, Fan, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1030) +# RAMPS Plus 3DYMY (Power outputs: Hotend0, Hotend1, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1031) +# RAMPS Plus 3DYMY (Power outputs: Hotend, Fan0, Fan1) +else ifeq ($(HARDWARE_MOTHERBOARD),1032) +# RAMPS Plus 3DYMY (Power outputs: Hotend0, Hotend1, Fan) +else ifeq ($(HARDWARE_MOTHERBOARD),1033) +# RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan) +else ifeq ($(HARDWARE_MOTHERBOARD),1034) + +# +# RAMPS Derivatives - ATmega1280, ATmega2560 +# + +# 3Drag Controller +else ifeq ($(HARDWARE_MOTHERBOARD),1100) +# Velleman K8200 Controller (derived from 3Drag Controller) +else ifeq ($(HARDWARE_MOTHERBOARD),1101) +# Velleman K8400 Controller (derived from 3Drag Controller) +else ifeq ($(HARDWARE_MOTHERBOARD),1102) +# Velleman K8600 Controller (Vertex Nano) +else ifeq ($(HARDWARE_MOTHERBOARD),1103) +# Velleman K8800 Controller (Vertex Delta) +else ifeq ($(HARDWARE_MOTHERBOARD),1104) +# 2PrintBeta BAM&DICE with STK drivers +else ifeq ($(HARDWARE_MOTHERBOARD),1105) +# 2PrintBeta BAM&DICE Due with STK drivers +else ifeq ($(HARDWARE_MOTHERBOARD),1106) +# MKS BASE v1.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1107) +# MKS BASE v1.4 with Allegro A4982 stepper drivers +else ifeq ($(HARDWARE_MOTHERBOARD),1108) +# MKS BASE v1.5 with Allegro A4982 stepper drivers +else ifeq ($(HARDWARE_MOTHERBOARD),1109) +# MKS BASE v1.6 with Allegro A4982 stepper drivers +else ifeq ($(HARDWARE_MOTHERBOARD),1110) +# MKS BASE 1.0 with Heroic HR4982 stepper drivers +else ifeq ($(HARDWARE_MOTHERBOARD),1111) +# MKS GEN v1.3 or 1.4 +else ifeq ($(HARDWARE_MOTHERBOARD),1112) +# MKS GEN L +else ifeq ($(HARDWARE_MOTHERBOARD),1113) +# BigTreeTech or BIQU KFB2.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1114) +# zrib V2.0 (Chinese RAMPS replica) +else ifeq ($(HARDWARE_MOTHERBOARD),1115) +# zrib V5.2 (Chinese RAMPS replica) +else ifeq ($(HARDWARE_MOTHERBOARD),1116) +# Felix 2.0+ Electronics Board (RAMPS like) +else ifeq ($(HARDWARE_MOTHERBOARD),1117) +# Invent-A-Part RigidBoard +else ifeq ($(HARDWARE_MOTHERBOARD),1118) +# Invent-A-Part RigidBoard V2 +else ifeq ($(HARDWARE_MOTHERBOARD),1119) +# Sainsmart 2-in-1 board +else ifeq ($(HARDWARE_MOTHERBOARD),1120) +# Ultimaker +else ifeq ($(HARDWARE_MOTHERBOARD),1121) +# Ultimaker (Older electronics. Pre 1.5.4. This is rare) +else ifeq ($(HARDWARE_MOTHERBOARD),1122) + MCU ?= atmega1280 + PROG_MCU ?= m1280 +# Azteeg X3 +else ifeq ($(HARDWARE_MOTHERBOARD),1123) +# Azteeg X3 Pro +else ifeq ($(HARDWARE_MOTHERBOARD),1124) +# Ultimainboard 2.x (Uses TEMP_SENSOR 20) +else ifeq ($(HARDWARE_MOTHERBOARD),1125) +# Rumba +else ifeq ($(HARDWARE_MOTHERBOARD),1126) +# Raise3D N series Rumba derivative +else ifeq ($(HARDWARE_MOTHERBOARD),1127) +# Rapide Lite 200 (v1, low-cost RUMBA clone with drv) +else ifeq ($(HARDWARE_MOTHERBOARD),1128) +# Formbot T-Rex 2 Plus +else ifeq ($(HARDWARE_MOTHERBOARD),1129) +# Formbot T-Rex 3 +else ifeq ($(HARDWARE_MOTHERBOARD),1130) +# Formbot Raptor +else ifeq ($(HARDWARE_MOTHERBOARD),1131) +# Formbot Raptor 2 +else ifeq ($(HARDWARE_MOTHERBOARD),1132) +# bq ZUM Mega 3D +else ifeq ($(HARDWARE_MOTHERBOARD),1133) +# MakeBoard Mini v2.1.2 by MicroMake +else ifeq ($(HARDWARE_MOTHERBOARD),1134) +# TriGorilla Anycubic version 1.3-based on RAMPS EFB +else ifeq ($(HARDWARE_MOTHERBOARD),1135) +# ... Ver 1.4 +else ifeq ($(HARDWARE_MOTHERBOARD),1136) +# ... Rev 1.1 (new servo pin order) +else ifeq ($(HARDWARE_MOTHERBOARD),1137) +# Creality: Ender-4, CR-8 +else ifeq ($(HARDWARE_MOTHERBOARD),1138) +# Creality: CR10S, CR20, CR-X +else ifeq ($(HARDWARE_MOTHERBOARD),1139) +# Dagoma F5 +else ifeq ($(HARDWARE_MOTHERBOARD),1140) +# FYSETC F6 1.3 +else ifeq ($(HARDWARE_MOTHERBOARD),1141) +# FYSETC F6 1.4 +else ifeq ($(HARDWARE_MOTHERBOARD),1142) +# Wanhao Duplicator i3 Plus +else ifeq ($(HARDWARE_MOTHERBOARD),1143) +# VORON Design +else ifeq ($(HARDWARE_MOTHERBOARD),1144) +# Tronxy TRONXY-V3-1.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1145) +# Z-Bolt X Series +else ifeq ($(HARDWARE_MOTHERBOARD),1146) +# TT OSCAR +else ifeq ($(HARDWARE_MOTHERBOARD),1147) +# Overlord/Overlord Pro +else ifeq ($(HARDWARE_MOTHERBOARD),1148) +# ADIMLab Gantry v1 +else ifeq ($(HARDWARE_MOTHERBOARD),1149) +# ADIMLab Gantry v2 +else ifeq ($(HARDWARE_MOTHERBOARD),1150) +# BIQU Tango V1 +else ifeq ($(HARDWARE_MOTHERBOARD),1151) +# MKS GEN L V2 +else ifeq ($(HARDWARE_MOTHERBOARD),1152) +# MKS GEN L V2.1 +else ifeq ($(HARDWARE_MOTHERBOARD),1153) +# Copymaster 3D +else ifeq ($(HARDWARE_MOTHERBOARD),1154) +# Ortur 4 +else ifeq ($(HARDWARE_MOTHERBOARD),1155) +# Tenlog D3 Hero IDEX printer +else ifeq ($(HARDWARE_MOTHERBOARD),1156) +# Tenlog D3,5,6 Pro IDEX printers +else ifeq ($(HARDWARE_MOTHERBOARD),1157) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1158) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1159) +# Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) +else ifeq ($(HARDWARE_MOTHERBOARD),1160) +# Longer LK1 PRO / Alfawise U20 Pro (PRO version) +else ifeq ($(HARDWARE_MOTHERBOARD),1161) +# Longer LKx PRO / Alfawise Uxx Pro (PRO version) +else ifeq ($(HARDWARE_MOTHERBOARD),1162) +# Zonestar zrib V5.3 (Chinese RAMPS replica) +else ifeq ($(HARDWARE_MOTHERBOARD),1163) +# Pxmalion Core I3 +else ifeq ($(HARDWARE_MOTHERBOARD),1164) + +# +# RAMBo and derivatives +# + +# Rambo +else ifeq ($(HARDWARE_MOTHERBOARD),1200) +# Mini-Rambo +else ifeq ($(HARDWARE_MOTHERBOARD),1201) +# Mini-Rambo 1.0a +else ifeq ($(HARDWARE_MOTHERBOARD),1202) +# Einsy Rambo +else ifeq ($(HARDWARE_MOTHERBOARD),1203) +# Einsy Retro +else ifeq ($(HARDWARE_MOTHERBOARD),1204) +# abee Scoovo X9H +else ifeq ($(HARDWARE_MOTHERBOARD),1205) +# Rambo ThinkerV2 +else ifeq ($(HARDWARE_MOTHERBOARD),1206) + +# +# Other ATmega1280, ATmega2560 +# + +# Cartesio CN Controls V11 +else ifeq ($(HARDWARE_MOTHERBOARD),1300) +# Cartesio CN Controls V12 +else ifeq ($(HARDWARE_MOTHERBOARD),1301) +# Cartesio CN Controls V15 +else ifeq ($(HARDWARE_MOTHERBOARD),1302) +# Cheaptronic v1.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1303) +# Cheaptronic v2.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1304) +# Makerbot Mightyboard Revision E +else ifeq ($(HARDWARE_MOTHERBOARD),1305) +# Megatronics +else ifeq ($(HARDWARE_MOTHERBOARD),1306) +# Megatronics v2.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1307) +# Megatronics v3.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1308) +# Megatronics v3.1 +else ifeq ($(HARDWARE_MOTHERBOARD),1309) +# Megatronics v3.2 +else ifeq ($(HARDWARE_MOTHERBOARD),1310) +# Elefu Ra Board (v3) +else ifeq ($(HARDWARE_MOTHERBOARD),1311) +# Leapfrog +else ifeq ($(HARDWARE_MOTHERBOARD),1312) +# Mega controller +else ifeq ($(HARDWARE_MOTHERBOARD),1313) +# Geeetech GT2560 Rev A +else ifeq ($(HARDWARE_MOTHERBOARD),1314) +# Geeetech GT2560 Rev A+ (with auto level probe) +else ifeq ($(HARDWARE_MOTHERBOARD),1315) +# Geeetech GT2560 Rev B +else ifeq ($(HARDWARE_MOTHERBOARD),1316) +# Geeetech GT2560 Rev B for A10(M/T/D) +else ifeq ($(HARDWARE_MOTHERBOARD),1317) +# Geeetech GT2560 Rev B for A10(M/T/D) +else ifeq ($(HARDWARE_MOTHERBOARD),1318) +# Geeetech GT2560 Rev B for Mecreator2 +else ifeq ($(HARDWARE_MOTHERBOARD),1319) +# Geeetech GT2560 Rev B for A20(M/T/D) +else ifeq ($(HARDWARE_MOTHERBOARD),1320) +# Einstart retrofit +else ifeq ($(HARDWARE_MOTHERBOARD),1321) +# Wanhao 0ne+ i3 Mini +else ifeq ($(HARDWARE_MOTHERBOARD),1322) +# Leapfrog Xeed 2015 +else ifeq ($(HARDWARE_MOTHERBOARD),1323) +# PICA Shield (original version) +else ifeq ($(HARDWARE_MOTHERBOARD),1324) +# PICA Shield (rev C or later) +else ifeq ($(HARDWARE_MOTHERBOARD),1325) +# Intamsys 4.0 (Funmat HT) +else ifeq ($(HARDWARE_MOTHERBOARD),1326) +# Malyan M180 Mainboard Version 2 (no display function, direct G-code only) +else ifeq ($(HARDWARE_MOTHERBOARD),1327) +# Geeetech GT2560 Rev B for A20(M/T/D) +else ifeq ($(HARDWARE_MOTHERBOARD),1328) +# Mega controller & Protoneer CNC Shield V3.00 +else ifeq ($(HARDWARE_MOTHERBOARD),1329) + +# +# ATmega1281, ATmega2561 +# + +# Minitronics v1.0/1.1 +else ifeq ($(HARDWARE_MOTHERBOARD),1400) + MCU ?= atmega1281 + PROG_MCU ?= m1281 +# Silvergate v1.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1401) + MCU ?= atmega1281 + PROG_MCU ?= m1281 + +# +# Sanguinololu and Derivatives - ATmega644P, ATmega1284P +# + +# Sanguinololu < 1.2 +else ifeq ($(HARDWARE_MOTHERBOARD),1500) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega644p + PROG_MCU ?= m644p +# Sanguinololu 1.2 and above +else ifeq ($(HARDWARE_MOTHERBOARD),1501) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega644p + PROG_MCU ?= m644p +# Melzi +else ifeq ($(HARDWARE_MOTHERBOARD),1502) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega644p + PROG_MCU ?= m644p +# Melzi V2.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1503) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# Melzi with ATmega1284 (MaKr3d version) +else ifeq ($(HARDWARE_MOTHERBOARD),1504) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# Melzi Creality3D board (for CR-10 etc) +else ifeq ($(HARDWARE_MOTHERBOARD),1505) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# Melzi Malyan M150 board +else ifeq ($(HARDWARE_MOTHERBOARD),1506) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# Tronxy X5S +else ifeq ($(HARDWARE_MOTHERBOARD),1507) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# STB V1.1 +else ifeq ($(HARDWARE_MOTHERBOARD),1508) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# Azteeg X1 +else ifeq ($(HARDWARE_MOTHERBOARD),1509) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# Anet 1.0 (Melzi clone) +else ifeq ($(HARDWARE_MOTHERBOARD),1510) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p +# ZoneStar ZMIB V2 +else ifeq ($(HARDWARE_MOTHERBOARD),1511) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega1284p + PROG_MCU ?= m1284p + +# +# Other ATmega644P, ATmega644, ATmega1284P +# + +# Gen3 Monolithic Electronics +else ifeq ($(HARDWARE_MOTHERBOARD),1600) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega644p + PROG_MCU ?= m644p +# Gen3+ +else ifeq ($(HARDWARE_MOTHERBOARD),1601) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega644p + PROG_MCU ?= m644p +# Gen6 +else ifeq ($(HARDWARE_MOTHERBOARD),1602) + HARDWARE_VARIANT ?= Gen6 + MCU ?= atmega644p + PROG_MCU ?= m644p +# Gen6 deluxe +else ifeq ($(HARDWARE_MOTHERBOARD),1603) + HARDWARE_VARIANT ?= Gen6 + MCU ?= atmega644p + PROG_MCU ?= m644p +# Gen7 custom (Alfons3 Version) +else ifeq ($(HARDWARE_MOTHERBOARD),1604) + HARDWARE_VARIANT ?= Gen7 + MCU ?= atmega644 + PROG_MCU ?= m644 + F_CPU ?= 20000000 +# Gen7 v1.1, v1.2 +else ifeq ($(HARDWARE_MOTHERBOARD),1605) + HARDWARE_VARIANT ?= Gen7 + MCU ?= atmega644p + PROG_MCU ?= m644p + F_CPU ?= 20000000 +# Gen7 v1.3 +else ifeq ($(HARDWARE_MOTHERBOARD),1606) + HARDWARE_VARIANT ?= Gen7 + MCU ?= atmega644p + PROG_MCU ?= m644p + F_CPU ?= 20000000 +# Gen7 v1.4 +else ifeq ($(HARDWARE_MOTHERBOARD),1607) + HARDWARE_VARIANT ?= Gen7 + MCU ?= atmega1284p + PROG_MCU ?= m1284p + F_CPU ?= 20000000 +# Alpha OMCA board +else ifeq ($(HARDWARE_MOTHERBOARD),1608) + HARDWARE_VARIANT ?= SanguinoA + MCU ?= atmega644 + PROG_MCU ?= m644 +# Final OMCA board +else ifeq ($(HARDWARE_MOTHERBOARD),1609) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega644p + PROG_MCU ?= m644p +# Sethi 3D_1 +else ifeq ($(HARDWARE_MOTHERBOARD),1610) + HARDWARE_VARIANT ?= Sanguino + MCU ?= atmega644p + PROG_MCU ?= m644p + +# +# Teensyduino - AT90USB1286, AT90USB1286P +# + +# Teensylu +else ifeq ($(HARDWARE_MOTHERBOARD),1700) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb1286 + PROG_MCU ?= usb1286 +# Printrboard (AT90USB1286) +else ifeq ($(HARDWARE_MOTHERBOARD),1701) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb1286 + PROG_MCU ?= usb1286 +# Printrboard Revision F (AT90USB1286) +else ifeq ($(HARDWARE_MOTHERBOARD),1702) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb1286 + PROG_MCU ?= usb1286 +# Brainwave (AT90USB646) +else ifeq ($(HARDWARE_MOTHERBOARD),1703) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb646 + PROG_MCU ?= usb646 +# Brainwave Pro (AT90USB1286) +else ifeq ($(HARDWARE_MOTHERBOARD),1704) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb1286 + PROG_MCU ?= usb1286 +# SAV Mk-I (AT90USB1286) +else ifeq ($(HARDWARE_MOTHERBOARD),1705) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb1286 + PROG_MCU ?= usb1286 +# Teensy++2.0 (AT90USB1286) +else ifeq ($(HARDWARE_MOTHERBOARD),1706) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb1286 + PROG_MCU ?= usb1286 +# 5DPrint D8 Driver Board +else ifeq ($(HARDWARE_MOTHERBOARD),1707) + HARDWARE_VARIANT ?= Teensy + MCU ?= at90usb1286 + PROG_MCU ?= usb1286 + +# UltiMachine Archim1 (with DRV8825 drivers) +else ifeq ($(HARDWARE_MOTHERBOARD),3023) + HARDWARE_VARIANT ?= archim + MCPU = cortex-m3 + F_CPU = 84000000 + IS_MCU = 0 +# UltiMachine Archim2 (with TMC2130 drivers) +else ifeq ($(HARDWARE_MOTHERBOARD),3024) + HARDWARE_VARIANT ?= archim + MCPU = cortex-m3 + F_CPU = 84000000 + IS_MCU = 0 +endif + +# Be sure to regenerate speed_lookuptable.h with create_speed_lookuptable.py +# if you are setting this to something other than 16MHz +# Do not put the UL suffix, it's done later on. +# Set to 16Mhz if not yet set. +F_CPU ?= 16000000 + +# Set to microcontroller if IS_MCU not yet set +IS_MCU ?= 1 + +ifeq ($(IS_MCU),1) + # Set to arduino, ATmega2560 if not yet set. + HARDWARE_VARIANT ?= arduino + MCU ?= atmega2560 + PROG_MCU ?= m2560 + + TOOL_PREFIX = avr + MCU_FLAGS = -mmcu=$(MCU) + SIZE_FLAGS = --mcu=$(MCU) -C +else + TOOL_PREFIX = arm-none-eabi + CPU_FLAGS = -mthumb -mcpu=$(MCPU) + SIZE_FLAGS = -A +endif + +# Arduino contained the main source code for the Arduino +# Libraries, the "hardware variant" are for boards +# that derives from that, and their source are present in +# the main Marlin source directory + +TARGET = $(notdir $(CURDIR)) + +# VPATH tells make to look into these directory for source files, +# there is no need to specify explicit pathnames as long as the +# directory is added here + +# The Makefile for previous versions of Marlin used VPATH for all +# source files, but for Marlin 2.0, we use VPATH only for arduino +# library files. + +VPATH = . +VPATH += $(BUILD_DIR) +VPATH += $(HARDWARE_SRC) + +ifeq ($(HARDWARE_VARIANT), $(filter $(HARDWARE_VARIANT),arduino Teensy Sanguino)) + # Old libraries (avr-core 1.6.21 < / Arduino < 1.6.8) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI + # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI/src +endif + +ifeq ($(IS_MCU),1) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/cores/arduino + + # Old libraries (avr-core 1.6.21 < / Arduino < 1.6.8) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SoftwareSerial + # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SPI/src + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/SoftwareSerial/src +endif + +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/LiquidCrystal/src + +ifeq ($(LIQUID_TWI2), 1) + WIRE = 1 + VPATH += $(ARDUINO_INSTALL_DIR)/libraries/LiquidTWI2 +endif +ifeq ($(WIRE), 1) + # Old libraries (avr-core 1.6.21 / Arduino < 1.6.8) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/utility + # New libraries (avr-core >= 1.6.21 / Arduino >= 1.6.8) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/src + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/libraries/Wire/src/utility +endif +ifeq ($(NEOPIXEL), 1) +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/Adafruit_NeoPixel +endif +ifeq ($(U8GLIB), 1) +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib/csrc +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib/cppsrc +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/U8glib/fntsrc +endif +ifeq ($(TMC), 1) +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/TMCStepper/src +VPATH += $(ARDUINO_INSTALL_DIR)/libraries/TMCStepper/src/source +endif + +ifeq ($(HARDWARE_VARIANT), arduino) + HARDWARE_SUB_VARIANT ?= mega + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/arduino/avr/variants/$(HARDWARE_SUB_VARIANT) +else ifeq ($(HARDWARE_VARIANT), Sanguino) + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/marlin/avr/variants/sanguino +else ifeq ($(HARDWARE_VARIANT), archim) + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/system/libsam + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/system/CMSIS/CMSIS/Include/ + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/system/CMSIS/Device/ATMEL/ + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/cores/arduino + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/cores/arduino/avr + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/cores/arduino/USB + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/libraries/Wire/src + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/libraries/SPI/src + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/libraries/U8glib/src/clib + VPATH += $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/variants/archim + LDSCRIPT = $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/variants/archim/linker_scripts/gcc/flash.ld + LDLIBS = $(ARDUINO_INSTALL_DIR)/packages/ultimachine/hardware/sam/1.6.9-b/variants/archim/libsam_sam3x8e_gcc_rel.a +else + HARDWARE_SUB_VARIANT ?= standard + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/$(HARDWARE_VARIANT)/variants/$(HARDWARE_SUB_VARIANT) +endif + +LIB_SRC = wiring.c \ + wiring_analog.c wiring_digital.c \ + wiring_shift.c WInterrupts.c hooks.c + +ifeq ($(HARDWARE_VARIANT), archim) + LIB_ASRC += wiring_pulse_asm.S +else + LIB_SRC += wiring_pulse.c +endif + +ifeq ($(HARDWARE_VARIANT), Teensy) + LIB_SRC = wiring.c + VPATH += $(ARDUINO_INSTALL_DIR)/hardware/teensy/cores/teensy +endif + +LIB_CXXSRC = WMath.cpp WString.cpp Print.cpp SPI.cpp + +ifeq ($(NEOPIXEL), 1) + LIB_CXXSRC += Adafruit_NeoPixel.cpp +endif + +ifeq ($(LIQUID_TWI2), 0) + LIB_CXXSRC += LiquidCrystal.cpp +else + LIB_SRC += twi.c + LIB_CXXSRC += Wire.cpp LiquidTWI2.cpp +endif + +ifeq ($(WIRE), 1) + LIB_SRC += twi.c + LIB_CXXSRC += Wire.cpp +endif + +ifeq ($(TONE), 1) + LIB_CXXSRC += Tone.cpp +endif + +ifeq ($(U8GLIB), 1) + LIB_CXXSRC += U8glib.cpp + LIB_SRC += u8g_ll_api.c u8g_bitmap.c u8g_clip.c u8g_com_null.c u8g_delay.c \ + u8g_page.c u8g_pb.c u8g_pb16h1.c u8g_rect.c u8g_state.c u8g_font.c \ + u8g_font_6x13.c u8g_font_04b_03.c u8g_font_5x8.c +endif + +ifeq ($(TMC), 1) + LIB_CXXSRC += TMCStepper.cpp COOLCONF.cpp DRV_STATUS.cpp IHOLD_IRUN.cpp \ + CHOPCONF.cpp GCONF.cpp PWMCONF.cpp DRV_CONF.cpp DRVCONF.cpp DRVCTRL.cpp \ + DRVSTATUS.cpp ENCMODE.cpp RAMP_STAT.cpp SGCSCONF.cpp SHORT_CONF.cpp \ + SMARTEN.cpp SW_MODE.cpp SW_SPI.cpp TMC2130Stepper.cpp TMC2208Stepper.cpp \ + TMC2209Stepper.cpp TMC2660Stepper.cpp TMC5130Stepper.cpp TMC5160Stepper.cpp +endif + +ifeq ($(RELOC_WORKAROUND), 1) + LD_PREFIX=-nodefaultlibs + LD_SUFFIX=-lm -lgcc -lc -lgcc +endif + +#Check for Arduino 1.0.0 or higher and use the correct source files for that version +ifeq ($(shell [ $(ARDUINO_VERSION) -ge 100 ] && echo true), true) + LIB_CXXSRC += main.cpp +else + LIB_SRC += pins_arduino.c main.c +endif + +FORMAT = ihex + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +DEFINES ?= + +# Program settings +CC = $(AVR_TOOLS_PATH)$(TOOL_PREFIX)-gcc +CXX = $(AVR_TOOLS_PATH)$(TOOL_PREFIX)-g++ +OBJCOPY = $(AVR_TOOLS_PATH)$(TOOL_PREFIX)-objcopy +OBJDUMP = $(AVR_TOOLS_PATH)$(TOOL_PREFIX)-objdump +AR = $(AVR_TOOLS_PATH)$(TOOL_PREFIX)-ar +SIZE = $(AVR_TOOLS_PATH)$(TOOL_PREFIX)-size +NM = $(AVR_TOOLS_PATH)$(TOOL_PREFIX)-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU)UL ${addprefix -D , $(DEFINES)} -DARDUINO=$(ARDUINO_VERSION) +CXXDEFS = $(CDEFS) + +ifeq ($(HARDWARE_VARIANT), Teensy) + CDEFS += -DUSB_SERIAL + LIB_SRC += usb.c pins_teensy.c + LIB_CXXSRC += usb_api.cpp + +else ifeq ($(HARDWARE_VARIANT), archim) + CDEFS += -DARDUINO_SAM_ARCHIM -DARDUINO_ARCH_SAM -D__SAM3X8E__ + CDEFS += -DUSB_VID=0x27B1 -DUSB_PID=0x0001 -DUSBCON + CDEFS += '-DUSB_MANUFACTURER="UltiMachine"' '-DUSB_PRODUCT_STRING="Archim"' + + LIB_CXXSRC += variant.cpp IPAddress.cpp Reset.cpp RingBuffer.cpp Stream.cpp \ + UARTClass.cpp USARTClass.cpp abi.cpp new.cpp watchdog.cpp CDC.cpp \ + PluggableUSB.cpp USBCore.cpp + + LIB_SRC += cortex_handlers.c iar_calls_sam3.c syscalls_sam3.c dtostrf.c itoa.c + + ifeq ($(U8GLIB), 1) + LIB_SRC += u8g_com_api.c u8g_pb32h1.c + endif +endif + +# Add all the source directories as include directories too +CINCS = ${addprefix -I ,${VPATH}} +CXXINCS = ${addprefix -I ,${VPATH}} + +# Silence warnings for library code (won't work for .h files, unfortunately) +LIBWARN = -w -Wno-packed-bitfield-compat + +# Compiler flag to set the C/CPP Standard level. +CSTANDARD = -std=gnu99 +CXXSTANDARD = -std=gnu++11 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes -Wno-packed-bitfield-compat -Wno-pragmas -Wunused-parameter +CXXWARN = -Wall -Wno-packed-bitfield-compat -Wno-pragmas -Wunused-parameter +CTUNING = -fsigned-char -funsigned-bitfields -fno-exceptions \ + -fshort-enums -ffunction-sections -fdata-sections +ifneq ($(HARDWARE_MOTHERBOARD),) + CTUNING += -DMOTHERBOARD=${HARDWARE_MOTHERBOARD} +endif + +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) +CXXEXTRA = -fno-use-cxa-atexit -fno-threadsafe-statics -fno-rtti +CFLAGS := $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CEXTRA) $(CTUNING) $(CSTANDARD) +CXXFLAGS := $(CDEFS) $(CINCS) -O$(OPT) $(CXXEXTRA) $(CTUNING) $(CXXSTANDARD) +ASFLAGS := $(CDEFS) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs + +ifeq ($(HARDWARE_VARIANT), archim) + LD_PREFIX = -Wl,--gc-sections,-Map,Marlin.ino.map,--cref,--check-sections,--entry=Reset_Handler,--unresolved-symbols=report-all,--warn-common,--warn-section-align + LD_SUFFIX = $(LDLIBS) + + LDFLAGS = -lm -T$(LDSCRIPT) -u _sbrk -u link -u _close -u _fstat -u _isatty + LDFLAGS += -u _lseek -u _read -u _write -u _exit -u kill -u _getpid +else + LD_PREFIX = -Wl,--gc-sections,--relax + LDFLAGS = -lm + CTUNING += -flto +endif + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PORT = $(UPLOAD_PORT) +AVRDUDE_WRITE_FLASH = -Uflash:w:$(BUILD_DIR)/$(TARGET).hex:i +ifeq ($(shell uname -s), Linux) + AVRDUDE_CONF = /etc/avrdude/avrdude.conf +else + AVRDUDE_CONF = $(ARDUINO_INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf +endif +AVRDUDE_FLAGS = -D -C$(AVRDUDE_CONF) \ + -p$(PROG_MCU) -P$(AVRDUDE_PORT) -c$(AVRDUDE_PROGRAMMER) \ + -b$(UPLOAD_RATE) + +# Since Marlin 2.0, the source files may be distributed into several +# different directories, so it is necessary to find them recursively + +SRC = $(shell find src -name '*.c' -type f) +CXXSRC = $(shell find src -name '*.cpp' -type f) + +# Define all object files. +OBJ = ${patsubst %.c, $(BUILD_DIR)/arduino/%.o, ${LIB_SRC}} +OBJ += ${patsubst %.cpp, $(BUILD_DIR)/arduino/%.o, ${LIB_CXXSRC}} +OBJ += ${patsubst %.S, $(BUILD_DIR)/arduino/%.o, ${LIB_ASRC}} +OBJ += ${patsubst %.c, $(BUILD_DIR)/%.o, ${SRC}} +OBJ += ${patsubst %.cpp, $(BUILD_DIR)/%.o, ${CXXSRC}} + +# Define all listing files. +LST = $(LIB_ASRC:.S=.lst) $(LIB_CXXSRC:.cpp=.lst) $(LIB_SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = $(MCU_FLAGS) $(CPU_FLAGS) $(CFLAGS) -I. +ALL_CXXFLAGS = $(MCU_FLAGS) $(CPU_FLAGS) $(CXXFLAGS) +ALL_ASFLAGS = $(MCU_FLAGS) $(CPU_FLAGS) $(ASFLAGS) -x assembler-with-cpp + +# set V=1 (eg, "make V=1") to print the full commands etc. +ifneq ($V,1) + Pecho=@echo + P=@ +else + Pecho=@: + P= +endif + +# Create required build hierarchy if it does not exist + +$(shell mkdir -p $(dir $(OBJ))) + +# Default target. +all: sizeafter + +build: elf hex bin + +elf: $(BUILD_DIR)/$(TARGET).elf +bin: $(BUILD_DIR)/$(TARGET).bin +hex: $(BUILD_DIR)/$(TARGET).hex +eep: $(BUILD_DIR)/$(TARGET).eep +lss: $(BUILD_DIR)/$(TARGET).lss +sym: $(BUILD_DIR)/$(TARGET).sym + +# Program the device. +# Do not try to reset an Arduino if it's not one +upload: $(BUILD_DIR)/$(TARGET).hex +ifeq (${AVRDUDE_PROGRAMMER}, arduino) + stty hup < $(UPLOAD_PORT); true +endif + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) +ifeq (${AVRDUDE_PROGRAMMER}, arduino) + stty -hup < $(UPLOAD_PORT); true +endif + +# Display size of file. +HEXSIZE = $(SIZE) --target=$(FORMAT) $(BUILD_DIR)/$(TARGET).hex +ELFSIZE = $(SIZE) $(SIZE_FLAGS) $(BUILD_DIR)/$(TARGET).elf; \ + $(SIZE) $(BUILD_DIR)/$(TARGET).elf +sizebefore: + $P if [ -f $(BUILD_DIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi + +sizeafter: build + $P if [ -f $(BUILD_DIR)/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ + --change-section-address .data-0x800000 \ + --change-section-address .bss-0x800000 \ + --change-section-address .noinit-0x800000 \ + --change-section-address .eeprom-0x810000 + + +coff: $(BUILD_DIR)/$(TARGET).elf + $(COFFCONVERT) -O coff-avr $(BUILD_DIR)/$(TARGET).elf $(TARGET).cof + + +extcoff: $(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr $(BUILD_DIR)/$(TARGET).elf $(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym .bin +.PRECIOUS: .o + +.elf.hex: + $(Pecho) " COPY $@" + $P $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.bin: + $(Pecho) " COPY $@" + $P $(OBJCOPY) -O binary -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + +# Link: create ELF output file from library. + +$(BUILD_DIR)/$(TARGET).elf: $(OBJ) Configuration.h + $(Pecho) " CXX $@" + $P $(CXX) $(LD_PREFIX) $(ALL_CXXFLAGS) -o $@ -L. $(OBJ) $(LDFLAGS) $(LD_SUFFIX) + +# Object files that were found in "src" will be stored in $(BUILD_DIR) +# in directories that mirror the structure of "src" + +$(BUILD_DIR)/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE) + $(Pecho) " CC $<" + $P $(CC) -MMD -c $(ALL_CFLAGS) $(CWARN) $< -o $@ + +$(BUILD_DIR)/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE) + $(Pecho) " CXX $<" + $P $(CXX) -MMD -c $(ALL_CXXFLAGS) $(CXXWARN) $< -o $@ + +# Object files for Arduino libs will be created in $(BUILD_DIR)/arduino + +$(BUILD_DIR)/arduino/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE) + $(Pecho) " CC $<" + $P $(CC) -MMD -c $(ALL_CFLAGS) $(LIBWARN) $< -o $@ + +$(BUILD_DIR)/arduino/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE) + $(Pecho) " CXX $<" + $P $(CXX) -MMD -c $(ALL_CXXFLAGS) $(LIBWARN) $< -o $@ + +$(BUILD_DIR)/arduino/%.o: %.S $(MAKEFILE) + $(Pecho) " CXX $<" + $P $(CXX) -MMD -c $(ALL_ASFLAGS) $< -o $@ + +# Target: clean project. +clean: + $(Pecho) " RMDIR $(BUILD_DIR)/" + $P rm -rf $(BUILD_DIR) + + +.PHONY: all build elf hex eep lss sym program coff extcoff clean depend sizebefore sizeafter + +# Automatically include the dependency files created by gcc +-include ${patsubst %.o, %.d, ${OBJ}} diff --git a/Marlin/Marlin.ino b/Marlin/Marlin.ino new file mode 100644 index 0000000000..57c825445f --- /dev/null +++ b/Marlin/Marlin.ino @@ -0,0 +1,57 @@ +/*============================================================================== + + Marlin Firmware + + (c) 2011-2020 MarlinFirmware + Portions of Marlin are (c) by their respective authors. + All code complies with GPLv2 and/or GPLv3 + +================================================================================ + +Greetings! Thank you for choosing Marlin 2 as your 3D printer firmware. + +To configure Marlin you must edit Configuration.h and Configuration_adv.h +located in the root 'Marlin' folder. Check our Configurations repository to +see if there's a more suitable starting-point for your specific hardware. + +Before diving in, we recommend the following essential links: + +Marlin Firmware Official Website + + - https://marlinfw.org/ + The official Marlin Firmware website contains the most up-to-date + documentation. Contributions are always welcome! + +Configuration + + - https://github.com/MarlinFirmware/Configurations + Example configurations for several printer models. + + - https://www.youtube.com/watch?v=3gwWVFtdg-4 + A good 20-minute overview of Marlin configuration by Tom Sanladerer. + (Applies to Marlin 1.0.x, so Jerk and Acceleration should be halved.) + Also... https://www.google.com/search?tbs=vid%3A1&q=configure+marlin + + - https://marlinfw.org/docs/configuration/configuration.html + Marlin's configuration options are explained in more detail here. + +Getting Help + + - https://reprap.org/forum/list.php?415 + The Marlin Discussion Forum is a great place to get help from other Marlin + users who may have experienced similar issues to your own. + + - https://github.com/MarlinFirmware/Marlin/issues + With a free GitHub account you can provide us with feedback, bug reports, + and feature requests via the Marlin Issue Queue. + +Contributing + + - https://marlinfw.org/docs/development/contributing.html + If you'd like to contribute to Marlin, read this first! + + - https://marlinfw.org/docs/development/coding_standards.html + Before submitting code get to know the Coding Standards. + + +------------------------------------------------------------------------------*/ diff --git a/Marlin/Version.h b/Marlin/Version.h new file mode 100644 index 0000000000..7aa526bfd5 --- /dev/null +++ b/Marlin/Version.h @@ -0,0 +1,79 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +//////////////////////////// +// VENDOR VERSION EXAMPLE // +//////////////////////////// + +/** + * Marlin release version identifier + */ +#define SHORT_BUILD_VERSION "2.1.3 MRiscoC" + +/** + * Verbose version identifier which should contain a reference to the location + * from where the binary was downloaded or the source code was compiled. + */ +#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION " Ender3V2-422-MM, based on bugfix-2.1.x" + +/** + * The STRING_DISTRIBUTION_DATE represents when the binary file was built, + * here we define this default string as the date where the latest release + * version was tagged. + */ +//#define STRING_DISTRIBUTION_DATE "2023-03-07" + +#define STRING_DISTRIBUTION_DATE __DATE__ +#define STRING_DISTRIBUTION_TIME __TIME__ + +/** + * Defines a generic printer name to be output to the LCD after booting Marlin. + */ +#define MACHINE_NAME "Ender 3V2" + +/** + * The SOURCE_CODE_URL is the location where users will find the Marlin Source + * Code which is installed on the device. In most cases —unless the manufacturer + * has a distinct Github fork— the Source Code URL should just be the main + * Marlin repository. + */ +#define SOURCE_CODE_URL "github.com/mriscoc/Ender3V2S1" + +/** + * Default generic printer UUID. + */ +//#define DEFAULT_MACHINE_UUID "cede2a2f-41a2-4748-9b12-c55c62f367ff" + +/** + * The WEBSITE_URL is the location where users can get more information such as + * documentation about a specific Marlin release. + */ +#define WEBSITE_URL "github.com/mriscoc/Ender3V2S1/wiki" + +/** + * Set the vendor info the serial USB interface, if changable + * Currently only supported by DUE platform + */ +//#define USB_DEVICE_VENDOR_ID 0x0000 +//#define USB_DEVICE_PRODUCT_ID 0x0000 +//#define USB_DEVICE_MANUFACTURE_NAME WEBSITE_URL diff --git a/Marlin/config.ini b/Marlin/config.ini new file mode 100644 index 0000000000..0fb9fb0c93 --- /dev/null +++ b/Marlin/config.ini @@ -0,0 +1,211 @@ +# +# Marlin Firmware +# config.ini - Options to apply before the build +# +[config:base] +ini_use_config = none + +# Load all config: sections in this file +;ini_use_config = all +# Load config file relative to Marlin/ +;ini_use_config = another.ini +# Download configurations from GitHub +;ini_use_config = example/Creality/Ender-5 Plus @ bugfix-2.1.x +# Download configurations from your server +;ini_use_config = https://me.myserver.com/path/to/configs +# Evaluate config:base and do a config dump +;ini_use_config = base +;config_export = 2 + +[config:minimal] +motherboard = BOARD_RAMPS_14_EFB +serial_port = 0 +baudrate = 250000 + +use_watchdog = on +thermal_protection_hotends = on +thermal_protection_hysteresis = 4 +thermal_protection_period = 40 + +bufsize = 4 +block_buffer_size = 16 +max_cmd_size = 96 + +extruders = 1 +temp_sensor_0 = 1 + +temp_hysteresis = 3 +heater_0_mintemp = 5 +heater_0_maxtemp = 275 +preheat_1_temp_hotend = 180 + +bang_max = 255 +pidtemp = on +pid_k1 = 0.95 +pid_max = BANG_MAX +pid_functional_range = 10 + +default_kp = 22.20 +default_ki = 1.08 +default_kd = 114.00 + +x_driver_type = A4988 +y_driver_type = A4988 +z_driver_type = A4988 +e0_driver_type = A4988 + +x_bed_size = 200 +x_min_pos = 0 +x_max_pos = X_BED_SIZE + +y_bed_size = 200 +y_min_pos = 0 +y_max_pos = Y_BED_SIZE + +z_min_pos = 0 +z_max_pos = 200 + +x_home_dir = -1 +y_home_dir = -1 +z_home_dir = -1 + +use_xmin_plug = on +use_ymin_plug = on +use_zmin_plug = on + +x_min_endstop_inverting = false +y_min_endstop_inverting = false +z_min_endstop_inverting = false + +default_axis_steps_per_unit = { 80, 80, 400, 500 } +axis_relative_modes = { false, false, false, false } +default_max_feedrate = { 300, 300, 5, 25 } +default_max_acceleration = { 3000, 3000, 100, 10000 } + +homing_feedrate_mm_m = { (50*60), (50*60), (4*60) } +homing_bump_divisor = { 2, 2, 4 } + +x_enable_on = 0 +y_enable_on = 0 +z_enable_on = 0 +e_enable_on = 0 + +invert_x_dir = false +invert_y_dir = true +invert_z_dir = false +invert_e0_dir = false + +invert_e_step_pin = false +invert_x_step_pin = false +invert_y_step_pin = false +invert_z_step_pin = false + +disable_x = false +disable_y = false +disable_z = false +disable_e = false + +proportional_font_ratio = 1.0 +default_nominal_filament_dia = 1.75 + +junction_deviation_mm = 0.013 + +default_acceleration = 3000 +default_travel_acceleration = 3000 +default_retract_acceleration = 3000 + +default_minimumfeedrate = 0.0 +default_mintravelfeedrate = 0.0 + +minimum_planner_speed = 0.05 +min_steps_per_segment = 6 +default_minsegmenttime = 20000 + +[config:basic] +bed_overshoot = 10 +busy_while_heating = on +default_ejerk = 5.0 +default_keepalive_interval = 2 +default_leveling_fade_height = 0.0 +disable_inactive_extruder = on +display_charset_hd44780 = JAPANESE +eeprom_boot_silent = on +eeprom_chitchat = on +endstoppullups = on +extrude_maxlength = 200 +extrude_mintemp = 170 +host_keepalive_feature = on +hotend_overshoot = 15 +jd_handle_small_segments = on +lcd_info_screen_style = 0 +lcd_language = en +max_bed_power = 255 +mesh_inset = 0 +min_software_endstops = on +max_software_endstops = on +min_software_endstop_x = on +min_software_endstop_y = on +min_software_endstop_z = on +max_software_endstop_x = on +max_software_endstop_y = on +max_software_endstop_z = on +preheat_1_fan_speed = 0 +preheat_1_label = "PLA" +preheat_1_temp_bed = 70 +prevent_cold_extrusion = on +prevent_lengthy_extrude = on +printjob_timer_autostart = on +probing_margin = 10 +show_bootscreen = on +soft_pwm_scale = 0 +string_config_h_author = "(none, default config)" +temp_bed_hysteresis = 3 +temp_bed_residency_time = 10 +temp_bed_window = 1 +temp_residency_time = 10 +temp_window = 1 +validate_homing_endstops = on +xy_probe_feedrate = (133*60) +z_clearance_between_probes = 5 +z_clearance_deploy_probe = 10 +z_clearance_multi_probe = 5 + +[config:advanced] +arc_support = on +auto_report_temperatures = on +autotemp = on +autotemp_oldweight = 0.98 +bed_check_interval = 5000 +default_stepper_deactive_time = 120 +default_volumetric_extruder_limit = 0.00 +disable_inactive_e = true +disable_inactive_x = true +disable_inactive_y = true +disable_inactive_z = true +e0_auto_fan_pin = -1 +encoder_100x_steps_per_sec = 80 +encoder_10x_steps_per_sec = 30 +encoder_rate_multiplier = on +extended_capabilities_report = on +extruder_auto_fan_speed = 255 +extruder_auto_fan_temperature = 50 +fanmux0_pin = -1 +fanmux1_pin = -1 +fanmux2_pin = -1 +faster_gcode_parser = on +homing_bump_mm = { 5, 5, 2 } +max_arc_segment_mm = 1.0 +min_arc_segment_mm = 0.1 +min_circle_segments = 72 +n_arc_correction = 25 +serial_overrun_protection = on +slowdown = on +slowdown_divisor = 2 +temp_sensor_bed = 0 +thermal_protection_bed_hysteresis = 2 +thermocouple_max_errors = 15 +tx_buffer_size = 0 +watch_bed_temp_increase = 2 +watch_bed_temp_period = 60 +watch_temp_increase = 2 +watch_temp_period = 20 diff --git a/Marlin/lib/proui/gd32f10/libproui_abl.a b/Marlin/lib/proui/gd32f10/libproui_abl.a index 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information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/Marlin/src/HAL/HAL.h b/Marlin/src/HAL/HAL.h new file mode 100644 index 0000000000..5186578019 --- /dev/null +++ b/Marlin/src/HAL/HAL.h @@ -0,0 +1,47 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "platforms.h" + +#ifndef GCC_VERSION + #define GCC_VERSION (__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) +#endif + +#include HAL_PATH(.,HAL.h) +extern MarlinHAL hal; + +#define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION) + +#ifndef I2C_ADDRESS + #define I2C_ADDRESS(A) uint8_t(A) +#endif + +// Needed for AVR sprintf_P PROGMEM extension +#ifndef S_FMT + #define S_FMT "%s" +#endif + +// String helper +#ifndef PGMSTR + #define PGMSTR(NAM,STR) const char NAM[] = STR +#endif diff --git a/Marlin/src/HAL/SAMD21/HAL.cpp b/Marlin/src/HAL/SAMD21/HAL.cpp new file mode 100644 index 0000000000..14c439eeb9 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/HAL.cpp @@ -0,0 +1,212 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#include + +#if USING_HW_SERIALUSB + DefaultSerial1 MSerialUSB(false, SerialUSB); +#endif +#if USING_HW_SERIAL0 + DefaultSerial2 MSerial1(false, Serial1); +#endif +#if USING_HW_SERIAL1 + DefaultSerial3 MSerial2(false, Serial2); +#endif + + + +#define WDT_CONFIG_PER_7_Val 0x9u +#define WDT_CONFIG_PER_Pos 0 +#define WDT_CONFIG_PER_7 (WDT_CONFIG_PER_7_Val << WDT_CONFIG_PER_Pos) + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + // Set up the generic clock (GCLK2) used to clock the watchdog timer at 1.024kHz + GCLK->GENDIV.reg = GCLK_GENDIV_DIV(4) | // Divide the 32.768kHz clock source by divisor 32, where 2^(4 + 1): 32.768kHz/32=1.024kHz + GCLK_GENDIV_ID(2); // Select Generic Clock (GCLK) 2 + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + + REG_GCLK_GENCTRL = GCLK_GENCTRL_DIVSEL | // Set to divide by 2^(GCLK_GENDIV_DIV(4) + 1) + GCLK_GENCTRL_IDC | // Set the duty cycle to 50/50 HIGH/LOW + GCLK_GENCTRL_GENEN | // Enable GCLK2 + GCLK_GENCTRL_SRC_OSCULP32K | // Set the clock source to the ultra low power oscillator (OSCULP32K) + GCLK_GENCTRL_ID(2); // Select GCLK2 + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + + // Feed GCLK2 to WDT (Watchdog Timer) + REG_GCLK_CLKCTRL = GCLK_CLKCTRL_CLKEN | // Enable GCLK2 to the WDT + GCLK_CLKCTRL_GEN_GCLK2 | // Select GCLK2 + GCLK_CLKCTRL_ID_WDT; // Feed the GCLK2 to the WDT + while (GCLK->STATUS.bit.SYNCBUSY); // Wait for synchronization + + WDT->CONFIG.bit.PER = WDT_CONFIG_PER_7; // Set the WDT reset timeout to 4 seconds + while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization + REG_WDT_CTRL = WDT_CTRL_ENABLE; // Enable the WDT in normal mode + while (WDT->STATUS.bit.SYNCBUSY); // Wait for synchronization + } + + // Reset watchdog. MUST be called at least every 4 seconds after the + // first watchdog_init or SAMD will go into emergency procedures. + void MarlinHAL::watchdog_refresh() { + WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY; + while (WDT->STATUS.bit.SYNCBUSY); + } + +#endif + +// ------------------------ +// Types +// ------------------------ + +// ------------------------ +// Private Variables +// ------------------------ + +// ------------------------ +// Private functions +// ------------------------ + +void MarlinHAL::dma_init() {} + +// ------------------------ +// Public functions +// ------------------------ + +// HAL initialization task +void MarlinHAL::init() { + TERN_(DMA_IS_REQUIRED, dma_init()); + #if ENABLED(SDSUPPORT) + #if HAS_SD_DETECT && SD_CONNECTION_IS(ONBOARD) + SET_INPUT_PULLUP(SD_DETECT_PIN); + #endif + OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up + #endif +} + +#pragma push_macro("WDT") +#undef WDT // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define +uint8_t MarlinHAL::get_reset_source() { + + return 0; +} +#pragma pop_macro("WDT") + +void MarlinHAL::reboot() { NVIC_SystemReset(); } + +extern "C" { + void * _sbrk(int incr); + extern unsigned int __bss_end__; // end of bss section +} + +// Return free memory between end of heap (or end bss) and whatever is current +int freeMemory() { + int free_memory, heap_end = (int)_sbrk(0); + return (int)&free_memory - (heap_end ?: (int)&__bss_end__); +} + +// ------------------------ +// ADC +// ------------------------ + +uint16_t MarlinHAL::adc_result; + +void MarlinHAL::adc_init() { + /* thanks to https://www.eevblog.com/forum/microcontrollers/samd21g18-adc-with-resrdy-interrupts-only-reads-once-or-twice/ */ + + ADC->CTRLA.bit.ENABLE = false; + while(ADC->STATUS.bit.SYNCBUSY); + + // load chip corrections + uint32_t bias = (*((uint32_t *) ADC_FUSES_BIASCAL_ADDR) & ADC_FUSES_BIASCAL_Msk) >> ADC_FUSES_BIASCAL_Pos; + uint32_t linearity = (*((uint32_t *) ADC_FUSES_LINEARITY_0_ADDR) & ADC_FUSES_LINEARITY_0_Msk) >> ADC_FUSES_LINEARITY_0_Pos; + linearity |= ((*((uint32_t *) ADC_FUSES_LINEARITY_1_ADDR) & ADC_FUSES_LINEARITY_1_Msk) >> ADC_FUSES_LINEARITY_1_Pos) << 5; + + /* Wait for bus synchronization. */ + while (ADC->STATUS.bit.SYNCBUSY) {}; + + ADC->CALIB.reg = ADC_CALIB_BIAS_CAL(bias) | ADC_CALIB_LINEARITY_CAL(linearity); + + /* Wait for bus synchronization. */ + while (ADC->STATUS.bit.SYNCBUSY) {}; + + ADC->CTRLA.bit.SWRST = true; + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->REFCTRL.reg = ADC_REFCTRL_REFSEL_INTVCC1; + ADC->AVGCTRL.reg = ADC_AVGCTRL_SAMPLENUM_32| ADC_AVGCTRL_ADJRES(4);; + + + ADC->CTRLB.reg = ADC_CTRLB_PRESCALER_DIV128 | + ADC_CTRLB_RESSEL_16BIT | + ADC_CTRLB_FREERUN; + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->SAMPCTRL.bit.SAMPLEN = 0x00; + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->INPUTCTRL.reg = ADC_INPUTCTRL_INPUTSCAN(HAL_ADC_AIN_LEN) // scan (INPUTSCAN + NUM_EXTUDERS - 1) pins + | ADC_INPUTCTRL_GAIN_DIV2 |ADC_INPUTCTRL_MUXNEG_GND| HAL_ADC_AIN_START ; /* set to first AIN */ + + while(ADC->STATUS.bit.SYNCBUSY); + + ADC->INTENSET.reg |= ADC_INTENSET_RESRDY; // enable Result Ready ADC interrupts + while (ADC->STATUS.bit.SYNCBUSY); + + NVIC_EnableIRQ(ADC_IRQn); // enable ADC interrupts + + NVIC_SetPriority(ADC_IRQn, 3); + + ADC->CTRLA.bit.ENABLE = true; +} + +volatile uint32_t adc_results[HAL_ADC_AIN_NUM_SENSORS]; + +void ADC_Handler() { + while(ADC->STATUS.bit.SYNCBUSY == 1); + int pos = ADC->INPUTCTRL.bit.INPUTOFFSET; + + adc_results[pos] = ADC->RESULT.reg; /* Read the value. */ + ADC->INTFLAG.reg = ADC_INTENSET_RESRDY; /* Clear the data ready flag. */ +} + +void MarlinHAL::adc_start(const pin_t pin) { + /* due to the way INPUTOFFSET works, the last sensor is the first position in the array + and we want the ADC_handler interrupt to be as simple possible, so we do the calculation here. + */ + unsigned int pos = PIN_TO_INPUTCTRL(pin) - HAL_ADC_AIN_START + 1; + if (pos == HAL_ADC_AIN_NUM_SENSORS) pos = 0; + adc_result = adc_results[pos]; // 16-bit resolution + //adc_result = 0xFFFF; +} + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/HAL.h b/Marlin/src/HAL/SAMD21/HAL.h new file mode 100644 index 0000000000..1854e523ed --- /dev/null +++ b/Marlin/src/HAL/SAMD21/HAL.h @@ -0,0 +1,223 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define CPU_32_BIT + +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" +#include "fastio.h" + +// ------------------------ +// Serial ports +// ------------------------ +#include "../../core/serial_hook.h" +typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1; +extern DefaultSerial1 MSerialUSB; + +// Serial ports +typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2; +typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3; + +extern DefaultSerial2 MSerial0; +extern DefaultSerial3 MSerial1; + + +#define __MSERIAL(X) MSerial##X +#define _MSERIAL(X) __MSERIAL(X) +#define MSERIAL(X) _MSERIAL(INCREMENT(X)) + +#if WITHIN(SERIAL_PORT, 0, 1) + #define MYSERIAL1 MSERIAL(SERIAL_PORT) +#elif SERIAL_PORT == -1 + #define MYSERIAL1 MSerialUSB +#else + #error "SERIAL_PORT must be -1 (Native USB only)." +#endif + +#ifdef SERIAL_PORT_2 + #if WITHIN(SERIAL_PORT_2, 0, 1) + #define MYSERIAL2 MSERIAL(SERIAL_PORT) + #elif SERIAL_PORT_2 == -1 + #define MYSERIAL2 MSerialUSB + #else + #error "SERIAL_PORT_2 must be -1 (Native USB only)." + #endif +#endif + +#ifdef MMU2_SERIAL_PORT + #if WITHIN(MMU2_SERIAL_PORT, 0, 1) + #define MMU2_SERIAL MSERIAL(SERIAL_PORT) + #elif MMU2_SERIAL_PORT == -1 + #define MMU2_SERIAL MSerialUSB + #else + #error "MMU2_SERIAL_PORT must be -1 (Native USB only)." + #endif +#endif + +#ifdef LCD_SERIAL_PORT + #if WITHIN(LCD_SERIAL_PORT, 0, 1) + #define LCD_SERIAL MSERIAL(SERIAL_PORT) + #elif LCD_SERIAL_PORT == -1 + #define LCD_SERIAL MSerialUSB + #else + #error "LCD_SERIAL_PORT must be -1 (Native USB only)." + #endif +#endif + +typedef int8_t pin_t; + +#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp + +class Servo; +typedef Servo hal_servo_t; + +// +// Interrupts +// +#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq() +#define CRITICAL_SECTION_END() if (irqon) __enable_irq() + +#define cli() __disable_irq() // Disable interrupts +#define sei() __enable_irq() // Enable interrupts + +// +// ADC +// + +#define HAL_ADC_FILTERED 1 // Disable Marlin's oversampling. The HAL filters ADC values. +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 12 +#define HAL_ADC_AIN_START ADC_INPUTCTRL_MUXPOS_PIN3 +#define HAL_ADC_AIN_NUM_SENSORS 3 +#define HAL_ADC_AIN_LEN HAL_ADC_AIN_NUM_SENSORS-1 + +// +// Pin Mapping for M42, M43, M226 +// +#define GET_PIN_MAP_PIN(index) index +#define GET_PIN_MAP_INDEX(pin) pin +#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + +// +// Tone +// +void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0); +void noTone(const pin_t _pin); + +// ------------------------ +// Class Utilities +// ------------------------ + +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif + +#ifdef __cplusplus + extern "C" { +#endif + +char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s); + +extern "C" int freeMemory(); + +#ifdef __cplusplus + } +#endif + +#pragma GCC diagnostic pop + +// ------------------------ +// MarlinHAL Class +// ------------------------ + +class MarlinHAL { +public: + + // Earliest possible init, before setup() + MarlinHAL() {} + + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + + static void init(); // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 + + // Interrupts + static bool isr_state() { return !__get_PRIMASK(); } + static void isr_on() { sei(); } + static void isr_off() { cli(); } + + static void delay_ms(const int ms) { delay(ms); } + + // Tasks, called from idle() + static void idletask() {} + + // Reset + static uint8_t get_reset_source(); + static void clear_reset_source() {} + + // Free SRAM + static int freeMemory() { return ::freeMemory(); } + + // + // ADC Methods + // + + static uint16_t adc_result; + + // Called by Temperature::init once at startup + static void adc_init(); + + // Called by Temperature::init for each sensor at startup + static void adc_enable(const uint8_t ch) {} + + // Begin ADC sampling on the given pin. Called from Temperature::isr! + static void adc_start(const pin_t pin); + + // Is the ADC ready for reading? + static bool adc_ready() { return true; } + + // The current value of the ADC register + static uint16_t adc_value() { return adc_result; } + + /** + * Set the PWM duty cycle for the pin to the given value. + * No option to invert the duty cycle [default = false] + * No option to change the scale of the provided value to enable finer PWM duty control [default = 255] + */ + static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { + analogWrite(pin, v); + } + +private: + static void dma_init(); +}; diff --git a/Marlin/src/HAL/SAMD21/HAL_SPI.cpp b/Marlin/src/HAL/SAMD21/HAL_SPI.cpp new file mode 100644 index 0000000000..0fc530cdb2 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/HAL_SPI.cpp @@ -0,0 +1,148 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Hardware and software SPI implementations are included in this file. + * + * Control of the slave select pin(s) is handled by the calling routines and + * SAMD21 let hardware SPI handling to remove SS from its logic. + */ + +#ifdef __SAMD21__ + +// -------------------------------------------------------------------------- +// Includes +// -------------------------------------------------------------------------- + +#include "../../inc/MarlinConfig.h" +#include + +// -------------------------------------------------------------------------- +// Public functions +// -------------------------------------------------------------------------- + +#if EITHER(SOFTWARE_SPI, FORCE_SOFT_SPI) + + // ------------------------ + // Software SPI + // ------------------------ + #error "Software SPI not supported for SAMD21. Use Hardware SPI." + +#else // !SOFTWARE_SPI + + static SPISettings spiConfig; + + // ------------------------ + // Hardware SPI + // ------------------------ + void spiBegin() { + spiInit(SPI_HALF_SPEED); + } + + void spiInit(uint8_t spiRate) { + // Use datarates Marlin uses + uint32_t clock; + switch (spiRate) { + case SPI_FULL_SPEED: clock = 8000000; break; + case SPI_HALF_SPEED: clock = 4000000; break; + case SPI_QUARTER_SPEED: clock = 2000000; break; + case SPI_EIGHTH_SPEED: clock = 1000000; break; + case SPI_SIXTEENTH_SPEED: clock = 500000; break; + case SPI_SPEED_5: clock = 250000; break; + case SPI_SPEED_6: clock = 125000; break; + default: clock = 4000000; break; // Default from the SPI library + } + spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); + SPI.begin(); + } + + /** + * @brief Receives a single byte from the SPI port. + * + * @return Byte received + * + * @details + */ + uint8_t spiRec() { + SPI.beginTransaction(spiConfig); + uint8_t returnByte = SPI.transfer(0xFF); + SPI.endTransaction(); + return returnByte; + } + + /** + * @brief Receives a number of bytes from the SPI port to a buffer + * + * @param buf Pointer to starting address of buffer to write to. + * @param nbyte Number of bytes to receive. + * @return Nothing + */ + void spiRead(uint8_t *buf, uint16_t nbyte) { + if (nbyte == 0) return; + memset(buf, 0xFF, nbyte); + + SPI.beginTransaction(spiConfig); + SPI.transfer(buf, nbyte); + SPI.endTransaction(); + + } + + /** + * @brief Sends a single byte on SPI port + * + * @param b Byte to send + * + * @details + */ + void spiSend(uint8_t b) { + SPI.beginTransaction(spiConfig); + SPI.transfer(b); + SPI.endTransaction(); + } + + /** + * @brief Write token and then write from 512 byte buffer to SPI (for SD card) + * + * @param buf Pointer with buffer start address + * @return Nothing + * + * @details Uses DMA + */ + void spiSendBlock(uint8_t token, const uint8_t *buf) { + SPI.beginTransaction(spiConfig); + SPI.transfer(token); + SPI.transfer((uint8_t*)buf, 512); + SPI.endTransaction(); + } + + void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { + spiConfig = SPISettings(spiClock, (BitOrder)bitOrder, dataMode); + SPI.beginTransaction(spiConfig); + } +#endif // !SOFTWARE_SPI + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/MarlinSPI.h b/Marlin/src/HAL/SAMD21/MarlinSPI.h new file mode 100644 index 0000000000..7b5392793e --- /dev/null +++ b/Marlin/src/HAL/SAMD21/MarlinSPI.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +#include + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/SAMD21/QSPIFlash.cpp b/Marlin/src/HAL/SAMD21/QSPIFlash.cpp new file mode 100644 index 0000000000..fa54c62071 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/QSPIFlash.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#include "../../inc/MarlinConfig.h" + +#if ENABLED(QSPI_EEPROM) + +#include "QSPIFlash.h" + +#define INVALID_ADDR 0xFFFFFFFF +#define SECTOR_OF(a) (a & ~(SFLASH_SECTOR_SIZE - 1)) +#define OFFSET_OF(a) (a & (SFLASH_SECTOR_SIZE - 1)) + +Adafruit_SPIFlashBase * QSPIFlash::_flashBase = nullptr; +uint8_t QSPIFlash::_buf[SFLASH_SECTOR_SIZE]; +uint32_t QSPIFlash::_addr = INVALID_ADDR; + +void QSPIFlash::begin() { + if (_flashBase) return; + + _flashBase = new Adafruit_SPIFlashBase(new Adafruit_FlashTransport_QSPI()); + _flashBase->begin(nullptr); +} + +size_t QSPIFlash::size() { + return _flashBase->size(); +} + +uint8_t QSPIFlash::readByte(const uint32_t address) { + if (SECTOR_OF(address) == _addr) return _buf[OFFSET_OF(address)]; + + return _flashBase->read8(address); +} + +void QSPIFlash::writeByte(const uint32_t address, const uint8_t value) { + uint32_t const sector_addr = SECTOR_OF(address); + + // Page changes, flush old and update new cache + if (sector_addr != _addr) { + flush(); + _addr = sector_addr; + + // read a whole page from flash + _flashBase->readBuffer(sector_addr, _buf, SFLASH_SECTOR_SIZE); + } + + _buf[OFFSET_OF(address)] = value; +} + +void QSPIFlash::flush() { + if (_addr == INVALID_ADDR) return; + + _flashBase->eraseSector(_addr / SFLASH_SECTOR_SIZE); + _flashBase->writeBuffer(_addr, _buf, SFLASH_SECTOR_SIZE); + + _addr = INVALID_ADDR; +} + +#endif // QSPI_EEPROM diff --git a/Marlin/src/HAL/SAMD21/QSPIFlash.h b/Marlin/src/HAL/SAMD21/QSPIFlash.h new file mode 100644 index 0000000000..58822fe05f --- /dev/null +++ b/Marlin/src/HAL/SAMD21/QSPIFlash.h @@ -0,0 +1,49 @@ +/** + * @file QSPIFlash.h + * + * The MIT License (MIT) + * + * Copyright (c) 2019 Ha Thach and Dean Miller for Adafruit Industries LLC + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * + * Derived from Adafruit_SPIFlash class with no SdFat references + */ +#pragma once + +#include + +// This class extends Adafruit_SPIFlashBase by adding caching support. +// +// This class will use 4096 Bytes of RAM as a block cache. +class QSPIFlash { + public: + static void begin(); + static size_t size(); + static uint8_t readByte(const uint32_t address); + static void writeByte(const uint32_t address, const uint8_t v); + static void flush(); + + private: + static Adafruit_SPIFlashBase * _flashBase; + static uint8_t _buf[SFLASH_SECTOR_SIZE]; + static uint32_t _addr; +}; + +extern QSPIFlash qspi; diff --git a/Marlin/src/HAL/SAMD21/SAMD21.h b/Marlin/src/HAL/SAMD21/SAMD21.h new file mode 100644 index 0000000000..8e9d17fc50 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/SAMD21.h @@ -0,0 +1,66 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define SYNC(sc) while (sc) { \ + asm(""); \ + } + +// Get SAMD port/pin from specified arduino pin +#define GET_SAMD_PORT(P) _GET_SAMD_PORT(PIN_TO_SAMD_PIN(P)) +#define GET_SAMD_PIN(P) _GET_SAMD_PIN(PIN_TO_SAMD_PIN(P)) + +// Get external interrupt line associated to specified arduino pin +#define PIN_TO_EILINE(P) _SAMDPORTPIN_TO_EILINE(GET_SAMD_PORT(P), GET_SAMD_PIN(P)) + +// Get adc/ain associated to specified arduino pin +#define PIN_TO_ADC(P) (ANAPIN_TO_ADCAIN(P) >> 8) + +// Private defines +#define PIN_TO_SAMD_PIN(P) DIO##P##_PIN + +#define _GET_SAMD_PORT(P) ((P) >> 5) +#define _GET_SAMD_PIN(P) ((P) & 0x1F) + +// Get external interrupt line +#define _SAMDPORTPIN_TO_EILINE(P,B) ((P == 0 && WITHIN(B, 0, 31) && B != 26 && B != 28 && B != 29) ? (B) & 0xF \ + : (P == 1 && (WITHIN(B, 0, 25) || WITHIN(B, 30, 31))) ? (B) & 0xF \ + : (P == 1 && WITHIN(B, 26, 29)) ? 12 + (B) - 26 \ + : (P == 2 && (WITHIN(B, 0, 6) || WITHIN(B, 10, 31)) && B != 29) ? (B) & 0xF \ + : (P == 2 && B == 7) ? 9 \ + : (P == 3 && WITHIN(B, 0, 1)) ? (B) \ + : (P == 3 && WITHIN(B, 8, 12)) ? 3 + (B) - 8 \ + : (P == 3 && WITHIN(B, 20, 21)) ? 10 + (B) - 20 \ + : -1) + + + +#define A2_AIN 3 +#define A3_AIN 4 +#define A4_AIN 5 +#define PIN_TO_AIN(P) A##P##_AIN +#define AIN_TO_RESULT(P) ( (P - HAL_ADC_AIN_START == HAL_ADC_AIN_NUM_SENSORS-1) ? 0 : (P - HAL_ADC_AIN_START + 1) ) diff --git a/Marlin/src/HAL/SAMD21/Servo.cpp b/Marlin/src/HAL/SAMD21/Servo.cpp new file mode 100644 index 0000000000..38b995fc9a --- /dev/null +++ b/Marlin/src/HAL/SAMD21/Servo.cpp @@ -0,0 +1,220 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * This comes from Arduino library which at the moment is buggy and uncompilable + */ + +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "../shared/servo.h" +#include "../shared/servo_private.h" +#include "SAMD21.h" + +#define __TC_GCLK_ID(t) TC##t##_GCLK_ID +#define _TC_GCLK_ID(t) __TC_GCLK_ID(t) +#define TC_GCLK_ID _TC_GCLK_ID(SERVO_TC) + +#define _TC_PRESCALER(d) TC_CTRLA_PRESCALER_DIV##d##_Val +#define TC_PRESCALER(d) _TC_PRESCALER(d) + +#define __SERVO_IRQn(t) TC##t##_IRQn +#define _SERVO_IRQn(t) __SERVO_IRQn(t) +#define SERVO_IRQn _SERVO_IRQn(SERVO_TC) + +#define HAL_SERVO_TIMER_ISR() TC_HANDLER(SERVO_TC) + +#define TIMER_TCCHANNEL(t) ((t) & 1) +#define TC_COUNTER_START_VAL 0xFFFF + + +static volatile int8_t currentServoIndex[_Nbr_16timers]; // index for the servo being pulsed for each timer (or -1 if refresh interval) + +FORCE_INLINE static uint16_t getTimerCount() { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + + tc->CTRLBSET.reg = TCC_CTRLBCLR_CMD_READSYNC; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + return tc->COUNT.bit.COUNT; +} + +// ---------------------------- +// Interrupt handler for the TC +// ---------------------------- +HAL_SERVO_TIMER_ISR() { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + const timer16_Sequence_t timer = + #ifndef _useTimer1 + _timer2 + #elif !defined(_useTimer2) + _timer1 + #else + (tc->INTFLAG.reg & tc->INTENSET.reg & TC_INTFLAG_MC0) ? _timer1 : _timer2 + #endif + ; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + + int8_t cho = currentServoIndex[timer]; // Handle the prior servo first + if (cho < 0) { // Servo -1 indicates the refresh interval completed... + #if defined(_useTimer1) && defined(_useTimer2) + if (currentServoIndex[timer ^ 1] >= 0) { + // Wait for both channels + // Clear the interrupt + tc->INTFLAG.reg = (tcChannel == 0) ? TC_INTFLAG_MC0 : TC_INTFLAG_MC1; + return; + } + #endif + tc->COUNT.reg = TC_COUNTER_START_VAL; // ...so reset the timer + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + } + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW + + currentServoIndex[timer] = ++cho; // go to the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + if (SERVO(timer, cho).Pin.isActive) // activated? + digitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH + + tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, cho).ticks; + } + else { + // finished all channels so wait for the refresh period to expire before starting over + currentServoIndex[timer] = -1; // reset the timer COUNT.reg on the next call + const uint16_t cval = getTimerCount() - 256 / (SERVO_TIMER_PRESCALER), // allow 256 cycles to ensure the next CV not missed + ival = (TC_COUNTER_START_VAL) - (uint16_t)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + tc->CC[tcChannel].reg = min(cval, ival); + } + if (tcChannel == 0) { + SYNC(tc->SYNCBUSY.bit.CC0); + tc->INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt + } + else { + SYNC(tc->SYNCBUSY.bit.CC1); + tc->INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt + } +} + +void initISR(const timer16_Sequence_t timer) { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer); + + static bool initialized = false; // Servo TC has been initialized + if (!initialized) { + NVIC_DisableIRQ(SERVO_IRQn); + + // Disable the timer + tc->CTRLA.bit.ENABLE = false; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + // Select GCLK0 as timer/counter input clock source + GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID)); + SYNC (GCLK->STATUS.bit.SYNCBUSY); + + // Reset the timer + tc->CTRLA.bit.SWRST = true; + SYNC(tc->CTRLA.bit.SWRST); + + // Set timer counter mode to 16 bits + tc->CTRLA.reg = TC_CTRLA_MODE_COUNT16; + + // Set timer counter mode as normal PWM + tc->WAVE.bit.WAVEGEN = TCC_WAVE_WAVEGEN_NPWM_Val; + + // Set the prescaler factor + tc->CTRLA.bit.PRESCALER = TC_PRESCALER(SERVO_TIMER_PRESCALER); + + // Count down + tc->CTRLBSET.reg = TCC_CTRLBCLR_DIR; + SYNC(tc->SYNCBUSY.bit.CTRLB); + + // Reset all servo indexes + memset((void *)currentServoIndex, 0xFF, sizeof(currentServoIndex)); + + // Configure interrupt request + NVIC_ClearPendingIRQ(SERVO_IRQn); + NVIC_SetPriority(SERVO_IRQn, 5); + NVIC_EnableIRQ(SERVO_IRQn); + + initialized = true; + } + + if (!tc->CTRLA.bit.ENABLE) { + // Reset the timer counter + tc->COUNT.reg = TC_COUNTER_START_VAL; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + // Enable the timer and start it + tc->CTRLA.bit.ENABLE = true; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + } + // First interrupt request after 1 ms + tc->CC[tcChannel].reg = getTimerCount() - (uint16_t)usToTicks(1000UL); + + if (tcChannel == 0 ) { + SYNC(tc->SYNCBUSY.bit.CC0); + + // Clear pending match interrupt + tc->INTFLAG.reg = TC_INTENSET_MC0; + // Enable the match channel interrupt request + tc->INTENSET.reg = TC_INTENSET_MC0; + } + else { + SYNC(tc->SYNCBUSY.bit.CC1); + + // Clear pending match interrupt + tc->INTFLAG.reg = TC_INTENSET_MC1; + // Enable the match channel interrupt request + tc->INTENSET.reg = TC_INTENSET_MC1; + } +} + +void finISR(const timer16_Sequence_t timer_index) { + Tcc * const tc = timer_config[SERVO_TC].pTcc; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index); + + // Disable the match channel interrupt request + tc->INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1; + + if (true + #if defined(_useTimer1) && defined(_useTimer2) + && (tc->INTENCLR.reg & (TC_INTENCLR_MC0|TC_INTENCLR_MC1)) == 0 + #endif + ) { + // Disable the timer if not used + tc->CTRLA.bit.ENABLE = false; + SYNC(tc->STATUS.reg & TC_STATUS_SYNCBUSY); + } +} + +#endif // HAS_SERVOS + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/ServoTimers.h b/Marlin/src/HAL/SAMD21/ServoTimers.h new file mode 100644 index 0000000000..8980547683 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/ServoTimers.h @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define _useTimer1 +#define _useTimer2 + +#define TRIM_DURATION 5 // compensation ticks to trim adjust for digitalWrite delays +#define SERVO_TIMER_PRESCALER 64 // timer prescaler factor to 64 (avoid overflowing 16-bit clock counter, at 120MHz this is 1831 ticks per millisecond + +#define SERVO_TC 3 + +typedef enum { + #ifdef _useTimer1 + _timer1, + #endif + #ifdef _useTimer2 + _timer2, + #endif + _Nbr_16timers +} timer16_Sequence_t; diff --git a/Marlin/src/HAL/SAMD21/eeprom_flash.cpp b/Marlin/src/HAL/SAMD21/eeprom_flash.cpp new file mode 100644 index 0000000000..4a4e328d1a --- /dev/null +++ b/Marlin/src/HAL/SAMD21/eeprom_flash.cpp @@ -0,0 +1,141 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(FLASH_EEPROM_EMULATION) + +#define TOTAL_FLASH_SIZE (MARLIN_EEPROM_SIZE+255)/256*256 + +/* reserve flash memory */ +static const uint8_t flashdata[TOTAL_FLASH_SIZE] __attribute__((__aligned__(256))) { }; \ + +#include "../shared/eeprom_api.h" + +size_t PersistentStore::capacity() { + return MARLIN_EEPROM_SIZE; + /* const uint8_t psz = NVMCTRL->SEESTAT.bit.PSZ, + sblk = NVMCTRL->SEESTAT.bit.SBLK; + + return (!psz && !sblk) ? 0 + : (psz <= 2) ? (0x200 << psz) + : (sblk == 1 || psz == 3) ? 4096 + : (sblk == 2 || psz == 4) ? 8192 + : (sblk <= 4 || psz == 5) ? 16384 + : (sblk >= 9 && psz == 7) ? 65536 + : 32768;*/ +} + +uint32_t PAGE_SIZE; +uint32_t ROW_SIZE; +bool hasWritten = false; +uint8_t * buffer; + +void _erase(const volatile void *flash_ptr) { + NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr) / 2; + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_ER; + while (!NVMCTRL->INTFLAG.bit.READY) { } + +} + +void erase(const volatile void *flash_ptr, uint32_t size) { + const uint8_t *ptr = (const uint8_t *)flash_ptr; + while (size > ROW_SIZE) { + _erase(ptr); + ptr += ROW_SIZE; + size -= ROW_SIZE; + } + _erase(ptr); +} + +bool PersistentStore::access_start() { + /* clear page buffer*/ + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC; + while (NVMCTRL->INTFLAG.bit.READY == 0) { } + + PAGE_SIZE = pow(2,3 + NVMCTRL->PARAM.bit.PSZ); + ROW_SIZE= PAGE_SIZE * 4; + /*NVMCTRL->SEECFG.reg = NVMCTRL_SEECFG_WMODE_BUFFERED; // Buffered mode and segment reallocation active + if (NVMCTRL->SEESTAT.bit.RLOCK) + NVMCTRL_CMD(NVMCTRL_CTRLB_CMD_USEE); */ // Unlock E2P data write access + // erase(&flashdata[0], TOTAL_FLASH_SIZE); + return true; +} + +bool PersistentStore::access_finish() { + if (hasWritten) { + erase(&flashdata[0], TOTAL_FLASH_SIZE); + + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_PBC; + while (NVMCTRL->INTFLAG.bit.READY == 0) { } + + NVMCTRL->CTRLB.bit.MANW = 0; + + volatile uint32_t *dst_addr = (volatile uint32_t *) &flashdata; + + uint32_t *pointer = (uint32_t *) buffer; + for (uint32_t i = 0; i < TOTAL_FLASH_SIZE; i+=4) { + + *dst_addr = (uint32_t) *pointer; + pointer++; + dst_addr ++; + } + + // Execute "WP" Write Page + NVMCTRL->CTRLA.reg = NVMCTRL_CTRLA_CMDEX_KEY | NVMCTRL_CTRLA_CMD_WP; + while (NVMCTRL->INTFLAG.bit.READY == 0) { } + + free(buffer); + hasWritten = false; + } + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + if (!hasWritten) { + // init temp buffer + buffer = (uint8_t *) malloc(MARLIN_EEPROM_SIZE); + hasWritten=true; + } + + memcpy(buffer+pos,value,size); + pos += size; + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + volatile uint8_t *dst_addr = (volatile uint8_t *) &flashdata; + dst_addr += pos; + + memcpy(value,(const void *) dst_addr,size); + pos += size; + return false; +} + +#endif // FLASH_EEPROM_EMULATION +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/eeprom_qspi.cpp b/Marlin/src/HAL/SAMD21/eeprom_qspi.cpp new file mode 100644 index 0000000000..587dcb0b14 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/eeprom_qspi.cpp @@ -0,0 +1,79 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(QSPI_EEPROM) + +#error "QSPI_EEPROM emulation Not implemented on SAMD21" + +#include "../shared/eeprom_api.h" + +#include "QSPIFlash.h" + +static bool initialized; + +size_t PersistentStore::capacity() { return qspi.size(); } + +bool PersistentStore::access_start() { + if (!initialized) { + qspi.begin(); + initialized = true; + } + return true; +} + +bool PersistentStore::access_finish() { + qspi.flush(); + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + while (size--) { + const uint8_t v = *value; + qspi.writeByte(pos, v); + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + while (size--) { + uint8_t c = qspi.readByte(pos); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } + return false; +} + +#endif // QSPI_EEPROM +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/eeprom_wired.cpp b/Marlin/src/HAL/SAMD21/eeprom_wired.cpp new file mode 100644 index 0000000000..ab71e616fc --- /dev/null +++ b/Marlin/src/HAL/SAMD21/eeprom_wired.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +#include "../../inc/MarlinConfig.h" + +#if USE_WIRED_EEPROM + +#error "USE_WIRED_EEPROM emulation Not implemented on SAMD21" +/** + * PersistentStore for Arduino-style EEPROM interface + * with simple implementations supplied by Marlin. + */ + +#include "../shared/eeprom_if.h" +#include "../shared/eeprom_api.h" + +#ifndef MARLIN_EEPROM_SIZE + #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM." +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { eeprom_init(); return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + uint16_t written = 0; + while (size--) { + const uint8_t v = *value; + uint8_t * const p = (uint8_t * const)pos; + if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed! + eeprom_write_byte(p, v); + if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes + if (eeprom_read_byte(p) != v) { + SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + while (size--) { + uint8_t c = eeprom_read_byte((uint8_t*)pos); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } + return false; +} + +#endif // USE_WIRED_EEPROM +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/endstop_interrupts.h b/Marlin/src/HAL/SAMD21/endstop_interrupts.h new file mode 100644 index 0000000000..d8711aa018 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/endstop_interrupts.h @@ -0,0 +1,253 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Endstop interrupts for ATMEL SAMD21 based targets. + * + * On SAMD21, all pins support external interrupt capability. + * Any pin can be used for external interrupts, but there are some restrictions. + * At most 16 different external interrupts can be used at one time. + * Further, you can’t just pick any 16 pins to use. This is because every pin on the SAMD21 + * connects to what is called an EXTINT line, and only one pin per EXTINT line can be used for external + * interrupts at a time + */ + +/** + * Endstop Interrupts + * + * Without endstop interrupts the endstop pins must be polled continually in + * the temperature-ISR via endstops.update(), most of the time finding no change. + * With this feature endstops.update() is called only when we know that at + * least one endstop has changed state, saving valuable CPU cycles. + * + * This feature only works when all used endstop pins can generate an 'external interrupt'. + * + * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'. + * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino) + */ + +#include "../../module/endstops.h" + +#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2)) +#define MATCH_X_MAX_EILINE(P) TERN0(HAS_X_MAX, DEFER4(MATCH_EILINE)(P, X_MAX_PIN)) +#define MATCH_X_MIN_EILINE(P) TERN0(HAS_X_MIN, DEFER4(MATCH_EILINE)(P, X_MIN_PIN)) +#define MATCH_Y_MAX_EILINE(P) TERN0(HAS_Y_MAX, DEFER4(MATCH_EILINE)(P, Y_MAX_PIN)) +#define MATCH_Y_MIN_EILINE(P) TERN0(HAS_Y_MIN, DEFER4(MATCH_EILINE)(P, Y_MIN_PIN)) +#define MATCH_Z_MAX_EILINE(P) TERN0(HAS_Z_MAX, DEFER4(MATCH_EILINE)(P, Z_MAX_PIN)) +#define MATCH_Z_MIN_EILINE(P) TERN0(HAS_Z_MIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PIN)) +#define MATCH_I_MAX_EILINE(P) TERN0(HAS_I_MAX, DEFER4(MATCH_EILINE)(P, I_MAX_PIN)) +#define MATCH_I_MIN_EILINE(P) TERN0(HAS_I_MIN, DEFER4(MATCH_EILINE)(P, I_MIN_PIN)) +#define MATCH_J_MAX_EILINE(P) TERN0(HAS_J_MAX, DEFER4(MATCH_EILINE)(P, J_MAX_PIN)) +#define MATCH_J_MIN_EILINE(P) TERN0(HAS_J_MIN, DEFER4(MATCH_EILINE)(P, J_MIN_PIN)) +#define MATCH_K_MAX_EILINE(P) TERN0(HAS_K_MAX, DEFER4(MATCH_EILINE)(P, K_MAX_PIN)) +#define MATCH_K_MIN_EILINE(P) TERN0(HAS_K_MIN, DEFER4(MATCH_EILINE)(P, K_MIN_PIN)) +#define MATCH_U_MAX_EILINE(P) TERN0(HAS_U_MAX, DEFER4(MATCH_EILINE)(P, U_MAX_PIN)) +#define MATCH_U_MIN_EILINE(P) TERN0(HAS_U_MIN, DEFER4(MATCH_EILINE)(P, U_MIN_PIN)) +#define MATCH_V_MAX_EILINE(P) TERN0(HAS_V_MAX, DEFER4(MATCH_EILINE)(P, V_MAX_PIN)) +#define MATCH_V_MIN_EILINE(P) TERN0(HAS_V_MIN, DEFER4(MATCH_EILINE)(P, V_MIN_PIN)) +#define MATCH_W_MAX_EILINE(P) TERN0(HAS_W_MAX, DEFER4(MATCH_EILINE)(P, W_MAX_PIN)) +#define MATCH_W_MIN_EILINE(P) TERN0(HAS_W_MIN, DEFER4(MATCH_EILINE)(P, W_MIN_PIN)) +#define MATCH_Z2_MAX_EILINE(P) TERN0(HAS_Z2_MAX, DEFER4(MATCH_EILINE)(P, Z2_MAX_PIN)) +#define MATCH_Z2_MIN_EILINE(P) TERN0(HAS_Z2_MIN, DEFER4(MATCH_EILINE)(P, Z2_MIN_PIN)) +#define MATCH_Z3_MAX_EILINE(P) TERN0(HAS_Z3_MAX, DEFER4(MATCH_EILINE)(P, Z3_MAX_PIN)) +#define MATCH_Z3_MIN_EILINE(P) TERN0(HAS_Z3_MIN, DEFER4(MATCH_EILINE)(P, Z3_MIN_PIN)) +#define MATCH_Z4_MAX_EILINE(P) TERN0(HAS_Z4_MAX, DEFER4(MATCH_EILINE)(P, Z4_MAX_PIN)) +#define MATCH_Z4_MIN_EILINE(P) TERN0(HAS_Z4_MIN, DEFER4(MATCH_EILINE)(P, Z4_MIN_PIN)) +#define MATCH_Z_MIN_PROBE_EILINE(P) TERN0(HAS_Z_MIN_PROBE_PIN, DEFER4(MATCH_EILINE)(P, Z_MIN_PROBE_PIN)) + +#define AVAILABLE_EILINE(P) ( PIN_TO_EILINE(P) != -1 \ + && !MATCH_X_MAX_EILINE(P) && !MATCH_X_MIN_EILINE(P) \ + && !MATCH_Y_MAX_EILINE(P) && !MATCH_Y_MIN_EILINE(P) \ + && !MATCH_Z_MAX_EILINE(P) && !MATCH_Z_MIN_EILINE(P) \ + && !MATCH_I_MAX_EILINE(P) && !MATCH_I_MIN_EILINE(P) \ + && !MATCH_J_MAX_EILINE(P) && !MATCH_J_MIN_EILINE(P) \ + && !MATCH_K_MAX_EILINE(P) && !MATCH_K_MIN_EILINE(P) \ + && !MATCH_U_MAX_EILINE(P) && !MATCH_U_MIN_EILINE(P) \ + && !MATCH_V_MAX_EILINE(P) && !MATCH_V_MIN_EILINE(P) \ + && !MATCH_W_MAX_EILINE(P) && !MATCH_W_MIN_EILINE(P) \ + && !MATCH_Z2_MAX_EILINE(P) && !MATCH_Z2_MIN_EILINE(P) \ + && !MATCH_Z3_MAX_EILINE(P) && !MATCH_Z3_MIN_EILINE(P) \ + && !MATCH_Z4_MAX_EILINE(P) && !MATCH_Z4_MIN_EILINE(P) \ + && !MATCH_Z_MIN_PROBE_EILINE(P) ) + +// One ISR for all EXT-Interrupts +void endstop_ISR() { endstops.update(); } + +void setup_endstop_interrupts() { + #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE) + #if HAS_X_MAX + #if !AVAILABLE_EILINE(X_MAX_PIN) + #error "X_MAX_PIN has no EXTINT line available." + #endif + _ATTACH(X_MAX_PIN); + #endif + #if HAS_X_MIN + #if !AVAILABLE_EILINE(X_MIN_PIN) + #error "X_MIN_PIN has no EXTINT line available." + #endif + _ATTACH(X_MIN_PIN); + #endif + #if HAS_Y_MAX + #if !AVAILABLE_EILINE(Y_MAX_PIN) + #error "Y_MAX_PIN has no EXTINT line available." + #endif + _ATTACH(Y_MAX_PIN); + #endif + #if HAS_Y_MIN + #if !AVAILABLE_EILINE(Y_MIN_PIN) + #error "Y_MIN_PIN has no EXTINT line available." + #endif + _ATTACH(Y_MIN_PIN); + #endif + #if HAS_Z_MAX + #if !AVAILABLE_EILINE(Z_MAX_PIN) + #error "Z_MAX_PIN has no EXTINT line available." + #endif + _ATTACH(Z_MAX_PIN); + #endif + #if HAS_Z_MIN + #if !AVAILABLE_EILINE(Z_MIN_PIN) + #error "Z_MIN_PIN has no EXTINT line available." + #endif + _ATTACH(Z_MIN_PIN); + #endif + #if HAS_Z2_MAX + #if !AVAILABLE_EILINE(Z2_MAX_PIN) + #error "Z2_MAX_PIN has no EXTINT line available." + #endif + _ATTACH(Z2_MAX_PIN); + #endif + #if HAS_Z2_MIN + #if !AVAILABLE_EILINE(Z2_MIN_PIN) + #error "Z2_MIN_PIN has no EXTINT line available." + #endif + _ATTACH(Z2_MIN_PIN); + #endif + #if HAS_Z3_MAX + #if !AVAILABLE_EILINE(Z3_MAX_PIN) + #error "Z3_MAX_PIN has no EXTINT line available." + #endif + _ATTACH(Z3_MAX_PIN); + #endif + #if HAS_Z3_MIN + #if !AVAILABLE_EILINE(Z3_MIN_PIN) + #error "Z3_MIN_PIN has no EXTINT line available." + #endif + _ATTACH(Z3_MIN_PIN); + #endif + #if HAS_Z4_MAX + #if !AVAILABLE_EILINE(Z4_MAX_PIN) + #error "Z4_MAX_PIN has no EXTINT line available." + #endif + _ATTACH(Z4_MAX_PIN); + #endif + #if HAS_Z4_MIN + #if !AVAILABLE_EILINE(Z4_MIN_PIN) + #error "Z4_MIN_PIN has no EXTINT line available." + #endif + _ATTACH(Z4_MIN_PIN); + #endif + #if HAS_Z_MIN_PROBE_PIN + #if !AVAILABLE_EILINE(Z_MIN_PROBE_PIN) + #error "Z_MIN_PROBE_PIN has no EXTINT line available." + #endif + _ATTACH(Z_MIN_PROBE_PIN); + #endif + #if HAS_I_MAX + #if !AVAILABLE_EILINE(I_MAX_PIN) + #error "I_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(I_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_I_MIN + #if !AVAILABLE_EILINE(I_MIN_PIN) + #error "I_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(I_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_J_MAX + #if !AVAILABLE_EILINE(J_MAX_PIN) + #error "J_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(J_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_J_MIN + #if !AVAILABLE_EILINE(J_MIN_PIN) + #error "J_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(J_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_K_MAX + #if !AVAILABLE_EILINE(K_MAX_PIN) + #error "K_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(K_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_K_MIN + #if !AVAILABLE_EILINE(K_MIN_PIN) + #error "K_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(K_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_U_MAX + #if !AVAILABLE_EILINE(U_MAX_PIN) + #error "U_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(U_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_U_MIN + #if !AVAILABLE_EILINE(U_MIN_PIN) + #error "U_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(U_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_V_MAX + #if !AVAILABLE_EILINE(V_MAX_PIN) + #error "V_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(V_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_V_MIN + #if !AVAILABLE_EILINE(V_MIN_PIN) + #error "V_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(V_MIN_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_W_MAX + #if !AVAILABLE_EILINE(W_MAX_PIN) + #error "W_MAX_PIN has no EXTINT line available." + #endif + attachInterrupt(W_MAX_PIN, endstop_ISR, CHANGE); + #endif + #if HAS_W_MIN + #if !AVAILABLE_EILINE(W_MIN_PIN) + #error "W_MIN_PIN has no EXTINT line available." + #endif + attachInterrupt(W_MIN_PIN, endstop_ISR, CHANGE); + #endif +} diff --git a/Marlin/src/HAL/SAMD21/fastio.h b/Marlin/src/HAL/SAMD21/fastio.h new file mode 100644 index 0000000000..db64f2166f --- /dev/null +++ b/Marlin/src/HAL/SAMD21/fastio.h @@ -0,0 +1,216 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Fast IO functions for SAMD21 + */ + +#include "SAMD21.h" + +/** + * Utility functions + */ + +#ifndef MASK + #define MASK(PIN) _BV(PIN) +#endif + +/** + * Magic I/O routines + * + * Now you can simply SET_OUTPUT(IO); WRITE(IO, HIGH); WRITE(IO, LOW); + */ + +// Read a pin +#define READ(IO) ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].IN.reg & MASK(GET_SAMD_PIN(IO))) != 0) + +// Write to a pin +#define WRITE(IO,V) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t mask = MASK(GET_SAMD_PIN(IO)); \ + \ + if (V) PORT->Group[port].OUTSET.reg = mask; \ + else PORT->Group[port].OUTCLR.reg = mask; \ + }while(0) + +// Toggle a pin +#define TOGGLE(IO) PORT->Group[(EPortType)GET_SAMD_PORT(IO)].OUTTGL.reg = MASK(GET_SAMD_PIN(IO)); + +// Set pin as input +#define SET_INPUT(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN); \ + PORT->Group[port].DIRCLR.reg = MASK(pin); \ + }while(0) +// Set pin as input with pullup +#define SET_INPUT_PULLUP(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + const uint32_t mask = MASK(pin); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN); \ + PORT->Group[port].DIRCLR.reg = mask; \ + PORT->Group[port].OUTSET.reg = mask; \ + }while(0) +// Set pin as input with pulldown +#define SET_INPUT_PULLDOWN(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + const uint32_t mask = MASK(pin); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_INEN | PORT_PINCFG_PULLEN); \ + PORT->Group[port].DIRCLR.reg = mask; \ + PORT->Group[port].OUTCLR.reg = mask; \ + }while(0) +// Set pin as output (push pull) +#define SET_OUTPUT(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + \ + PORT->Group[port].DIRSET.reg = MASK(pin); \ + PORT->Group[port].PINCFG[pin].reg = 0; \ + }while(0) +// Set pin as output (open drain) +#define SET_OUTPUT_OD(IO) do{ \ + const EPortType port = (EPortType)GET_SAMD_PORT(IO); \ + const uint32_t pin = GET_SAMD_PIN(IO); \ + \ + PORT->Group[port].PINCFG[pin].reg = (uint8_t)(PORT_PINCFG_PULLEN); \ + PORT->Group[port].DIRCLR.reg = MASK(pin); \ + }while(0) +// Set pin as PWM (push pull) +#define SET_PWM SET_OUTPUT +// Set pin as PWM (open drain) +#define SET_PWM_OD SET_OUTPUT_OD + +// check if pin is an output +#define IS_OUTPUT(IO) ((PORT->Group[(EPortType)GET_SAMD_PORT(IO)].DIR.reg & MASK(GET_SAMD_PIN(IO))) \ + || (PORT->Group[(EPortType)GET_SAMD_PORT(IO)].PINCFG[GET_SAMD_PIN(IO)].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN) +// check if pin is an input +#define IS_INPUT(IO) !IS_OUTPUT(IO) + +// Shorthand +#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0) +#define OUT_WRITE_OD(IO,V) do{ SET_OUTPUT_OD(IO); WRITE(IO,V); }while(0) + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) + +/** + * Ports and functions + * Added as necessary or if I feel like it- not a comprehensive list! + */ + +/* + * Some of these share the same source and so can't be used in the same time + */ +#define PWM_PIN(P) (WITHIN(P, 2, 13) || WITHIN(P, 22, 23) || WITHIN(P, 44, 45) || P == 48) + +// Return fulfilled ADCx->INPUTCTRL.reg +#define PIN_TO_INPUTCTRL(P) ( (P == 0) ? ADC_INPUTCTRL_MUXPOS_PIN0 \ + : ((P) == 1) ? ADC_INPUTCTRL_MUXPOS_PIN1 \ + : ((P) == 2) ? ADC_INPUTCTRL_MUXPOS_PIN3 \ + : ((P) == 3) ? ADC_INPUTCTRL_MUXPOS_PIN4 \ + : ((P) == 4) ? ADC_INPUTCTRL_MUXPOS_PIN5 \ + : ((P) == 5) ? ADC_INPUTCTRL_MUXPOS_PIN5 \ + : ((P) == 6) ? ADC_INPUTCTRL_MUXPOS_PIN6 \ + : ((P) == 7) ? ADC_INPUTCTRL_MUXPOS_PIN7 \ + : ((P) == 8) ? ADC_INPUTCTRL_MUXPOS_PIN8 \ + : ((P) == 9) ? ADC_INPUTCTRL_MUXPOS_PIN9 \ + : ((P) == 10) ? ADC_INPUTCTRL_MUXPOS_PIN10 \ + : ((P) == 11) ? ADC_INPUTCTRL_MUXPOS_PIN11 \ + : ((P) == 12) ? ADC_INPUTCTRL_MUXPOS_PIN12 \ + : ((P) == 13) ? ADC_INPUTCTRL_MUXPOS_PIN13 \ + : ((P) == 14) ? ADC_INPUTCTRL_MUXPOS_PIN14 \ + : ADC_INPUTCTRL_MUXPOS_PIN15) + +#define digitalPinToAnalogInput(P) (WITHIN(P, 67, 74) ? (P) - 67 : WITHIN(P, 54, 61) ? 8 + (P) - 54 : WITHIN(P, 12, 13) ? 16 + (P) - 12 : P == 9 ? 18 : -1) + +/** + * pins + */ + +// PORTA +#define DIO28_PIN PIN_PA02 // A0 +#define DIO56_PIN PIN_PA03 // A13 +#define DIO31_PIN PIN_PA04 // A13 +#define DIO32_PIN PIN_PA05 // A1 +#define DIO8_PIN PIN_PA06 // A14 +#define DIO9_PIN PIN_PA07 // A15 +#define DIO4_PIN PIN_PA08 // A15 +#define DIO3_PIN PIN_PA09 // A15 +#define DIO1_PIN PIN_PA10 +#define DIO0_PIN PIN_PA11 +#define DIO18_PIN PIN_PA12 +#define DIO52_PIN PIN_PA13 +#define DIO2_PIN PIN_PA14 +#define DIO5_PIN PIN_PA15 +#define DIO11_PIN PIN_PA16 +#define DIO13_PIN PIN_PA17 +#define DIO10_PIN PIN_PA18 +#define DIO12_PIN PIN_PA19 +#define DIO6_PIN PIN_PA20 +#define DIO07_PIN PIN_PA21 +#define DIO34_PIN PIN_PA22 +#define DIO35_PIN PIN_PA23 +#define DIO42_PIN PIN_PA24 +#define DIO43_PIN PIN_PA25 + +#define DIO40_PIN PIN_PA27 + +#define DIO26_PIN PIN_PB00 +#define DIO27_PIN PIN_PB01 // A0 +#define DIO33_PIN PIN_PB02 +#define DIO39_PIN PIN_PB03 +#define DIO14_PIN PIN_PB04 +#define DIO15_PIN PIN_PB05 +#define DIO16_PIN PIN_PB06 +#define DIO17_PIN PIN_PB07 +#define DIO29_PIN PIN_PB08 +#define DIO30_PIN PIN_PB09 +#define DIO37_PIN PIN_PB10 +#define DIO38_PIN PIN_PB11 +#define DIO36_PIN PIN_PB12 +#define DIO19_PIN PIN_PB13 +#define DIO20_PIN PIN_PB14 +#define DIO21_PIN PIN_PB15 +#define DIO22_PIN PIN_PB16 +#define DIO23_PIN PIN_PB17 + +#define DIO44_PIN PIN_PB22 +#define DIO45_PIN PIN_PB23 +#define DIO24_PIN PIN_PB30 +#define DIO25_PIN PIN_PB31 + +#define DIO53_PIN PIN_PA21 +#define DIO54_PIN PIN_PA06 +#define DIO55_PIN PIN_PA07 + diff --git a/Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h b/Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h new file mode 100644 index 0000000000..ca467937c3 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/inc/Conditionals_LCD.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +#if HAS_SPI_TFT || HAS_FSMC_TFT + #error "Sorry! TFT displays are not available for HAL/SAMD21." +#endif diff --git a/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h b/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h new file mode 100644 index 0000000000..d6a3c4fe0b --- /dev/null +++ b/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once diff --git a/Marlin/src/HAL/SAMD21/inc/Conditionals_post.h b/Marlin/src/HAL/SAMD21/inc/Conditionals_post.h new file mode 100644 index 0000000000..7315dc12a7 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/inc/Conditionals_post.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +#if USE_FALLBACK_EEPROM + #define FLASH_EEPROM_EMULATION +#elif EITHER(I2C_EEPROM, SPI_EEPROM) + #define USE_SHARED_EEPROM 1 +#endif diff --git a/Marlin/src/HAL/SAMD21/inc/SanityCheck.h b/Marlin/src/HAL/SAMD21/inc/SanityCheck.h new file mode 100644 index 0000000000..95fa5e5940 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/inc/SanityCheck.h @@ -0,0 +1,50 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Test SAMD21 specific configuration values for errors at compile-time. + */ + +#if SERVO_TC == MF_TIMER_RTC + #error "Servos can't use RTC timer" +#endif + +#if ENABLED(EMERGENCY_PARSER) + #error "EMERGENCY_PARSER is not yet implemented for SAMD21. Disable EMERGENCY_PARSER to continue." +#endif + +#if ENABLED(SDIO_SUPPORT) + #error "SDIO_SUPPORT is not supported on SAMD21." +#endif + +#if ENABLED(FAST_PWM_FAN) + #error "Features requiring Hardware PWM (FAST_PWM_FAN) are not yet supported on SAMD21." +#endif + +#if ENABLED(POSTMORTEM_DEBUGGING) + #error "POSTMORTEM_DEBUGGING is not yet supported on SAMD21." +#endif diff --git a/Marlin/src/HAL/SAMD21/pinsDebug.h b/Marlin/src/HAL/SAMD21/pinsDebug.h new file mode 100644 index 0000000000..f94315cdf5 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/pinsDebug.h @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#define NUMBER_PINS_TOTAL PINS_COUNT + +#define digitalRead_mod(p) extDigitalRead(p) +#define PRINT_PORT(p) do{ SERIAL_ECHOPGM(" Port: "); sprintf_P(buffer, PSTR("%c%02ld"), 'A' + g_APinDescription[p].ulPort, g_APinDescription[p].ulPin); SERIAL_ECHO(buffer); }while (0) +#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3d "), p); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) +#define GET_ARRAY_PIN(p) pin_array[p].pin +#define GET_ARRAY_IS_DIGITAL(p) pin_array[p].is_digital +#define VALID_PIN(pin) (pin >= 0 && pin < (int8_t)NUMBER_PINS_TOTAL) +#define DIGITAL_PIN_TO_ANALOG_PIN(p) digitalPinToAnalogInput(p) +#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P)!=-1) +#define pwm_status(pin) digitalPinHasPWM(pin) +#define MULTI_NAME_PAD 27 // space needed to be pretty if not first name assigned to a pin + +// pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities +// uses pin index +#define M43_NEVER_TOUCH(Q) ((Q) >= 75) + +bool GET_PINMODE(int8_t pin) { // 1: output, 0: input + const EPortType samdport = g_APinDescription[pin].ulPort; + const uint32_t samdpin = g_APinDescription[pin].ulPin; + return PORT->Group[samdport].DIR.reg & MASK(samdpin) || (PORT->Group[samdport].PINCFG[samdpin].reg & (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN)) == PORT_PINCFG_PULLEN; +} + +void pwm_details(int32_t pin) { + if (pwm_status(pin)) { + //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative; + //SERIAL_ECHOPGM("PWM = ", duty); + } +} + +/** + * SAMD21 Board pin| PORT | Label + * ----------------+--------+------- + * 0 | PB25 | "RX0" + * 1 | PB24 | "TX0" + * 2 | PC18 | + * 3 | PC19 | + * 4 | PC20 | + * 5 | PC21 | + * 6 | PD20 | + * 7 | PD21 | + * 8 | PB18 | + * 9 | PB2 | + * 10 | PB22 | + * 11 | PB23 | + * 12 | PB0 | "A16" + * 13 | PB1 | LED AMBER "L" / "A17" + * 14 | PB16 | "TX3" + * 15 | PB17 | "RX3" + * 16 | PC22 | "TX2" + * 17 | PC23 | "RX2" + * 18 | PB12 | "TX1" / "A18" + * 19 | PB13 | "RX1" + * 20 | PB20 | "SDA" + * 21 | PB21 | "SCL" + * 22 | PD12 | + * 23 | PA15 | + * 24 | PC17 | + * 25 | PC16 | + * 26 | PA12 | + * 27 | PA13 | + * 28 | PA14 | + * 29 | PB19 | + * 30 | PA23 | + * 31 | PA22 | + * 32 | PA21 | + * 33 | PA20 | + * 34 | PA19 | + * 35 | PA18 | + * 36 | PA17 | + * 37 | PA16 | + * 38 | PB15 | + * 39 | PB14 | + * 40 | PC13 | + * 41 | PC12 | + * 42 | PC15 | + * 43 | PC14 | + * 44 | PC11 | + * 45 | PC10 | + * 46 | PC6 | + * 47 | PC7 | + * 48 | PC4 | + * 49 | PC5 | + * 50 | PD11 | + * 51 | PD8 | + * 52 | PD9 | + * 53 | PD10 | + * 54 | PB5 | "A8" + * 55 | PB6 | "A9" + * 56 | PB7 | "A10" + * 57 | PB8 | "A11" + * 58 | PB9 | "A12" + * 69 | PA4 | "A13" + * 60 | PA6 | "A14" + * 61 | PA7 | "A15" + * 62 | PB17 | + * 63 | PB20 | + * 64 | PD11 | + * 65 | PD8 | + * 66 | PD9 | + * 67 | PA2 | "A0" / "DAC0" + * 68 | PA5 | "A1" / "DAC1" + * 69 | PB3 | "A2" + * 70 | PC0 | "A3" + * 71 | PC1 | "A4" + * 72 | PC2 | "A5" + * 73 | PC3 | "A6" + * 74 | PB4 | "A7" + * 75 | PC31 | LED GREEN "RX" + * 76 | PC30 | LED GREEN "TX" + * 77 | PA27 | USB: Host enable + * 78 | PA24 | USB: D- + * 79 | PA25 | USB: D+ + * 80 | PB29 | SD: MISO + * 81 | PB27 | SD: SCK + * 82 | PB26 | SD: MOSI + * 83 | PB28 | SD: CS + * 84 | PA3 | AREF + * 85 | PA2 | DAC0 (Duplicate) + * 86 | PA5 | DAC1 (Duplicate) + * 87 | PB1 | LED AMBER "L" (Duplicate) + * 88 | PC24 | NeoPixel + * 89 | PB10 | QSPI: SCK + * 90 | PB11 | QSPI: CS + * 91 | PA8 | QSPI: IO0 + * 92 | PA9 | QSPI: IO1 + * 93 | PA10 | QSPI: IO2 + * 94 | PA11 | QSPI: IO3 + * 95 | PB31 | SD: DETECT + */ diff --git a/Marlin/src/HAL/SAMD21/spi_pins.h b/Marlin/src/HAL/SAMD21/spi_pins.h new file mode 100644 index 0000000000..8c25b84dc1 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/spi_pins.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * SAMD21 Default SPI Pins + * + * SS SCK MISO MOSI + * +-------------------------+ + * SPI | 53 52 50 51 | + * SPI1 | 83 81 80 82 | + * +-------------------------+ + * Any pin can be used for Chip Select (SD_SS_PIN) + */ +#ifndef SD_SCK_PIN + #define SD_SCK_PIN 38 +#endif +#ifndef SD_MISO_PIN + #define SD_MISO_PIN 36 +#endif +#ifndef SD_MOSI_PIN + #define SD_MOSI_PIN 37 +#endif +#ifndef SDSS + #define SDSS 18 +#endif + +#ifndef SD_SS_PIN + #define SD_SS_PIN SDSS +#endif diff --git a/Marlin/src/HAL/SAMD21/timers.cpp b/Marlin/src/HAL/SAMD21/timers.cpp new file mode 100644 index 0000000000..82fa162f17 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/timers.cpp @@ -0,0 +1,217 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#ifdef __SAMD21__ + +// -------------------------------------------------------------------------- +// Includes +// -------------------------------------------------------------------------- + +#include "../../inc/MarlinConfig.h" +#include "ServoTimers.h" // for SERVO_TC + +// -------------------------------------------------------------------------- +// Local defines +// -------------------------------------------------------------------------- + +#define NUM_HARDWARE_TIMERS 9 + +// -------------------------------------------------------------------------- +// Private Variables +// -------------------------------------------------------------------------- + +const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = { + { {.pTcc=TCC0}, TimerType::tcc, TCC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2) + { {.pTcc=TCC1}, TimerType::tcc, TCC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers) + { {.pTcc=TCC2}, TimerType::tcc, TCC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5) + { {.pTc=TC3}, TimerType::tc, TC3_IRQn, TC_PRIORITY(3) }, // 3 - servo (assigned priority 1) + { {.pTc=TC4}, TimerType::tc, TC4_IRQn, TC_PRIORITY(4) }, // 4 - software serial (no interrupts used) + { {.pTc=TC5}, TimerType::tc, TC5_IRQn, TC_PRIORITY(5) }, + { {.pTc=TC6}, TimerType::tc, TC6_IRQn, TC_PRIORITY(6) }, + { {.pTc=TC7}, TimerType::tc, TC7_IRQn, TC_PRIORITY(7) }, + { {.pRtc=RTC}, TimerType::rtc, RTC_IRQn, TC_PRIORITY(8) } // 8 - temperature (assigned priority 6) +}; + +// -------------------------------------------------------------------------- +// Private functions +// -------------------------------------------------------------------------- + +FORCE_INLINE void Disable_Irq(IRQn_Type irq) { + NVIC_DisableIRQ(irq); + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + __DSB(); + __ISB(); +} + +static bool tcIsSyncing(Tc * tc) { + return tc->COUNT32.STATUS.reg & TC_STATUS_SYNCBUSY; +} + +static void tcReset( Tc * tc) { + tc->COUNT32.CTRLA.reg = TC_CTRLA_SWRST; + while (tcIsSyncing(tc)) {} + while (tc->COUNT32.CTRLA.bit.SWRST) {} +} + +// -------------------------------------------------------------------------- +// Public functions +// -------------------------------------------------------------------------- + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + IRQn_Type irq = timer_config[timer_num].IRQ_Id; + + // Disable interrupt, just in case it was already enabled + NVIC_DisableIRQ(irq); + NVIC_ClearPendingIRQ(irq); + + if (timer_num == MF_TIMER_RTC) { + + // https://github.com/arduino-libraries/RTCZero + Rtc * const rtc = timer_config[timer_num].pRtc; + PM->APBAMASK.reg |= PM_APBAMASK_RTC; + + GCLK->CLKCTRL.reg = (uint32_t)((GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK4 | (RTC_GCLK_ID << GCLK_CLKCTRL_ID_Pos))); + while (GCLK->STATUS.bit.SYNCBUSY) {} + + GCLK->GENCTRL.reg = (GCLK_GENCTRL_GENEN | GCLK_GENCTRL_SRC_OSCULP32K | GCLK_GENCTRL_ID(4) | GCLK_GENCTRL_DIVSEL ); + while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {} + + GCLK->GENDIV.reg = GCLK_GENDIV_ID(4); + GCLK->GENDIV.bit.DIV=4; + while (GCLK->STATUS.reg & GCLK_STATUS_SYNCBUSY) {} + + // Disable timer interrupt + rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0; + SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY); + + while(rtc->MODE0.STATUS.bit.SYNCBUSY) {} + + // Stop timer, just in case, to be able to reconfigure it + rtc->MODE0.CTRL.reg = + RTC_MODE0_CTRL_MODE_COUNT32 | // Mode 0 = 32-bits counter + RTC_MODE0_CTRL_PRESCALER_DIV1024; // Divisor = 1024 + + while(rtc->MODE0.STATUS.bit.SYNCBUSY) {} + + // Mode, reset counter on match + rtc->MODE0.CTRL.reg = RTC_MODE0_CTRL_MODE_COUNT32 | RTC_MODE0_CTRL_MATCHCLR; + + // Set compare value + rtc->MODE0.COMP[0].reg = (32768 + frequency / 2) / frequency; + SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY); + + // Enable interrupt on compare + rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0; // reset pending interrupt + rtc->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0; // enable compare 0 interrupt + + // And start timer + rtc->MODE0.CTRL.bit.ENABLE = true; + SYNC(rtc->MODE0.STATUS.bit.SYNCBUSY); + + } + else if (timer_config[timer_num].type==TimerType::tcc) { + + Tcc * const tc = timer_config[timer_num].pTcc; + + PM->APBCMASK.reg |= PM_APBCMASK_TCC0; + GCLK->CLKCTRL.reg =(GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(TCC0_GCLK_ID)); + SYNC (GCLK->STATUS.bit.SYNCBUSY); + + tc->CTRLA.reg = TCC_CTRLA_SWRST; + SYNC (tc->SYNCBUSY.reg & TCC_SYNCBUSY_SWRST) {} + + SYNC (tc->CTRLA.bit.SWRST); + + tc->CTRLA.reg &= ~(TCC_CTRLA_ENABLE); // disable TC module + + tc->CTRLA.reg |= TCC_WAVE_WAVEGEN_MFRQ; + tc->CTRLA.reg |= TCC_CTRLA_PRESCALER_DIV2; + tc->CC[0].reg = (HAL_TIMER_RATE) / frequency; + tc->INTENSET.reg = TCC_INTFLAG_MC0; + tc->CTRLA.reg |= TCC_CTRLA_ENABLE; + tc->INTFLAG.reg = 0xFF; + SYNC ( tc->STATUS.reg & TC_STATUS_SYNCBUSY); + + } + else { + Tc * const tc = timer_config[timer_num].pTc; + + // Disable timer interrupt + tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt + + // TCn clock setup + GCLK->CLKCTRL.reg = (uint16_t) (GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK0 | GCLK_CLKCTRL_ID(GCM_TC4_TC5)) ; + SYNC (GCLK->STATUS.bit.SYNCBUSY); + + tcReset(tc); // reset TC + + // Set Timer counter 5 Mode to 16 bits, it will become a 16bit counter ('mode1' in the datasheet) + tc->COUNT32.CTRLA.reg |= TC_CTRLA_MODE_COUNT32; + // Set TC waveform generation mode to 'match frequency' + tc->COUNT32.CTRLA.reg |= TC_CTRLA_WAVEGEN_MFRQ; + //set prescaler + //the clock normally counts at the GCLK_TC frequency, but we can set it to divide that frequency to slow it down + //you can use different prescaler divisons here like TC_CTRLA_PRESCALER_DIV1 to get a different range + tc->COUNT32.CTRLA.reg |= TC_CTRLA_PRESCALER_DIV1 | TC_CTRLA_ENABLE; //it will divide GCLK_TC frequency by 1024 + //set the compare-capture register. + //The counter will count up to this value (it's a 16bit counter so we use uint16_t) + //this is how we fine-tune the frequency, make it count to a lower or higher value + //system clock should be 1MHz (8MHz/8) at Reset by default + tc->COUNT32.CC[0].reg = (uint16_t) (HAL_TIMER_RATE / frequency); + while (tcIsSyncing(tc)) {} + + // Enable the TC interrupt request + tc->COUNT32.INTENSET.bit.MC0 = 1; + while (tcIsSyncing(tc)) {} + } + + NVIC_SetPriority(irq, timer_config[timer_num].priority); + NVIC_EnableIRQ(irq); +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; + NVIC_EnableIRQ(irq); +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; + Disable_Irq(irq); +} + +// missing from CMSIS: Check if interrupt is enabled or not +static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) { + return TEST(NVIC->ISER[uint32_t(IRQn) >> 5], uint32_t(IRQn) & 0x1F); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; + return NVIC_GetEnabledIRQ(irq); +} + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/timers.h b/Marlin/src/HAL/SAMD21/timers.h new file mode 100644 index 0000000000..303ccbdc50 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/timers.h @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +#include + +// -------------------------------------------------------------------------- +// Defines +// -------------------------------------------------------------------------- + +typedef uint32_t hal_timer_t; +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFF + +#define HAL_TIMER_RATE F_CPU // frequency of timers peripherals + +#define MF_TIMER_RTC 8 // This is not a TC but a RTC + +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 4 // Timer Index for Stepper +#endif +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP +#endif +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP MF_TIMER_RTC // Timer Index for Temperature +#endif + +#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency + +#define STEPPER_TIMER_RATE HAL_TIMER_RATE // frequency of stepper timer (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) +#define STEPPER_TIMER_TICKS_PER_US (STEPPER_TIMER_RATE / 1000000) // stepper timer ticks per µs +#define STEPPER_TIMER_PRESCALE (CYCLES_PER_MICROSECOND / STEPPER_TIMER_TICKS_PER_US) + +#define PULSE_TIMER_RATE STEPPER_TIMER_RATE +#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE +#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP) +#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP) + +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) + +#define TC_PRIORITY(t) ( t == SERVO_TC ? 1 \ + : (t == MF_TIMER_STEP || t == MF_TIMER_PULSE) ? 2 \ + : (t == MF_TIMER_TEMP) ? 6 : 7 ) + +#define _TC_HANDLER(t) void TC##t##_Handler() +#define TC_HANDLER(t) _TC_HANDLER(t) +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() TC_HANDLER(MF_TIMER_STEP) +#endif +#if MF_TIMER_STEP != MF_TIMER_PULSE + #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE) +#endif +#if MF_TIMER_TEMP == MF_TIMER_RTC + #define HAL_TEMP_TIMER_ISR() void RTC_Handler() +#else + #define HAL_TEMP_TIMER_ISR() TC_HANDLER(MF_TIMER_TEMP) +#endif + +// -------------------------------------------------------------------------- +// Types +// -------------------------------------------------------------------------- +typedef enum { tcc, tc, rtc } TimerType; + +typedef struct { + union { + Tc *pTc; + Tcc *pTcc; + Rtc *pRtc; + }; + TimerType type; + IRQn_Type IRQ_Id; + uint8_t priority; +} tTimerConfig; + +// -------------------------------------------------------------------------- +// Public Variables +// -------------------------------------------------------------------------- + +extern const tTimerConfig timer_config[]; + +// -------------------------------------------------------------------------- +// Public functions +// -------------------------------------------------------------------------- + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); + +FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { + // Should never be called with timer MF_TIMER_RTC + Tc * const tc = timer_config[timer_num].pTc; + tc->COUNT32.CC[0].reg = compare; +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { + // Should never be called with timer MF_TIMER_RTC + Tc * const tc = timer_config[timer_num].pTc; + return (hal_timer_t)tc->COUNT32.CC[0].reg; +} + +FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { + // Should never be called with timer MF_TIMER_RTC + Tc * const tc = timer_config[timer_num].pTc; + tc->COUNT32.READREQ.reg = TC_READREQ_RREQ; + // Request a read synchronization + SYNC (tc->COUNT32.STATUS.bit.SYNCBUSY); + //SYNC(tc->COUNT32.STATUS.bit.SYNCBUSY ); + return tc->COUNT32.COUNT.reg; +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num); +void HAL_timer_disable_interrupt(const uint8_t timer_num); +bool HAL_timer_interrupt_enabled(const uint8_t timer_num); + +FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { + if (timer_num == MF_TIMER_RTC) { + Rtc * const rtc = timer_config[timer_num].pRtc; + // Clear interrupt flag + rtc->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0| RTC_MODE0_INTFLAG_OVF; + + } + else if (timer_config[timer_num].type == TimerType::tcc){ + Tcc * const tc = timer_config[timer_num].pTcc; + // Clear interrupt flag + tc->INTFLAG.reg = TCC_INTFLAG_OVF; + } + else { + Tc * const tc = timer_config[timer_num].pTc; + // Clear interrupt flag + tc->COUNT32.INTFLAG.bit.MC0 = 1; + } +} + +#define HAL_timer_isr_epilogue(timer_num) diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp new file mode 100644 index 0000000000..41da7c10fc --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp @@ -0,0 +1,32 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +// adapted from I2C/master/master.c example +// https://www-users.cs.york.ac.uk/~pcc/MCP/HAPR-Course-web/CMSIS/examples/html/master_8c_source.html + +#ifdef __SAMD21__ + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h new file mode 100644 index 0000000000..d6a3c4fe0b --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.h @@ -0,0 +1,27 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_defines.h b/Marlin/src/HAL/SAMD21/u8g/LCD_defines.h new file mode 100644 index 0000000000..fa98725d22 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_defines.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +/** + * SAMD21 LCD-specific defines + */ + +// The following are optional depending on the platform. + +// definitions of HAL specific com and device drivers. +uint8_t u8g_com_samd21_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); +uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); + +// connect U8g com generic com names to the desired driver +#define U8G_COM_HW_SPI u8g_com_samd21_st7920_hw_spi_fn // use SAMD21 specific hardware SPI routine +#define U8G_COM_ST7920_HW_SPI u8g_com_samd21_st7920_hw_spi_fn diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c new file mode 100644 index 0000000000..f9f77825f6 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.c @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Low level pin manipulation routines - used by all the drivers. + * + * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines. + * + * Couldn't just call exact copies because the overhead killed the LCD update speed + * With an intermediate level the softspi was running in the 10-20kHz range which + * resulted in using about about 25% of the CPU's time. + */ + +#ifdef __SAMD21__ + +#include + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h new file mode 100644 index 0000000000..92626552b0 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_pin_routines.h @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ +#pragma once + +/** + * Low level pin manipulation routines - used by all the drivers. + * + * These are based on the SAMD51 pinMode, digitalRead & digitalWrite routines. + * + * Couldn't just call exact copies because the overhead killed the LCD update speed + * With an intermediate level the softspi was running in the 10-20kHz range which + * resulted in using about about 25% of the CPU's time. + */ + +void u8g_SetPinOutput(uint8_t internal_pin_number); +void u8g_SetPinInput(uint8_t internal_pin_number); +void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status); +uint8_t u8g_GetPinLevel(uint8_t pin); diff --git a/Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp b/Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp new file mode 100644 index 0000000000..02dc772296 --- /dev/null +++ b/Marlin/src/HAL/SAMD21/u8g/u8g_com_HAL_samd21_shared_hw_spi.cpp @@ -0,0 +1,154 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) + */ + +/** + * Based on u8g_com_msp430_hw_spi.c + * + * Universal 8bit Graphics Library + * + * Copyright (c) 2012, olikraus@gmail.com + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright notice, this list + * of conditions and the following disclaimer. + * + * * Redistributions in binary form must reproduce the above copyright notice, this + * list of conditions and the following disclaimer in the documentation and/or other + * materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT + * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF + * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifdef __SAMD21__ + +#include +#include "SPI.h" + +#include "../../shared/HAL_SPI.h" + +#ifndef LCD_SPI_SPEED + #define LCD_SPI_SPEED SPI_QUARTER_SPEED +#endif + +void u8g_SetPIOutput(u8g_t *u8g, uint8_t pin_index) { + if (u8g->pin_list[pin_index]!= U8G_PIN_NONE) + pinMode(u8g->pin_list[pin_index],OUTPUT); +} + +void u8g_SetPILevel(u8g_t *u8g, uint8_t pin_index, uint8_t level) { + if (u8g->pin_list[pin_index]!= U8G_PIN_NONE) + digitalWrite(u8g->pin_list[pin_index],level); +} + +uint8_t u8g_com_samd21_st7920_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { + + static SPISettings lcdSPIConfig; + + switch (msg) { + case U8G_COM_MSG_STOP: + break; + + case U8G_COM_MSG_INIT: + u8g_SetPIOutput(u8g, U8G_PI_CS); + u8g_SetPIOutput(u8g, U8G_PI_A0); + u8g_SetPIOutput(u8g, U8G_PI_RESET); + + u8g_SetPILevel(u8g, U8G_PI_CS, LOW); + + spiBegin(); + lcdSPIConfig = SPISettings(900000, MSBFIRST, SPI_MODE0); + u8g->pin_list[U8G_PI_A0_STATE] = 0; + break; + + case U8G_COM_MSG_ADDRESS: // define cmd (arg_val = 0) or data mode (arg_val = 1) + u8g_SetPILevel(u8g, U8G_PI_A0, arg_val); + u8g->pin_list[U8G_PI_A0_STATE] = arg_val; + break; + + case U8G_COM_MSG_CHIP_SELECT: // arg_val == 1 means chip selected, but ST7920 is active high, so needs inverting + u8g_SetPILevel(u8g, U8G_PI_CS, arg_val ? HIGH : LOW); + break; + + case U8G_COM_MSG_RESET: + u8g_SetPILevel(u8g, U8G_PI_RESET, arg_val); + break; + + case U8G_COM_MSG_WRITE_BYTE: + SPI.beginTransaction(lcdSPIConfig); + + if (u8g->pin_list[U8G_PI_A0_STATE] == 0) { // command + SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data + SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + + SPI.transfer(arg_val & 0x0f0); + SPI.transfer(arg_val << 4); + SPI.endTransaction(); + break; + + case U8G_COM_MSG_WRITE_SEQ: + SPI.beginTransaction(lcdSPIConfig); + + if (u8g->pin_list[U8G_PI_A0_STATE] == 0 ) { // command + SPI.transfer(0x0f8); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + else if (u8g->pin_list[U8G_PI_A0_STATE] == 1) { // data + SPI.transfer(0x0fa); u8g->pin_list[U8G_PI_A0_STATE] = 2; + } + + uint8_t *ptr = (uint8_t*)arg_ptr; + while (arg_val > 0) { + SPI.transfer((*ptr) & 0x0f0); + SPI.transfer((*ptr) << 4); + ptr++; + arg_val--; + } + + SPI.endTransaction(); + break; + } + return 1; +} + +#endif // __SAMD21__ diff --git a/Marlin/src/HAL/STM32/HAL.cpp b/Marlin/src/HAL/STM32/HAL.cpp new file mode 100644 index 0000000000..aff52f597f --- /dev/null +++ b/Marlin/src/HAL/STM32/HAL.cpp @@ -0,0 +1,182 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" +#include "../shared/Delay.h" + +#include "usb_serial.h" + +#ifdef USBCON + DefaultSerial1 MSerialUSB(false, SerialUSB); +#endif + +#if ENABLED(SRAM_EEPROM_EMULATION) + #if STM32F7xx + #include + #elif STM32F4xx + #include + #else + #error "SRAM_EEPROM_EMULATION is currently only supported for STM32F4xx and STM32F7xx" + #endif +#endif + +#if HAS_SD_HOST_DRIVE + #include "msc_sd.h" + #include "usbd_cdc_if.h" +#endif + +// ------------------------ +// Public Variables +// ------------------------ + +uint16_t MarlinHAL::adc_result; + +// ------------------------ +// Public functions +// ------------------------ + +#if ENABLED(POSTMORTEM_DEBUGGING) + extern void install_min_serial(); +#endif + +// HAL initialization task +void MarlinHAL::init() { + // Ensure F_CPU is a constant expression. + // If the compiler breaks here, it means that delay code that should compute at compile time will not work. + // So better safe than sorry here. + constexpr int cpuFreq = F_CPU; + UNUSED(cpuFreq); + + #if ENABLED(SDSUPPORT) && DISABLED(SDIO_SUPPORT) && (defined(SDSS) && SDSS != -1) + OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up + #endif + + #if PIN_EXISTS(LED) + OUT_WRITE(LED_PIN, LOW); + #endif + + #if ENABLED(SRAM_EEPROM_EMULATION) + __HAL_RCC_PWR_CLK_ENABLE(); + HAL_PWR_EnableBkUpAccess(); // Enable access to backup SRAM + __HAL_RCC_BKPSRAM_CLK_ENABLE(); + LL_PWR_EnableBkUpRegulator(); // Enable backup regulator + while (!LL_PWR_IsActiveFlag_BRR()); // Wait until backup regulator is initialized + #endif + + SetTimerInterruptPriorities(); + + #if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC) + USB_Hook_init(); + #endif + + TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler + + TERN_(HAS_SD_HOST_DRIVE, MSC_SD_init()); // Enable USB SD card access + + #if PIN_EXISTS(USB_CONNECT) + OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING); // USB clear connection + delay(1000); // Give OS time to notice + WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING); + #endif +} + +// HAL idle task +void MarlinHAL::idletask() { + #if HAS_SHARED_MEDIA + // Stm32duino currently doesn't have a "loop/idle" method + CDC_resume_receive(); + CDC_continue_transmit(); + #endif +} + +void MarlinHAL::reboot() { NVIC_SystemReset(); } + +uint8_t MarlinHAL::get_reset_source() { + return + #ifdef RCC_FLAG_IWDGRST // Some sources may not exist... + RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDGRST) ? RST_WATCHDOG : + #endif + #ifdef RCC_FLAG_IWDG1RST + RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDG1RST) ? RST_WATCHDOG : + #endif + #ifdef RCC_FLAG_IWDG2RST + RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_IWDG2RST) ? RST_WATCHDOG : + #endif + #ifdef RCC_FLAG_SFTRST + RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST) ? RST_SOFTWARE : + #endif + #ifdef RCC_FLAG_PINRST + RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_PINRST) ? RST_EXTERNAL : + #endif + #ifdef RCC_FLAG_PORRST + RESET != __HAL_RCC_GET_FLAG(RCC_FLAG_PORRST) ? RST_POWER_ON : + #endif + 0 + ; +} + +void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); } + +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout + + #include + + void MarlinHAL::watchdog_init() { + IF_DISABLED(DISABLE_WATCHDOG_INIT, IWatchdog.begin(WDT_TIMEOUT_US)); + } + + void MarlinHAL::watchdog_refresh() { + IWatchdog.reload(); + #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) + TOGGLE(LED_PIN); // heartbeat indicator + #endif + } + +#endif + +extern "C" { + extern unsigned int _ebss; // end of bss section +} + +// Reset the system to initiate a firmware flash +WEAK void flashFirmware(const int16_t) { hal.reboot(); } + +// Maple Compatibility +volatile uint32_t systick_uptime_millis = 0; +systickCallback_t systick_user_callback; +void systick_attach_callback(systickCallback_t cb) { systick_user_callback = cb; } +void HAL_SYSTICK_Callback() { + systick_uptime_millis++; + if (systick_user_callback) systick_user_callback(); +} + +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/HAL.h b/Marlin/src/HAL/STM32/HAL.h new file mode 100644 index 0000000000..3e85aca293 --- /dev/null +++ b/Marlin/src/HAL/STM32/HAL.h @@ -0,0 +1,281 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define CPU_32_BIT + +#include "../../core/macros.h" +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" +#include "fastio.h" +#include "Servo.h" +#include "MarlinSerial.h" + +#include "../../inc/MarlinConfigPre.h" + +#include + +// +// Default graphical display delays +// +#define CPU_ST7920_DELAY_1 300 +#define CPU_ST7920_DELAY_2 40 +#define CPU_ST7920_DELAY_3 340 + +// ------------------------ +// Serial ports +// ------------------------ +#ifdef USBCON + #include + #include "../../core/serial_hook.h" + typedef ForwardSerial1Class< decltype(SerialUSB) > DefaultSerial1; + extern DefaultSerial1 MSerialUSB; +#endif + +#define _MSERIAL(X) MSerial##X +#define MSERIAL(X) _MSERIAL(X) + +#if WITHIN(SERIAL_PORT, 1, 6) + #define MYSERIAL1 MSERIAL(SERIAL_PORT) +#elif !defined(USBCON) + #error "SERIAL_PORT must be from 1 to 6." +#elif SERIAL_PORT == -1 + #define MYSERIAL1 MSerialUSB +#else + #error "SERIAL_PORT must be from 1 to 6, or -1 for Native USB." +#endif + +#ifdef SERIAL_PORT_2 + #if WITHIN(SERIAL_PORT_2, 1, 6) + #define MYSERIAL2 MSERIAL(SERIAL_PORT_2) + #elif !defined(USBCON) + #error "SERIAL_PORT must be from 1 to 6." + #elif SERIAL_PORT_2 == -1 + #define MYSERIAL2 MSerialUSB + #else + #error "SERIAL_PORT_2 must be from 1 to 6, or -1 for Native USB." + #endif +#endif + +#ifdef SERIAL_PORT_3 + #if WITHIN(SERIAL_PORT_3, 1, 6) + #define MYSERIAL3 MSERIAL(SERIAL_PORT_3) + #elif !defined(USBCON) + #error "SERIAL_PORT must be from 1 to 6." + #elif SERIAL_PORT_3 == -1 + #define MYSERIAL3 MSerialUSB + #else + #error "SERIAL_PORT_3 must be from 1 to 6, or -1 for Native USB." + #endif +#endif + +#ifdef MMU2_SERIAL_PORT + #if WITHIN(MMU2_SERIAL_PORT, 1, 6) + #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT) + #elif !defined(USBCON) + #error "SERIAL_PORT must be from 1 to 6." + #elif MMU2_SERIAL_PORT == -1 + #define MMU2_SERIAL MSerialUSB + #else + #error "MMU2_SERIAL_PORT must be from 1 to 6, or -1 for Native USB." + #endif +#endif + +#ifdef LCD_SERIAL_PORT + #if WITHIN(LCD_SERIAL_PORT, 1, 6) + #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT) + #elif !defined(USBCON) + #error "SERIAL_PORT must be from 1 to 6." + #elif LCD_SERIAL_PORT == -1 + #define LCD_SERIAL MSerialUSB + #else + #error "LCD_SERIAL_PORT must be from 1 to 6, or -1 for Native USB." + #endif + #if HAS_DGUS_LCD + #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite() + #endif +#endif + +/** + * TODO: review this to return 1 for pins that are not analog input + */ +#ifndef analogInputToDigitalPin + #define analogInputToDigitalPin(p) (p) +#endif + +// +// Interrupts +// +#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq() +#define CRITICAL_SECTION_END() if (irqon) __enable_irq() +#define cli() __disable_irq() +#define sei() __enable_irq() + +// ------------------------ +// Types +// ------------------------ + +typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs. + +#ifdef STM32G0B1xx + typedef int32_t pin_t; +#else + typedef int16_t pin_t; +#endif + +class libServo; +typedef libServo hal_servo_t; +#define PAUSE_SERVO_OUTPUT() libServo::pause_all_servos() +#define RESUME_SERVO_OUTPUT() libServo::resume_all_servos() + +// ------------------------ +// ADC +// ------------------------ + +#ifdef ADC_RESOLUTION + #define HAL_ADC_RESOLUTION ADC_RESOLUTION +#else + #define HAL_ADC_RESOLUTION 12 +#endif + +#define HAL_ADC_VREF 3.3 + +// +// Pin Mapping for M42, M43, M226 +// +#define GET_PIN_MAP_PIN(index) index +#define GET_PIN_MAP_INDEX(pin) pin +#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + +#ifdef STM32F1xx + #define JTAG_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_JTAGDISABLE) + #define JTAGSWD_DISABLE() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_DISABLE) + #define JTAGSWD_RESET() AFIO_DBGAFR_CONFIG(AFIO_MAPR_SWJ_CFG_RESET); // Reset: FULL SWD+JTAG +#endif + +#define PLATFORM_M997_SUPPORT +void flashFirmware(const int16_t); + +// Maple Compatibility +typedef void (*systickCallback_t)(void); +void systick_attach_callback(systickCallback_t cb); +void HAL_SYSTICK_Callback(); + +extern volatile uint32_t systick_uptime_millis; + +#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment + +// ------------------------ +// Class Utilities +// ------------------------ + +// Memory related +#define __bss_end __bss_end__ + +extern "C" char* _sbrk(int incr); + +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif + +static inline int freeMemory() { + volatile char top; + return &top - reinterpret_cast(_sbrk(0)); +} + +#pragma GCC diagnostic pop + +// ------------------------ +// MarlinHAL Class +// ------------------------ + +class MarlinHAL { +public: + + // Earliest possible init, before setup() + MarlinHAL() {} + + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + + static void init(); // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 + + // Interrupts + static bool isr_state() { return !__get_PRIMASK(); } + static void isr_on() { sei(); } + static void isr_off() { cli(); } + + static void delay_ms(const int ms) { delay(ms); } + + // Tasks, called from idle() + static void idletask(); + + // Reset + static uint8_t get_reset_source(); + static void clear_reset_source(); + + // Free SRAM + static int freeMemory() { return ::freeMemory(); } + + // + // ADC Methods + // + + static uint16_t adc_result; + + // Called by Temperature::init once at startup + static void adc_init() { + analogReadResolution(HAL_ADC_RESOLUTION); + } + + // Called by Temperature::init for each sensor at startup + static void adc_enable(const pin_t pin) { pinMode(pin, INPUT); } + + // Begin ADC sampling on the given pin. Called from Temperature::isr! + static void adc_start(const pin_t pin) { adc_result = analogRead(pin); } + + // Is the ADC ready for reading? + static bool adc_ready() { return true; } + + // The current value of the ADC register + static uint16_t adc_value() { return adc_result; } + + /** + * Set the PWM duty cycle for the pin to the given value. + * Optionally invert the duty cycle [default = false] + * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255] + */ + static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false); + + /** + * Set the frequency of the timer for the given pin. + * All Timer PWM pins run at the same frequency. + */ + static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired); + +}; diff --git a/Marlin/src/HAL/STM32/HAL_SPI.cpp b/Marlin/src/HAL/STM32/HAL_SPI.cpp new file mode 100644 index 0000000000..40d320d5e8 --- /dev/null +++ b/Marlin/src/HAL/STM32/HAL_SPI.cpp @@ -0,0 +1,231 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +#include + +// ------------------------ +// Public Variables +// ------------------------ + +static SPISettings spiConfig; + +// ------------------------ +// Public functions +// ------------------------ + +#if ENABLED(SOFTWARE_SPI) + + // ------------------------ + // Software SPI + // ------------------------ + + #include "../shared/Delay.h" + + void spiBegin(void) { + #if PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); + #endif + OUT_WRITE(SD_SCK_PIN, HIGH); + SET_INPUT(SD_MISO_PIN); + OUT_WRITE(SD_MOSI_PIN, HIGH); + } + + // Use function with compile-time value so we can actually reach the desired frequency + // Need to adjust this a little bit: on a 72MHz clock, we have 14ns/clock + // and we'll use ~3 cycles to jump to the method and going back, so it'll take ~40ns from the given clock here + #define CALLING_COST_NS (3U * 1000000000U) / (F_CPU) + void (*delaySPIFunc)(); + void delaySPI_125() { DELAY_NS(125 - CALLING_COST_NS); } + void delaySPI_250() { DELAY_NS(250 - CALLING_COST_NS); } + void delaySPI_500() { DELAY_NS(500 - CALLING_COST_NS); } + void delaySPI_1000() { DELAY_NS(1000 - CALLING_COST_NS); } + void delaySPI_2000() { DELAY_NS(2000 - CALLING_COST_NS); } + void delaySPI_4000() { DELAY_NS(4000 - CALLING_COST_NS); } + + void spiInit(uint8_t spiRate) { + // Use datarates Marlin uses + switch (spiRate) { + case SPI_FULL_SPEED: delaySPIFunc = &delaySPI_125; break; // desired: 8,000,000 actual: ~1.1M + case SPI_HALF_SPEED: delaySPIFunc = &delaySPI_125; break; // desired: 4,000,000 actual: ~1.1M + case SPI_QUARTER_SPEED:delaySPIFunc = &delaySPI_250; break; // desired: 2,000,000 actual: ~890K + case SPI_EIGHTH_SPEED: delaySPIFunc = &delaySPI_500; break; // desired: 1,000,000 actual: ~590K + case SPI_SPEED_5: delaySPIFunc = &delaySPI_1000; break; // desired: 500,000 actual: ~360K + case SPI_SPEED_6: delaySPIFunc = &delaySPI_2000; break; // desired: 250,000 actual: ~210K + default: delaySPIFunc = &delaySPI_4000; break; // desired: 125,000 actual: ~123K + } + SPI.begin(); + } + + // Begin SPI transaction, set clock, bit order, data mode + void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { /* do nothing */ } + + uint8_t HAL_SPI_STM32_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3 + for (uint8_t bits = 8; bits--;) { + WRITE(SD_SCK_PIN, LOW); + WRITE(SD_MOSI_PIN, b & 0x80); + + delaySPIFunc(); + WRITE(SD_SCK_PIN, HIGH); + delaySPIFunc(); + + b <<= 1; // little setup time + b |= (READ(SD_MISO_PIN) != 0); + } + DELAY_NS(125); + return b; + } + + // Soft SPI receive byte + uint8_t spiRec() { + hal.isr_off(); // No interrupts during byte receive + const uint8_t data = HAL_SPI_STM32_SpiTransfer_Mode_3(0xFF); + hal.isr_on(); // Enable interrupts + return data; + } + + // Soft SPI read data + void spiRead(uint8_t *buf, uint16_t nbyte) { + for (uint16_t i = 0; i < nbyte; i++) + buf[i] = spiRec(); + } + + // Soft SPI send byte + void spiSend(uint8_t data) { + hal.isr_off(); // No interrupts during byte send + HAL_SPI_STM32_SpiTransfer_Mode_3(data); // Don't care what is received + hal.isr_on(); // Enable interrupts + } + + // Soft SPI send block + void spiSendBlock(uint8_t token, const uint8_t *buf) { + spiSend(token); + for (uint16_t i = 0; i < 512; i++) + spiSend(buf[i]); + } + +#else + + // ------------------------ + // Hardware SPI + // ------------------------ + + /** + * VGPV SPI speed start and PCLK2/2, by default 108/2 = 54Mhz + */ + + /** + * @brief Begin SPI port setup + * + * @return Nothing + * + * @details Only configures SS pin since stm32duino creates and initialize the SPI object + */ + void spiBegin() { + #if PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); + #endif + } + + // Configure SPI for specified SPI speed + void spiInit(uint8_t spiRate) { + // Use datarates Marlin uses + uint32_t clock; + switch (spiRate) { + case SPI_FULL_SPEED: clock = 20000000; break; // 13.9mhz=20000000 6.75mhz=10000000 3.38mhz=5000000 .833mhz=1000000 + case SPI_HALF_SPEED: clock = 5000000; break; + case SPI_QUARTER_SPEED: clock = 2500000; break; + case SPI_EIGHTH_SPEED: clock = 1250000; break; + case SPI_SPEED_5: clock = 625000; break; + case SPI_SPEED_6: clock = 300000; break; + default: + clock = 4000000; // Default from the SPI library + } + spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); + + SPI.setMISO(SD_MISO_PIN); + SPI.setMOSI(SD_MOSI_PIN); + SPI.setSCLK(SD_SCK_PIN); + + SPI.begin(); + } + + /** + * @brief Receives a single byte from the SPI port. + * + * @return Byte received + * + * @details + */ + uint8_t spiRec() { + uint8_t returnByte = SPI.transfer(0xFF); + return returnByte; + } + + /** + * @brief Receive a number of bytes from the SPI port to a buffer + * + * @param buf Pointer to starting address of buffer to write to. + * @param nbyte Number of bytes to receive. + * @return Nothing + * + * @details Uses DMA + */ + void spiRead(uint8_t *buf, uint16_t nbyte) { + if (nbyte == 0) return; + memset(buf, 0xFF, nbyte); + SPI.transfer(buf, nbyte); + } + + /** + * @brief Send a single byte on SPI port + * + * @param b Byte to send + * + * @details + */ + void spiSend(uint8_t b) { + SPI.transfer(b); + } + + /** + * @brief Write token and then write from 512 byte buffer to SPI (for SD card) + * + * @param buf Pointer with buffer start address + * @return Nothing + * + * @details Use DMA + */ + void spiSendBlock(uint8_t token, const uint8_t *buf) { + uint8_t rxBuf[512]; + SPI.transfer(token); + SPI.transfer((uint8_t*)buf, &rxBuf, 512); + } + +#endif // SOFTWARE_SPI + +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/MarlinSPI.cpp b/Marlin/src/HAL/STM32/MarlinSPI.cpp new file mode 100644 index 0000000000..f7c603d77e --- /dev/null +++ b/Marlin/src/HAL/STM32/MarlinSPI.cpp @@ -0,0 +1,174 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#if defined(HAL_STM32) && !defined(STM32H7xx) + +#include "MarlinSPI.h" + +static void spi_init(spi_t *obj, uint32_t speed, spi_mode_e mode, uint8_t msb, uint32_t dataSize) { + spi_init(obj, speed, mode, msb); + // spi_init set 8bit always + // TODO: copy the code from spi_init and handle data size, to avoid double init always!! + if (dataSize != SPI_DATASIZE_8BIT) { + obj->handle.Init.DataSize = dataSize; + HAL_SPI_Init(&obj->handle); + __HAL_SPI_ENABLE(&obj->handle); + } +} + +void MarlinSPI::setClockDivider(uint8_t _div) { + _speed = spi_getClkFreq(&_spi);// / _div; + _clockDivider = _div; +} + +void MarlinSPI::begin(void) { + //TODO: only call spi_init if any parameter changed!! + spi_init(&_spi, _speed, _dataMode, _bitOrder, _dataSize); +} + +void MarlinSPI::setupDma(SPI_HandleTypeDef &_spiHandle, DMA_HandleTypeDef &_dmaHandle, uint32_t direction, bool minc) { + _dmaHandle.Init.Direction = direction; + _dmaHandle.Init.PeriphInc = DMA_PINC_DISABLE; + _dmaHandle.Init.Mode = DMA_NORMAL; + _dmaHandle.Init.Priority = DMA_PRIORITY_LOW; + _dmaHandle.Init.MemInc = minc ? DMA_MINC_ENABLE : DMA_MINC_DISABLE; + + if (_dataSize == DATA_SIZE_8BIT) { + _dmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + _dmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + } + else { + _dmaHandle.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD; + _dmaHandle.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD; + } + #ifdef STM32F4xx + _dmaHandle.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + #endif + + // start DMA hardware + // TODO: check if hardware is already enabled + #ifdef SPI1_BASE + if (_spiHandle.Instance == SPI1) { + #ifdef STM32F1xx + __HAL_RCC_DMA1_CLK_ENABLE(); + _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA1_Channel3 : DMA1_Channel2; + #elif defined(STM32F4xx) + __HAL_RCC_DMA2_CLK_ENABLE(); + _dmaHandle.Init.Channel = DMA_CHANNEL_3; + _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA2_Stream3 : DMA2_Stream0; + #endif + } + #endif + #ifdef SPI2_BASE + if (_spiHandle.Instance == SPI2) { + #ifdef STM32F1xx + __HAL_RCC_DMA1_CLK_ENABLE(); + _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA1_Channel5 : DMA1_Channel4; + #elif defined(STM32F4xx) + __HAL_RCC_DMA1_CLK_ENABLE(); + _dmaHandle.Init.Channel = DMA_CHANNEL_0; + _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA1_Stream4 : DMA1_Stream3; + #endif + } + #endif + #ifdef SPI3_BASE + if (_spiHandle.Instance == SPI3) { + #ifdef STM32F1xx + __HAL_RCC_DMA2_CLK_ENABLE(); + _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA2_Channel2 : DMA2_Channel1; + #elif defined(STM32F4xx) + __HAL_RCC_DMA1_CLK_ENABLE(); + _dmaHandle.Init.Channel = DMA_CHANNEL_0; + _dmaHandle.Instance = (direction == DMA_MEMORY_TO_PERIPH) ? DMA1_Stream5 : DMA1_Stream2; + #endif + } + #endif + + HAL_DMA_Init(&_dmaHandle); +} + +byte MarlinSPI::transfer(uint8_t _data) { + uint8_t rxData = 0xFF; + HAL_SPI_TransmitReceive(&_spi.handle, &_data, &rxData, 1, HAL_MAX_DELAY); + return rxData; +} + +__STATIC_INLINE void LL_SPI_EnableDMAReq_RX(SPI_TypeDef *SPIx) { SET_BIT(SPIx->CR2, SPI_CR2_RXDMAEN); } +__STATIC_INLINE void LL_SPI_EnableDMAReq_TX(SPI_TypeDef *SPIx) { SET_BIT(SPIx->CR2, SPI_CR2_TXDMAEN); } + +uint8_t MarlinSPI::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16_t length) { + const uint8_t ff = 0xFF; + + //if (!LL_SPI_IsEnabled(_spi.handle)) // only enable if disabled + __HAL_SPI_ENABLE(&_spi.handle); + + if (receiveBuf) { + setupDma(_spi.handle, _dmaRx, DMA_PERIPH_TO_MEMORY, true); + HAL_DMA_Start(&_dmaRx, (uint32_t)&(_spi.handle.Instance->DR), (uint32_t)receiveBuf, length); + LL_SPI_EnableDMAReq_RX(_spi.handle.Instance); // Enable Rx DMA Request + } + + // check for 2 lines transfer + bool mincTransmit = true; + if (transmitBuf == nullptr && _spi.handle.Init.Direction == SPI_DIRECTION_2LINES && _spi.handle.Init.Mode == SPI_MODE_MASTER) { + transmitBuf = &ff; + mincTransmit = false; + } + + if (transmitBuf) { + setupDma(_spi.handle, _dmaTx, DMA_MEMORY_TO_PERIPH, mincTransmit); + HAL_DMA_Start(&_dmaTx, (uint32_t)transmitBuf, (uint32_t)&(_spi.handle.Instance->DR), length); + LL_SPI_EnableDMAReq_TX(_spi.handle.Instance); // Enable Tx DMA Request + } + + if (transmitBuf) { + HAL_DMA_PollForTransfer(&_dmaTx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); + HAL_DMA_Abort(&_dmaTx); + HAL_DMA_DeInit(&_dmaTx); + } + + // while ((_spi.handle.Instance->SR & SPI_FLAG_RXNE) != SPI_FLAG_RXNE) {} + + if (receiveBuf) { + HAL_DMA_PollForTransfer(&_dmaRx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); + HAL_DMA_Abort(&_dmaRx); + HAL_DMA_DeInit(&_dmaRx); + } + + return 1; +} + +uint8_t MarlinSPI::dmaSend(const void * transmitBuf, uint16_t length, bool minc) { + setupDma(_spi.handle, _dmaTx, DMA_MEMORY_TO_PERIPH, minc); + HAL_DMA_Start(&_dmaTx, (uint32_t)transmitBuf, (uint32_t)&(_spi.handle.Instance->DR), length); + __HAL_SPI_ENABLE(&_spi.handle); + LL_SPI_EnableDMAReq_TX(_spi.handle.Instance); // Enable Tx DMA Request + HAL_DMA_PollForTransfer(&_dmaTx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); + HAL_DMA_Abort(&_dmaTx); + // DeInit objects + HAL_DMA_DeInit(&_dmaTx); + return 1; +} + +#endif // HAL_STM32 && !STM32H7xx diff --git a/Marlin/src/HAL/STM32/MarlinSPI.h b/Marlin/src/HAL/STM32/MarlinSPI.h new file mode 100644 index 0000000000..fbd3585ff4 --- /dev/null +++ b/Marlin/src/HAL/STM32/MarlinSPI.h @@ -0,0 +1,107 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "HAL.h" +#include + +extern "C" { + #include +} + +/** + * Marlin currently requires 3 SPI classes: + * + * SPIClass: + * This class is normally provided by frameworks and has a semi-default interface. + * This is needed because some libraries reference it globally. + * + * SPISettings: + * Container for SPI configs for SPIClass. As above, libraries may reference it globally. + * + * These two classes are often provided by frameworks so we cannot extend them to add + * useful methods for Marlin. + * + * MarlinSPI: + * Provides the default SPIClass interface plus some Marlin goodies such as a simplified + * interface for SPI DMA transfer. + * + */ + +#define DATA_SIZE_8BIT SPI_DATASIZE_8BIT +#define DATA_SIZE_16BIT SPI_DATASIZE_16BIT + +class MarlinSPI { +public: + MarlinSPI() : MarlinSPI(NC, NC, NC, NC) {} + + MarlinSPI(pin_t mosi, pin_t miso, pin_t sclk, pin_t ssel = (pin_t)NC) : _mosiPin(mosi), _misoPin(miso), _sckPin(sclk), _ssPin(ssel) { + _spi.pin_miso = digitalPinToPinName(_misoPin); + _spi.pin_mosi = digitalPinToPinName(_mosiPin); + _spi.pin_sclk = digitalPinToPinName(_sckPin); + _spi.pin_ssel = digitalPinToPinName(_ssPin); + _dataSize = DATA_SIZE_8BIT; + _bitOrder = MSBFIRST; + _dataMode = SPI_MODE_0; + _spi.handle.State = HAL_SPI_STATE_RESET; + setClockDivider(SPI_SPEED_CLOCK_DIV2_MHZ); + } + + void begin(void); + void end(void) {} + + byte transfer(uint8_t _data); + uint8_t dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16_t length); + uint8_t dmaSend(const void * transmitBuf, uint16_t length, bool minc = true); + + /* These methods are deprecated and kept for compatibility. + * Use SPISettings with SPI.beginTransaction() to configure SPI parameters. + */ + void setBitOrder(BitOrder _order) { _bitOrder = _order; } + + void setDataMode(uint8_t _mode) { + switch (_mode) { + case SPI_MODE0: _dataMode = SPI_MODE_0; break; + case SPI_MODE1: _dataMode = SPI_MODE_1; break; + case SPI_MODE2: _dataMode = SPI_MODE_2; break; + case SPI_MODE3: _dataMode = SPI_MODE_3; break; + } + } + + void setClockDivider(uint8_t _div); + +private: + void setupDma(SPI_HandleTypeDef &_spiHandle, DMA_HandleTypeDef &_dmaHandle, uint32_t direction, bool minc = false); + + spi_t _spi; + DMA_HandleTypeDef _dmaTx; + DMA_HandleTypeDef _dmaRx; + BitOrder _bitOrder; + spi_mode_e _dataMode; + uint8_t _clockDivider; + uint32_t _speed; + uint32_t _dataSize; + pin_t _mosiPin; + pin_t _misoPin; + pin_t _sckPin; + pin_t _ssPin; +}; diff --git a/Marlin/src/HAL/STM32/MarlinSerial.cpp b/Marlin/src/HAL/STM32/MarlinSerial.cpp new file mode 100644 index 0000000000..37a8f40fd0 --- /dev/null +++ b/Marlin/src/HAL/STM32/MarlinSerial.cpp @@ -0,0 +1,110 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" +#include "MarlinSerial.h" + +#if ENABLED(EMERGENCY_PARSER) + #include "../../feature/e_parser.h" +#endif + +#ifndef USART4 + #define USART4 UART4 +#endif +#ifndef USART5 + #define USART5 UART5 +#endif + +#define DECLARE_SERIAL_PORT(ser_num) \ + void _rx_complete_irq_ ## ser_num (serial_t * obj); \ + MSerialT MSerial ## ser_num (true, USART ## ser_num, &_rx_complete_irq_ ## ser_num); \ + void _rx_complete_irq_ ## ser_num (serial_t * obj) { MSerial ## ser_num ._rx_complete_irq(obj); } + +#if USING_HW_SERIAL1 + DECLARE_SERIAL_PORT(1) +#endif +#if USING_HW_SERIAL2 + DECLARE_SERIAL_PORT(2) +#endif +#if USING_HW_SERIAL3 + DECLARE_SERIAL_PORT(3) +#endif +#if USING_HW_SERIAL4 + DECLARE_SERIAL_PORT(4) +#endif +#if USING_HW_SERIAL5 + DECLARE_SERIAL_PORT(5) +#endif +#if USING_HW_SERIAL6 + DECLARE_SERIAL_PORT(6) +#endif +#if USING_HW_SERIAL7 + DECLARE_SERIAL_PORT(7) +#endif +#if USING_HW_SERIAL8 + DECLARE_SERIAL_PORT(8) +#endif +#if USING_HW_SERIAL9 + DECLARE_SERIAL_PORT(9) +#endif +#if USING_HW_SERIAL10 + DECLARE_SERIAL_PORT(10) +#endif +#if USING_HW_SERIALLP1 + DECLARE_SERIAL_PORT(LP1) +#endif + +void MarlinSerial::begin(unsigned long baud, uint8_t config) { + HardwareSerial::begin(baud, config); + // Replace the IRQ callback with the one we have defined + TERN_(EMERGENCY_PARSER, _serial.rx_callback = _rx_callback); +} + +// This function is Copyright (c) 2006 Nicholas Zambetti. +void MarlinSerial::_rx_complete_irq(serial_t *obj) { + // No Parity error, read byte and store it in the buffer if there is room + unsigned char c; + + if (uart_getc(obj, &c) == 0) { + + rx_buffer_index_t i = (unsigned int)(obj->rx_head + 1) % SERIAL_RX_BUFFER_SIZE; + + // if we should be storing the received character into the location + // just before the tail (meaning that the head would advance to the + // current location of the tail), we're about to overflow the buffer + // and so we don't write the character or advance the head. + if (i != obj->rx_tail) { + obj->rx_buff[obj->rx_head] = c; + obj->rx_head = i; + } + + #if ENABLED(EMERGENCY_PARSER) + emergency_parser.update(static_cast(this)->emergency_state, c); + #endif + } +} + +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/MarlinSerial.h b/Marlin/src/HAL/STM32/MarlinSerial.h new file mode 100644 index 0000000000..bf861fb8a7 --- /dev/null +++ b/Marlin/src/HAL/STM32/MarlinSerial.h @@ -0,0 +1,59 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(EMERGENCY_PARSER) + #include "../../feature/e_parser.h" +#endif + +#include "../../core/serial_hook.h" + +typedef void (*usart_rx_callback_t)(serial_t * obj); + +struct MarlinSerial : public HardwareSerial { + MarlinSerial(void *peripheral, usart_rx_callback_t rx_callback) : + HardwareSerial(peripheral), _rx_callback(rx_callback) + { } + + void begin(unsigned long baud, uint8_t config); + inline void begin(unsigned long baud) { begin(baud, SERIAL_8N1); } + + void _rx_complete_irq(serial_t *obj); + +protected: + usart_rx_callback_t _rx_callback; +}; + +typedef Serial1Class MSerialT; +extern MSerialT MSerial1; +extern MSerialT MSerial2; +extern MSerialT MSerial3; +extern MSerialT MSerial4; +extern MSerialT MSerial5; +extern MSerialT MSerial6; +extern MSerialT MSerial7; +extern MSerialT MSerial8; +extern MSerialT MSerial9; +extern MSerialT MSerial10; +extern MSerialT MSerialLP1; diff --git a/Marlin/src/HAL/STM32/MinSerial.cpp b/Marlin/src/HAL/STM32/MinSerial.cpp new file mode 100644 index 0000000000..b0fcff20c1 --- /dev/null +++ b/Marlin/src/HAL/STM32/MinSerial.cpp @@ -0,0 +1,153 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(POSTMORTEM_DEBUGGING) + +#include "../shared/MinSerial.h" + +/* Instruction Synchronization Barrier */ +#define isb() __asm__ __volatile__ ("isb" : : : "memory") + +/* Data Synchronization Barrier */ +#define dsb() __asm__ __volatile__ ("dsb" : : : "memory") + +// Dumb mapping over the registers of a USART device on STM32 +struct USARTMin { + volatile uint32_t SR; + volatile uint32_t DR; + volatile uint32_t BRR; + volatile uint32_t CR1; + volatile uint32_t CR2; +}; + +#if WITHIN(SERIAL_PORT, 1, 6) + // Depending on the CPU, the serial port is different for USART1 + static const uintptr_t regsAddr[] = { + TERN(STM32F1xx, 0x40013800, 0x40011000), // USART1 + 0x40004400, // USART2 + 0x40004800, // USART3 + 0x40004C00, // UART4_BASE + 0x40005000, // UART5_BASE + 0x40011400 // USART6 + }; + static USARTMin * regs = (USARTMin*)regsAddr[SERIAL_PORT - 1]; +#endif + +static void TXBegin() { + #if !WITHIN(SERIAL_PORT, 1, 6) + #warning "Using POSTMORTEM_DEBUGGING requires a physical U(S)ART hardware in case of severe error." + #warning "Disabling the severe error reporting feature currently because the used serial port is not a HW port." + #else + // This is common between STM32F1/STM32F2 and STM32F4 + const int nvicUART[] = { /* NVIC_USART1 */ 37, /* NVIC_USART2 */ 38, /* NVIC_USART3 */ 39, /* NVIC_UART4 */ 52, /* NVIC_UART5 */ 53, /* NVIC_USART6 */ 71 }; + int nvicIndex = nvicUART[SERIAL_PORT - 1]; + + struct NVICMin { + volatile uint32_t ISER[32]; + volatile uint32_t ICER[32]; + }; + + NVICMin *nvicBase = (NVICMin*)0xE000E100; + SBI32(nvicBase->ICER[nvicIndex >> 5], nvicIndex & 0x1F); + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + dsb(); + isb(); + + // Example for USART1 disable: (RCC->APB2ENR &= ~(RCC_APB2ENR_USART1EN)) + // Too difficult to reimplement here, let's query the STM32duino macro here + #if SERIAL_PORT == 1 + __HAL_RCC_USART1_CLK_DISABLE(); + __HAL_RCC_USART1_CLK_ENABLE(); + #elif SERIAL_PORT == 2 + __HAL_RCC_USART2_CLK_DISABLE(); + __HAL_RCC_USART2_CLK_ENABLE(); + #elif SERIAL_PORT == 3 + __HAL_RCC_USART3_CLK_DISABLE(); + __HAL_RCC_USART3_CLK_ENABLE(); + #elif SERIAL_PORT == 4 + __HAL_RCC_UART4_CLK_DISABLE(); // BEWARE: UART4 and not USART4 here + __HAL_RCC_UART4_CLK_ENABLE(); + #elif SERIAL_PORT == 5 + __HAL_RCC_UART5_CLK_DISABLE(); // BEWARE: UART5 and not USART5 here + __HAL_RCC_UART5_CLK_ENABLE(); + #elif SERIAL_PORT == 6 + __HAL_RCC_USART6_CLK_DISABLE(); + __HAL_RCC_USART6_CLK_ENABLE(); + #endif + + uint32_t brr = regs->BRR; + regs->CR1 = 0; // Reset the USART + regs->CR2 = 0; // 1 stop bit + + // If we don't touch the BRR (baudrate register), we don't need to recompute. + regs->BRR = brr; + + regs->CR1 = _BV(3) | _BV(13); // 8 bits, no parity, 1 stop bit (TE | UE) + #endif +} + +// A SW memory barrier, to ensure GCC does not overoptimize loops +#define sw_barrier() __asm__ volatile("": : :"memory"); +static void TX(char c) { + #if WITHIN(SERIAL_PORT, 1, 6) + constexpr uint32_t usart_sr_txe = _BV(7); + while (!(regs->SR & usart_sr_txe)) { + hal.watchdog_refresh(); + sw_barrier(); + } + regs->DR = c; + #else + // Let's hope a mystical guru will fix this, one day by writing interrupt-free USB CDC ACM code (or, at least, by polling the registers since interrupt will be queued but will never trigger) + // For now, it's completely lost to oblivion. + #endif +} + +void install_min_serial() { + HAL_min_serial_init = &TXBegin; + HAL_min_serial_out = &TX; +} + +#if NONE(DYNAMIC_VECTORTABLE, STM32F0xx, STM32G0xx) // Cortex M0 can't jump to a symbol that's too far from the current function, so we work around this in exception_arm.cpp +extern "C" { + __attribute__((naked)) void JumpHandler_ASM() { + __asm__ __volatile__ ( + "b CommonHandler_ASM\n" + ); + } + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) HardFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) BusFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) UsageFault_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) MemManage_Handler(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) NMI_Handler(); +} +#endif + +#endif // POSTMORTEM_DEBUGGING +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/README.md b/Marlin/src/HAL/STM32/README.md new file mode 100644 index 0000000000..7680df6654 --- /dev/null +++ b/Marlin/src/HAL/STM32/README.md @@ -0,0 +1,11 @@ +# Generic STM32 HAL based on the stm32duino core + +This HAL is intended to act as the generic STM32 HAL for all STM32 chips (The whole F, H and L family). + +Currently it supports: + * STM32F0xx + * STM32F1xx + * STM32F4xx + * STM32F7xx + +Targeting the official [Arduino STM32 Core](https://github.com/stm32duino/Arduino_Core_STM32). diff --git a/Marlin/src/HAL/STM32/Servo.cpp b/Marlin/src/HAL/STM32/Servo.cpp new file mode 100644 index 0000000000..a00186e0e7 --- /dev/null +++ b/Marlin/src/HAL/STM32/Servo.cpp @@ -0,0 +1,112 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "Servo.h" + +static uint_fast8_t servoCount = 0; +static libServo *servos[NUM_SERVOS] = {0}; +constexpr millis_t servoDelay[] = SERVO_DELAY; +static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long."); + +// Initialize to the default timer priority. This will be overridden by a call from timers.cpp. +// This allows all timer interrupt priorities to be managed from a single location in the HAL. +static uint32_t servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), TIM_IRQ_PRIO, TIM_IRQ_SUBPRIO); + +// This must be called after the STM32 Servo class has initialized the timer. +// It may only be needed after the first call to attach(), but it is possible +// that is is necessary after every detach() call. To be safe this is currently +// called after every call to attach(). +static void fixServoTimerInterruptPriority() { + NVIC_SetPriority(getTimerUpIrq(TIMER_SERVO), servo_interrupt_priority); +} + +libServo::libServo() +: delay(servoDelay[servoCount]), + was_attached_before_pause(false), + value_before_pause(0) +{ + servos[servoCount++] = this; +} + +int8_t libServo::attach(const int pin) { + if (servoCount >= MAX_SERVOS) return -1; + if (pin > 0) servo_pin = pin; + auto result = stm32_servo.attach(servo_pin); + fixServoTimerInterruptPriority(); + return result; +} + +int8_t libServo::attach(const int pin, const int min, const int max) { + if (servoCount >= MAX_SERVOS) return -1; + if (pin > 0) servo_pin = pin; + auto result = stm32_servo.attach(servo_pin, min, max); + fixServoTimerInterruptPriority(); + return result; +} + +void libServo::move(const int value) { + if (attach(0) >= 0) { + stm32_servo.write(value); + safe_delay(delay); + TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach()); + } +} + +void libServo::pause() { + was_attached_before_pause = stm32_servo.attached(); + if (was_attached_before_pause) { + value_before_pause = stm32_servo.read(); + stm32_servo.detach(); + } +} + +void libServo::resume() { + if (was_attached_before_pause) { + attach(); + move(value_before_pause); + } +} + +void libServo::pause_all_servos() { + for (auto& servo : servos) + if (servo) servo->pause(); +} + +void libServo::resume_all_servos() { + for (auto& servo : servos) + if (servo) servo->resume(); +} + +void libServo::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority) { + servo_interrupt_priority = NVIC_EncodePriority(NVIC_GetPriorityGrouping(), preemptPriority, subPriority); +} + +#endif // HAS_SERVOS +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/Servo.h b/Marlin/src/HAL/STM32/Servo.h new file mode 100644 index 0000000000..1527e753b6 --- /dev/null +++ b/Marlin/src/HAL/STM32/Servo.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +#include "../../core/millis_t.h" + +// Inherit and expand on the official library +class libServo { + public: + libServo(); + int8_t attach(const int pin = 0); // pin == 0 uses value from previous call + int8_t attach(const int pin, const int min, const int max); + void detach() { stm32_servo.detach(); } + int read() { return stm32_servo.read(); } + void move(const int value); + + void pause(); + void resume(); + + static void pause_all_servos(); + static void resume_all_servos(); + static void setInterruptPriority(uint32_t preemptPriority, uint32_t subPriority); + + private: + Servo stm32_servo; + + int servo_pin = 0; + millis_t delay = 0; + + bool was_attached_before_pause; + int value_before_pause; +}; diff --git a/Marlin/src/HAL/STM32/eeprom_bl24cxx.cpp b/Marlin/src/HAL/STM32/eeprom_bl24cxx.cpp new file mode 100644 index 0000000000..f30b3dedb2 --- /dev/null +++ b/Marlin/src/HAL/STM32/eeprom_bl24cxx.cpp @@ -0,0 +1,85 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +/** + * PersistentStore for Arduino-style EEPROM interface + * with simple implementations supplied by Marlin. + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(IIC_BL24CXX_EEPROM) + +#include "../shared/eeprom_if.h" +#include "../shared/eeprom_api.h" + +// +// PersistentStore +// + +#ifndef MARLIN_EEPROM_SIZE + #error "MARLIN_EEPROM_SIZE is required for IIC_BL24CXX_EEPROM." +#endif + +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { eeprom_init(); return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + uint16_t written = 0; + while (size--) { + uint8_t v = *value; + uint8_t * const p = (uint8_t * const)pos; + if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed! + eeprom_write_byte(p, v); + if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes + if (eeprom_read_byte(p) != v) { + SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + uint8_t * const p = (uint8_t * const)pos; + uint8_t c = eeprom_read_byte(p); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // IIC_BL24CXX_EEPROM +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/eeprom_flash.cpp b/Marlin/src/HAL/STM32/eeprom_flash.cpp new file mode 100644 index 0000000000..6bd519877d --- /dev/null +++ b/Marlin/src/HAL/STM32/eeprom_flash.cpp @@ -0,0 +1,279 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(FLASH_EEPROM_EMULATION) + +#include "../shared/eeprom_api.h" + +// Better: "utility/stm32_eeprom.h", but only after updating stm32duino to 2.0.0 +// Use EEPROM.h for compatibility, for now. +#include + +/** + * The STM32 HAL supports chips that deal with "pages" and some with "sectors" and some that + * even have multiple "banks" of flash. + * + * This code is a bit of a mashup of + * framework-arduinoststm32/cores/arduino/stm32/stm32_eeprom.c + * hal/hal_lpc1768/persistent_store_flash.cpp + * + * This has only be written against those that use a single "sector" design. + * + * Those that deal with "pages" could be made to work. Looking at the STM32F07 for example, there are + * 128 "pages", each 2kB in size. If we continued with our EEPROM being 4Kb, we'd always need to operate + * on 2 of these pages. Each write, we'd use 2 different pages from a pool of pages until we are done. + */ + +#if ENABLED(FLASH_EEPROM_LEVELING) + + #include "stm32_def.h" + + #define DEBUG_OUT ENABLED(EEPROM_CHITCHAT) + #include "../../core/debug_out.h" + + #ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE 0x1000 // 4KB + #endif + + #ifndef FLASH_SECTOR + #define FLASH_SECTOR (FLASH_SECTOR_TOTAL - 1) + #endif + #ifndef FLASH_UNIT_SIZE + #define FLASH_UNIT_SIZE 0x20000 // 128kB + #endif + + #ifndef FLASH_ADDRESS_START + #define FLASH_ADDRESS_START (FLASH_END - ((FLASH_SECTOR_TOTAL - (FLASH_SECTOR)) * (FLASH_UNIT_SIZE)) + 1) + #endif + #define FLASH_ADDRESS_END (FLASH_ADDRESS_START + FLASH_UNIT_SIZE - 1) + + #define EEPROM_SLOTS ((FLASH_UNIT_SIZE) / (MARLIN_EEPROM_SIZE)) + #define SLOT_ADDRESS(slot) (FLASH_ADDRESS_START + (slot * (MARLIN_EEPROM_SIZE))) + + #define UNLOCK_FLASH() if (!flash_unlocked) { \ + HAL_FLASH_Unlock(); \ + __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | \ + FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR); \ + flash_unlocked = true; \ + } + #define LOCK_FLASH() if (flash_unlocked) { HAL_FLASH_Lock(); flash_unlocked = false; } + + #define EMPTY_UINT32 ((uint32_t)-1) + #define EMPTY_UINT8 ((uint8_t)-1) + + static uint8_t ram_eeprom[MARLIN_EEPROM_SIZE] __attribute__((aligned(4))) = {0}; + static int current_slot = -1; + + static_assert(0 == MARLIN_EEPROM_SIZE % 4, "MARLIN_EEPROM_SIZE must be a multiple of 4"); // Ensure copying as uint32_t is safe + static_assert(0 == FLASH_UNIT_SIZE % MARLIN_EEPROM_SIZE, "MARLIN_EEPROM_SIZE must divide evenly into your FLASH_UNIT_SIZE"); + static_assert(FLASH_UNIT_SIZE >= MARLIN_EEPROM_SIZE, "FLASH_UNIT_SIZE must be greater than or equal to your MARLIN_EEPROM_SIZE"); + static_assert(IS_FLASH_SECTOR(FLASH_SECTOR), "FLASH_SECTOR is invalid"); + static_assert(IS_POWER_OF_2(FLASH_UNIT_SIZE), "FLASH_UNIT_SIZE should be a power of 2, please check your chip's spec sheet"); + +#endif // FLASH_EEPROM_LEVELING + +static bool eeprom_data_written = false; + +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE size_t(E2END + 1) +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { + + EEPROM.begin(); // Avoid STM32 EEPROM.h warning (do nothing) + + #if ENABLED(FLASH_EEPROM_LEVELING) + + if (current_slot == -1 || eeprom_data_written) { + // This must be the first time since power on that we have accessed the storage, or someone + // loaded and called write_data and never called access_finish. + // Lets go looking for the slot that holds our configuration. + if (eeprom_data_written) DEBUG_ECHOLNPGM("Dangling EEPROM write_data"); + uint32_t address = FLASH_ADDRESS_START; + while (address <= FLASH_ADDRESS_END) { + uint32_t address_value = (*(__IO uint32_t*)address); + if (address_value != EMPTY_UINT32) { + current_slot = (address - (FLASH_ADDRESS_START)) / (MARLIN_EEPROM_SIZE); + break; + } + address += sizeof(uint32_t); + } + if (current_slot == -1) { + // We didn't find anything, so we'll just initialize to empty + for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = EMPTY_UINT8; + current_slot = EEPROM_SLOTS; + } + else { + // load current settings + uint8_t *eeprom_data = (uint8_t *)SLOT_ADDRESS(current_slot); + for (int i = 0; i < MARLIN_EEPROM_SIZE; i++) ram_eeprom[i] = eeprom_data[i]; + DEBUG_ECHOLNPGM("EEPROM loaded from slot ", current_slot, "."); + } + eeprom_data_written = false; + } + + #else + eeprom_buffer_fill(); + #endif + + return true; +} + +bool PersistentStore::access_finish() { + + if (eeprom_data_written) { + #ifdef STM32F4xx + // MCU may come up with flash error bits which prevent some flash operations. + // Clear flags prior to flash operations to prevent errors. + __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR); + #endif + + #if ENABLED(FLASH_EEPROM_LEVELING) + + HAL_StatusTypeDef status = HAL_ERROR; + bool flash_unlocked = false; + + if (--current_slot < 0) { + // all slots have been used, erase everything and start again + + FLASH_EraseInitTypeDef EraseInitStruct; + uint32_t SectorError = 0; + + EraseInitStruct.TypeErase = FLASH_TYPEERASE_SECTORS; + EraseInitStruct.VoltageRange = FLASH_VOLTAGE_RANGE_3; + EraseInitStruct.Sector = FLASH_SECTOR; + EraseInitStruct.NbSectors = 1; + + current_slot = EEPROM_SLOTS - 1; + UNLOCK_FLASH(); + + TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT()); + hal.isr_off(); + status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError); + hal.isr_on(); + TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT()); + if (status != HAL_OK) { + DEBUG_ECHOLNPGM("HAL_FLASHEx_Erase=", status); + DEBUG_ECHOLNPGM("GetError=", HAL_FLASH_GetError()); + DEBUG_ECHOLNPGM("SectorError=", SectorError); + LOCK_FLASH(); + return false; + } + } + + UNLOCK_FLASH(); + + uint32_t offset = 0, + address = SLOT_ADDRESS(current_slot), + address_end = address + MARLIN_EEPROM_SIZE, + data = 0; + + bool success = true; + + while (address < address_end) { + memcpy(&data, ram_eeprom + offset, sizeof(data)); + status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, address, data); + if (status == HAL_OK) { + address += sizeof(uint32_t); + offset += sizeof(uint32_t); + } + else { + DEBUG_ECHOLNPGM("HAL_FLASH_Program=", status); + DEBUG_ECHOLNPGM("GetError=", HAL_FLASH_GetError()); + DEBUG_ECHOLNPGM("address=", address); + success = false; + break; + } + } + + LOCK_FLASH(); + + if (success) { + eeprom_data_written = false; + DEBUG_ECHOLNPGM("EEPROM saved to slot ", current_slot, "."); + } + + return success; + + #else // !FLASH_EEPROM_LEVELING + + // The following was written for the STM32F4 but may work with other MCUs as well. + // Most STM32F4 flash does not allow reading from flash during erase operations. + // This takes about a second on a STM32F407 with a 128kB sector used as EEPROM. + // Interrupts during this time can have unpredictable results, such as killing Servo + // output. Servo output still glitches with interrupts disabled, but recovers after the + // erase. + TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT()); + hal.isr_off(); + eeprom_buffer_flush(); + hal.isr_on(); + TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT()); + + eeprom_data_written = false; + + #endif // !FLASH_EEPROM_LEVELING + } + + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + while (size--) { + uint8_t v = *value; + #if ENABLED(FLASH_EEPROM_LEVELING) + if (v != ram_eeprom[pos]) { + ram_eeprom[pos] = v; + eeprom_data_written = true; + } + #else + if (v != eeprom_buffered_read_byte(pos)) { + eeprom_buffered_write_byte(pos, v); + eeprom_data_written = true; + } + #endif + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + const uint8_t c = TERN(FLASH_EEPROM_LEVELING, ram_eeprom[pos], eeprom_buffered_read_byte(pos)); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // FLASH_EEPROM_EMULATION +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/eeprom_if_iic.cpp b/Marlin/src/HAL/STM32/eeprom_if_iic.cpp new file mode 100644 index 0000000000..ad8712c0c0 --- /dev/null +++ b/Marlin/src/HAL/STM32/eeprom_if_iic.cpp @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +/** + * Platform-independent Arduino functions for I2C EEPROM. + * Enable USE_SHARED_EEPROM if not supplied by the framework. + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(IIC_BL24CXX_EEPROM) + +#include "../../libs/BL24CXX.h" +#include "../shared/eeprom_if.h" + +void eeprom_init() { BL24CXX::init(); } + +// ------------------------ +// Public functions +// ------------------------ + +void eeprom_write_byte(uint8_t *pos, uint8_t value) { + const unsigned eeprom_address = (unsigned)pos; + return BL24CXX::writeOneByte(eeprom_address, value); +} + +uint8_t eeprom_read_byte(uint8_t *pos) { + const unsigned eeprom_address = (unsigned)pos; + return BL24CXX::readOneByte(eeprom_address); +} + +#endif // IIC_BL24CXX_EEPROM +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/eeprom_sdcard.cpp b/Marlin/src/HAL/STM32/eeprom_sdcard.cpp new file mode 100644 index 0000000000..1b5c0ae5b2 --- /dev/null +++ b/Marlin/src/HAL/STM32/eeprom_sdcard.cpp @@ -0,0 +1,94 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +/** + * Implementation of EEPROM settings in SD Card + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SDCARD_EEPROM_EMULATION) + +#include "../shared/eeprom_api.h" +#include "../../sd/cardreader.h" + +#define EEPROM_FILENAME "eeprom.dat" + +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE 0x1000 // 4KB +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +#define _ALIGN(x) __attribute__ ((aligned(x))) +static char _ALIGN(4) HAL_eeprom_data[MARLIN_EEPROM_SIZE]; + +bool PersistentStore::access_start() { + if (!card.isMounted()) return false; + + MediaFile file, root = card.getroot(); + if (!file.open(&root, EEPROM_FILENAME, O_RDONLY)) + return true; + + int bytes_read = file.read(HAL_eeprom_data, MARLIN_EEPROM_SIZE); + if (bytes_read < 0) return false; + for (; bytes_read < MARLIN_EEPROM_SIZE; bytes_read++) + HAL_eeprom_data[bytes_read] = 0xFF; + file.close(); + return true; +} + +bool PersistentStore::access_finish() { + if (!card.isMounted()) return false; + + MediaFile file, root = card.getroot(); + int bytes_written = 0; + if (file.open(&root, EEPROM_FILENAME, O_CREAT | O_WRITE | O_TRUNC)) { + bytes_written = file.write(HAL_eeprom_data, MARLIN_EEPROM_SIZE); + file.close(); + } + return (bytes_written == MARLIN_EEPROM_SIZE); +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + for (size_t i = 0; i < size; i++) + HAL_eeprom_data[pos + i] = value[i]; + crc16(crc, value, size); + pos += size; + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uint16_t *crc, const bool writing/*=true*/) { + for (size_t i = 0; i < size; i++) { + uint8_t c = HAL_eeprom_data[pos + i]; + if (writing) value[i] = c; + crc16(crc, &c, 1); + } + pos += size; + return false; +} + +#endif // SDCARD_EEPROM_EMULATION +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/eeprom_sram.cpp b/Marlin/src/HAL/STM32/eeprom_sram.cpp new file mode 100644 index 0000000000..687e7f55c2 --- /dev/null +++ b/Marlin/src/HAL/STM32/eeprom_sram.cpp @@ -0,0 +1,70 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SRAM_EEPROM_EMULATION) + +#include "../shared/eeprom_if.h" +#include "../shared/eeprom_api.h" + +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE 0x1000 // 4KB +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + while (size--) { + uint8_t v = *value; + + // Save to Backup SRAM + *(__IO uint8_t *)(BKPSRAM_BASE + (uint8_t * const)pos) = v; + + crc16(crc, &v, 1); + pos++; + value++; + }; + + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + // Read from either external EEPROM, program flash or Backup SRAM + const uint8_t c = ( *(__IO uint8_t *)(BKPSRAM_BASE + ((uint8_t*)pos)) ); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // SRAM_EEPROM_EMULATION +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/eeprom_wired.cpp b/Marlin/src/HAL/STM32/eeprom_wired.cpp new file mode 100644 index 0000000000..cf0468151e --- /dev/null +++ b/Marlin/src/HAL/STM32/eeprom_wired.cpp @@ -0,0 +1,80 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +#if USE_WIRED_EEPROM + +/** + * PersistentStore for Arduino-style EEPROM interface + * with simple implementations supplied by Marlin. + */ + +#include "../shared/eeprom_if.h" +#include "../shared/eeprom_api.h" + +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE size_t(E2END + 1) +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { eeprom_init(); return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + uint16_t written = 0; + while (size--) { + uint8_t v = *value; + uint8_t * const p = (uint8_t * const)pos; + if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed! + eeprom_write_byte(p, v); + if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes + if (eeprom_read_byte(p) != v) { + SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + // Read from either external EEPROM, program flash or Backup SRAM + const uint8_t c = eeprom_read_byte((uint8_t*)pos); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // USE_WIRED_EEPROM +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/endstop_interrupts.h b/Marlin/src/HAL/STM32/endstop_interrupts.h new file mode 100644 index 0000000000..d2f20ba1c7 --- /dev/null +++ b/Marlin/src/HAL/STM32/endstop_interrupts.h @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../module/endstops.h" + +// One ISR for all EXT-Interrupts +void endstop_ISR() { endstops.update(); } + +void setup_endstop_interrupts() { + #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE) + TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); +} diff --git a/Marlin/src/HAL/STM32/fast_pwm.cpp b/Marlin/src/HAL/STM32/fast_pwm.cpp new file mode 100644 index 0000000000..a0d8ecc612 --- /dev/null +++ b/Marlin/src/HAL/STM32/fast_pwm.cpp @@ -0,0 +1,88 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +// Array to support sticky frequency sets per timer +static uint16_t timer_freq[TIMER_NUM]; + +void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { + const uint16_t duty = invert ? v_size - v : v; + if (PWM_PIN(pin)) { + const PinName pin_name = digitalPinToPinName(pin); + TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); + + const timer_index_t index = get_timer_index(Instance); + const bool needs_freq = (HardwareTimer_Handle[index] == nullptr); + if (needs_freq) // A new instance must be set to the default frequency of PWM_FREQUENCY + HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM)); + + HardwareTimer * const HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + const uint32_t channel = STM_PIN_CHANNEL(pinmap_function(pin_name, PinMap_PWM)); + const TimerModes_t previousMode = HT->getMode(channel); + if (previousMode != TIMER_OUTPUT_COMPARE_PWM1) + HT->setMode(channel, TIMER_OUTPUT_COMPARE_PWM1, pin); + + if (needs_freq && timer_freq[index] == 0) // If the timer is unconfigured and no freq is set then default PWM_FREQUENCY + set_pwm_frequency(pin_name, PWM_FREQUENCY); // Set the frequency and save the value to the assigned index no. + + // Note the resolution is sticky here, the input can be upto 16 bits and that would require RESOLUTION_16B_COMPARE_FORMAT (16) + // If such a need were to manifest then we would need to calc the resolution based on the v_size parameter and add code for it. + HT->setCaptureCompare(channel, duty, RESOLUTION_8B_COMPARE_FORMAT); // Set the duty, the calc is done in the library :) + pinmap_pinout(pin_name, PinMap_PWM); // Make sure the pin output state is set. + if (previousMode != TIMER_OUTPUT_COMPARE_PWM1) HT->resume(); + } + else { + pinMode(pin, OUTPUT); + digitalWrite(pin, duty < v_size / 2 ? LOW : HIGH); + } +} + +void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { + if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer + const PinName pin_name = digitalPinToPinName(pin); + TIM_TypeDef * const Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance + const timer_index_t index = get_timer_index(Instance); + + // Protect used timers. + #ifdef STEP_TIMER + if (index == TIMER_INDEX(STEP_TIMER)) return; + #endif + #ifdef TEMP_TIMER + if (index == TIMER_INDEX(TEMP_TIMER)) return; + #endif + #if defined(PULSE_TIMER) && MF_TIMER_PULSE != MF_TIMER_STEP + if (index == TIMER_INDEX(PULSE_TIMER)) return; + #endif + + if (HardwareTimer_Handle[index] == nullptr) // If frequency is set before duty we need to create a handle here. + HardwareTimer_Handle[index]->__this = new HardwareTimer((TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM)); + HardwareTimer * const HT = (HardwareTimer *)(HardwareTimer_Handle[index]->__this); + HT->setOverflow(f_desired, HERTZ_FORMAT); + timer_freq[index] = f_desired; // Save the last frequency so duty will not set the default for this timer number. +} + +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/fastio.cpp b/Marlin/src/HAL/STM32/fastio.cpp new file mode 100644 index 0000000000..b34555b8c8 --- /dev/null +++ b/Marlin/src/HAL/STM32/fastio.cpp @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +GPIO_TypeDef* FastIOPortMap[LastPort + 1] = { 0 }; + +void FastIO_init() { + LOOP_L_N(i, NUM_DIGITAL_PINS) + FastIOPortMap[STM_PORT(digitalPin[i])] = get_GPIO_Port(STM_PORT(digitalPin[i])); +} + +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/fastio.h b/Marlin/src/HAL/STM32/fastio.h new file mode 100644 index 0000000000..4a48954471 --- /dev/null +++ b/Marlin/src/HAL/STM32/fastio.h @@ -0,0 +1,91 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Fast I/O interfaces for STM32 + * These use GPIO register access for fast port manipulation. + */ + +// ------------------------ +// Public Variables +// ------------------------ + +extern GPIO_TypeDef * FastIOPortMap[]; + +// ------------------------ +// Public functions +// ------------------------ + +void FastIO_init(); // Must be called before using fast io macros +#define FASTIO_INIT() FastIO_init() + +// ------------------------ +// Defines +// ------------------------ + +#define _BV32(b) (1UL << (b)) + +#ifndef PWM + #define PWM OUTPUT +#endif + +#if defined(STM32F0xx) || defined(STM32F1xx) || defined(STM32F3xx) || defined(STM32L0xx) || defined(STM32L4xx) + #define _WRITE(IO, V) do { \ + if (V) FastIOPortMap[STM_PORT(digitalPinToPinName(IO))]->BSRR = _BV32(STM_PIN(digitalPinToPinName(IO))) ; \ + else FastIOPortMap[STM_PORT(digitalPinToPinName(IO))]->BRR = _BV32(STM_PIN(digitalPinToPinName(IO))) ; \ + }while(0) +#else + #define _WRITE(IO, V) (FastIOPortMap[STM_PORT(digitalPinToPinName(IO))]->BSRR = _BV32(STM_PIN(digitalPinToPinName(IO)) + ((V) ? 0 : 16))) +#endif + +#define _READ(IO) bool(READ_BIT(FastIOPortMap[STM_PORT(digitalPinToPinName(IO))]->IDR, _BV32(STM_PIN(digitalPinToPinName(IO))))) +#define _TOGGLE(IO) TBI32(FastIOPortMap[STM_PORT(digitalPinToPinName(IO))]->ODR, STM_PIN(digitalPinToPinName(IO))) + +#define _GET_MODE(IO) +#define _SET_MODE(IO,M) pinMode(IO, M) +#define _SET_OUTPUT(IO) pinMode(IO, OUTPUT) //!< Output Push Pull Mode & GPIO_NOPULL +#define _SET_OUTPUT_OD(IO) pinMode(IO, OUTPUT_OPEN_DRAIN) + +#define WRITE(IO,V) _WRITE(IO,V) +#define READ(IO) _READ(IO) +#define TOGGLE(IO) _TOGGLE(IO) + +#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0) +#define OUT_WRITE_OD(IO,V) do{ _SET_OUTPUT_OD(IO); WRITE(IO,V); }while(0) + +#define SET_INPUT(IO) _SET_MODE(IO, INPUT) //!< Input Floating Mode +#define SET_INPUT_PULLUP(IO) _SET_MODE(IO, INPUT_PULLUP) //!< Input with Pull-up activation +#define SET_INPUT_PULLDOWN(IO) _SET_MODE(IO, INPUT_PULLDOWN) //!< Input with Pull-down activation +#define SET_OUTPUT(IO) OUT_WRITE(IO, LOW) +#define SET_PWM(IO) _SET_MODE(IO, PWM) + +#define IS_INPUT(IO) +#define IS_OUTPUT(IO) + +#define PWM_PIN(P) digitalPinHasPWM(P) +#define NO_COMPILE_TIME_PWM + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_LCD.h b/Marlin/src/HAL/STM32/inc/Conditionals_LCD.h new file mode 100644 index 0000000000..5f1c4b1601 --- /dev/null +++ b/Marlin/src/HAL/STM32/inc/Conditionals_LCD.h @@ -0,0 +1,22 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_adv.h b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h new file mode 100644 index 0000000000..451c94f25d --- /dev/null +++ b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h @@ -0,0 +1,35 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#if BOTH(SDSUPPORT, USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE) + #define HAS_SD_HOST_DRIVE 1 +#endif + +// Fix F_CPU not being a compile-time constant in STSTM32 framework +#ifdef BOARD_F_CPU + #undef F_CPU + #define F_CPU BOARD_F_CPU +#endif + +// The Sensitive Pins array is not optimizable +#define RUNTIME_ONLY_ANALOG_TO_DIGITAL diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_post.h b/Marlin/src/HAL/STM32/inc/Conditionals_post.h new file mode 100644 index 0000000000..c5ce66a26f --- /dev/null +++ b/Marlin/src/HAL/STM32/inc/Conditionals_post.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// If no real or emulated EEPROM selected, fall back to SD emulation +#if USE_FALLBACK_EEPROM + #define SDCARD_EEPROM_EMULATION +#elif EITHER(I2C_EEPROM, SPI_EEPROM) + #define USE_SHARED_EEPROM 1 +#endif + +// Some STM32F4 boards may lose steps when saving to EEPROM during print (PR #17946) +#if defined(STM32F4xx) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 + #define PRINTCOUNTER_SYNC 1 +#endif diff --git a/Marlin/src/HAL/STM32/inc/SanityCheck.h b/Marlin/src/HAL/STM32/inc/SanityCheck.h new file mode 100644 index 0000000000..e8ddfa1720 --- /dev/null +++ b/Marlin/src/HAL/STM32/inc/SanityCheck.h @@ -0,0 +1,111 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Test STM32-specific configuration values for errors at compile-time. + */ +//#if ENABLED(SPINDLE_LASER_USE_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11) +// #error "SPINDLE_LASER_PWM_PIN must use SERVO0, SERVO1 or SERVO3 connector" +//#endif + + +#if ENABLED(SDCARD_EEPROM_EMULATION) && DISABLED(SDSUPPORT) + #undef SDCARD_EEPROM_EMULATION // Avoid additional error noise + #if USE_FALLBACK_EEPROM + #warning "EEPROM type not specified. Fallback is SDCARD_EEPROM_EMULATION." + #endif + #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation." +#endif + +#if !defined(STM32F4xx) && ENABLED(FLASH_EEPROM_LEVELING) + #error "FLASH_EEPROM_LEVELING is currently only supported on STM32F4 hardware." +#endif + +#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED) + #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on STM32." +#elif ENABLED(SERIAL_STATS_DROPPED_RX) + #error "SERIAL_STATS_DROPPED_RX is not supported on STM32." +#endif + +#if ANY(TFT_COLOR_UI, TFT_LVGL_UI, TFT_CLASSIC_UI) && NOT_TARGET(STM32H7xx, STM32F4xx, STM32F1xx) + #error "TFT_COLOR_UI, TFT_LVGL_UI and TFT_CLASSIC_UI are currently only supported on STM32H7, STM32F4 and STM32F1 hardware." +#endif + +/** + * Check for common serial pin conflicts + */ +#define _CHECK_SERIAL_PIN(N) (( \ + BTN_EN1 == N || DOGLCD_CS == N || HEATER_BED_PIN == N || FAN_PIN == N || \ + SDIO_D2_PIN == N || SDIO_D3_PIN == N || SDIO_CK_PIN == N || SDIO_CMD_PIN == N \ + )) +#define CHECK_SERIAL_PIN(T,N) defined(UART##N##_##T##_PIN) && _CHECK_SERIAL_PIN(UART##N##_##T##_PIN) +#if SERIAL_IN_USE(1) + #if CHECK_SERIAL_PIN(TX,1) + #error "Serial Port 1 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,1) + #error "Serial Port 1 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(2) + #if CHECK_SERIAL_PIN(TX,2) + #error "Serial Port 2 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,2) + #error "Serial Port 2 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(3) + #if CHECK_SERIAL_PIN(TX,3) + #error "Serial Port 3 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,3) + #error "Serial Port 3 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(4) + #if CHECK_SERIAL_PIN(TX,4) + #error "Serial Port 4 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,4) + #error "Serial Port 4 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(5) + #if CHECK_SERIAL_PIN(TX,5) + #error "Serial Port 5 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,5) + #error "Serial Port 5 RX IO pins conflict with another pin on the board." + #endif +#endif +#if SERIAL_IN_USE(6) + #if CHECK_SERIAL_PIN(TX,6) + #error "Serial Port 6 TX IO pins conflict with another pin on the board." + #endif + #if CHECK_SERIAL_PIN(RX,6) + #error "Serial Port 6 RX IO pins conflict with another pin on the board." + #endif +#endif +#undef CHECK_SERIAL_PIN +#undef _CHECK_SERIAL_PIN diff --git a/Marlin/src/HAL/STM32/msc_sd.cpp b/Marlin/src/HAL/STM32/msc_sd.cpp new file mode 100644 index 0000000000..a40bec9d64 --- /dev/null +++ b/Marlin/src/HAL/STM32/msc_sd.cpp @@ -0,0 +1,130 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] + * + * 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. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfigPre.h" + +#if HAS_SD_HOST_DRIVE + +#include "../shared/Marduino.h" +#include "msc_sd.h" +#include "usbd_core.h" + +#include "../../sd/cardreader.h" + +#include +#include + +#define BLOCK_SIZE 512 +#define PRODUCT_ID 0x29 + +class Sd2CardUSBMscHandler : public USBMscHandler { +public: + DiskIODriver* diskIODriver() { + #if ENABLED(MULTI_VOLUME) + #if SHARED_VOLUME_IS(SD_ONBOARD) + return &card.media_driver_sdcard; + #elif SHARED_VOLUME_IS(USB_FLASH_DRIVE) + return &card.media_driver_usbFlash; + #endif + #else + return card.diskIODriver(); + #endif + } + + bool GetCapacity(uint32_t *pBlockNum, uint16_t *pBlockSize) { + *pBlockNum = diskIODriver()->cardSize(); + *pBlockSize = BLOCK_SIZE; + return true; + } + + bool Write(uint8_t *pBuf, uint32_t blkAddr, uint16_t blkLen) { + auto sd2card = diskIODriver(); + // single block + if (blkLen == 1) { + hal.watchdog_refresh(); + sd2card->writeBlock(blkAddr, pBuf); + return true; + } + + // multi block optimization + sd2card->writeStart(blkAddr, blkLen); + while (blkLen--) { + hal.watchdog_refresh(); + sd2card->writeData(pBuf); + pBuf += BLOCK_SIZE; + } + sd2card->writeStop(); + return true; + } + + bool Read(uint8_t *pBuf, uint32_t blkAddr, uint16_t blkLen) { + auto sd2card = diskIODriver(); + // single block + if (blkLen == 1) { + hal.watchdog_refresh(); + sd2card->readBlock(blkAddr, pBuf); + return true; + } + + // multi block optimization + sd2card->readStart(blkAddr); + while (blkLen--) { + hal.watchdog_refresh(); + sd2card->readData(pBuf); + pBuf += BLOCK_SIZE; + } + sd2card->readStop(); + return true; + } + + bool IsReady() { + return diskIODriver()->isReady(); + } +}; + +Sd2CardUSBMscHandler usbMscHandler; + +/* USB Mass storage Standard Inquiry Data */ +uint8_t Marlin_STORAGE_Inquirydata[] = { /* 36 */ + /* LUN 0 */ + 0x00, + 0x80, + 0x02, + 0x02, + (STANDARD_INQUIRY_DATA_LEN - 5), + 0x00, + 0x00, + 0x00, + 'M', 'A', 'R', 'L', 'I', 'N', ' ', ' ', /* Manufacturer : 8 bytes */ + 'P', 'r', 'o', 'd', 'u', 'c', 't', ' ', /* Product : 16 Bytes */ + ' ', ' ', ' ', ' ', ' ', ' ', ' ', ' ', + '0', '.', '0', '1', /* Version : 4 Bytes */ +}; + +USBMscHandler *pSingleMscHandler = &usbMscHandler; + +void MSC_SD_init() { + USBDevice.end(); + delay(200); + USBDevice.registerMscHandlers(1, &pSingleMscHandler, Marlin_STORAGE_Inquirydata); + USBDevice.begin(); +} + +#endif // HAS_SD_HOST_DRIVE +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/msc_sd.h b/Marlin/src/HAL/STM32/msc_sd.h new file mode 100644 index 0000000000..a8e5349f7c --- /dev/null +++ b/Marlin/src/HAL/STM32/msc_sd.h @@ -0,0 +1,18 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] + * + * 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. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +void MSC_SD_init(); diff --git a/Marlin/src/HAL/STM32/pinsDebug.h b/Marlin/src/HAL/STM32/pinsDebug.h new file mode 100644 index 0000000000..29a4e003f9 --- /dev/null +++ b/Marlin/src/HAL/STM32/pinsDebug.h @@ -0,0 +1,287 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +#ifndef NUM_DIGITAL_PINS + // Only in ST's Arduino core (STM32duino, STM32Core) + #error "Expected NUM_DIGITAL_PINS not found" +#endif + +/** + * Life gets complicated if you want an easy to use 'M43 I' output (in port/pin order) + * because the variants in this platform do not always define all the I/O port/pins + * that a CPU has. + * + * VARIABLES: + * Ard_num - Arduino pin number - defined by the platform. It is used by digitalRead and + * digitalWrite commands and by M42. + * - does not contain port/pin info + * - is not in port/pin order + * - typically a variant will only assign Ard_num to port/pins that are actually used + * Index - M43 counter - only used to get Ard_num + * x - a parameter/argument used to search the pin_array to try to find a signal name + * associated with a Ard_num + * Port_pin - port number and pin number for use with CPU registers and printing reports + * + * Since M43 uses digitalRead and digitalWrite commands, only the Port_pins with an Ard_num + * are accessed and/or displayed. + * + * Three arrays are used. + * + * digitalPin[] is provided by the platform. It consists of the Port_pin numbers in + * Arduino pin number order. + * + * pin_array is a structure generated by the pins/pinsDebug.h header file. It is generated by + * the preprocessor. Only the signals associated with enabled options are in this table. + * It contains: + * - name of the signal + * - the Ard_num assigned by the pins_YOUR_BOARD.h file using the platform defines. + * EXAMPLE: "#define KILL_PIN PB1" results in Ard_num of 57. 57 is then used as the + * argument to digitalPinToPinName(IO) to get the Port_pin number + * - if it is a digital or analog signal. PWMs are considered digital here. + * + * pin_xref is a structure generated by this header file. It is generated by the + * preprocessor. It is in port/pin order. It contains just the port/pin numbers defined by the + * platform for this variant. + * - Ard_num + * - printable version of Port_pin + * + * Routines with an "x" as a parameter/argument are used to search the pin_array to try to + * find a signal name associated with a port/pin. + * + * NOTE - the Arduino pin number is what is used by the M42 command, NOT the port/pin for that + * signal. The Arduino pin number is listed by the M43 I command. + */ + +//////////////////////////////////////////////////////// +// +// make a list of the Arduino pin numbers in the Port/Pin order +// + +#define _PIN_ADD(NAME_ALPHA, ARDUINO_NUM) { NAME_ALPHA, ARDUINO_NUM }, +#define PIN_ADD(NAME) _PIN_ADD(#NAME, NAME) + +typedef struct { + char Port_pin_alpha[5]; + pin_t Ard_num; +} XrefInfo; + +const XrefInfo pin_xref[] PROGMEM = { + #include "pins_Xref.h" +}; + +//////////////////////////////////////////////////////////// + +#define MODE_PIN_INPUT 0 // Input mode (reset state) +#define MODE_PIN_OUTPUT 1 // General purpose output mode +#define MODE_PIN_ALT 2 // Alternate function mode +#define MODE_PIN_ANALOG 3 // Analog mode + +#define PIN_NUM(P) (P & 0x000F) +#define PIN_NUM_ALPHA_LEFT(P) (((P & 0x000F) < 10) ? ('0' + (P & 0x000F)) : '1') +#define PIN_NUM_ALPHA_RIGHT(P) (((P & 0x000F) > 9) ? ('0' + (P & 0x000F) - 10) : 0 ) +#define PORT_NUM(P) ((P >> 4) & 0x0007) +#define PORT_ALPHA(P) ('A' + (P >> 4)) + +/** + * Translation of routines & variables used by pinsDebug.h + */ + +#if NUM_ANALOG_FIRST >= NUM_DIGITAL_PINS + #define HAS_HIGH_ANALOG_PINS 1 +#endif +#define NUM_ANALOG_LAST ((NUM_ANALOG_FIRST) + (NUM_ANALOG_INPUTS) - 1) +#define NUMBER_PINS_TOTAL ((NUM_DIGITAL_PINS) + TERN0(HAS_HIGH_ANALOG_PINS, NUM_ANALOG_INPUTS)) +#define VALID_PIN(P) (WITHIN(P, 0, (NUM_DIGITAL_PINS) - 1) || TERN0(HAS_HIGH_ANALOG_PINS, WITHIN(P, NUM_ANALOG_FIRST, NUM_ANALOG_LAST))) +#define digitalRead_mod(Ard_num) extDigitalRead(Ard_num) // must use Arduino pin numbers when doing reads +#define PRINT_PIN(Q) +#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PORT(ANUM) port_print(ANUM) +#define DIGITAL_PIN_TO_ANALOG_PIN(ANUM) -1 // will report analog pin number in the print port routine + +// x is a variable used to search pin_array +#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital) +#define GET_ARRAY_PIN(x) ((pin_t) pin_array[x].pin) +#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) +#define MULTI_NAME_PAD 33 // space needed to be pretty if not first name assigned to a pin + +// +// Pin Mapping for M43 +// +#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num + +#ifndef M43_NEVER_TOUCH + #define _M43_NEVER_TOUCH(Index) (Index >= 9 && Index <= 12) // SERIAL/USB pins: PA9(TX) PA10(RX) PA11(USB_DM) PA12(USB_DP) + #ifdef KILL_PIN + #define M43_NEVER_TOUCH(Index) m43_never_touch(Index) + + bool m43_never_touch(const pin_t Index) { + static pin_t M43_kill_index = -1; + if (M43_kill_index < 0) + for (M43_kill_index = 0; M43_kill_index < NUMBER_PINS_TOTAL; M43_kill_index++) + if (KILL_PIN == GET_PIN_MAP_PIN_M43(M43_kill_index)) break; + return _M43_NEVER_TOUCH(Index) || Index == M43_kill_index; // KILL_PIN and SERIAL/USB + } + #else + #define M43_NEVER_TOUCH(Index) _M43_NEVER_TOUCH(Index) + #endif +#endif + +uint8_t get_pin_mode(const pin_t Ard_num) { + const PinName dp = digitalPinToPinName(Ard_num); + uint32_t ll_pin = STM_LL_GPIO_PIN(dp); + GPIO_TypeDef *port = get_GPIO_Port(STM_PORT(dp)); + uint32_t mode = LL_GPIO_GetPinMode(port, ll_pin); + switch (mode) { + case LL_GPIO_MODE_ANALOG: return MODE_PIN_ANALOG; + case LL_GPIO_MODE_INPUT: return MODE_PIN_INPUT; + case LL_GPIO_MODE_OUTPUT: return MODE_PIN_OUTPUT; + case LL_GPIO_MODE_ALTERNATE: return MODE_PIN_ALT; + TERN_(STM32F1xx, case LL_GPIO_MODE_FLOATING:) + default: return 0; + } +} + +bool GET_PINMODE(const pin_t Ard_num) { + const uint8_t pin_mode = get_pin_mode(Ard_num); + return pin_mode == MODE_PIN_OUTPUT || pin_mode == MODE_PIN_ALT; // assume all alt definitions are PWM +} + +int8_t digital_pin_to_analog_pin(const pin_t Ard_num) { + if (WITHIN(Ard_num, NUM_ANALOG_FIRST, NUM_ANALOG_LAST)) + return Ard_num - NUM_ANALOG_FIRST; + + const uint32_t ind = digitalPinToAnalogInput(Ard_num); + return (ind < NUM_ANALOG_INPUTS) ? ind : -1; +} + +bool IS_ANALOG(const pin_t Ard_num) { + return get_pin_mode(Ard_num) == MODE_PIN_ANALOG; +} + +bool is_digital(const pin_t Ard_num) { + const uint8_t pin_mode = get_pin_mode(pin_array[Ard_num].pin); + return pin_mode == MODE_PIN_INPUT || pin_mode == MODE_PIN_OUTPUT; +} + +void port_print(const pin_t Ard_num) { + char buffer[16]; + pin_t Index; + for (Index = 0; Index < NUMBER_PINS_TOTAL; Index++) + if (Ard_num == GET_PIN_MAP_PIN_M43(Index)) break; + + const char * ppa = pin_xref[Index].Port_pin_alpha; + sprintf_P(buffer, PSTR("%s"), ppa); + SERIAL_ECHO(buffer); + if (ppa[3] == '\0') SERIAL_CHAR(' '); + + // print analog pin number + const int8_t Port_pin = digital_pin_to_analog_pin(Ard_num); + if (Port_pin >= 0) { + sprintf_P(buffer, PSTR(" (A%d) "), Port_pin); + SERIAL_ECHO(buffer); + if (Port_pin < 10) SERIAL_CHAR(' '); + } + else + SERIAL_ECHO_SP(7); + + // Print number to be used with M42 + int calc_p = Ard_num; + if (Ard_num > NUM_DIGITAL_PINS) { + calc_p -= NUM_ANALOG_FIRST; + if (calc_p > 7) calc_p += 8; + } + SERIAL_ECHOPGM(" M42 P", calc_p); + SERIAL_CHAR(' '); + if (calc_p < 100) { + SERIAL_CHAR(' '); + if (calc_p < 10) + SERIAL_CHAR(' '); + } +} + +bool pwm_status(const pin_t Ard_num) { + return get_pin_mode(Ard_num) == MODE_PIN_ALT; +} + +void pwm_details(const pin_t Ard_num) { + #ifndef STM32F1xx + if (pwm_status(Ard_num)) { + uint32_t alt_all = 0; + const PinName dp = digitalPinToPinName(Ard_num); + pin_t pin_number = uint8_t(PIN_NUM(dp)); + const bool over_7 = pin_number >= 8; + const uint8_t ind = over_7 ? 1 : 0; + switch (PORT_ALPHA(dp)) { // get alt function + case 'A' : alt_all = GPIOA->AFR[ind]; break; + case 'B' : alt_all = GPIOB->AFR[ind]; break; + case 'C' : alt_all = GPIOC->AFR[ind]; break; + case 'D' : alt_all = GPIOD->AFR[ind]; break; + #ifdef PE_0 + case 'E' : alt_all = GPIOE->AFR[ind]; break; + #elif defined(PF_0) + case 'F' : alt_all = GPIOF->AFR[ind]; break; + #elif defined(PG_0) + case 'G' : alt_all = GPIOG->AFR[ind]; break; + #elif defined(PH_0) + case 'H' : alt_all = GPIOH->AFR[ind]; break; + #elif defined(PI_0) + case 'I' : alt_all = GPIOI->AFR[ind]; break; + #elif defined(PJ_0) + case 'J' : alt_all = GPIOJ->AFR[ind]; break; + #elif defined(PK_0) + case 'K' : alt_all = GPIOK->AFR[ind]; break; + #elif defined(PL_0) + case 'L' : alt_all = GPIOL->AFR[ind]; break; + #endif + } + if (over_7) pin_number -= 8; + + uint8_t alt_func = (alt_all >> (4 * pin_number)) & 0x0F; + SERIAL_ECHOPGM("Alt Function: ", alt_func); + if (alt_func < 10) SERIAL_CHAR(' '); + SERIAL_ECHOPGM(" - "); + switch (alt_func) { + case 0 : SERIAL_ECHOPGM("system (misc. I/O)"); break; + case 1 : SERIAL_ECHOPGM("TIM1/TIM2 (probably PWM)"); break; + case 2 : SERIAL_ECHOPGM("TIM3..5 (probably PWM)"); break; + case 3 : SERIAL_ECHOPGM("TIM8..11 (probably PWM)"); break; + case 4 : SERIAL_ECHOPGM("I2C1..3"); break; + case 5 : SERIAL_ECHOPGM("SPI1/SPI2"); break; + case 6 : SERIAL_ECHOPGM("SPI3"); break; + case 7 : SERIAL_ECHOPGM("USART1..3"); break; + case 8 : SERIAL_ECHOPGM("USART4..6"); break; + case 9 : SERIAL_ECHOPGM("CAN1/CAN2, TIM12..14 (probably PWM)"); break; + case 10 : SERIAL_ECHOPGM("OTG"); break; + case 11 : SERIAL_ECHOPGM("ETH"); break; + case 12 : SERIAL_ECHOPGM("FSMC, SDIO, OTG"); break; + case 13 : SERIAL_ECHOPGM("DCMI"); break; + case 14 : SERIAL_ECHOPGM("unused (shouldn't see this)"); break; + case 15 : SERIAL_ECHOPGM("EVENTOUT"); break; + } + } + #else + // TODO: F1 doesn't support changing pins function, so we need to check the function of the PIN and if it's enabled + #endif +} // pwm_details diff --git a/Marlin/src/HAL/STM32/pins_Xref.h b/Marlin/src/HAL/STM32/pins_Xref.h new file mode 100644 index 0000000000..890e561860 --- /dev/null +++ b/Marlin/src/HAL/STM32/pins_Xref.h @@ -0,0 +1,612 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +// +// make a list of the Arduino pin numbers in the Port/Pin order +// +#ifdef PA0 + PIN_ADD(PA0) +#endif +#ifdef PA1 + PIN_ADD(PA1) +#endif +#ifdef PA2 + PIN_ADD(PA2) +#endif +#ifdef PA3 + PIN_ADD(PA3) +#endif +#ifdef PA4 + PIN_ADD(PA4) +#endif +#ifdef PA5 + PIN_ADD(PA5) +#endif +#ifdef PA6 + PIN_ADD(PA6) +#endif +#ifdef PA7 + PIN_ADD(PA7) +#endif +#ifdef PA8 + PIN_ADD(PA8) +#endif +#ifdef PA9 + PIN_ADD(PA9) +#endif +#ifdef PA10 + PIN_ADD(PA10) +#endif +#ifdef PA11 + PIN_ADD(PA11) +#endif +#ifdef PA12 + PIN_ADD(PA12) +#endif +#ifdef PA13 + PIN_ADD(PA13) +#endif +#ifdef PA14 + PIN_ADD(PA14) +#endif +#ifdef PA15 + PIN_ADD(PA15) +#endif + +#ifdef PB0 + PIN_ADD(PB0) +#endif +#ifdef PB1 + PIN_ADD(PB1) +#endif +#ifdef PB2 + PIN_ADD(PB2) +#endif +#ifdef PB3 + PIN_ADD(PB3) +#endif +#ifdef PB4 + PIN_ADD(PB4) +#endif +#ifdef PB5 + PIN_ADD(PB5) +#endif +#ifdef PB6 + PIN_ADD(PB6) +#endif +#ifdef PB7 + PIN_ADD(PB7) +#endif +#ifdef PB8 + PIN_ADD(PB8) +#endif +#ifdef PB9 + PIN_ADD(PB9) +#endif +#ifdef PB10 + PIN_ADD(PB10) +#endif +#ifdef PB11 + PIN_ADD(PB11) +#endif +#ifdef PB12 + PIN_ADD(PB12) +#endif +#ifdef PB13 + PIN_ADD(PB13) +#endif +#ifdef PB14 + PIN_ADD(PB14) +#endif +#ifdef PB15 + PIN_ADD(PB15) +#endif + +#ifdef PC0 + PIN_ADD(PC0) +#endif +#ifdef PC1 + PIN_ADD(PC1) +#endif +#ifdef PC2 + PIN_ADD(PC2) +#endif +#ifdef PC3 + PIN_ADD(PC3) +#endif +#ifdef PC4 + PIN_ADD(PC4) +#endif +#ifdef PC5 + PIN_ADD(PC5) +#endif +#ifdef PC6 + PIN_ADD(PC6) +#endif +#ifdef PC7 + PIN_ADD(PC7) +#endif +#ifdef PC8 + PIN_ADD(PC8) +#endif +#ifdef PC9 + PIN_ADD(PC9) +#endif +#ifdef PC10 + PIN_ADD(PC10) +#endif +#ifdef PC11 + PIN_ADD(PC11) +#endif +#ifdef PC12 + PIN_ADD(PC12) +#endif +#ifdef PC13 + PIN_ADD(PC13) +#endif +#ifdef PC14 + PIN_ADD(PC14) +#endif +#ifdef PC15 + PIN_ADD(PC15) +#endif + +#ifdef PD0 + PIN_ADD(PD0) +#endif +#ifdef PD1 + PIN_ADD(PD1) +#endif +#ifdef PD2 + PIN_ADD(PD2) +#endif +#ifdef PD3 + PIN_ADD(PD3) +#endif +#ifdef PD4 + PIN_ADD(PD4) +#endif +#ifdef PD5 + PIN_ADD(PD5) +#endif +#ifdef PD6 + PIN_ADD(PD6) +#endif +#ifdef PD7 + PIN_ADD(PD7) +#endif +#ifdef PD8 + PIN_ADD(PD8) +#endif +#ifdef PD9 + PIN_ADD(PD9) +#endif +#ifdef PD10 + PIN_ADD(PD10) +#endif +#ifdef PD11 + PIN_ADD(PD11) +#endif +#ifdef PD12 + PIN_ADD(PD12) +#endif +#ifdef PD13 + PIN_ADD(PD13) +#endif +#ifdef PD14 + PIN_ADD(PD14) +#endif +#ifdef PD15 + PIN_ADD(PD15) +#endif + +#ifdef PE0 + PIN_ADD(PE0) +#endif +#ifdef PE1 + PIN_ADD(PE1) +#endif +#ifdef PE2 + PIN_ADD(PE2) +#endif +#ifdef PE3 + PIN_ADD(PE3) +#endif +#ifdef PE4 + PIN_ADD(PE4) +#endif +#ifdef PE5 + PIN_ADD(PE5) +#endif +#ifdef PE6 + PIN_ADD(PE6) +#endif +#ifdef PE7 + PIN_ADD(PE7) +#endif +#ifdef PE8 + PIN_ADD(PE8) +#endif +#ifdef PE9 + PIN_ADD(PE9) +#endif +#ifdef PE10 + PIN_ADD(PE10) +#endif +#ifdef PE11 + PIN_ADD(PE11) +#endif +#ifdef PE12 + PIN_ADD(PE12) +#endif +#ifdef PE13 + PIN_ADD(PE13) +#endif +#ifdef PE14 + PIN_ADD(PE14) +#endif +#ifdef PE15 + PIN_ADD(PE15) +#endif + +#ifdef PF0 + PIN_ADD(PF0) +#endif +#ifdef PF1 + PIN_ADD(PF1) +#endif +#ifdef PF2 + PIN_ADD(PF2) +#endif +#ifdef PF3 + PIN_ADD(PF3) +#endif +#ifdef PF4 + PIN_ADD(PF4) +#endif +#ifdef PF5 + PIN_ADD(PF5) +#endif +#ifdef PF6 + PIN_ADD(PF6) +#endif +#ifdef PF7 + PIN_ADD(PF7) +#endif +#ifdef PF8 + PIN_ADD(PF8) +#endif +#ifdef PF9 + PIN_ADD(PF9) +#endif +#ifdef PF10 + PIN_ADD(PF10) +#endif +#ifdef PF11 + PIN_ADD(PF11) +#endif +#ifdef PF12 + PIN_ADD(PF12) +#endif +#ifdef PF13 + PIN_ADD(PF13) +#endif +#ifdef PF14 + PIN_ADD(PF14) +#endif +#ifdef PF15 + PIN_ADD(PF15) +#endif + +#ifdef PG0 + PIN_ADD(PG0) +#endif +#ifdef PG1 + PIN_ADD(PG1) +#endif +#ifdef PG2 + PIN_ADD(PG2) +#endif +#ifdef PG3 + PIN_ADD(PG3) +#endif +#ifdef PG4 + PIN_ADD(PG4) +#endif +#ifdef PG5 + PIN_ADD(PG5) +#endif +#ifdef PG6 + PIN_ADD(PG6) +#endif +#ifdef PG7 + PIN_ADD(PG7) +#endif +#ifdef PG8 + PIN_ADD(PG8) +#endif +#ifdef PG9 + PIN_ADD(PG9) +#endif +#ifdef PG10 + PIN_ADD(PG10) +#endif +#ifdef PG11 + PIN_ADD(PG11) +#endif +#ifdef PG12 + PIN_ADD(PG12) +#endif +#ifdef PG13 + PIN_ADD(PG13) +#endif +#ifdef PG14 + PIN_ADD(PG14) +#endif +#ifdef PG15 + PIN_ADD(PG15) +#endif + +#ifdef PH0 + PIN_ADD(PH0) +#endif +#ifdef PH1 + PIN_ADD(PH1) +#endif +#ifdef PH2 + PIN_ADD(PH2) +#endif +#ifdef PH3 + PIN_ADD(PH3) +#endif +#ifdef PH4 + PIN_ADD(PH4) +#endif +#ifdef PH5 + PIN_ADD(PH5) +#endif +#ifdef PH6 + PIN_ADD(PH6) +#endif +#ifdef PH7 + PIN_ADD(PH7) +#endif +#ifdef PH8 + PIN_ADD(PH8) +#endif +#ifdef PH9 + PIN_ADD(PH9) +#endif +#ifdef PH10 + PIN_ADD(PH10) +#endif +#ifdef PH11 + PIN_ADD(PH11) +#endif +#ifdef PH12 + PIN_ADD(PH12) +#endif +#ifdef PH13 + PIN_ADD(PH13) +#endif +#ifdef PH14 + PIN_ADD(PH14) +#endif +#ifdef PH15 + PIN_ADD(PH15) +#endif + +#ifdef PI0 + PIN_ADD(PI0) +#endif +#ifdef PI1 + PIN_ADD(PI1) +#endif +#ifdef PI2 + PIN_ADD(PI2) +#endif +#ifdef PI3 + PIN_ADD(PI3) +#endif +#ifdef PI4 + PIN_ADD(PI4) +#endif +#ifdef PI5 + PIN_ADD(PI5) +#endif +#ifdef PI6 + PIN_ADD(PI6) +#endif +#ifdef PI7 + PIN_ADD(PI7) +#endif +#ifdef PI8 + PIN_ADD(PI8) +#endif +#ifdef PI9 + PIN_ADD(PI9) +#endif +#ifdef PI10 + PIN_ADD(PI10) +#endif +#ifdef PI11 + PIN_ADD(PI11) +#endif +#ifdef PI12 + PIN_ADD(PI12) +#endif +#ifdef PI13 + PIN_ADD(PI13) +#endif +#ifdef PI14 + PIN_ADD(PI14) +#endif +#ifdef PI15 + PIN_ADD(PI15) +#endif + +#ifdef PJ0 + PIN_ADD(PJ0) +#endif +#ifdef PJ1 + PIN_ADD(PJ1) +#endif +#ifdef PJ2 + PIN_ADD(PJ2) +#endif +#ifdef PJ3 + PIN_ADD(PJ3) +#endif +#ifdef PJ4 + PIN_ADD(PJ4) +#endif +#ifdef PJ5 + PIN_ADD(PJ5) +#endif +#ifdef PJ6 + PIN_ADD(PJ6) +#endif +#ifdef PJ7 + PIN_ADD(PJ7) +#endif +#ifdef PJ8 + PIN_ADD(PJ8) +#endif +#ifdef PJ9 + PIN_ADD(PJ9) +#endif +#ifdef PJ10 + PIN_ADD(PJ10) +#endif +#ifdef PJ11 + PIN_ADD(PJ11) +#endif +#ifdef PJ12 + PIN_ADD(PJ12) +#endif +#ifdef PJ13 + PIN_ADD(PJ13) +#endif +#ifdef PJ14 + PIN_ADD(PJ14) +#endif +#ifdef PJ15 + PIN_ADD(PJ15) +#endif + +#ifdef PK0 + PIN_ADD(PK0) +#endif +#ifdef PK1 + PIN_ADD(PK1) +#endif +#ifdef PK2 + PIN_ADD(PK2) +#endif +#ifdef PK3 + PIN_ADD(PK3) +#endif +#ifdef PK4 + PIN_ADD(PK4) +#endif +#ifdef PK5 + PIN_ADD(PK5) +#endif +#ifdef PK6 + PIN_ADD(PK6) +#endif +#ifdef PK7 + PIN_ADD(PK7) +#endif +#ifdef PK8 + PIN_ADD(PK8) +#endif +#ifdef PK9 + PIN_ADD(PK9) +#endif +#ifdef PK10 + PIN_ADD(PK10) +#endif +#ifdef PK11 + PIN_ADD(PK11) +#endif +#ifdef PK12 + PIN_ADD(PK12) +#endif +#ifdef PK13 + PIN_ADD(PK13) +#endif +#ifdef PK14 + PIN_ADD(PK14) +#endif +#ifdef PK15 + PIN_ADD(PK15) +#endif + +#ifdef PL0 + PIN_ADD(PL0) +#endif +#ifdef PL1 + PIN_ADD(PL1) +#endif +#ifdef PL2 + PIN_ADD(PL2) +#endif +#ifdef PL3 + PIN_ADD(PL3) +#endif +#ifdef PL4 + PIN_ADD(PL4) +#endif +#ifdef PL5 + PIN_ADD(PL5) +#endif +#ifdef PL6 + PIN_ADD(PL6) +#endif +#ifdef PL7 + PIN_ADD(PL7) +#endif +#ifdef PL8 + PIN_ADD(PL8) +#endif +#ifdef PL9 + PIN_ADD(PL9) +#endif +#ifdef PL10 + PIN_ADD(PL10) +#endif +#ifdef PL11 + PIN_ADD(PL11) +#endif +#ifdef PL12 + PIN_ADD(PL12) +#endif +#ifdef PL13 + PIN_ADD(PL13) +#endif +#ifdef PL14 + PIN_ADD(PL14) +#endif +#ifdef PL15 + PIN_ADD(PL15) +#endif diff --git a/Marlin/src/HAL/STM32/sdio.cpp b/Marlin/src/HAL/STM32/sdio.cpp new file mode 100644 index 0000000000..72518ef1cc --- /dev/null +++ b/Marlin/src/HAL/STM32/sdio.cpp @@ -0,0 +1,457 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SDIO_SUPPORT) + +#include "sdio.h" + +#include +#include + +#if defined(STM32F103xE) || defined(STM32F103xG) + #include + #include +#elif defined(STM32F4xx) + #include + #include + #include + #include +#elif defined(STM32F7xx) + #include + #include + #include + #include +#elif defined(STM32H7xx) + #define SDIO_FOR_STM32H7 + #include + #include + #include + #include +#else + #error "SDIO is only supported with STM32F103xE, STM32F103xG, STM32F4xx, STM32F7xx, and STM32H7xx." +#endif + +// SDIO Max Clock (naming from STM Manual, don't change) +#define SDIOCLK 48000000 + +// Target Clock, configurable. Default is 18MHz, from STM32F1 +#ifndef SDIO_CLOCK + #define SDIO_CLOCK 18000000 // 18 MHz +#endif + +SD_HandleTypeDef hsd; // SDIO structure + +static uint32_t clock_to_divider(uint32_t clk) { + #ifdef SDIO_FOR_STM32H7 + // SDMMC_CK frequency = sdmmc_ker_ck / [2 * CLKDIV]. + uint32_t sdmmc_clk = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_SDMMC); + return sdmmc_clk / (2U * SDIO_CLOCK) + (sdmmc_clk % (2U * SDIO_CLOCK) != 0); + #else + // limit the SDIO master clock to 8/3 of PCLK2. See STM32 Manuals + // Also limited to no more than 48Mhz (SDIOCLK). + const uint32_t pclk2 = HAL_RCC_GetPCLK2Freq(); + clk = min(clk, (uint32_t)(pclk2 * 8 / 3)); + clk = min(clk, (uint32_t)SDIOCLK); + // Round up divider, so we don't run the card over the speed supported, + // and subtract by 2, because STM32 will add 2, as written in the manual: + // SDIO_CK frequency = SDIOCLK / [CLKDIV + 2] + return pclk2 / clk + (pclk2 % clk != 0) - 2; + #endif +} + +// Start the SDIO clock +void HAL_SD_MspInit(SD_HandleTypeDef *hsd) { + UNUSED(hsd); + #ifdef SDIO_FOR_STM32H7 + pinmap_pinout(PC_12, PinMap_SD); + pinmap_pinout(PD_2, PinMap_SD); + pinmap_pinout(PC_8, PinMap_SD); + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // Define D1-D3 only for 4-bit wide SDIO bus + pinmap_pinout(PC_9, PinMap_SD); + pinmap_pinout(PC_10, PinMap_SD); + pinmap_pinout(PC_11, PinMap_SD); + #endif + __HAL_RCC_SDMMC1_CLK_ENABLE(); + HAL_NVIC_EnableIRQ(SDMMC1_IRQn); + #else + __HAL_RCC_SDIO_CLK_ENABLE(); + #endif +} + +#ifdef SDIO_FOR_STM32H7 + + #define SD_TIMEOUT 1000 // ms + + extern "C" void SDMMC1_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); } + + uint8_t waitingRxCplt = 0, waitingTxCplt = 0; + void HAL_SD_TxCpltCallback(SD_HandleTypeDef *hsdio) { waitingTxCplt = 0; } + void HAL_SD_RxCpltCallback(SD_HandleTypeDef *hsdio) { waitingRxCplt = 0; } + + void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd) { + __HAL_RCC_SDMMC1_FORCE_RESET(); delay(10); + __HAL_RCC_SDMMC1_RELEASE_RESET(); delay(10); + } + + bool SDIO_Init() { + HAL_StatusTypeDef sd_state = HAL_OK; + if (hsd.Instance == SDMMC1) HAL_SD_DeInit(&hsd); + + // HAL SD initialization + hsd.Instance = SDMMC1; + hsd.Init.ClockEdge = SDMMC_CLOCK_EDGE_RISING; + hsd.Init.ClockPowerSave = SDMMC_CLOCK_POWER_SAVE_DISABLE; + hsd.Init.BusWide = SDMMC_BUS_WIDE_1B; + hsd.Init.HardwareFlowControl = SDMMC_HARDWARE_FLOW_CONTROL_DISABLE; + hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK); + sd_state = HAL_SD_Init(&hsd); + + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) + if (sd_state == HAL_OK) + sd_state = HAL_SD_ConfigWideBusOperation(&hsd, SDMMC_BUS_WIDE_4B); + #endif + + return (sd_state == HAL_OK); + } + +#else // !SDIO_FOR_STM32H7 + + #define SD_TIMEOUT 500 // ms + + // SDIO retries, configurable. Default is 3, from STM32F1 + #ifndef SDIO_READ_RETRIES + #define SDIO_READ_RETRIES 3 + #endif + + // F4 supports one DMA for RX and another for TX, but Marlin will never + // do read and write at same time, so we use the same DMA for both. + DMA_HandleTypeDef hdma_sdio; + + #ifdef STM32F1xx + #define DMA_IRQ_HANDLER DMA2_Channel4_5_IRQHandler + #elif defined(STM32F4xx) + #define DMA_IRQ_HANDLER DMA2_Stream3_IRQHandler + #else + #error "Unknown STM32 architecture." + #endif + + extern "C" void SDIO_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); } + extern "C" void DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&hdma_sdio); } + + /* + SDIO_INIT_CLK_DIV is 118 + SDIO clock frequency is 48MHz / (TRANSFER_CLOCK_DIV + 2) + SDIO init clock frequency should not exceed 400kHz = 48MHz / (118 + 2) + + Default TRANSFER_CLOCK_DIV is 2 (118 / 40) + Default SDIO clock frequency is 48MHz / (2 + 2) = 12 MHz + This might be too fast for stable SDIO operations + + MKS Robin SDIO seems stable with BusWide 1bit and ClockDiv 8 (i.e., 4.8MHz SDIO clock frequency) + More testing is required as there are clearly some 4bit init problems. + */ + + void go_to_transfer_speed() { + /* Default SDIO peripheral configuration for SD card initialization */ + hsd.Init.ClockEdge = hsd.Init.ClockEdge; + hsd.Init.ClockBypass = hsd.Init.ClockBypass; + hsd.Init.ClockPowerSave = hsd.Init.ClockPowerSave; + hsd.Init.BusWide = hsd.Init.BusWide; + hsd.Init.HardwareFlowControl = hsd.Init.HardwareFlowControl; + hsd.Init.ClockDiv = clock_to_divider(SDIO_CLOCK); + + /* Initialize SDIO peripheral interface with default configuration */ + SDIO_Init(hsd.Instance, hsd.Init); + } + + void SD_LowLevel_Init() { + uint32_t tempreg; + + // Enable GPIO clocks + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + + GPIO_InitTypeDef GPIO_InitStruct; + + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = 1; // GPIO_NOPULL + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; + + #if DISABLED(STM32F1xx) + GPIO_InitStruct.Alternate = GPIO_AF12_SDIO; + #endif + + GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_12; // D0 & SCK + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // define D1-D3 only if have a four bit wide SDIO bus + GPIO_InitStruct.Pin = GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11; // D1-D3 + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + #endif + + // Configure PD.02 CMD line + GPIO_InitStruct.Pin = GPIO_PIN_2; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + // Setup DMA + #ifdef STM32F1xx + hdma_sdio.Init.Mode = DMA_NORMAL; + hdma_sdio.Instance = DMA2_Channel4; + HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn); + #elif defined(STM32F4xx) + hdma_sdio.Init.Mode = DMA_PFCTRL; + hdma_sdio.Instance = DMA2_Stream3; + hdma_sdio.Init.Channel = DMA_CHANNEL_4; + hdma_sdio.Init.FIFOMode = DMA_FIFOMODE_ENABLE; + hdma_sdio.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; + hdma_sdio.Init.MemBurst = DMA_MBURST_INC4; + hdma_sdio.Init.PeriphBurst = DMA_PBURST_INC4; + HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); + #endif + HAL_NVIC_EnableIRQ(SDIO_IRQn); + hdma_sdio.Init.PeriphInc = DMA_PINC_DISABLE; + hdma_sdio.Init.MemInc = DMA_MINC_ENABLE; + hdma_sdio.Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; + hdma_sdio.Init.MemDataAlignment = DMA_MDATAALIGN_WORD; + hdma_sdio.Init.Priority = DMA_PRIORITY_LOW; + __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio); + __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio); + + #ifdef STM32F1xx + __HAL_RCC_SDIO_CLK_ENABLE(); + __HAL_RCC_DMA2_CLK_ENABLE(); + #else + __HAL_RCC_SDIO_FORCE_RESET(); delay(2); + __HAL_RCC_SDIO_RELEASE_RESET(); delay(2); + __HAL_RCC_SDIO_CLK_ENABLE(); + + __HAL_RCC_DMA2_FORCE_RESET(); delay(2); + __HAL_RCC_DMA2_RELEASE_RESET(); delay(2); + __HAL_RCC_DMA2_CLK_ENABLE(); + #endif + + // Initialize the SDIO (with initial <400Khz Clock) + tempreg = 0 // Reset value + | SDIO_CLKCR_CLKEN // Clock enabled + | SDIO_INIT_CLK_DIV; // Clock Divider. Clock = 48000 / (118 + 2) = 400Khz + // Keep the rest at 0 => HW_Flow Disabled, Rising Clock Edge, Disable CLK ByPass, Bus Width = 0, Power save Disable + SDIO->CLKCR = tempreg; + + // Power up the SDIO + SDIO_PowerState_ON(SDIO); + hsd.Instance = SDIO; + } + + bool SDIO_Init() { + uint8_t retryCnt = SDIO_READ_RETRIES; + + bool status; + hsd.Instance = SDIO; + hsd.State = HAL_SD_STATE_RESET; + + SD_LowLevel_Init(); + + uint8_t retry_Cnt = retryCnt; + for (;;) { + hal.watchdog_refresh(); + status = (bool) HAL_SD_Init(&hsd); + if (!status) break; + if (!--retry_Cnt) return false; // return failing status if retries are exhausted + } + + go_to_transfer_speed(); + + hsd.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_ENABLE; + hsd.Init.ClockDiv = 8; + + #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined + retry_Cnt = retryCnt; + for (;;) { + hal.watchdog_refresh(); + if (!HAL_SD_ConfigWideBusOperation(&hsd, SDIO_BUS_WIDE_4B)) break; // some cards are only 1 bit wide so a pass here is not required + if (!--retry_Cnt) break; + } + if (!retry_Cnt) { // wide bus failed, go back to one bit wide mode + hsd.State = (HAL_SD_StateTypeDef) 0; // HAL_SD_STATE_RESET + SD_LowLevel_Init(); + retry_Cnt = retryCnt; + for (;;) { + hal.watchdog_refresh(); + status = (bool) HAL_SD_Init(&hsd); + if (!status) break; + if (!--retry_Cnt) return false; // return failing status if retries are exhausted + } + go_to_transfer_speed(); + } + #endif + + return true; + } + + /** + * @brief Read or Write a block + * @details Read or Write a block with SDIO + * + * @param block The block index + * @param src The data buffer source for a write + * @param dst The data buffer destination for a read + * + * @return true on success + */ + static bool SDIO_ReadWriteBlock_DMA(uint32_t block, const uint8_t *src, uint8_t *dst) { + if (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) return false; + + hal.watchdog_refresh(); + + HAL_StatusTypeDef ret; + if (src) { + hdma_sdio.Init.Direction = DMA_MEMORY_TO_PERIPH; + HAL_DMA_Init(&hdma_sdio); + ret = HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1); + } + else { + hdma_sdio.Init.Direction = DMA_PERIPH_TO_MEMORY; + HAL_DMA_Init(&hdma_sdio); + ret = HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1); + } + + if (ret != HAL_OK) { + HAL_DMA_Abort_IT(&hdma_sdio); + HAL_DMA_DeInit(&hdma_sdio); + return false; + } + + millis_t timeout = millis() + SD_TIMEOUT; + // Wait the transfer + while (hsd.State != HAL_SD_STATE_READY) { + if (ELAPSED(millis(), timeout)) { + HAL_DMA_Abort_IT(&hdma_sdio); + HAL_DMA_DeInit(&hdma_sdio); + return false; + } + } + + while (__HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TC_FLAG_INDEX(&hdma_sdio)) != 0 + || __HAL_DMA_GET_FLAG(&hdma_sdio, __HAL_DMA_GET_TE_FLAG_INDEX(&hdma_sdio)) != 0) { /* nada */ } + + HAL_DMA_Abort_IT(&hdma_sdio); + HAL_DMA_DeInit(&hdma_sdio); + + timeout = millis() + SD_TIMEOUT; + while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) if (ELAPSED(millis(), timeout)) return false; + + return true; + } + +#endif // !SDIO_FOR_STM32H7 + +/** + * @brief Read a block + * @details Read a block from media with SDIO + * + * @param block The block index + * @param src The block buffer + * + * @return true on success + */ +bool SDIO_ReadBlock(uint32_t block, uint8_t *dst) { + #ifdef SDIO_FOR_STM32H7 + + uint32_t timeout = HAL_GetTick() + SD_TIMEOUT; + + while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) + if (HAL_GetTick() >= timeout) return false; + + waitingRxCplt = 1; + if (HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1) != HAL_OK) + return false; + + timeout = HAL_GetTick() + SD_TIMEOUT; + while (waitingRxCplt) + if (HAL_GetTick() >= timeout) return false; + + return true; + + #else + + uint8_t retries = SDIO_READ_RETRIES; + while (retries--) if (SDIO_ReadWriteBlock_DMA(block, nullptr, dst)) return true; + return false; + + #endif +} + +/** + * @brief Write a block + * @details Write a block to media with SDIO + * + * @param block The block index + * @param src The block data + * + * @return true on success + */ +bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) { + #ifdef SDIO_FOR_STM32H7 + + uint32_t timeout = HAL_GetTick() + SD_TIMEOUT; + + while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) + if (HAL_GetTick() >= timeout) return false; + + waitingTxCplt = 1; + if (HAL_SD_WriteBlocks_DMA(&hsd, (uint8_t*)src, block, 1) != HAL_OK) + return false; + + timeout = HAL_GetTick() + SD_TIMEOUT; + while (waitingTxCplt) + if (HAL_GetTick() >= timeout) return false; + + return true; + + #else + + uint8_t retries = SDIO_READ_RETRIES; + while (retries--) { + if (SDIO_ReadWriteBlock_DMA(block, src, nullptr)) return true; + delay(10); + } + return false; + + #endif +} + +bool SDIO_IsReady() { + return hsd.State == HAL_SD_STATE_READY; +} + +uint32_t SDIO_GetCardSize() { + return (uint32_t)(hsd.SdCard.BlockNbr) * (hsd.SdCard.BlockSize); +} + +#endif // SDIO_SUPPORT +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/sdio.h b/Marlin/src/HAL/STM32/sdio.h new file mode 100644 index 0000000000..cf5539c3c7 --- /dev/null +++ b/Marlin/src/HAL/STM32/sdio.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define SDIO_D0_PIN PC8 +#define SDIO_D1_PIN PC9 +#define SDIO_D2_PIN PC10 +#define SDIO_D3_PIN PC11 +#define SDIO_CK_PIN PC12 +#define SDIO_CMD_PIN PD2 diff --git a/Marlin/src/HAL/STM32/spi_pins.h b/Marlin/src/HAL/STM32/spi_pins.h new file mode 100644 index 0000000000..7f341a8c25 --- /dev/null +++ b/Marlin/src/HAL/STM32/spi_pins.h @@ -0,0 +1,38 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Define SPI Pins: SCK, MISO, MOSI, SS + */ +#ifndef SD_SCK_PIN + #define SD_SCK_PIN PIN_SPI_SCK +#endif +#ifndef SD_MISO_PIN + #define SD_MISO_PIN PIN_SPI_MISO +#endif +#ifndef SD_MOSI_PIN + #define SD_MOSI_PIN PIN_SPI_MOSI +#endif +#ifndef SD_SS_PIN + #define SD_SS_PIN PIN_SPI_SS +#endif diff --git a/Marlin/src/HAL/STM32/tft/gt911.cpp b/Marlin/src/HAL/STM32/tft/gt911.cpp new file mode 100644 index 0000000000..82b7c5b103 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/gt911.cpp @@ -0,0 +1,208 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../../platforms.h" + +#ifdef HAL_STM32 + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(TFT_TOUCH_DEVICE_GT911) + +#include "gt911.h" +#include "pinconfig.h" + +SW_IIC::SW_IIC(uint16_t sda, uint16_t scl) { + scl_pin = scl; + sda_pin = sda; +} + +// Software I2C hardware io init +void SW_IIC::init() { + OUT_WRITE(scl_pin, HIGH); + OUT_WRITE(sda_pin, HIGH); +} + +// Software I2C start signal +void SW_IIC::start() { + write_sda(HIGH); // SDA = 1 + write_scl(HIGH); // SCL = 1 + iic_delay(2); + write_sda(LOW); // SDA = 0 + iic_delay(1); + write_scl(LOW); // SCL = 0 // keep SCL low, avoid false stop caused by level jump caused by SDA switching IN/OUT +} + +// Software I2C stop signal +void SW_IIC::stop() { + write_scl(LOW); // SCL = 0 + iic_delay(2); + write_sda(LOW); // SDA = 0 + iic_delay(2); + write_scl(HIGH); // SCL = 1 + iic_delay(2); + write_sda(HIGH); // SDA = 1 +} + +// Software I2C sends ACK or NACK signal +void SW_IIC::send_ack(bool ack) { + write_sda(ack ? LOW : HIGH); // SDA = !ack + iic_delay(2); + write_scl(HIGH); // SCL = 1 + iic_delay(2); + write_scl(LOW); // SCL = 0 +} + +// Software I2C read ACK or NACK signal +bool SW_IIC::read_ack() { + bool error = 0; + set_sda_in(); + + iic_delay(2); + + write_scl(HIGH); // SCL = 1 + error = read_sda(); + + iic_delay(2); + + write_scl(LOW); // SCL = 0 + + set_sda_out(); + return error; +} + +void SW_IIC::send_byte(uint8_t txd) { + LOOP_L_N(i, 8) { + write_sda(txd & 0x80); // write data bit + txd <<= 1; + iic_delay(1); + write_scl(HIGH); // SCL = 1 + iic_delay(2); + write_scl(LOW); // SCL = 0 + iic_delay(1); + } + + read_ack(); // wait ack +} + +uint8_t SW_IIC::read_byte(bool ack) { + uint8_t data = 0; + + set_sda_in(); + LOOP_L_N(i, 8) { + write_scl(HIGH); // SCL = 1 + iic_delay(1); + data <<= 1; + if (read_sda()) data++; + write_scl(LOW); // SCL = 0 + iic_delay(2); + } + set_sda_out(); + + send_ack(ack); + + return data; +} + +GT911_REG_MAP GT911::reg; +SW_IIC GT911::sw_iic = SW_IIC(GT911_SW_I2C_SDA_PIN, GT911_SW_I2C_SCL_PIN); + +void GT911::write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_len) { + sw_iic.start(); + sw_iic.send_byte(gt911_slave_address); // Set IIC Slave address + LOOP_L_N(i, reg_len) { // Set reg address + uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF; + sw_iic.send_byte(r); + } + + LOOP_L_N(i, w_len) { // Write data to reg + sw_iic.send_byte(w_data[i]); + } + sw_iic.stop(); +} + +void GT911::read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len) { + sw_iic.start(); + sw_iic.send_byte(gt911_slave_address); // Set IIC Slave address + LOOP_L_N(i, reg_len) { // Set reg address + uint8_t r = (reg >> (8 * (reg_len - 1 - i))) & 0xFF; + sw_iic.send_byte(r); + } + + sw_iic.start(); + sw_iic.send_byte(gt911_slave_address + 1); // Set read mode + + LOOP_L_N(i, r_len) + r_data[i] = sw_iic.read_byte(1); // Read data from reg + + sw_iic.stop(); +} + +void GT911::Init() { + OUT_WRITE(GT911_RST_PIN, LOW); + OUT_WRITE(GT911_INT_PIN, LOW); + delay(11); + WRITE(GT911_INT_PIN, HIGH); + delayMicroseconds(110); + WRITE(GT911_RST_PIN, HIGH); + delay(6); + WRITE(GT911_INT_PIN, LOW); + delay(55); + SET_INPUT(GT911_INT_PIN); + + sw_iic.init(); + + uint8_t clear_reg = 0x00; + write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start +} + +bool GT911::getFirstTouchPoint(int16_t *x, int16_t *y) { + read_reg(0x814E, 2, ®.REG.status, 1); + + if (reg.REG.status >= 0x80 && reg.REG.status <= 0x85) { + read_reg(0x8150, 2, reg.map + 2, 38); + uint8_t clear_reg = 0x00; + write_reg(0x814E, 2, &clear_reg, 1); // Reset to 0 for start + // First touch point + *x = ((reg.REG.point[0].xh & 0x0F) << 8) | reg.REG.point[0].xl; + *y = ((reg.REG.point[0].yh & 0x0F) << 8) | reg.REG.point[0].yl; + return true; + } + return false; +} + +bool GT911::getPoint(int16_t *x, int16_t *y) { + static bool touched = 0; + static int16_t read_x = 0, read_y = 0; + static millis_t next_time = 0; + + if (ELAPSED(millis(), next_time)) { + touched = getFirstTouchPoint(&read_x, &read_y); + next_time = millis() + 20; + } + + *x = read_x; + *y = read_y; + return touched; +} + +#endif // TFT_TOUCH_DEVICE_GT911 +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/gt911.h b/Marlin/src/HAL/STM32/tft/gt911.h new file mode 100644 index 0000000000..260c195eca --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/gt911.h @@ -0,0 +1,96 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../../inc/MarlinConfig.h" + +#define GT911_SLAVE_ADDRESS 0x28 + +#if !PIN_EXISTS(GT911_RST) + #error "GT911_RST_PIN is not defined." +#elif !PIN_EXISTS(GT911_INT) + #error "GT911_INT_PIN is not defined." +#elif !PIN_EXISTS(GT911_SW_I2C_SCL) + #error "GT911_SW_I2C_SCL_PIN is not defined." +#elif !PIN_EXISTS(GT911_SW_I2C_SDA) + #error "GT911_SW_I2C_SDA_PIN is not defined." +#endif + +class SW_IIC { + private: + uint16_t scl_pin; + uint16_t sda_pin; + void write_scl(bool level) { WRITE(scl_pin, level); } + void write_sda(bool level) { WRITE(sda_pin, level); } + bool read_sda() { return READ(sda_pin); } + void set_sda_out() { SET_OUTPUT(sda_pin); } + void set_sda_in() { SET_INPUT_PULLUP(sda_pin); } + static void iic_delay(uint8_t t) { delayMicroseconds(t); } + + public: + SW_IIC(uint16_t sda, uint16_t scl); + // setSCL/SDA have to be called before begin() + void setSCL(uint16_t scl) { scl_pin = scl; } + void setSDA(uint16_t sda) { sda_pin = sda; } + void init(); // Initialize the IO port of IIC + void start(); // Send IIC start signal + void stop(); // Send IIC stop signal + void send_byte(uint8_t txd); // IIC sends a byte + uint8_t read_byte(bool ack); // IIC reads a byte + void send_ack(bool ack); // IIC sends ACK or NACK signal + bool read_ack(); +}; + +typedef struct __attribute__((__packed__)) { + uint8_t xl; + uint8_t xh; + uint8_t yl; + uint8_t yh; + uint8_t sizel; + uint8_t sizeh; + uint8_t reserved; + uint8_t track_id; +} GT911_POINT; + +typedef union __attribute__((__packed__)) { + uint8_t map[42]; + struct { + uint8_t status; // 0x814E + uint8_t track_id; // 0x814F + + GT911_POINT point[5]; // [0]:0x8150 - 0x8157 / [1]:0x8158 - 0x815F / [2]:0x8160 - 0x8167 / [3]:0x8168 - 0x816F / [4]:0x8170 - 0x8177 + } REG; +} GT911_REG_MAP; + +class GT911 { + private: + static const uint8_t gt911_slave_address = GT911_SLAVE_ADDRESS; + static GT911_REG_MAP reg; + static SW_IIC sw_iic; + static void write_reg(uint16_t reg, uint8_t reg_len, uint8_t* w_data, uint8_t w_len); + static void read_reg(uint16_t reg, uint8_t reg_len, uint8_t* r_data, uint8_t r_len); + + public: + static void Init(); + static bool getFirstTouchPoint(int16_t *x, int16_t *y); + static bool getPoint(int16_t *x, int16_t *y); +}; diff --git a/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp b/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp new file mode 100644 index 0000000000..cf9e569336 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp @@ -0,0 +1,189 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../platforms.h" + +#ifdef HAL_STM32 + +#include "../../../inc/MarlinConfig.h" + +#if HAS_FSMC_TFT + +#include "tft_fsmc.h" +#include "pinconfig.h" + +SRAM_HandleTypeDef TFT_FSMC::SRAMx; +DMA_HandleTypeDef TFT_FSMC::DMAtx; +LCD_CONTROLLER_TypeDef *TFT_FSMC::LCD; + +void TFT_FSMC::Init() { + uint32_t controllerAddress; + FSMC_NORSRAM_TimingTypeDef Timing, ExtTiming; + + uint32_t NSBank = (uint32_t)pinmap_peripheral(digitalPinToPinName(TFT_CS_PIN), PinMap_FSMC_CS); + + // Perform the SRAM1 memory initialization sequence + SRAMx.Instance = FSMC_NORSRAM_DEVICE; + SRAMx.Extended = FSMC_NORSRAM_EXTENDED_DEVICE; + // SRAMx.Init + SRAMx.Init.NSBank = NSBank; + SRAMx.Init.DataAddressMux = FSMC_DATA_ADDRESS_MUX_DISABLE; + SRAMx.Init.MemoryType = FSMC_MEMORY_TYPE_SRAM; + SRAMx.Init.MemoryDataWidth = TERN(TFT_INTERFACE_FSMC_8BIT, FSMC_NORSRAM_MEM_BUS_WIDTH_8, FSMC_NORSRAM_MEM_BUS_WIDTH_16); + SRAMx.Init.BurstAccessMode = FSMC_BURST_ACCESS_MODE_DISABLE; + SRAMx.Init.WaitSignalPolarity = FSMC_WAIT_SIGNAL_POLARITY_LOW; + SRAMx.Init.WrapMode = FSMC_WRAP_MODE_DISABLE; + SRAMx.Init.WaitSignalActive = FSMC_WAIT_TIMING_BEFORE_WS; + SRAMx.Init.WriteOperation = FSMC_WRITE_OPERATION_ENABLE; + SRAMx.Init.WaitSignal = FSMC_WAIT_SIGNAL_DISABLE; + SRAMx.Init.ExtendedMode = FSMC_EXTENDED_MODE_ENABLE; + SRAMx.Init.AsynchronousWait = FSMC_ASYNCHRONOUS_WAIT_DISABLE; + SRAMx.Init.WriteBurst = FSMC_WRITE_BURST_DISABLE; + #ifdef STM32F4xx + SRAMx.Init.PageSize = FSMC_PAGE_SIZE_NONE; + #endif + // Read Timing - relatively slow to ensure ID information is correctly read from TFT controller + // Can be decreases from 15-15-24 to 4-4-8 with risk of stability loss + Timing.AddressSetupTime = 15; + Timing.AddressHoldTime = 15; + Timing.DataSetupTime = 24; + Timing.BusTurnAroundDuration = 0; + Timing.CLKDivision = 16; + Timing.DataLatency = 17; + Timing.AccessMode = FSMC_ACCESS_MODE_A; + // Write Timing + // Can be decreases from 8-15-8 to 0-0-1 with risk of stability loss + ExtTiming.AddressSetupTime = 8; + ExtTiming.AddressHoldTime = 15; + ExtTiming.DataSetupTime = 8; + ExtTiming.BusTurnAroundDuration = 0; + ExtTiming.CLKDivision = 16; + ExtTiming.DataLatency = 17; + ExtTiming.AccessMode = FSMC_ACCESS_MODE_A; + + __HAL_RCC_FSMC_CLK_ENABLE(); + + for (uint16_t i = 0; PinMap_FSMC[i].pin != NC; i++) + pinmap_pinout(PinMap_FSMC[i].pin, PinMap_FSMC); + pinmap_pinout(digitalPinToPinName(TFT_CS_PIN), PinMap_FSMC_CS); + pinmap_pinout(digitalPinToPinName(TFT_RS_PIN), PinMap_FSMC_RS); + + controllerAddress = FSMC_BANK1_1; + #ifdef PF0 + switch (NSBank) { + case FSMC_NORSRAM_BANK2: controllerAddress = FSMC_BANK1_2 ; break; + case FSMC_NORSRAM_BANK3: controllerAddress = FSMC_BANK1_3 ; break; + case FSMC_NORSRAM_BANK4: controllerAddress = FSMC_BANK1_4 ; break; + } + #endif + + controllerAddress |= (uint32_t)pinmap_peripheral(digitalPinToPinName(TFT_RS_PIN), PinMap_FSMC_RS); + + HAL_SRAM_Init(&SRAMx, &Timing, &ExtTiming); + + __HAL_RCC_DMA2_CLK_ENABLE(); + + #ifdef STM32F1xx + DMAtx.Instance = DMA2_Channel1; + #elif defined(STM32F4xx) + DMAtx.Instance = DMA2_Stream0; + DMAtx.Init.Channel = DMA_CHANNEL_0; + DMAtx.Init.FIFOMode = DMA_FIFOMODE_ENABLE; + DMAtx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; + DMAtx.Init.MemBurst = DMA_MBURST_SINGLE; + DMAtx.Init.PeriphBurst = DMA_PBURST_SINGLE; + #endif + + DMAtx.Init.Direction = DMA_MEMORY_TO_MEMORY; + DMAtx.Init.MemInc = DMA_MINC_DISABLE; + DMAtx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD; + DMAtx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD; + DMAtx.Init.Mode = DMA_NORMAL; + DMAtx.Init.Priority = DMA_PRIORITY_HIGH; + + LCD = (LCD_CONTROLLER_TypeDef *)controllerAddress; +} + +uint32_t TFT_FSMC::GetID() { + uint32_t id; + WriteReg(0); + id = LCD->RAM; + + if (id == 0) + id = ReadID(LCD_READ_ID); + if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) + id = ReadID(LCD_READ_ID4); + return id; +} + +uint32_t TFT_FSMC::ReadID(tft_data_t Reg) { + uint32_t id; + WriteReg(Reg); + id = LCD->RAM; // dummy read + id = Reg << 24; + id |= (LCD->RAM & 0x00FF) << 16; + id |= (LCD->RAM & 0x00FF) << 8; + id |= LCD->RAM & 0x00FF; + return id; +} + +bool TFT_FSMC::isBusy() { + #ifdef STM32F1xx + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CCR & DMA_CCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->CPAR != 0) + #elif defined(STM32F4xx) + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CR & DMA_SxCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->PAR != 0) + #endif + + if (!__IS_DMA_CONFIGURED(&DMAtx)) return false; + + // Check if DMA transfer error or transfer complete flags are set + if ((__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) == 0) && (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0)) return true; + + __DSB(); + Abort(); + return false; +} + +void TFT_FSMC::Abort() { + HAL_DMA_Abort(&DMAtx); // Abort DMA transfer if any + HAL_DMA_DeInit(&DMAtx); // Deconfigure DMA +} + +void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + DMAtx.Init.PeriphInc = MemoryIncrease; + HAL_DMA_Init(&DMAtx); + HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(LCD->RAM), Count); +} + +void TFT_FSMC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + DMAtx.Init.PeriphInc = MemoryIncrease; + HAL_DMA_Init(&DMAtx); + DataTransferBegin(); + HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(LCD->RAM), Count); + HAL_DMA_PollForTransfer(&DMAtx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); + Abort(); +} + +#endif // HAS_FSMC_TFT +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/tft_fsmc.h b/Marlin/src/HAL/STM32/tft/tft_fsmc.h new file mode 100644 index 0000000000..41ff8c9a83 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/tft_fsmc.h @@ -0,0 +1,174 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../../inc/MarlinConfig.h" + +#ifdef STM32F1xx + #include "stm32f1xx_hal.h" +#elif defined(STM32F4xx) + #include "stm32f4xx_hal.h" +#else + #error "FSMC TFT is currently only supported on STM32F1 and STM32F4 hardware." +#endif + +#ifndef LCD_READ_ID + #define LCD_READ_ID 0x04 // Read display identification information (0xD3 on ILI9341) +#endif +#ifndef LCD_READ_ID4 + #define LCD_READ_ID4 0xD3 // Read display identification information (0xD3 on ILI9341) +#endif + +#define DATASIZE_8BIT SPI_DATASIZE_8BIT +#define DATASIZE_16BIT SPI_DATASIZE_16BIT +#define TFT_IO_DRIVER TFT_FSMC +#define DMA_MAX_SIZE 0xFFFF + +#define TFT_DATASIZE TERN(TFT_INTERFACE_FSMC_8BIT, DATASIZE_8BIT, DATASIZE_16BIT) +typedef TERN(TFT_INTERFACE_FSMC_8BIT, uint8_t, uint16_t) tft_data_t; + +typedef struct { + __IO tft_data_t REG; + __IO tft_data_t RAM; +} LCD_CONTROLLER_TypeDef; + +class TFT_FSMC { + private: + static SRAM_HandleTypeDef SRAMx; + static DMA_HandleTypeDef DMAtx; + + static LCD_CONTROLLER_TypeDef *LCD; + + static uint32_t ReadID(tft_data_t Reg); + static void Transmit(tft_data_t Data) { LCD->RAM = Data; __DSB(); } + static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + + public: + static void Init(); + static uint32_t GetID(); + static bool isBusy(); + static void Abort(); + + static void DataTransferBegin(uint16_t DataWidth = TFT_DATASIZE) {} + static void DataTransferEnd() {}; + + static void WriteData(uint16_t Data) { Transmit(tft_data_t(Data)); } + static void WriteReg(uint16_t Reg) { LCD->REG = tft_data_t(Reg); __DSB(); } + + static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); } + static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); } + + static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); } + static void WriteMultiple(uint16_t Color, uint32_t Count) { + while (Count > 0) { + Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count); + Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0; + } + } +}; + +#ifdef STM32F1xx + #define FSMC_PIN_DATA STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, AFIO_NONE) +#elif defined(STM32F4xx) + #define FSMC_PIN_DATA STM_PIN_DATA(STM_MODE_AF_PP, GPIO_NOPULL, GPIO_AF12_FSMC) + #define FSMC_BANK1_1 0x60000000U + #define FSMC_BANK1_2 0x64000000U + #define FSMC_BANK1_3 0x68000000U + #define FSMC_BANK1_4 0x6C000000U +#else + #error No configuration for this MCU +#endif + +const PinMap PinMap_FSMC[] = { + {PD_14, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D00 + {PD_15, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D01 + {PD_0, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D02 + {PD_1, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D03 + {PE_7, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D04 + {PE_8, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D05 + {PE_9, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D06 + {PE_10, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D07 + #if DISABLED(TFT_INTERFACE_FSMC_8BIT) + {PE_11, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D08 + {PE_12, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D09 + {PE_13, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D10 + {PE_14, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D11 + {PE_15, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D12 + {PD_8, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D13 + {PD_9, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D14 + {PD_10, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_D15 + #endif + {PD_4, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_NOE + {PD_5, FSMC_NORSRAM_DEVICE, FSMC_PIN_DATA}, // FSMC_NWE + {NC, NP, 0} +}; + +const PinMap PinMap_FSMC_CS[] = { + {PD_7, (void *)FSMC_NORSRAM_BANK1, FSMC_PIN_DATA}, // FSMC_NE1 + #ifdef PF0 + {PG_9, (void *)FSMC_NORSRAM_BANK2, FSMC_PIN_DATA}, // FSMC_NE2 + {PG_10, (void *)FSMC_NORSRAM_BANK3, FSMC_PIN_DATA}, // FSMC_NE3 + {PG_12, (void *)FSMC_NORSRAM_BANK4, FSMC_PIN_DATA}, // FSMC_NE4 + #endif + {NC, NP, 0} +}; + +#if ENABLED(TFT_INTERFACE_FSMC_8BIT) + #define FSMC_RS(A) (void *)((2 << (A-1)) - 1) +#else + #define FSMC_RS(A) (void *)((2 << A) - 2) +#endif + +const PinMap PinMap_FSMC_RS[] = { + #ifdef PF0 + {PF_0, FSMC_RS( 0), FSMC_PIN_DATA}, // FSMC_A0 + {PF_1, FSMC_RS( 1), FSMC_PIN_DATA}, // FSMC_A1 + {PF_2, FSMC_RS( 2), FSMC_PIN_DATA}, // FSMC_A2 + {PF_3, FSMC_RS( 3), FSMC_PIN_DATA}, // FSMC_A3 + {PF_4, FSMC_RS( 4), FSMC_PIN_DATA}, // FSMC_A4 + {PF_5, FSMC_RS( 5), FSMC_PIN_DATA}, // FSMC_A5 + {PF_12, FSMC_RS( 6), FSMC_PIN_DATA}, // FSMC_A6 + {PF_13, FSMC_RS( 7), FSMC_PIN_DATA}, // FSMC_A7 + {PF_14, FSMC_RS( 8), FSMC_PIN_DATA}, // FSMC_A8 + {PF_15, FSMC_RS( 9), FSMC_PIN_DATA}, // FSMC_A9 + {PG_0, FSMC_RS(10), FSMC_PIN_DATA}, // FSMC_A10 + {PG_1, FSMC_RS(11), FSMC_PIN_DATA}, // FSMC_A11 + {PG_2, FSMC_RS(12), FSMC_PIN_DATA}, // FSMC_A12 + {PG_3, FSMC_RS(13), FSMC_PIN_DATA}, // FSMC_A13 + {PG_4, FSMC_RS(14), FSMC_PIN_DATA}, // FSMC_A14 + {PG_5, FSMC_RS(15), FSMC_PIN_DATA}, // FSMC_A15 + #endif + {PD_11, FSMC_RS(16), FSMC_PIN_DATA}, // FSMC_A16 + {PD_12, FSMC_RS(17), FSMC_PIN_DATA}, // FSMC_A17 + {PD_13, FSMC_RS(18), FSMC_PIN_DATA}, // FSMC_A18 + {PE_3, FSMC_RS(19), FSMC_PIN_DATA}, // FSMC_A19 + {PE_4, FSMC_RS(20), FSMC_PIN_DATA}, // FSMC_A20 + {PE_5, FSMC_RS(21), FSMC_PIN_DATA}, // FSMC_A21 + {PE_6, FSMC_RS(22), FSMC_PIN_DATA}, // FSMC_A22 + {PE_2, FSMC_RS(23), FSMC_PIN_DATA}, // FSMC_A23 + #ifdef PF0 + {PG_13, FSMC_RS(24), FSMC_PIN_DATA}, // FSMC_A24 + {PG_14, FSMC_RS(25), FSMC_PIN_DATA}, // FSMC_A25 + #endif + {NC, NP, 0} +}; diff --git a/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp b/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp new file mode 100644 index 0000000000..2be900618f --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp @@ -0,0 +1,389 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../../platforms.h" + +#ifdef HAL_STM32 + +#include "../../../inc/MarlinConfig.h" + +#if HAS_LTDC_TFT + +#include "tft_ltdc.h" +#include "pinconfig.h" + +#define FRAME_BUFFER_ADDRESS 0XC0000000 // SDRAM address + +#define SDRAM_TIMEOUT ((uint32_t)0xFFFF) +#define REFRESH_COUNT ((uint32_t)0x02A5) // SDRAM refresh counter + +#define SDRAM_MODEREG_BURST_LENGTH_1 ((uint16_t)0x0000) +#define SDRAM_MODEREG_BURST_LENGTH_2 ((uint16_t)0x0001) +#define SDRAM_MODEREG_BURST_LENGTH_4 ((uint16_t)0x0002) +#define SDRAM_MODEREG_BURST_LENGTH_8 ((uint16_t)0x0004) +#define SDRAM_MODEREG_BURST_TYPE_SEQUENTIAL ((uint16_t)0x0000) +#define SDRAM_MODEREG_BURST_TYPE_INTERLEAVED ((uint16_t)0x0008) +#define SDRAM_MODEREG_CAS_LATENCY_2 ((uint16_t)0x0020) +#define SDRAM_MODEREG_CAS_LATENCY_3 ((uint16_t)0x0030) +#define SDRAM_MODEREG_OPERATING_MODE_STANDARD ((uint16_t)0x0000) +#define SDRAM_MODEREG_WRITEBURST_MODE_PROGRAMMED ((uint16_t)0x0000) +#define SDRAM_MODEREG_WRITEBURST_MODE_SINGLE ((uint16_t)0x0200) + +void SDRAM_Initialization_Sequence(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_CommandTypeDef *Command) { + + __IO uint32_t tmpmrd =0; + /* Step 1: Configure a clock configuration enable command */ + Command->CommandMode = FMC_SDRAM_CMD_CLK_ENABLE; + Command->CommandTarget = FMC_SDRAM_CMD_TARGET_BANK1; + Command->AutoRefreshNumber = 1; + Command->ModeRegisterDefinition = 0; + /* Send the command */ + HAL_SDRAM_SendCommand(hsdram, Command, SDRAM_TIMEOUT); + + /* Step 2: Insert 100 us minimum delay */ + /* Inserted delay is equal to 1 ms due to systick time base unit (ms) */ + HAL_Delay(1); + + /* Step 3: Configure a PALL (precharge all) command */ + Command->CommandMode = FMC_SDRAM_CMD_PALL; + Command->CommandTarget = FMC_SDRAM_CMD_TARGET_BANK1; + Command->AutoRefreshNumber = 1; + Command->ModeRegisterDefinition = 0; + /* Send the command */ + HAL_SDRAM_SendCommand(hsdram, Command, SDRAM_TIMEOUT); + + /* Step 4 : Configure a Auto-Refresh command */ + Command->CommandMode = FMC_SDRAM_CMD_AUTOREFRESH_MODE; + Command->CommandTarget = FMC_SDRAM_CMD_TARGET_BANK1; + Command->AutoRefreshNumber = 8; + Command->ModeRegisterDefinition = 0; + /* Send the command */ + HAL_SDRAM_SendCommand(hsdram, Command, SDRAM_TIMEOUT); + + /* Step 5: Program the external memory mode register */ + tmpmrd = (uint32_t)(SDRAM_MODEREG_BURST_LENGTH_1 | + SDRAM_MODEREG_BURST_TYPE_SEQUENTIAL | + SDRAM_MODEREG_CAS_LATENCY_2 | + SDRAM_MODEREG_OPERATING_MODE_STANDARD | + SDRAM_MODEREG_WRITEBURST_MODE_SINGLE); + + Command->CommandMode = FMC_SDRAM_CMD_LOAD_MODE; + Command->CommandTarget = FMC_SDRAM_CMD_TARGET_BANK1; + Command->AutoRefreshNumber = 1; + Command->ModeRegisterDefinition = tmpmrd; + /* Send the command */ + HAL_SDRAM_SendCommand(hsdram, Command, SDRAM_TIMEOUT); + + /* Step 6: Set the refresh rate counter */ + /* Set the device refresh rate */ + HAL_SDRAM_ProgramRefreshRate(hsdram, REFRESH_COUNT); +} + +void SDRAM_Config() { + + __HAL_RCC_SYSCFG_CLK_ENABLE(); + __HAL_RCC_FMC_CLK_ENABLE(); + + SDRAM_HandleTypeDef hsdram; + FMC_SDRAM_TimingTypeDef SDRAM_Timing; + FMC_SDRAM_CommandTypeDef command; + + /* Configure the SDRAM device */ + hsdram.Instance = FMC_SDRAM_DEVICE; + hsdram.Init.SDBank = FMC_SDRAM_BANK1; + hsdram.Init.ColumnBitsNumber = FMC_SDRAM_COLUMN_BITS_NUM_9; + hsdram.Init.RowBitsNumber = FMC_SDRAM_ROW_BITS_NUM_13; + hsdram.Init.MemoryDataWidth = FMC_SDRAM_MEM_BUS_WIDTH_16; + hsdram.Init.InternalBankNumber = FMC_SDRAM_INTERN_BANKS_NUM_4; + hsdram.Init.CASLatency = FMC_SDRAM_CAS_LATENCY_2; + hsdram.Init.WriteProtection = FMC_SDRAM_WRITE_PROTECTION_DISABLE; + hsdram.Init.SDClockPeriod = FMC_SDRAM_CLOCK_PERIOD_2; + hsdram.Init.ReadBurst = FMC_SDRAM_RBURST_ENABLE; + hsdram.Init.ReadPipeDelay = FMC_SDRAM_RPIPE_DELAY_0; + + /* Timing configuration for 100Mhz as SDRAM clock frequency (System clock is up to 200Mhz) */ + SDRAM_Timing.LoadToActiveDelay = 2; + SDRAM_Timing.ExitSelfRefreshDelay = 8; + SDRAM_Timing.SelfRefreshTime = 6; + SDRAM_Timing.RowCycleDelay = 6; + SDRAM_Timing.WriteRecoveryTime = 2; + SDRAM_Timing.RPDelay = 2; + SDRAM_Timing.RCDDelay = 2; + + /* Initialize the SDRAM controller */ + if (HAL_SDRAM_Init(&hsdram, &SDRAM_Timing) != HAL_OK) + { + /* Initialization Error */ + } + + /* Program the SDRAM external device */ + SDRAM_Initialization_Sequence(&hsdram, &command); +} + +void LTDC_Config() { + + __HAL_RCC_LTDC_CLK_ENABLE(); + __HAL_RCC_DMA2D_CLK_ENABLE(); + + RCC_PeriphCLKInitTypeDef PeriphClkInitStruct; + + /* The PLL3R is configured to provide the LTDC PCLK clock */ + /* PLL3_VCO Input = HSE_VALUE / PLL3M = 25Mhz / 5 = 5 Mhz */ + /* PLL3_VCO Output = PLL3_VCO Input * PLL3N = 5Mhz * 160 = 800 Mhz */ + /* PLLLCDCLK = PLL3_VCO Output/PLL3R = 800Mhz / 16 = 50Mhz */ + /* LTDC clock frequency = PLLLCDCLK = 50 Mhz */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_LTDC; + PeriphClkInitStruct.PLL3.PLL3M = 5; + PeriphClkInitStruct.PLL3.PLL3N = 160; + PeriphClkInitStruct.PLL3.PLL3FRACN = 0; + PeriphClkInitStruct.PLL3.PLL3P = 2; + PeriphClkInitStruct.PLL3.PLL3Q = 2; + PeriphClkInitStruct.PLL3.PLL3R = (800 / LTDC_LCD_CLK); + PeriphClkInitStruct.PLL3.PLL3VCOSEL = RCC_PLL3VCOWIDE; + PeriphClkInitStruct.PLL3.PLL3RGE = RCC_PLL3VCIRANGE_2; + HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct); + + LTDC_HandleTypeDef hltdc_F; + LTDC_LayerCfgTypeDef pLayerCfg; + + /* LTDC Initialization -------------------------------------------------------*/ + + /* Polarity configuration */ + /* Initialize the horizontal synchronization polarity as active low */ + hltdc_F.Init.HSPolarity = LTDC_HSPOLARITY_AL; + /* Initialize the vertical synchronization polarity as active low */ + hltdc_F.Init.VSPolarity = LTDC_VSPOLARITY_AL; + /* Initialize the data enable polarity as active low */ + hltdc_F.Init.DEPolarity = LTDC_DEPOLARITY_AL; + /* Initialize the pixel clock polarity as input pixel clock */ + hltdc_F.Init.PCPolarity = LTDC_PCPOLARITY_IPC; + + /* Timing configuration */ + hltdc_F.Init.HorizontalSync = (LTDC_LCD_HSYNC - 1); + hltdc_F.Init.VerticalSync = (LTDC_LCD_VSYNC - 1); + hltdc_F.Init.AccumulatedHBP = (LTDC_LCD_HSYNC + LTDC_LCD_HBP - 1); + hltdc_F.Init.AccumulatedVBP = (LTDC_LCD_VSYNC + LTDC_LCD_VBP - 1); + hltdc_F.Init.AccumulatedActiveH = (TFT_HEIGHT + LTDC_LCD_VSYNC + LTDC_LCD_VBP - 1); + hltdc_F.Init.AccumulatedActiveW = (TFT_WIDTH + LTDC_LCD_HSYNC + LTDC_LCD_HBP - 1); + hltdc_F.Init.TotalHeigh = (TFT_HEIGHT + LTDC_LCD_VSYNC + LTDC_LCD_VBP + LTDC_LCD_VFP - 1); + hltdc_F.Init.TotalWidth = (TFT_WIDTH + LTDC_LCD_HSYNC + LTDC_LCD_HBP + LTDC_LCD_HFP - 1); + + /* Configure R,G,B component values for LCD background color : all black background */ + hltdc_F.Init.Backcolor.Blue = 0; + hltdc_F.Init.Backcolor.Green = 0; + hltdc_F.Init.Backcolor.Red = 0; + + hltdc_F.Instance = LTDC; + + /* Layer0 Configuration ------------------------------------------------------*/ + + /* Windowing configuration */ + pLayerCfg.WindowX0 = 0; + pLayerCfg.WindowX1 = TFT_WIDTH; + pLayerCfg.WindowY0 = 0; + pLayerCfg.WindowY1 = TFT_HEIGHT; + + /* Pixel Format configuration*/ + pLayerCfg.PixelFormat = LTDC_PIXEL_FORMAT_RGB565; + + /* Start Address configuration : frame buffer is located at SDRAM memory */ + pLayerCfg.FBStartAdress = (uint32_t)(FRAME_BUFFER_ADDRESS); + + /* Alpha constant (255 == totally opaque) */ + pLayerCfg.Alpha = 255; + + /* Default Color configuration (configure A,R,G,B component values) : no background color */ + pLayerCfg.Alpha0 = 0; /* fully transparent */ + pLayerCfg.Backcolor.Blue = 0; + pLayerCfg.Backcolor.Green = 0; + pLayerCfg.Backcolor.Red = 0; + + /* Configure blending factors */ + pLayerCfg.BlendingFactor1 = LTDC_BLENDING_FACTOR1_CA; + pLayerCfg.BlendingFactor2 = LTDC_BLENDING_FACTOR2_CA; + + /* Configure the number of lines and number of pixels per line */ + pLayerCfg.ImageWidth = TFT_WIDTH; + pLayerCfg.ImageHeight = TFT_HEIGHT; + + /* Configure the LTDC */ + if (HAL_LTDC_Init(&hltdc_F) != HAL_OK) + { + /* Initialization Error */ + } + + /* Configure the Layer*/ + if (HAL_LTDC_ConfigLayer(&hltdc_F, &pLayerCfg, 0) != HAL_OK) + { + /* Initialization Error */ + } +} + +uint16_t TFT_LTDC::x_min = 0; +uint16_t TFT_LTDC::x_max = 0; +uint16_t TFT_LTDC::y_min = 0; +uint16_t TFT_LTDC::y_max = 0; +uint16_t TFT_LTDC::x_cur = 0; +uint16_t TFT_LTDC::y_cur = 0; +uint8_t TFT_LTDC::reg = 0; +volatile uint16_t* TFT_LTDC::framebuffer = (volatile uint16_t* )FRAME_BUFFER_ADDRESS; + +void TFT_LTDC::Init() { + + // SDRAM pins init + for (uint16_t i = 0; PinMap_SDRAM[i].pin != NC; i++) + pinmap_pinout(PinMap_SDRAM[i].pin, PinMap_SDRAM); + + // SDRAM peripheral config + SDRAM_Config(); + + // LTDC pins init + for (uint16_t i = 0; PinMap_LTDC[i].pin != NC; i++) + pinmap_pinout(PinMap_LTDC[i].pin, PinMap_LTDC); + + // LTDC peripheral config + LTDC_Config(); +} + +uint32_t TFT_LTDC::GetID() { + return 0xABAB; +} + +uint32_t TFT_LTDC::ReadID(tft_data_t Reg) { + return 0xABAB; +} + +bool TFT_LTDC::isBusy() { + return false; +} + +uint16_t TFT_LTDC::ReadPoint(uint16_t x, uint16_t y) { + return framebuffer[(TFT_WIDTH * y) + x]; +} + +void TFT_LTDC::DrawPoint(uint16_t x, uint16_t y, uint16_t color) { + framebuffer[(TFT_WIDTH * y) + x] = color; +} + +void TFT_LTDC::DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color) { + + if (sx == ex || sy == ey) return; + + uint16_t offline = TFT_WIDTH - (ex - sx); + uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx]; + + CBI(DMA2D->CR, 0); + DMA2D->CR = 3 << 16; + DMA2D->OPFCCR = 0X02; + DMA2D->OOR = offline; + DMA2D->OMAR = addr; + DMA2D->NLR = (ey - sy) | ((ex - sx) << 16); + DMA2D->OCOLR = color; + SBI(DMA2D->CR, 0); + + uint32_t timeout = 0; + while (!TEST(DMA2D->ISR, 1)) { + timeout++; + if (timeout > 0x1FFFFF) break; + } + SBI(DMA2D->IFCR, 1); +} + +void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors) { + + if (sx == ex || sy == ey) return; + + uint16_t offline = TFT_WIDTH - (ex - sx); + uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx]; + + CBI(DMA2D->CR, 0); + DMA2D->CR = 0 << 16; + DMA2D->FGPFCCR = 0X02; + DMA2D->FGOR = 0; + DMA2D->OOR = offline; + DMA2D->FGMAR = (uint32_t)colors; + DMA2D->OMAR = addr; + DMA2D->NLR = (ey - sy) | ((ex - sx) << 16); + SBI(DMA2D->CR, 0); + + uint32_t timeout = 0; + while (!TEST(DMA2D->ISR, 1)) { + timeout++; + if (timeout > 0x1FFFFF) break; + } + SBI(DMA2D->IFCR, 1); +} + +void TFT_LTDC::WriteData(uint16_t data) { + switch (reg) { + case 0x01: x_cur = x_min = data; return; + case 0x02: x_max = data; return; + case 0x03: y_cur = y_min = data; return; + case 0x04: y_max = data; return; + } + Transmit(data); +} + +void TFT_LTDC::Transmit(tft_data_t Data) { + DrawPoint(x_cur, y_cur, Data); + x_cur++; + if (x_cur > x_max) { + x_cur = x_min; + y_cur++; + if (y_cur > y_max) y_cur = y_min; + } +} + +void TFT_LTDC::WriteReg(uint16_t Reg) { + reg = Reg; +} + +void TFT_LTDC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + + while (x_cur != x_min && Count) { + Transmit(*Data); + if (MemoryIncrease == DMA_PINC_ENABLE) Data++; + Count--; + } + + uint16_t width = x_max - x_min + 1; + uint16_t height = Count / width; + uint16_t x_end_cnt = Count - (width * height); + + if (height) { + if (MemoryIncrease == DMA_PINC_ENABLE) { + DrawImage(x_min, y_cur, x_min + width, y_cur + height, Data); + Data += width * height; + } + else + DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data); + y_cur += height; + } + + while (x_end_cnt) { + Transmit(*Data); + if (MemoryIncrease == DMA_PINC_ENABLE) Data++; + x_end_cnt--; + } +} + +#endif // HAS_LTDC_TFT +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/tft_ltdc.h b/Marlin/src/HAL/STM32/tft/tft_ltdc.h new file mode 100644 index 0000000000..8d83839bb3 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/tft_ltdc.h @@ -0,0 +1,158 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../../inc/MarlinConfig.h" + +#ifdef STM32H7xx + #include "stm32h7xx_hal.h" +#else + #error "LTDC TFT is currently only supported on STM32H7 hardware." +#endif + +#define DATASIZE_8BIT SPI_DATASIZE_8BIT +#define DATASIZE_16BIT SPI_DATASIZE_16BIT +#define TFT_IO_DRIVER TFT_LTDC +#define DMA_MAX_SIZE 0xFFFF + +#define TFT_DATASIZE DATASIZE_16BIT +typedef uint16_t tft_data_t; + +class TFT_LTDC { + private: + static volatile uint16_t *framebuffer; + static uint16_t x_min, x_max, y_min, y_max, x_cur, y_cur; + static uint8_t reg; + + static uint32_t ReadID(tft_data_t Reg); + + static uint16_t ReadPoint(uint16_t x, uint16_t y); + static void DrawPoint(uint16_t x, uint16_t y, uint16_t color); + static void DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t color); + static void DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors); + static void Transmit(tft_data_t Data); + static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + + public: + static void Init(); + static uint32_t GetID(); + static bool isBusy(); + static void Abort() { /*__HAL_DMA_DISABLE(&DMAtx);*/ } + + static void DataTransferBegin(uint16_t DataWidth = TFT_DATASIZE) {} + static void DataTransferEnd() {}; + + static void WriteData(uint16_t Data); + static void WriteReg(uint16_t Reg); + + // Non-blocking DMA data transfer is not implemented for LTDC interface + inline static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { WriteSequence(Data, Count); } + inline static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { WriteMultiple(Color, Count); } + + static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); } + static void WriteMultiple(uint16_t Color, uint32_t Count) { + while (Count > 0) { + Transmit(DMA_PINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count); + Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0; + } + } +}; + +const PinMap PinMap_LTDC[] = { + {PF_10, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_DE + {PG_7, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_CLK + {PI_9, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_VSYNC + {PI_10, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_HSYNC + + {PG_6, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_R7 + {PH_12, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_R6 + {PH_11, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_R5 + {PH_10, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_R4 + {PH_9, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_R3 + + {PI_2, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_G7 + {PI_1, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_G6 + {PI_0, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_G5 + {PH_15, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_G4 + {PH_14, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_G3 + {PH_13, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_G2 + + {PI_7, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_B7 + {PI_6, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_B6 + {PI_5, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_B5 + {PI_4, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_B4 + {PG_11, LTDC, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF14_LTDC)}, // LCD_B3 + {NC, NP, 0} +}; + +const PinMap PinMap_SDRAM[] = { + {PC_0, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDNWE + {PC_2, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDNE0 + {PC_3, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDCKE0 + {PE_0, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_NBL0 + {PE_1, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_NBL1 + {PF_11, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDNRAS + {PG_8, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDCLK + {PG_15, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_SDNCAS + {PG_4, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_BA0 + {PG_5, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_BA1 + {PD_14, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D0 + {PD_15, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D1 + {PD_0, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D2 + {PD_1, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D3 + {PE_7, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D4 + {PE_8, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D5 + {PE_9, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D6 + {PE_10, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D7 + {PE_11, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D8 + {PE_12, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D9 + {PE_13, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D10 + {PE_14, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D11 + {PE_15, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D12 + {PD_8, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D13 + {PD_9, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D14 + {PD_10, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_D15 + {PF_0, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A0 + {PF_1, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A1 + {PF_2, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A2 + {PF_3, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A3 + {PF_4, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A4 + {PF_5, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A5 + {PF_12, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A6 + {PF_13, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A7 + {PF_14, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A8 + {PF_15, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A9 + {PG_0, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A10 + {PG_1, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A11 + {PG_2, FMC_Bank1_R, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF12_FMC)}, // FMC_A12 + {NC, NP, 0} +}; + +const PinMap PinMap_QUADSPI[] = { + {PB_2, QUADSPI, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_QUADSPI)}, // QUADSPI_CLK + {PB_10, QUADSPI, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_QUADSPI)}, // QUADSPI_BK1_NCS + {PF_6, QUADSPI, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_QUADSPI)}, // QUADSPI_BK1_IO3 + {PF_7, QUADSPI, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF9_QUADSPI)}, // QUADSPI_BK1_IO2 + {PF_8, QUADSPI, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF10_QUADSPI)}, // QUADSPI_BK1_IO0 + {PF_9, QUADSPI, STM_PIN_DATA(STM_MODE_AF_PP, GPIO_PULLUP, GPIO_AF10_QUADSPI)}, // QUADSPI_BK1_IO1 + {NC, NP, 0} +}; diff --git a/Marlin/src/HAL/STM32/tft/tft_spi.cpp b/Marlin/src/HAL/STM32/tft/tft_spi.cpp new file mode 100644 index 0000000000..5e79f156d2 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/tft_spi.cpp @@ -0,0 +1,290 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../platforms.h" + +#ifdef HAL_STM32 + +#include "../../../inc/MarlinConfig.h" + +#if HAS_SPI_TFT + +#include "tft_spi.h" +#include "pinconfig.h" + +SPI_HandleTypeDef TFT_SPI::SPIx; +DMA_HandleTypeDef TFT_SPI::DMAtx; + +void TFT_SPI::Init() { + SPI_TypeDef *spiInstance; + + OUT_WRITE(TFT_A0_PIN, HIGH); + OUT_WRITE(TFT_CS_PIN, HIGH); + + if ((spiInstance = (SPI_TypeDef *)pinmap_peripheral(digitalPinToPinName(TFT_SCK_PIN), PinMap_SPI_SCLK)) == NP) return; + if (spiInstance != (SPI_TypeDef *)pinmap_peripheral(digitalPinToPinName(TFT_MOSI_PIN), PinMap_SPI_MOSI)) return; + + #if PIN_EXISTS(TFT_MISO) && TFT_MISO_PIN != TFT_MOSI_PIN + if (spiInstance != (SPI_TypeDef *)pinmap_peripheral(digitalPinToPinName(TFT_MISO_PIN), PinMap_SPI_MISO)) return; + #endif + + SPIx.Instance = spiInstance; + SPIx.State = HAL_SPI_STATE_RESET; + SPIx.Init.NSS = SPI_NSS_SOFT; + SPIx.Init.Mode = SPI_MODE_MASTER; + SPIx.Init.Direction = (TFT_MISO_PIN == TFT_MOSI_PIN) ? SPI_DIRECTION_1LINE : SPI_DIRECTION_2LINES; + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; + SPIx.Init.CLKPhase = SPI_PHASE_1EDGE; + SPIx.Init.CLKPolarity = SPI_POLARITY_LOW; + SPIx.Init.DataSize = SPI_DATASIZE_8BIT; + SPIx.Init.FirstBit = SPI_FIRSTBIT_MSB; + SPIx.Init.TIMode = SPI_TIMODE_DISABLE; + SPIx.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + SPIx.Init.CRCPolynomial = 10; + + pinmap_pinout(digitalPinToPinName(TFT_SCK_PIN), PinMap_SPI_SCLK); + pinmap_pinout(digitalPinToPinName(TFT_MOSI_PIN), PinMap_SPI_MOSI); + #if PIN_EXISTS(TFT_MISO) && TFT_MISO_PIN != TFT_MOSI_PIN + pinmap_pinout(digitalPinToPinName(TFT_MISO_PIN), PinMap_SPI_MISO); + #endif + pin_PullConfig(get_GPIO_Port(STM_PORT(digitalPinToPinName(TFT_SCK_PIN))), STM_LL_GPIO_PIN(digitalPinToPinName(TFT_SCK_PIN)), GPIO_PULLDOWN); + + #ifdef SPI1_BASE + if (SPIx.Instance == SPI1) { + __HAL_RCC_SPI1_CLK_ENABLE(); + #ifdef STM32F1xx + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Channel3; + #elif defined(STM32F4xx) + __HAL_RCC_DMA2_CLK_ENABLE(); + DMAtx.Instance = DMA2_Stream3; + DMAtx.Init.Channel = DMA_CHANNEL_3; + #endif + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; + } + #endif + #ifdef SPI2_BASE + if (SPIx.Instance == SPI2) { + __HAL_RCC_SPI2_CLK_ENABLE(); + #ifdef STM32F1xx + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Channel5; + #elif defined(STM32F4xx) + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Stream4; + DMAtx.Init.Channel = DMA_CHANNEL_0; + #endif + } + #endif + #ifdef SPI3_BASE + if (SPIx.Instance == SPI3) { + __HAL_RCC_SPI3_CLK_ENABLE(); + #ifdef STM32F1xx + __HAL_RCC_DMA2_CLK_ENABLE(); + DMAtx.Instance = DMA2_Channel2; + #elif defined(STM32F4xx) + __HAL_RCC_DMA1_CLK_ENABLE(); + DMAtx.Instance = DMA1_Stream5; + DMAtx.Init.Channel = DMA_CHANNEL_0; + #endif + } + #endif + + HAL_SPI_Init(&SPIx); + + DMAtx.Init.Direction = DMA_MEMORY_TO_PERIPH; + DMAtx.Init.PeriphInc = DMA_PINC_DISABLE; + DMAtx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD; + DMAtx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD; + DMAtx.Init.Mode = DMA_NORMAL; + DMAtx.Init.Priority = DMA_PRIORITY_LOW; + #ifdef STM32F4xx + DMAtx.Init.FIFOMode = DMA_FIFOMODE_DISABLE; + #endif +} + +void TFT_SPI::DataTransferBegin(uint16_t DataSize) { + SPIx.Init.DataSize = DataSize == DATASIZE_8BIT ? SPI_DATASIZE_8BIT : SPI_DATASIZE_16BIT; + HAL_SPI_Init(&SPIx); + WRITE(TFT_CS_PIN, LOW); +} + +#ifdef TFT_DEFAULT_DRIVER + #include "../../../lcd/tft_io/tft_ids.h" +#endif + +uint32_t TFT_SPI::GetID() { + uint32_t id; + id = ReadID(LCD_READ_ID); + if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) { + id = ReadID(LCD_READ_ID4); + #ifdef TFT_DEFAULT_DRIVER + if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) + id = TFT_DEFAULT_DRIVER; + #endif + } + return id; +} + +uint32_t TFT_SPI::ReadID(uint16_t Reg) { + uint32_t Data = 0; + #if PIN_EXISTS(TFT_MISO) + uint32_t BaudRatePrescaler = SPIx.Init.BaudRatePrescaler; + uint32_t i; + + SPIx.Init.BaudRatePrescaler = SPIx.Instance == SPI1 ? SPI_BAUDRATEPRESCALER_8 : SPI_BAUDRATEPRESCALER_4; + DataTransferBegin(DATASIZE_8BIT); + WriteReg(Reg); + + if (SPIx.Init.Direction == SPI_DIRECTION_1LINE) SPI_1LINE_RX(&SPIx); + __HAL_SPI_ENABLE(&SPIx); + + for (i = 0; i < 4; i++) { + #if TFT_MISO_PIN != TFT_MOSI_PIN + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {} + SPIx.Instance->DR = 0; + #endif + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_RXNE)) {} + Data = (Data << 8) | SPIx.Instance->DR; + } + + DataTransferEnd(); + + SPIx.Init.BaudRatePrescaler = BaudRatePrescaler; + #endif + + return Data >> 7; +} + +bool TFT_SPI::isBusy() { + #ifdef STM32F1xx + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CCR & DMA_CCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->CPAR != 0) + #elif defined(STM32F4xx) + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CR & DMA_SxCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->PAR != 0) + #endif + + if (!__IS_DMA_CONFIGURED(&DMAtx)) return false; + + if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx))) { + // You should not be here - DMA transfer error flag is set + // Abort DMA transfer and release SPI + } + else { + // Check if DMA transfer completed flag is set + if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) == 0) return true; + // Check if SPI transmit butter is empty and SPI is idle + if ((!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) || (__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY))) return true; + } + + Abort(); + return false; +} + +void TFT_SPI::Abort() { + HAL_DMA_Abort(&DMAtx); // Abort DMA transfer if any + HAL_DMA_DeInit(&DMAtx); + + CLEAR_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); + + DataTransferEnd(); // Stop SPI and deselect CS +} + +void TFT_SPI::Transmit(uint16_t Data) { + #if TFT_MISO_PIN == TFT_MOSI_PIN + SPI_1LINE_TX(&SPIx); + #endif + + __HAL_SPI_ENABLE(&SPIx); + + SPIx.Instance->DR = Data; + + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {} + while ( __HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_BSY)) {} + + #if TFT_MISO_PIN != TFT_MOSI_PIN + __HAL_SPI_CLEAR_OVRFLAG(&SPIx); // Clear overrun flag in 2 Lines communication mode because received data is not read + #endif +} + +void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + DMAtx.Init.MemInc = MemoryIncrease; + HAL_DMA_Init(&DMAtx); + + #if TFT_MISO_PIN == TFT_MOSI_PIN + SPI_1LINE_TX(&SPIx); + #endif + + DataTransferBegin(); + + HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count); + __HAL_SPI_ENABLE(&SPIx); + + SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); // Enable Tx DMA Request + + TERN_(TFT_SHARED_SPI, while (isBusy())); +} + + +void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + DMAtx.Init.MemInc = MemoryIncrease; + HAL_DMA_Init(&DMAtx); + + if (TFT_MISO_PIN == TFT_MOSI_PIN) + SPI_1LINE_TX(&SPIx); + + DataTransferBegin(); + + HAL_DMA_Start(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count); + __HAL_SPI_ENABLE(&SPIx); + + SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); // Enable Tx DMA Request + + HAL_DMA_PollForTransfer(&DMAtx, HAL_DMA_FULL_TRANSFER, HAL_MAX_DELAY); + Abort(); +} + +#if ENABLED(USE_SPI_DMA_TC) + void TFT_SPI::TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + + DMAtx.Init.MemInc = MemoryIncrease; + HAL_DMA_Init(&DMAtx); + + if (TFT_MISO_PIN == TFT_MOSI_PIN) + SPI_1LINE_TX(&SPIx); + + DataTransferBegin(); + + HAL_NVIC_SetPriority(DMA2_Stream3_IRQn, 5, 0); + HAL_NVIC_EnableIRQ(DMA2_Stream3_IRQn); + HAL_DMA_Start_IT(&DMAtx, (uint32_t)Data, (uint32_t)&(SPIx.Instance->DR), Count); + __HAL_SPI_ENABLE(&SPIx); + + SET_BIT(SPIx.Instance->CR2, SPI_CR2_TXDMAEN); // Enable Tx DMA Request + } + + extern "C" void DMA2_Stream3_IRQHandler(void) { TFT_SPI::DMA_IRQHandler(); } +#endif + +#endif // HAS_SPI_TFT +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/tft_spi.h b/Marlin/src/HAL/STM32/tft/tft_spi.h new file mode 100644 index 0000000000..6b8613e3f8 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/tft_spi.h @@ -0,0 +1,85 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifdef STM32F1xx + #include "stm32f1xx_hal.h" +#elif defined(STM32F4xx) + #include "stm32f4xx_hal.h" +#else + #error SPI TFT is currently only supported on STM32F1 and STM32F4 hardware. +#endif + +#ifndef LCD_READ_ID + #define LCD_READ_ID 0x04 // Read display identification information (0xD3 on ILI9341) +#endif +#ifndef LCD_READ_ID4 + #define LCD_READ_ID4 0xD3 // Read display identification information (0xD3 on ILI9341) +#endif + +#define DATASIZE_8BIT SPI_DATASIZE_8BIT +#define DATASIZE_16BIT SPI_DATASIZE_16BIT +#define TFT_IO_DRIVER TFT_SPI +#define DMA_MAX_SIZE 0xFFFF + +class TFT_SPI { +private: + static SPI_HandleTypeDef SPIx; + static DMA_HandleTypeDef DMAtx; + + static uint32_t ReadID(uint16_t Reg); + static void Transmit(uint16_t Data); + static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + #if ENABLED(USE_SPI_DMA_TC) + static void TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + #endif + +public: + static void Init(); + static uint32_t GetID(); + static bool isBusy(); + static void Abort(); + + static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT); + static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); __HAL_SPI_DISABLE(&SPIx); }; + static void DataTransferAbort(); + + static void WriteData(uint16_t Data) { Transmit(Data); } + static void WriteReg(uint16_t Reg) { WRITE(TFT_A0_PIN, LOW); Transmit(Reg); WRITE(TFT_A0_PIN, HIGH); } + + static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } + static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } + + #if ENABLED(USE_SPI_DMA_TC) + static void WriteSequenceIT(uint16_t *Data, uint16_t Count) { TransmitDMA_IT(DMA_MINC_ENABLE, Data, Count); } + inline static void DMA_IRQHandler() { HAL_DMA_IRQHandler(&TFT_SPI::DMAtx); } + #endif + + static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); } + static void WriteMultiple(uint16_t Color, uint32_t Count) { + while (Count > 0) { + Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count); + Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0; + } + } +}; diff --git a/Marlin/src/HAL/STM32/tft/xpt2046.cpp b/Marlin/src/HAL/STM32/tft/xpt2046.cpp new file mode 100644 index 0000000000..cf4a8f18e9 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/xpt2046.cpp @@ -0,0 +1,173 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../platforms.h" + +#ifdef HAL_STM32 + +#include "../../../inc/MarlinConfig.h" + +#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS + +#include "xpt2046.h" +#include "pinconfig.h" + +uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; } + +SPI_HandleTypeDef XPT2046::SPIx; + +void XPT2046::Init() { + SPI_TypeDef *spiInstance; + + OUT_WRITE(TOUCH_CS_PIN, HIGH); + + #if PIN_EXISTS(TOUCH_INT) + // Optional Pendrive interrupt pin + SET_INPUT(TOUCH_INT_PIN); + #endif + + spiInstance = (SPI_TypeDef *)pinmap_peripheral(digitalPinToPinName(TOUCH_SCK_PIN), PinMap_SPI_SCLK); + if (spiInstance != (SPI_TypeDef *)pinmap_peripheral(digitalPinToPinName(TOUCH_MOSI_PIN), PinMap_SPI_MOSI)) spiInstance = NP; + if (spiInstance != (SPI_TypeDef *)pinmap_peripheral(digitalPinToPinName(TOUCH_MISO_PIN), PinMap_SPI_MISO)) spiInstance = NP; + + SPIx.Instance = spiInstance; + + if (SPIx.Instance) { + SPIx.State = HAL_SPI_STATE_RESET; + SPIx.Init.NSS = SPI_NSS_SOFT; + SPIx.Init.Mode = SPI_MODE_MASTER; + SPIx.Init.Direction = SPI_DIRECTION_2LINES; + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; + SPIx.Init.CLKPhase = SPI_PHASE_2EDGE; + SPIx.Init.CLKPolarity = SPI_POLARITY_HIGH; + SPIx.Init.DataSize = SPI_DATASIZE_8BIT; + SPIx.Init.FirstBit = SPI_FIRSTBIT_MSB; + SPIx.Init.TIMode = SPI_TIMODE_DISABLE; + SPIx.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + SPIx.Init.CRCPolynomial = 10; + + pinmap_pinout(digitalPinToPinName(TOUCH_SCK_PIN), PinMap_SPI_SCLK); + pinmap_pinout(digitalPinToPinName(TOUCH_MOSI_PIN), PinMap_SPI_MOSI); + pinmap_pinout(digitalPinToPinName(TOUCH_MISO_PIN), PinMap_SPI_MISO); + + #ifdef SPI1_BASE + if (SPIx.Instance == SPI1) { + __HAL_RCC_SPI1_CLK_ENABLE(); + SPIx.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; + } + #endif + #ifdef SPI2_BASE + if (SPIx.Instance == SPI2) { + __HAL_RCC_SPI2_CLK_ENABLE(); + } + #endif + #ifdef SPI3_BASE + if (SPIx.Instance == SPI3) { + __HAL_RCC_SPI3_CLK_ENABLE(); + } + #endif + } + else { + SPIx.Instance = nullptr; + SET_INPUT(TOUCH_MISO_PIN); + SET_OUTPUT(TOUCH_MOSI_PIN); + SET_OUTPUT(TOUCH_SCK_PIN); + } + + getRawData(XPT2046_Z1); +} + +bool XPT2046::isTouched() { + return isBusy() ? false : ( + #if PIN_EXISTS(TOUCH_INT) + READ(TOUCH_INT_PIN) != HIGH + #else + getRawData(XPT2046_Z1) >= XPT2046_Z1_THRESHOLD + #endif + ); +} + +bool XPT2046::getRawPoint(int16_t *x, int16_t *y) { + if (isBusy()) return false; + if (!isTouched()) return false; + *x = getRawData(XPT2046_X); + *y = getRawData(XPT2046_Y); + return isTouched(); +} + +uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { + uint16_t data[3]; + + DataTransferBegin(); + + for (uint16_t i = 0; i < 3 ; i++) { + IO(coordinate); + data[i] = (IO() << 4) | (IO() >> 4); + } + + DataTransferEnd(); + + uint16_t delta01 = delta(data[0], data[1]); + uint16_t delta02 = delta(data[0], data[2]); + uint16_t delta12 = delta(data[1], data[2]); + + if (delta01 > delta02 || delta01 > delta12) { + if (delta02 > delta12) + data[0] = data[2]; + else + data[1] = data[2]; + } + + return (data[0] + data[1]) >> 1; +} + +uint16_t XPT2046::HardwareIO(uint16_t data) { + __HAL_SPI_ENABLE(&SPIx); + while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {} + SPIx.Instance->DR = data; + while ((SPIx.Instance->SR & SPI_FLAG_RXNE) != SPI_FLAG_RXNE) {} + __HAL_SPI_DISABLE(&SPIx); + + return SPIx.Instance->DR; +} + +uint16_t XPT2046::SoftwareIO(uint16_t data) { + uint16_t result = 0; + + for (uint8_t j = 0x80; j > 0; j >>= 1) { + WRITE(TOUCH_SCK_PIN, LOW); + __DSB(); + WRITE(TOUCH_MOSI_PIN, data & j ? HIGH : LOW); + __DSB(); + if (READ(TOUCH_MISO_PIN)) result |= j; + __DSB(); + WRITE(TOUCH_SCK_PIN, HIGH); + __DSB(); + } + WRITE(TOUCH_SCK_PIN, LOW); + __DSB(); + + return result; +} + +#endif // HAS_TFT_XPT2046 +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/xpt2046.h b/Marlin/src/HAL/STM32/tft/xpt2046.h new file mode 100644 index 0000000000..71de6b0025 --- /dev/null +++ b/Marlin/src/HAL/STM32/tft/xpt2046.h @@ -0,0 +1,81 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifdef STM32F1xx + #include +#elif defined(STM32F4xx) + #include +#endif + +#include "../../../inc/MarlinConfig.h" + +// Not using regular SPI interface by default to avoid SPI mode conflicts with other SPI devices + +#if !PIN_EXISTS(TOUCH_MISO) + #error "TOUCH_MISO_PIN is not defined." +#elif !PIN_EXISTS(TOUCH_MOSI) + #error "TOUCH_MOSI_PIN is not defined." +#elif !PIN_EXISTS(TOUCH_SCK) + #error "TOUCH_SCK_PIN is not defined." +#elif !PIN_EXISTS(TOUCH_CS) + #error "TOUCH_CS_PIN is not defined." +#endif + +#ifndef TOUCH_INT_PIN + #define TOUCH_INT_PIN -1 +#endif + +#define XPT2046_DFR_MODE 0x00 +#define XPT2046_SER_MODE 0x04 +#define XPT2046_CONTROL 0x80 + +enum XPTCoordinate : uint8_t { + XPT2046_X = 0x10 | XPT2046_CONTROL | XPT2046_DFR_MODE, + XPT2046_Y = 0x50 | XPT2046_CONTROL | XPT2046_DFR_MODE, + XPT2046_Z1 = 0x30 | XPT2046_CONTROL | XPT2046_DFR_MODE, + XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE, +}; + +#ifndef XPT2046_Z1_THRESHOLD + #define XPT2046_Z1_THRESHOLD 10 +#endif + +class XPT2046 { +private: + static SPI_HandleTypeDef SPIx; + + static bool isBusy() { return false; } + + static uint16_t getRawData(const XPTCoordinate coordinate); + static bool isTouched(); + + static void DataTransferBegin() { if (SPIx.Instance) { HAL_SPI_Init(&SPIx); } WRITE(TOUCH_CS_PIN, LOW); }; + static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + static uint16_t HardwareIO(uint16_t data); + static uint16_t SoftwareIO(uint16_t data); + static uint16_t IO(uint16_t data = 0) { return SPIx.Instance ? HardwareIO(data) : SoftwareIO(data); } + +public: + static void Init(); + static bool getRawPoint(int16_t *x, int16_t *y); +}; diff --git a/Marlin/src/HAL/STM32/timers.cpp b/Marlin/src/HAL/STM32/timers.cpp new file mode 100644 index 0000000000..e68b59c46f --- /dev/null +++ b/Marlin/src/HAL/STM32/timers.cpp @@ -0,0 +1,330 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +// ------------------------ +// Local defines +// ------------------------ + +// Default timer priorities. Override by specifying alternate priorities in the board pins file. +// The TONE timer is not present here, as it currently cannot be set programmatically. It is set +// by defining TIM_IRQ_PRIO in the variant.h or platformio.ini file, which adjusts the default +// priority for STM32 HardwareTimer objects. +#define SWSERIAL_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight bit timing to communicate reliably with TMC drivers +#define SERVO_TIMER_IRQ_PRIO_DEFAULT 1 // Requires tight PWM timing to control a BLTouch reliably +#define STEP_TIMER_IRQ_PRIO_DEFAULT 2 +#define TEMP_TIMER_IRQ_PRIO_DEFAULT 14 // Low priority avoids interference with other hardware and timers + +#ifndef STEP_TIMER_IRQ_PRIO + #define STEP_TIMER_IRQ_PRIO STEP_TIMER_IRQ_PRIO_DEFAULT +#endif +#ifndef TEMP_TIMER_IRQ_PRIO + #define TEMP_TIMER_IRQ_PRIO TEMP_TIMER_IRQ_PRIO_DEFAULT +#endif +#if HAS_TMC_SW_SERIAL + #include + #ifndef SWSERIAL_TIMER_IRQ_PRIO + #define SWSERIAL_TIMER_IRQ_PRIO SWSERIAL_TIMER_IRQ_PRIO_DEFAULT + #endif +#endif +#if HAS_SERVOS + #include "Servo.h" + #ifndef SERVO_TIMER_IRQ_PRIO + #define SERVO_TIMER_IRQ_PRIO SERVO_TIMER_IRQ_PRIO_DEFAULT + #endif +#endif +#if ENABLED(SPEAKER) + // Ensure the default timer priority is somewhere between the STEP and TEMP priorities. + // The STM32 framework defaults to interrupt 14 for all timers. This should be increased so that + // timing-sensitive operations such as speaker output are not impacted by the long-running + // temperature ISR. This must be defined in the platformio.ini file or the board's variant.h, + // so that it will be consumed by framework code. + #if !(TIM_IRQ_PRIO > STEP_TIMER_IRQ_PRIO && TIM_IRQ_PRIO < TEMP_TIMER_IRQ_PRIO) + #error "Default timer interrupt priority is unspecified or set to a value which may degrade performance." + #endif +#endif + +#if defined(STM32F0xx) || defined(STM32G0xx) + #define MCU_STEP_TIMER 16 + #define MCU_TEMP_TIMER 17 +#elif defined(STM32F1xx) + #define MCU_STEP_TIMER 4 + #define MCU_TEMP_TIMER 2 +#elif defined(STM32F401xC) || defined(STM32F401xE) + #define MCU_STEP_TIMER 9 // STM32F401 has no TIM6, TIM7, or TIM8 + #define MCU_TEMP_TIMER 10 +#elif defined(STM32F4xx) || defined(STM32F7xx) || defined(STM32H7xx) + #define MCU_STEP_TIMER 6 + #define MCU_TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used. +#endif + +#ifndef HAL_TIMER_RATE + #define HAL_TIMER_RATE GetStepperTimerClkFreq() +#endif + +#ifndef STEP_TIMER + #define STEP_TIMER MCU_STEP_TIMER +#endif +#ifndef TEMP_TIMER + #define TEMP_TIMER MCU_TEMP_TIMER +#endif + +#define __TIMER_DEV(X) TIM##X +#define _TIMER_DEV(X) __TIMER_DEV(X) +#define STEP_TIMER_DEV _TIMER_DEV(STEP_TIMER) +#define TEMP_TIMER_DEV _TIMER_DEV(TEMP_TIMER) + +// -------------------------------------------------------------------------- +// Local defines +// -------------------------------------------------------------------------- + +#define NUM_HARDWARE_TIMERS 2 + +// -------------------------------------------------------------------------- +// Private Variables +// -------------------------------------------------------------------------- + +HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr }; + +// ------------------------ +// Public functions +// ------------------------ + +uint32_t GetStepperTimerClkFreq() { + // Timer input clocks vary between devices, and in some cases between timers on the same device. + // Retrieve at runtime to ensure device compatibility. Cache result to avoid repeated overhead. + static uint32_t clkfreq = timer_instance[MF_TIMER_STEP]->getTimerClkFreq(); + return clkfreq; +} + +// frequency is in Hertz +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + if (!HAL_timer_initialized(timer_num)) { + switch (timer_num) { + case MF_TIMER_STEP: // STEPPER TIMER - use a 32bit timer if possible + timer_instance[timer_num] = new HardwareTimer(STEP_TIMER_DEV); + /* Set the prescaler to the final desired value. + * This will change the effective ISR callback frequency but when + * HAL_timer_start(timer_num=0) is called in the core for the first time + * the real frequency isn't important as long as, after boot, the ISR + * gets called with the correct prescaler and count register. So here + * we set the prescaler to the correct, final value and ignore the frequency + * asked. We will call back the ISR in 1 second to start at full speed. + * + * The proper fix, however, would be a correct initialization OR a + * HAL_timer_change(const uint8_t timer_num, const uint32_t frequency) + * which changes the prescaler when an IRQ frequency change is needed + * (for example when steppers are turned on) + */ + + timer_instance[timer_num]->setPrescaleFactor(STEPPER_TIMER_PRESCALE); //the -1 is done internally + timer_instance[timer_num]->setOverflow(_MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (HAL_TIMER_RATE) / (STEPPER_TIMER_PRESCALE) /* /frequency */), TICK_FORMAT); + break; + case MF_TIMER_TEMP: // TEMP TIMER - any available 16bit timer + timer_instance[timer_num] = new HardwareTimer(TEMP_TIMER_DEV); + // The prescale factor is computed automatically for HERTZ_FORMAT + timer_instance[timer_num]->setOverflow(frequency, HERTZ_FORMAT); + break; + } + + // Disable preload. Leaving it default-enabled can cause the timer to stop if it happens + // to exit the ISR after the start time for the next interrupt has already passed. + timer_instance[timer_num]->setPreloadEnable(false); + + HAL_timer_enable_interrupt(timer_num); + + // Start the timer. + timer_instance[timer_num]->resume(); // First call to resume() MUST follow the attachInterrupt() + + // This is fixed in Arduino_Core_STM32 1.8. + // These calls can be removed and replaced with + // timer_instance[timer_num]->setInterruptPriority + switch (timer_num) { + case MF_TIMER_STEP: + timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0); + break; + case MF_TIMER_TEMP: + timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0); + break; + } + } +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + if (HAL_timer_initialized(timer_num) && !timer_instance[timer_num]->hasInterrupt()) { + switch (timer_num) { + case MF_TIMER_STEP: + timer_instance[timer_num]->attachInterrupt(Step_Handler); + break; + case MF_TIMER_TEMP: + timer_instance[timer_num]->attachInterrupt(Temp_Handler); + break; + } + } +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + if (HAL_timer_initialized(timer_num)) timer_instance[timer_num]->detachInterrupt(); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + return HAL_timer_initialized(timer_num) && timer_instance[timer_num]->hasInterrupt(); +} + +void SetTimerInterruptPriorities() { + TERN_(HAS_TMC_SW_SERIAL, SoftwareSerial::setInterruptPriority(SWSERIAL_TIMER_IRQ_PRIO, 0)); + TERN_(HAS_SERVOS, libServo::setInterruptPriority(SERVO_TIMER_IRQ_PRIO, 0)); +} + +// ------------------------ +// Detect timer conflicts +// ------------------------ + +// This list serves two purposes. Firstly, it facilitates build-time mapping between +// variant-defined timer names (such as TIM1) and timer numbers. It also replicates +// the order of timers used in the framework's SoftwareSerial.cpp. The first timer in +// this list will be automatically used by SoftwareSerial if it is not already defined +// in the board's variant or compiler options. +static constexpr struct {uintptr_t base_address; int timer_number;} stm32_timer_map[] = { + #ifdef TIM18_BASE + { uintptr_t(TIM18), 18 }, + #endif + #ifdef TIM7_BASE + { uintptr_t(TIM7), 7 }, + #endif + #ifdef TIM6_BASE + { uintptr_t(TIM6), 6 }, + #endif + #ifdef TIM22_BASE + { uintptr_t(TIM22), 22 }, + #endif + #ifdef TIM21_BASE + { uintptr_t(TIM21), 21 }, + #endif + #ifdef TIM17_BASE + { uintptr_t(TIM17), 17 }, + #endif + #ifdef TIM16_BASE + { uintptr_t(TIM16), 16 }, + #endif + #ifdef TIM15_BASE + { uintptr_t(TIM15), 15 }, + #endif + #ifdef TIM14_BASE + { uintptr_t(TIM14), 14 }, + #endif + #ifdef TIM13_BASE + { uintptr_t(TIM13), 13 }, + #endif + #ifdef TIM11_BASE + { uintptr_t(TIM11), 11 }, + #endif + #ifdef TIM10_BASE + { uintptr_t(TIM10), 10 }, + #endif + #ifdef TIM12_BASE + { uintptr_t(TIM12), 12 }, + #endif + #ifdef TIM19_BASE + { uintptr_t(TIM19), 19 }, + #endif + #ifdef TIM9_BASE + { uintptr_t(TIM9), 9 }, + #endif + #ifdef TIM5_BASE + { uintptr_t(TIM5), 5 }, + #endif + #ifdef TIM4_BASE + { uintptr_t(TIM4), 4 }, + #endif + #ifdef TIM3_BASE + { uintptr_t(TIM3), 3 }, + #endif + #ifdef TIM2_BASE + { uintptr_t(TIM2), 2 }, + #endif + #ifdef TIM20_BASE + { uintptr_t(TIM20), 20 }, + #endif + #ifdef TIM8_BASE + { uintptr_t(TIM8), 8 }, + #endif + #ifdef TIM1_BASE + { uintptr_t(TIM1), 1 } + #endif +}; + +// Convert from a timer base address to its integer timer number. +static constexpr int get_timer_num_from_base_address(uintptr_t base_address) { + for (const auto &timer : stm32_timer_map) + if (timer.base_address == base_address) return timer.timer_number; + return 0; +} + +// The platform's SoftwareSerial.cpp will use the first timer from stm32_timer_map. +#if HAS_TMC_SW_SERIAL && !defined(TIMER_SERIAL) + #define TIMER_SERIAL (stm32_timer_map[0].base_address) +#endif + +// constexpr doesn't like using the base address pointers that timers evaluate to. +// We can get away with casting them to uintptr_t, if we do so inside an array. +// GCC will not currently do it directly to a uintptr_t. +IF_ENABLED(HAS_TMC_SW_SERIAL, static constexpr uintptr_t timer_serial[] = {uintptr_t(TIMER_SERIAL)}); +IF_ENABLED(SPEAKER, static constexpr uintptr_t timer_tone[] = {uintptr_t(TIMER_TONE)}); +IF_ENABLED(HAS_SERVOS, static constexpr uintptr_t timer_servo[] = {uintptr_t(TIMER_SERVO)}); + +enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP }; + +// List of timers, to enable checking for conflicts. +// Includes the purpose of each timer to ease debugging when evaluating at build-time. +// This cannot yet account for timers used for PWM output, such as for fans. +static constexpr struct { TimerPurpose p; int t; } timers_in_use[] = { + #if HAS_TMC_SW_SERIAL + { TP_SERIAL, get_timer_num_from_base_address(timer_serial[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h + #endif + #if ENABLED(SPEAKER) + { TP_TONE, get_timer_num_from_base_address(timer_tone[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h + #endif + #if HAS_SERVOS + { TP_SERVO, get_timer_num_from_base_address(timer_servo[0]) }, // Set in variant.h, or as a define in platformio.h if not present in variant.h + #endif + { TP_STEP, STEP_TIMER }, + { TP_TEMP, TEMP_TIMER }, +}; + +static constexpr bool verify_no_timer_conflicts() { + LOOP_L_N(i, COUNT(timers_in_use)) + LOOP_S_L_N(j, i + 1, COUNT(timers_in_use)) + if (timers_in_use[i].t == timers_in_use[j].t) return false; + return true; +} + +// If this assertion fails at compile time, review the timers_in_use array. +// If default_envs is defined properly in platformio.ini, VS Code can evaluate the array +// when hovering over it, making it easy to identify the conflicting timers. +static_assert(verify_no_timer_conflicts(), "One or more timer conflict detected. Examine \"timers_in_use\" to help identify conflict."); + +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/timers.h b/Marlin/src/HAL/STM32/timers.h new file mode 100644 index 0000000000..6828998198 --- /dev/null +++ b/Marlin/src/HAL/STM32/timers.h @@ -0,0 +1,120 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../inc/MarlinConfig.h" + +// ------------------------ +// Defines +// ------------------------ + +// STM32 timers may be 16 or 32 bit. Limiting HAL_TIMER_TYPE_MAX to 16 bits +// avoids issues with STM32F0 MCUs, which seem to pause timers if UINT32_MAX +// is written to the register. STM32F4 timers do not manifest this issue, +// even when writing to 16 bit timers. +// +// The range of the timer can be queried at runtime using IS_TIM_32B_COUNTER_INSTANCE. +// This is a more expensive check than a simple compile-time constant, so its +// implementation is deferred until the desire for a 32-bit range outweighs the cost +// of adding a run-time check and HAL_TIMER_TYPE_MAX is refactored to allow unique +// values for each timer. +#define hal_timer_t uint32_t +#define HAL_TIMER_TYPE_MAX UINT16_MAX + +// Marlin timer_instance[] content (unrelated to timer selection) +#define MF_TIMER_STEP 0 // Timer Index for Stepper +#define MF_TIMER_TEMP 1 // Timer Index for Temperature +#define MF_TIMER_PULSE MF_TIMER_STEP + +#define TIMER_INDEX_(T) TIMER##T##_INDEX // TIMER#_INDEX enums (timer_index_t) depend on TIM#_BASE defines. +#define TIMER_INDEX(T) TIMER_INDEX_(T) // Convert Timer ID to HardwareTimer_Handle index. + +#define TEMP_TIMER_FREQUENCY 1000 // Temperature::isr() is expected to be called at around 1kHz + +// TODO: get rid of manual rate/prescale/ticks/cycles taken for procedures in stepper.cpp +#define STEPPER_TIMER_RATE 2000000 // 2 Mhz +extern uint32_t GetStepperTimerClkFreq(); +#define STEPPER_TIMER_PRESCALE (GetStepperTimerClkFreq() / (STEPPER_TIMER_RATE)) +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs + +#define PULSE_TIMER_RATE STEPPER_TIMER_RATE +#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE +#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_STEP) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_STEP) +#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP) + +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) + +extern void Step_Handler(); +extern void Temp_Handler(); + +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() void Step_Handler() +#endif +#ifndef HAL_TEMP_TIMER_ISR + #define HAL_TEMP_TIMER_ISR() void Temp_Handler() +#endif + +// ------------------------ +// Public Variables +// ------------------------ + +extern HardwareTimer *timer_instance[]; + +// ------------------------ +// Public functions +// ------------------------ + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); +void HAL_timer_enable_interrupt(const uint8_t timer_num); +void HAL_timer_disable_interrupt(const uint8_t timer_num); +bool HAL_timer_interrupt_enabled(const uint8_t timer_num); + +// Configure timer priorities for peripherals such as Software Serial or Servos. +// Exposed here to allow all timer priority information to reside in timers.cpp +void SetTimerInterruptPriorities(); + +// FORCE_INLINE because these are used in performance-critical situations +FORCE_INLINE bool HAL_timer_initialized(const uint8_t timer_num) { + return timer_instance[timer_num] != nullptr; +} +FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { + return HAL_timer_initialized(timer_num) ? timer_instance[timer_num]->getCount() : 0; +} + +// NOTE: Method name may be misleading. +// STM32 has an Auto-Reload Register (ARR) as opposed to a "compare" register +FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t overflow) { + if (HAL_timer_initialized(timer_num)) { + timer_instance[timer_num]->setOverflow(overflow + 1, TICK_FORMAT); // Value decremented by setOverflow() + // wiki: "force all registers (Autoreload, prescaler, compare) to be taken into account" + // So, if the new overflow value is less than the count it will trigger a rollover interrupt. + if (overflow < timer_instance[timer_num]->getCount()) // Added 'if' here because reports say it won't boot without it + timer_instance[timer_num]->refresh(); + } +} + +#define HAL_timer_isr_prologue(T) NOOP +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/STM32/usb_host.cpp b/Marlin/src/HAL/STM32/usb_host.cpp new file mode 100644 index 0000000000..d77f0b28e9 --- /dev/null +++ b/Marlin/src/HAL/STM32/usb_host.cpp @@ -0,0 +1,119 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfig.h" + +#if BOTH(USE_OTG_USB_HOST, USBHOST) + +#include "usb_host.h" +#include "../shared/Marduino.h" +#include "usbh_core.h" +#include "usbh_msc.h" + +USBH_HandleTypeDef hUsbHost; +USBHost usb; +BulkStorage bulk(&usb); + +static void USBH_UserProcess(USBH_HandleTypeDef *phost, uint8_t id) { + switch(id) { + case HOST_USER_SELECT_CONFIGURATION: + //SERIAL_ECHOLNPGM("APPLICATION_SELECT_CONFIGURATION"); + break; + case HOST_USER_DISCONNECTION: + //SERIAL_ECHOLNPGM("APPLICATION_DISCONNECT"); + //usb.setUsbTaskState(USB_STATE_RUNNING); + break; + case HOST_USER_CLASS_ACTIVE: + //SERIAL_ECHOLNPGM("APPLICATION_READY"); + usb.setUsbTaskState(USB_STATE_RUNNING); + break; + case HOST_USER_CONNECTION: + break; + default: + break; + } +} + +bool USBHost::start() { + if (USBH_Init(&hUsbHost, USBH_UserProcess, TERN(USE_USB_HS_IN_FS, HOST_HS, HOST_FS)) != USBH_OK) { + SERIAL_ECHOLNPGM("Error: USBH_Init"); + return false; + } + if (USBH_RegisterClass(&hUsbHost, USBH_MSC_CLASS) != USBH_OK) { + SERIAL_ECHOLNPGM("Error: USBH_RegisterClass"); + return false; + } + if (USBH_Start(&hUsbHost) != USBH_OK) { + SERIAL_ECHOLNPGM("Error: USBH_Start"); + return false; + } + return true; +} + +void USBHost::Task() { + USBH_Process(&hUsbHost); +} + +uint8_t USBHost::getUsbTaskState() { + return usb_task_state; +} + +void USBHost::setUsbTaskState(uint8_t state) { + usb_task_state = state; + if (usb_task_state == USB_STATE_RUNNING) { + MSC_LUNTypeDef info; + USBH_MSC_GetLUNInfo(&hUsbHost, usb.lun, &info); + capacity = info.capacity.block_nbr / 2000; + block_size = info.capacity.block_size; + block_count = info.capacity.block_nbr; + //SERIAL_ECHOLNPGM("info.capacity.block_nbr : %ld\n", info.capacity.block_nbr); + //SERIAL_ECHOLNPGM("info.capacity.block_size: %d\n", info.capacity.block_size); + //SERIAL_ECHOLNPGM("capacity : %d MB\n", capacity); + } +}; + +bool BulkStorage::LUNIsGood(uint8_t t) { + return USBH_MSC_IsReady(&hUsbHost) && USBH_MSC_UnitIsReady(&hUsbHost, t); +} + +uint32_t BulkStorage::GetCapacity(uint8_t lun) { + return usb->block_count; +} + +uint16_t BulkStorage::GetSectorSize(uint8_t lun) { + return usb->block_size; +} + +uint8_t BulkStorage::Read(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, uint8_t *buf) { + return USBH_MSC_Read(&hUsbHost, lun, addr, buf, blocks) != USBH_OK; +} + +uint8_t BulkStorage::Write(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, const uint8_t * buf) { + return USBH_MSC_Write(&hUsbHost, lun, addr, const_cast(buf), blocks) != USBH_OK; +} + +#endif // USE_OTG_USB_HOST && USBHOST +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/usb_host.h b/Marlin/src/HAL/STM32/usb_host.h new file mode 100644 index 0000000000..c0001c0d75 --- /dev/null +++ b/Marlin/src/HAL/STM32/usb_host.h @@ -0,0 +1,60 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +typedef enum { + USB_STATE_INIT, + USB_STATE_ERROR, + USB_STATE_RUNNING, +} usb_state_t; + +class USBHost { +public: + bool start(); + void Task(); + uint8_t getUsbTaskState(); + void setUsbTaskState(uint8_t state); + uint8_t regRd(uint8_t reg) { return 0x0; }; + uint8_t usb_task_state = USB_STATE_INIT; + uint8_t lun = 0; + uint32_t capacity = 0; + uint16_t block_size = 0; + uint32_t block_count = 0; +}; + +class BulkStorage { +public: + BulkStorage(USBHost *usb) : usb(usb) {}; + + bool LUNIsGood(uint8_t t); + uint32_t GetCapacity(uint8_t lun); + uint16_t GetSectorSize(uint8_t lun); + uint8_t Read(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, uint8_t *buf); + uint8_t Write(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t blocks, const uint8_t * buf); + + USBHost *usb; +}; + +extern USBHost usb; +extern BulkStorage bulk; diff --git a/Marlin/src/HAL/STM32/usb_serial.cpp b/Marlin/src/HAL/STM32/usb_serial.cpp new file mode 100644 index 0000000000..0b2372f3a7 --- /dev/null +++ b/Marlin/src/HAL/STM32/usb_serial.cpp @@ -0,0 +1,60 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../platforms.h" + +#ifdef HAL_STM32 + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC) + +#include "usb_serial.h" +#include "../../feature/e_parser.h" + +EmergencyParser::State emergency_state = EmergencyParser::State::EP_RESET; + +int8_t (*USBD_CDC_Receive_original) (uint8_t *Buf, uint32_t *Len) = nullptr; + +static int8_t USBD_CDC_Receive_hook(uint8_t *Buf, uint32_t *Len) { + for (uint32_t i = 0; i < *Len; i++) + emergency_parser.update(emergency_state, Buf[i]); + return USBD_CDC_Receive_original(Buf, Len); +} + +typedef struct _USBD_CDC_Itf { + int8_t (* Init)(void); + int8_t (* DeInit)(void); + int8_t (* Control)(uint8_t cmd, uint8_t *pbuf, uint16_t length); + int8_t (* Receive)(uint8_t *Buf, uint32_t *Len); + int8_t (* Transferred)(void); +} USBD_CDC_ItfTypeDef; + +extern USBD_CDC_ItfTypeDef USBD_CDC_fops; + +void USB_Hook_init() { + USBD_CDC_Receive_original = USBD_CDC_fops.Receive; + USBD_CDC_fops.Receive = USBD_CDC_Receive_hook; +} + +#endif // EMERGENCY_PARSER && USBD_USE_CDC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/usb_serial.h b/Marlin/src/HAL/STM32/usb_serial.h new file mode 100644 index 0000000000..3edb6fd618 --- /dev/null +++ b/Marlin/src/HAL/STM32/usb_serial.h @@ -0,0 +1,24 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +void USB_Hook_init(); diff --git a/Marlin/src/HAL/STM32F1/HAL.cpp b/Marlin/src/HAL/STM32F1/HAL.cpp new file mode 100644 index 0000000000..4d3140001e --- /dev/null +++ b/Marlin/src/HAL/STM32F1/HAL.cpp @@ -0,0 +1,387 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2017 Victor Perez + * + * 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 . + * + */ + +/** + * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" +#include "HAL.h" + +#include + +// ------------------------ +// Types +// ------------------------ + +#define __I +#define __IO volatile + typedef struct { + __I uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */ + __IO uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */ + __IO uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */ + __IO uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */ + __IO uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */ + __IO uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */ + __IO uint8_t SHP[12]; /*!< Offset: 0x018 (R/W) System Handlers Priority Registers (4-7, 8-11, 12-15) */ + __IO uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */ + __IO uint32_t CFSR; /*!< Offset: 0x028 (R/W) Configurable Fault Status Register */ + __IO uint32_t HFSR; /*!< Offset: 0x02C (R/W) HardFault Status Register */ + __IO uint32_t DFSR; /*!< Offset: 0x030 (R/W) Debug Fault Status Register */ + __IO uint32_t MMFAR; /*!< Offset: 0x034 (R/W) MemManage Fault Address Register */ + __IO uint32_t BFAR; /*!< Offset: 0x038 (R/W) BusFault Address Register */ + __IO uint32_t AFSR; /*!< Offset: 0x03C (R/W) Auxiliary Fault Status Register */ + __I uint32_t PFR[2]; /*!< Offset: 0x040 (R/ ) Processor Feature Register */ + __I uint32_t DFR; /*!< Offset: 0x048 (R/ ) Debug Feature Register */ + __I uint32_t ADR; /*!< Offset: 0x04C (R/ ) Auxiliary Feature Register */ + __I uint32_t MMFR[4]; /*!< Offset: 0x050 (R/ ) Memory Model Feature Register */ + __I uint32_t ISAR[5]; /*!< Offset: 0x060 (R/ ) Instruction Set Attributes Register */ + uint32_t RESERVED0[5]; + __IO uint32_t CPACR; /*!< Offset: 0x088 (R/W) Coprocessor Access Control Register */ + } SCB_Type; + +// ------------------------ +// Local defines +// ------------------------ + +#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */ +#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */ + +#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */ + +/* SCB Application Interrupt and Reset Control Register Definitions */ +#define SCB_AIRCR_VECTKEY_Pos 16 /*!< SCB AIRCR: VECTKEY Position */ +#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ + +#define SCB_AIRCR_PRIGROUP_Pos 8 /*!< SCB AIRCR: PRIGROUP Position */ +#define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ + +// ------------------------ +// Serial ports +// ------------------------ + +#if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE + + USBSerial SerialUSB; + DefaultSerial1 MSerial0(true, SerialUSB); + + #if ENABLED(EMERGENCY_PARSER) + #include "../libmaple/usb/stm32f1/usb_reg_map.h" + #include "libmaple/usb_cdcacm.h" + // The original callback is not called (no way to retrieve address). + // That callback detects a special STM32 reset sequence: this functionality is not essential + // as M997 achieves the same. + void my_rx_callback(unsigned int, void*) { + // max length of 16 is enough to contain all emergency commands + uint8 buf[16]; + + //rx is usbSerialPart.endpoints[2] + uint16 len = usb_get_ep_rx_count(USB_CDCACM_RX_ENDP); + uint32 total = usb_cdcacm_data_available(); + + if (len == 0 || total == 0 || !WITHIN(total, len, COUNT(buf))) + return; + + // cannot get character by character due to bug in composite_cdcacm_peek_ex + len = usb_cdcacm_peek(buf, total); + + for (uint32 i = 0; i < len; i++) + emergency_parser.update(MSerial0.emergency_state, buf[i + total - len]); + } + #endif +#endif + +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #include + + void watchdogSetup() { + // do whatever. don't remove this function. + } + + /** + * The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0). + */ + #define STM32F1_WD_RELOAD TERN(WATCHDOG_DURATION_8S, 1250, 625) // 4 or 8 second timeout + + /** + * @brief Initialize the independent hardware watchdog. + * + * @return No return + * + * @details The watchdog clock is 40Khz. So for a 4s or 8s interval use a /256 preescaler and 625 or 1250 reload value (counts down to 0). + */ + void MarlinHAL::watchdog_init() { + #if DISABLED(DISABLE_WATCHDOG_INIT) + iwdg_init(IWDG_PRE_256, STM32F1_WD_RELOAD); + #endif + } + + // Reset watchdog. MUST be called every 4 or 8 seconds after the + // first watchdog_init or the STM32F1 will reset. + void MarlinHAL::watchdog_refresh() { + #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) + TOGGLE(LED_PIN); // heartbeat indicator + #endif + iwdg_feed(); + } + +#endif // USE_WATCHDOG + +// ------------------------ +// ADC +// ------------------------ + +// Watch out for recursion here! Our pin_t is signed, so pass through to Arduino -> analogRead(uint8_t) + +uint16_t analogRead(const pin_t pin) { + const bool is_analog = _GET_MODE(pin) == GPIO_INPUT_ANALOG; + return is_analog ? analogRead(uint8_t(pin)) : 0; +} + +// Wrapper to maple unprotected analogWrite +void analogWrite(const pin_t pin, int pwm_val8) { + if (PWM_PIN(pin)) analogWrite(uint8_t(pin), pwm_val8); +} + +uint16_t MarlinHAL::adc_result; + +// ------------------------ +// Private functions +// ------------------------ + +static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) { + uint32_t reg_value; + uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07); // only values 0..7 are used + + reg_value = SCB->AIRCR; // read old register configuration + reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); // clear bits to change + reg_value = (reg_value | + ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) | + (PriorityGroupTmp << 8)); // Insert write key & priority group + SCB->AIRCR = reg_value; +} + +// ------------------------ +// Public functions +// ------------------------ + +void flashFirmware(const int16_t) { hal.reboot(); } + +// +// Leave PA11/PA12 intact if USBSerial is not used +// +#if SERIAL_USB + namespace wirish { namespace priv { + #if SERIAL_PORT > 0 + #if SERIAL_PORT2 + #if SERIAL_PORT2 > 0 + void board_setup_usb() {} + #endif + #else + void board_setup_usb() {} + #endif + #endif + } } +#endif + +TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); + +// ------------------------ +// MarlinHAL class +// ------------------------ + +void MarlinHAL::init() { + NVIC_SetPriorityGrouping(0x3); + #if PIN_EXISTS(LED) + OUT_WRITE(LED_PIN, LOW); + #endif + #if HAS_SD_HOST_DRIVE + MSC_SD_init(); + #elif BOTH(SERIAL_USB, EMERGENCY_PARSER) + usb_cdcacm_set_hooks(USB_CDCACM_HOOK_RX, my_rx_callback); + #endif + #if PIN_EXISTS(USB_CONNECT) + OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING); // USB clear connection + delay(1000); // Give OS time to notice + WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING); + #endif + TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the minimal serial handler +} + +// HAL idle task +void MarlinHAL::idletask() { + #if HAS_SHARED_MEDIA + // If Marlin is using the SD card we need to lock it to prevent access from + // a PC via USB. + // Other HALs use IS_SD_PRINTING() and IS_SD_FILE_OPEN() to check for access but + // this will not reliably detect delete operations. To be safe we will lock + // the disk if Marlin has it mounted. Unfortunately there is currently no way + // to unmount the disk from the LCD menu. + // if (IS_SD_PRINTING() || IS_SD_FILE_OPEN()) + /* copy from lpc1768 framework, should be fixed later for process HAS_SD_HOST_DRIVE*/ + // process USB mass storage device class loop + MarlinMSC.loop(); + #endif +} + +void MarlinHAL::reboot() { nvic_sys_reset(); } + +// ------------------------ +// Free Memory Accessor +// ------------------------ + +extern "C" { + extern unsigned int _ebss; // end of bss section +} + +/** + * TODO: Change this to correct it for libmaple + */ + +// return free memory between end of heap (or end bss) and whatever is current + +/* +#include +//extern caddr_t _sbrk(int incr); +#ifndef CONFIG_HEAP_END +extern char _lm_heap_end; +#define CONFIG_HEAP_END ((caddr_t)&_lm_heap_end) +#endif + +extern "C" { + static int freeMemory() { + char top = 't'; + return &top - reinterpret_cast(sbrk(0)); + } + int freeMemory() { + int free_memory; + int heap_end = (int)_sbrk(0); + free_memory = ((int)&free_memory) - ((int)heap_end); + return free_memory; + } +} +*/ + +// ------------------------ +// ADC +// ------------------------ + +enum ADCIndex : uint8_t { + OPTITEM(HAS_TEMP_ADC_0, TEMP_0) + OPTITEM(HAS_TEMP_ADC_1, TEMP_1) + OPTITEM(HAS_TEMP_ADC_2, TEMP_2) + OPTITEM(HAS_TEMP_ADC_3, TEMP_3) + OPTITEM(HAS_TEMP_ADC_4, TEMP_4) + OPTITEM(HAS_TEMP_ADC_5, TEMP_5) + OPTITEM(HAS_TEMP_ADC_6, TEMP_6) + OPTITEM(HAS_TEMP_ADC_7, TEMP_7) + OPTITEM(HAS_HEATED_BED, TEMP_BED) + OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER) + OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE) + OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER) + OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD) + OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH) + OPTITEM(HAS_ADC_BUTTONS, ADC_KEY) + OPTITEM(HAS_JOY_ADC_X, JOY_X) + OPTITEM(HAS_JOY_ADC_Y, JOY_Y) + OPTITEM(HAS_JOY_ADC_Z, JOY_Z) + OPTITEM(POWER_MONITOR_CURRENT, POWERMON_CURRENT) + OPTITEM(POWER_MONITOR_VOLTAGE, POWERMON_VOLTS) + ADC_COUNT +}; + +static uint16_t adc_results[ADC_COUNT]; + +// Init the AD in continuous capture mode +void MarlinHAL::adc_init() { + static const uint8_t adc_pins[] = { + OPTITEM(HAS_TEMP_ADC_0, TEMP_0_PIN) + OPTITEM(HAS_TEMP_ADC_1, TEMP_1_PIN) + OPTITEM(HAS_TEMP_ADC_2, TEMP_2_PIN) + OPTITEM(HAS_TEMP_ADC_3, TEMP_3_PIN) + OPTITEM(HAS_TEMP_ADC_4, TEMP_4_PIN) + OPTITEM(HAS_TEMP_ADC_5, TEMP_5_PIN) + OPTITEM(HAS_TEMP_ADC_6, TEMP_6_PIN) + OPTITEM(HAS_TEMP_ADC_7, TEMP_7_PIN) + OPTITEM(HAS_HEATED_BED, TEMP_BED_PIN) + OPTITEM(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN) + OPTITEM(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN) + OPTITEM(HAS_TEMP_COOLER, TEMP_COOLER_PIN) + OPTITEM(HAS_TEMP_BOARD, TEMP_BOARD_PIN) + OPTITEM(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN) + OPTITEM(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN) + OPTITEM(HAS_JOY_ADC_X, JOY_X_PIN) + OPTITEM(HAS_JOY_ADC_Y, JOY_Y_PIN) + OPTITEM(HAS_JOY_ADC_Z, JOY_Z_PIN) + OPTITEM(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN) + OPTITEM(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN) + }; + static STM32ADC adc(ADC1); + // configure the ADC + adc.calibrate(); + adc.setSampleRate((F_CPU > 72000000) ? ADC_SMPR_71_5 : ADC_SMPR_41_5); // 71.5 or 41.5 ADC cycles + adc.setPins((uint8_t *)adc_pins, ADC_COUNT); + adc.setDMA(adc_results, uint16_t(ADC_COUNT), uint32_t(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr); + adc.setScanMode(); + adc.setContinuous(); + adc.startConversion(); +} + +void MarlinHAL::adc_start(const pin_t pin) { + #define __TCASE(N,I) case N: pin_index = I; break; + #define _TCASE(C,N,I) TERN_(C, __TCASE(N, I)) + ADCIndex pin_index; + switch (pin) { + default: return; + _TCASE(HAS_TEMP_ADC_0, TEMP_0_PIN, TEMP_0) + _TCASE(HAS_TEMP_ADC_1, TEMP_1_PIN, TEMP_1) + _TCASE(HAS_TEMP_ADC_2, TEMP_2_PIN, TEMP_2) + _TCASE(HAS_TEMP_ADC_3, TEMP_3_PIN, TEMP_3) + _TCASE(HAS_TEMP_ADC_4, TEMP_4_PIN, TEMP_4) + _TCASE(HAS_TEMP_ADC_5, TEMP_5_PIN, TEMP_5) + _TCASE(HAS_TEMP_ADC_6, TEMP_6_PIN, TEMP_6) + _TCASE(HAS_TEMP_ADC_7, TEMP_7_PIN, TEMP_7) + _TCASE(HAS_HEATED_BED, TEMP_BED_PIN, TEMP_BED) + _TCASE(HAS_TEMP_CHAMBER, TEMP_CHAMBER_PIN, TEMP_CHAMBER) + _TCASE(HAS_TEMP_ADC_PROBE, TEMP_PROBE_PIN, TEMP_PROBE) + _TCASE(HAS_TEMP_COOLER, TEMP_COOLER_PIN, TEMP_COOLER) + _TCASE(HAS_TEMP_BOARD, TEMP_BOARD_PIN, TEMP_BOARD) + _TCASE(HAS_JOY_ADC_X, JOY_X_PIN, JOY_X) + _TCASE(HAS_JOY_ADC_Y, JOY_Y_PIN, JOY_Y) + _TCASE(HAS_JOY_ADC_Z, JOY_Z_PIN, JOY_Z) + _TCASE(FILAMENT_WIDTH_SENSOR, FILWIDTH_PIN, FILWIDTH) + _TCASE(HAS_ADC_BUTTONS, ADC_KEYPAD_PIN, ADC_KEY) + _TCASE(POWER_MONITOR_CURRENT, POWER_MONITOR_CURRENT_PIN, POWERMON_CURRENT) + _TCASE(POWER_MONITOR_VOLTAGE, POWER_MONITOR_VOLTAGE_PIN, POWERMON_VOLTS) + } + adc_result = (adc_results[(int)pin_index] & 0xFFF) >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits +} + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/HAL.h b/Marlin/src/HAL/STM32F1/HAL.h new file mode 100644 index 0000000000..b14b5f7e79 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/HAL.h @@ -0,0 +1,309 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + */ + +#define CPU_32_BIT + +#include "../../core/macros.h" +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" + +#include "fastio.h" + +#include +#include + +#include "../../inc/MarlinConfigPre.h" + +#if HAS_SD_HOST_DRIVE + #include "msc_sd.h" +#endif + +#include "MarlinSerial.h" + +// ------------------------ +// Defines +// ------------------------ + +// +// Default graphical display delays +// +#define CPU_ST7920_DELAY_1 300 +#define CPU_ST7920_DELAY_2 40 +#define CPU_ST7920_DELAY_3 340 + +#ifndef STM32_FLASH_SIZE + #if ANY(MCU_STM32F103RE, MCU_STM32F103VE, MCU_STM32F103ZE) + #define STM32_FLASH_SIZE 512 + #else + #define STM32_FLASH_SIZE 256 + #endif +#endif + +// ------------------------ +// Serial ports +// ------------------------ + +#ifdef SERIAL_USB + typedef ForwardSerial1Class< USBSerial > DefaultSerial1; + extern DefaultSerial1 MSerial0; + #if HAS_SD_HOST_DRIVE + #define UsbSerial MarlinCompositeSerial + #else + #define UsbSerial MSerial0 + #endif +#endif + +#define _MSERIAL(X) MSerial##X +#define MSERIAL(X) _MSERIAL(X) + +#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) + #define NUM_UARTS 5 +#else + #define NUM_UARTS 3 +#endif + +#if SERIAL_PORT == -1 + #define MYSERIAL1 UsbSerial +#elif WITHIN(SERIAL_PORT, 1, NUM_UARTS) + #define MYSERIAL1 MSERIAL(SERIAL_PORT) +#else + #define MYSERIAL1 MSERIAL(1) // dummy port + static_assert(false, "SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.") +#endif + +#ifdef SERIAL_PORT_2 + #if SERIAL_PORT_2 == -1 + #define MYSERIAL2 UsbSerial + #elif WITHIN(SERIAL_PORT_2, 1, NUM_UARTS) + #define MYSERIAL2 MSERIAL(SERIAL_PORT_2) + #else + #define MYSERIAL2 MSERIAL(1) // dummy port + static_assert(false, "SERIAL_PORT_2 must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.") + #endif +#endif + +#ifdef SERIAL_PORT_3 + #if SERIAL_PORT_3 == -1 + #define MYSERIAL3 UsbSerial + #elif WITHIN(SERIAL_PORT_3, 1, NUM_UARTS) + #define MYSERIAL3 MSERIAL(SERIAL_PORT_3) + #else + #define MYSERIAL3 MSERIAL(1) // dummy port + static_assert(false, "SERIAL_PORT_3 must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.") + #endif +#endif + +#ifdef MMU2_SERIAL_PORT + #if MMU2_SERIAL_PORT == -1 + #define MMU2_SERIAL UsbSerial + #elif WITHIN(MMU2_SERIAL_PORT, 1, NUM_UARTS) + #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT) + #else + #define MMU2_SERIAL MSERIAL(1) // dummy port + static_assert(false, "MMU2_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.") + #endif +#endif + +#ifdef LCD_SERIAL_PORT + #if LCD_SERIAL_PORT == -1 + #define LCD_SERIAL UsbSerial + #elif WITHIN(LCD_SERIAL_PORT, 1, NUM_UARTS) + #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT) + #else + #define LCD_SERIAL MSERIAL(1) // dummy port + static_assert(false, "LCD_SERIAL_PORT must be from 1 to " STRINGIFY(NUM_UARTS) ". You can also use -1 if the board supports Native USB.") + #endif + #if HAS_DGUS_LCD + #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.availableForWrite() + #endif +#endif + +/** + * TODO: review this to return 1 for pins that are not analog input + */ +#ifndef analogInputToDigitalPin + #define analogInputToDigitalPin(p) (p) +#endif + +#ifndef digitalPinHasPWM + #define digitalPinHasPWM(P) !!PIN_MAP[P].timer_device + #define NO_COMPILE_TIME_PWM +#endif + +// Reset Reason +#define RST_POWER_ON 1 +#define RST_EXTERNAL 2 +#define RST_BROWN_OUT 4 +#define RST_WATCHDOG 8 +#define RST_JTAG 16 +#define RST_SOFTWARE 32 +#define RST_BACKUP 64 + +// ------------------------ +// Types +// ------------------------ + +typedef int8_t pin_t; + +// ------------------------ +// Interrupts +// ------------------------ + +#define CRITICAL_SECTION_START() const bool irqon = !__get_primask(); (void)__iCliRetVal() +#define CRITICAL_SECTION_END() if (!irqon) (void)__iSeiRetVal() +#define cli() noInterrupts() +#define sei() interrupts() + +// ------------------------ +// ADC +// ------------------------ + +#ifdef ADC_RESOLUTION + #define HAL_ADC_RESOLUTION ADC_RESOLUTION +#else + #define HAL_ADC_RESOLUTION 12 +#endif + +#define HAL_ADC_VREF 3.3 + +uint16_t analogRead(const pin_t pin); // need hal.adc_enable() first +void analogWrite(const pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!? + +// +// Pin Mapping for M42, M43, M226 +// +#define GET_PIN_MAP_PIN(index) index +#define GET_PIN_MAP_INDEX(pin) pin +#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + +#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY) +#define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE) + +#define PLATFORM_M997_SUPPORT +void flashFirmware(const int16_t); + +#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment +#ifndef PWM_FREQUENCY + #define PWM_FREQUENCY 1000 // Default PWM Frequency +#endif + +// ------------------------ +// Class Utilities +// ------------------------ + +// Memory related +#define __bss_end __bss_end__ + +void _delay_ms(const int ms); + +extern "C" char* _sbrk(int incr); + +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif + +static inline int freeMemory() { + volatile char top; + return &top - _sbrk(0); +} + +#pragma GCC diagnostic pop + +// ------------------------ +// MarlinHAL Class +// ------------------------ + +class MarlinHAL { +public: + + // Earliest possible init, before setup() + MarlinHAL() {} + + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + + static void init(); // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 + + // Interrupts + static bool isr_state() { return !__get_primask(); } + static void isr_on() { ((void)__iSeiRetVal()); } + static void isr_off() { ((void)__iCliRetVal()); } + + static void delay_ms(const int ms) { delay(ms); } + + // Tasks, called from idle() + static void idletask(); + + // Reset + static uint8_t get_reset_source() { return RST_POWER_ON; } + static void clear_reset_source() {} + + // Free SRAM + static int freeMemory() { return ::freeMemory(); } + + // + // ADC Methods + // + + static uint16_t adc_result; + + // Called by Temperature::init once at startup + static void adc_init(); + + // Called by Temperature::init for each sensor at startup + static void adc_enable(const pin_t pin) { pinMode(pin, INPUT_ANALOG); } + + // Begin ADC sampling on the given pin. Called from Temperature::isr! + static void adc_start(const pin_t pin); + + // Is the ADC ready for reading? + static bool adc_ready() { return true; } + + // The current value of the ADC register + static uint16_t adc_value() { return adc_result; } + + /** + * Set the PWM duty cycle for the pin to the given value. + * Optionally invert the duty cycle [default = false] + * Optionally change the maximum size of the provided value to enable finer PWM duty control [default = 255] + * The timer must be pre-configured with set_pwm_frequency() if the default frequency is not desired. + */ + static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false); + + /** + * Set the frequency of the timer for the given pin. + * All Timer PWM pins run at the same frequency. + */ + static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired); + +}; diff --git a/Marlin/src/HAL/STM32F1/HAL_SPI.cpp b/Marlin/src/HAL/STM32F1/HAL_SPI.cpp new file mode 100644 index 0000000000..abb348d743 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/HAL_SPI.cpp @@ -0,0 +1,171 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * 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 . + * + */ + +/** + * Software SPI functions originally from Arduino Sd2Card Library + * Copyright (c) 2009 by William Greiman + * Adapted to the STM32F1 HAL + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" +#include + +// ------------------------ +// Public functions +// ------------------------ + +#if ENABLED(SOFTWARE_SPI) + + // ------------------------ + // Software SPI + // ------------------------ + #error "Software SPI not supported for STM32F1. Use hardware SPI." + +#else + +// ------------------------ +// Hardware SPI +// ------------------------ + +/** + * VGPV SPI speed start and F_CPU/2, by default 72/2 = 36Mhz + */ + +/** + * @brief Begin SPI port setup + * + * @return Nothing + * + * @details Only configures SS pin since libmaple creates and initialize the SPI object + */ +void spiBegin() { + #if PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); + #endif +} + +/** + * @brief Initialize SPI port to required speed rate and transfer mode (MSB, SPI MODE 0) + * + * @param spiRate Rate as declared in HAL.h (speed do not match AVR) + * @return Nothing + * + * @details + */ +void spiInit(uint8_t spiRate) { + /** + * STM32F1 APB2 = 72MHz, APB1 = 36MHz, max SPI speed of this MCU if 18Mhz + * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1 + * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2 + */ + #if SPI_DEVICE == 1 + #define SPI_CLOCK_MAX SPI_CLOCK_DIV4 + #else + #define SPI_CLOCK_MAX SPI_CLOCK_DIV2 + #endif + uint8_t clock; + switch (spiRate) { + case SPI_FULL_SPEED: clock = SPI_CLOCK_MAX ; break; + case SPI_HALF_SPEED: clock = SPI_CLOCK_DIV4 ; break; + case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8 ; break; + case SPI_EIGHTH_SPEED: clock = SPI_CLOCK_DIV16; break; + case SPI_SPEED_5: clock = SPI_CLOCK_DIV32; break; + case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break; + default: clock = SPI_CLOCK_DIV2; // Default from the SPI library + } + SPI.setModule(SPI_DEVICE); + SPI.begin(); + SPI.setClockDivider(clock); + SPI.setBitOrder(MSBFIRST); + SPI.setDataMode(SPI_MODE0); +} + +/** + * @brief Receive a single byte from the SPI port. + * + * @return Byte received + * + * @details + */ +uint8_t spiRec() { + uint8_t returnByte = SPI.transfer(0xFF); + return returnByte; +} + +/** + * @brief Receive a number of bytes from the SPI port to a buffer + * + * @param buf Pointer to starting address of buffer to write to. + * @param nbyte Number of bytes to receive. + * @return Nothing + * + * @details Uses DMA + */ +void spiRead(uint8_t *buf, uint16_t nbyte) { + SPI.dmaTransfer(0, const_cast(buf), nbyte); +} + +/** + * @brief Send a single byte on SPI port + * + * @param b Byte to send + * + * @details + */ +void spiSend(uint8_t b) { + SPI.send(b); +} + +/** + * @brief Write token and then write from 512 byte buffer to SPI (for SD card) + * + * @param buf Pointer with buffer start address + * @return Nothing + * + * @details Use DMA + */ +void spiSendBlock(uint8_t token, const uint8_t *buf) { + SPI.send(token); + SPI.dmaSend(const_cast(buf), 512); +} + +#if ENABLED(SPI_EEPROM) + +// Read single byte from specified SPI channel +uint8_t spiRec(uint32_t chan) { return SPI.transfer(0xFF); } + +// Write single byte to specified SPI channel +void spiSend(uint32_t chan, byte b) { SPI.send(b); } + +// Write buffer to specified SPI channel +void spiSend(uint32_t chan, const uint8_t *buf, size_t n) { + for (size_t p = 0; p < n; p++) spiSend(chan, buf[p]); +} + +#endif // SPI_EEPROM + +#endif // SOFTWARE_SPI + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/MarlinSPI.h b/Marlin/src/HAL/STM32F1/MarlinSPI.h new file mode 100644 index 0000000000..fab245f904 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/MarlinSPI.h @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +/** + * Marlin currently requires 3 SPI classes: + * + * SPIClass: + * This class is normally provided by frameworks and has a semi-default interface. + * This is needed because some libraries reference it globally. + * + * SPISettings: + * Container for SPI configs for SPIClass. As above, libraries may reference it globally. + * + * These two classes are often provided by frameworks so we cannot extend them to add + * useful methods for Marlin. + * + * MarlinSPI: + * Provides the default SPIClass interface plus some Marlin goodies such as a simplified + * interface for SPI DMA transfer. + * + */ + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/STM32F1/MarlinSerial.cpp b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp new file mode 100644 index 0000000000..6dabcde51e --- /dev/null +++ b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp @@ -0,0 +1,204 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" +#include "MarlinSerial.h" +#include + +// Copied from ~/.platformio/packages/framework-arduinoststm32-maple/STM32F1/system/libmaple/usart_private.h +// Changed to handle Emergency Parser +static inline __always_inline void my_usart_irq(ring_buffer *rb, ring_buffer *wb, usart_reg_map *regs, MSerialT &serial) { + /* Handle RXNEIE and TXEIE interrupts. + * RXNE signifies availability of a byte in DR. + * + * See table 198 (sec 27.4, p809) in STM document RM0008 rev 15. + * We enable RXNEIE. + */ + uint32_t srflags = regs->SR, cr1its = regs->CR1; + + if ((cr1its & USART_CR1_RXNEIE) && (srflags & USART_SR_RXNE)) { + if (srflags & USART_SR_FE || srflags & USART_SR_PE ) { + // framing error or parity error + regs->DR; // Read and throw away the data, which also clears FE and PE + } + else { + uint8_t c = (uint8)regs->DR; + #ifdef USART_SAFE_INSERT + // If the buffer is full and the user defines USART_SAFE_INSERT, + // ignore new bytes. + rb_safe_insert(rb, c); + #else + // By default, push bytes around in the ring buffer. + rb_push_insert(rb, c); + #endif + #if ENABLED(EMERGENCY_PARSER) + if (serial.emergency_parser_enabled()) + emergency_parser.update(serial.emergency_state, c); + #endif + } + } + else if (srflags & USART_SR_ORE) { + // overrun and empty data, just do a dummy read to clear ORE + // and prevent a raise condition where a continuous interrupt stream (due to ORE set) occurs + // (see chapter "Overrun error" ) in STM32 reference manual + regs->DR; + } + + // TXE signifies readiness to send a byte to DR. + if ((cr1its & USART_CR1_TXEIE) && (srflags & USART_SR_TXE)) { + if (!rb_is_empty(wb)) + regs->DR=rb_remove(wb); + else + regs->CR1 &= ~((uint32)USART_CR1_TXEIE); // disable TXEIE + } +} + +// Not every MarlinSerial port should handle emergency parsing. +// It would not make sense to parse GCode from TMC responses, for example. +constexpr bool serial_handles_emergency(int port) { + return false + #ifdef SERIAL_PORT + || (SERIAL_PORT) == port + #endif + #ifdef SERIAL_PORT_2 + || (SERIAL_PORT_2) == port + #endif + #ifdef LCD_SERIAL_PORT + || (LCD_SERIAL_PORT) == port + #endif + ; +} + +#define DEFINE_HWSERIAL_MARLIN(name, n) \ + MSerialT name(serial_handles_emergency(n),\ + USART##n, \ + BOARD_USART##n##_TX_PIN, \ + BOARD_USART##n##_RX_PIN); \ + extern "C" void __irq_usart##n(void) { \ + my_usart_irq(USART##n->rb, USART##n->wb, USART##n##_BASE, MSerial##n); \ + } + +#define DEFINE_HWSERIAL_UART_MARLIN(name, n) \ + MSerialT name(serial_handles_emergency(n), \ + UART##n, \ + BOARD_USART##n##_TX_PIN, \ + BOARD_USART##n##_RX_PIN); \ + extern "C" void __irq_usart##n(void) { \ + my_usart_irq(UART##n->rb, UART##n->wb, UART##n##_BASE, MSerial##n); \ + } + +// Instantiate all UARTs even if they are not needed +// This avoids a bunch of logic to figure out every serial +// port which may be in use on the system. +#if DISABLED(MKS_WIFI_MODULE) + DEFINE_HWSERIAL_MARLIN(MSerial1, 1); +#endif +DEFINE_HWSERIAL_MARLIN(MSerial2, 2); +DEFINE_HWSERIAL_MARLIN(MSerial3, 3); +#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) + DEFINE_HWSERIAL_UART_MARLIN(MSerial4, 4); + DEFINE_HWSERIAL_UART_MARLIN(MSerial5, 5); +#endif + +// Check the type of each serial port by passing it to a template function. +// HardwareSerial is known to sometimes hang the controller when an error occurs, +// so this case will fail the static assert. All other classes are assumed to be ok. +template +constexpr bool IsSerialClassAllowed(const T&) { return true; } +constexpr bool IsSerialClassAllowed(const HardwareSerial&) { return false; } + +#define CHECK_CFG_SERIAL(A) static_assert(IsSerialClassAllowed(A), STRINGIFY(A) " is defined incorrectly"); +#define CHECK_AXIS_SERIAL(A) static_assert(IsSerialClassAllowed(A##_HARDWARE_SERIAL), STRINGIFY(A) "_HARDWARE_SERIAL must be defined in the form MSerial1, rather than Serial1"); + +// If you encounter this error, replace SerialX with MSerialX, for example MSerial3. + +// Non-TMC ports were already validated in HAL.h, so do not require verbose error messages. +#ifdef MYSERIAL1 + CHECK_CFG_SERIAL(MYSERIAL1); +#endif +#ifdef MYSERIAL2 + CHECK_CFG_SERIAL(MYSERIAL2); +#endif +#ifdef LCD_SERIAL + CHECK_CFG_SERIAL(LCD_SERIAL); +#endif +#if AXIS_HAS_HW_SERIAL(X) + CHECK_AXIS_SERIAL(X); +#endif +#if AXIS_HAS_HW_SERIAL(X2) + CHECK_AXIS_SERIAL(X2); +#endif +#if AXIS_HAS_HW_SERIAL(Y) + CHECK_AXIS_SERIAL(Y); +#endif +#if AXIS_HAS_HW_SERIAL(Y2) + CHECK_AXIS_SERIAL(Y2); +#endif +#if AXIS_HAS_HW_SERIAL(Z) + CHECK_AXIS_SERIAL(Z); +#endif +#if AXIS_HAS_HW_SERIAL(Z2) + CHECK_AXIS_SERIAL(Z2); +#endif +#if AXIS_HAS_HW_SERIAL(Z3) + CHECK_AXIS_SERIAL(Z3); +#endif +#if AXIS_HAS_HW_SERIAL(Z4) + CHECK_AXIS_SERIAL(Z4); +#endif +#if AXIS_HAS_HW_SERIAL(I) + CHECK_AXIS_SERIAL(I); +#endif +#if AXIS_HAS_HW_SERIAL(J) + CHECK_AXIS_SERIAL(J); +#endif +#if AXIS_HAS_HW_SERIAL(K) + CHECK_AXIS_SERIAL(K); +#endif +#if AXIS_HAS_HW_SERIAL(E0) + CHECK_AXIS_SERIAL(E0); +#endif +#if AXIS_HAS_HW_SERIAL(E1) + CHECK_AXIS_SERIAL(E1); +#endif +#if AXIS_HAS_HW_SERIAL(E2) + CHECK_AXIS_SERIAL(E2); +#endif +#if AXIS_HAS_HW_SERIAL(E3) + CHECK_AXIS_SERIAL(E3); +#endif +#if AXIS_HAS_HW_SERIAL(E4) + CHECK_AXIS_SERIAL(E4); +#endif +#if AXIS_HAS_HW_SERIAL(E5) + CHECK_AXIS_SERIAL(E5); +#endif +#if AXIS_HAS_HW_SERIAL(E6) + CHECK_AXIS_SERIAL(E6); +#endif +#if AXIS_HAS_HW_SERIAL(E7) + CHECK_AXIS_SERIAL(E7); +#endif + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/MarlinSerial.h b/Marlin/src/HAL/STM32F1/MarlinSerial.h new file mode 100644 index 0000000000..dda32fe7a2 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/MarlinSerial.h @@ -0,0 +1,58 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include +#include +#include + +#include "../../inc/MarlinConfigPre.h" +#include "../../core/serial_hook.h" + +// Increase priority of serial interrupts, to reduce overflow errors +#define UART_IRQ_PRIO 1 + +struct MarlinSerial : public HardwareSerial { + MarlinSerial(struct usart_dev *usart_device, uint8 tx_pin, uint8 rx_pin) : HardwareSerial(usart_device, tx_pin, rx_pin) { } + + #ifdef UART_IRQ_PRIO + // Shadow the parent methods to set IRQ priority after begin() + void begin(uint32 baud) { + MarlinSerial::begin(baud, SERIAL_8N1); + } + + void begin(uint32 baud, uint8_t config) { + HardwareSerial::begin(baud, config); + nvic_irq_set_priority(c_dev()->irq_num, UART_IRQ_PRIO); + } + #endif +}; + +typedef Serial1Class MSerialT; + +extern MSerialT MSerial1; +extern MSerialT MSerial2; +extern MSerialT MSerial3; +#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) + extern MSerialT MSerial4; + extern MSerialT MSerial5; +#endif diff --git a/Marlin/src/HAL/STM32F1/MinSerial.cpp b/Marlin/src/HAL/STM32F1/MinSerial.cpp new file mode 100644 index 0000000000..6cf68d8d8f --- /dev/null +++ b/Marlin/src/HAL/STM32F1/MinSerial.cpp @@ -0,0 +1,117 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * 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 . + * + */ +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(POSTMORTEM_DEBUGGING) + +#include "../shared/MinSerial.h" + +#include +#include +#include + +/* Instruction Synchronization Barrier */ +#define isb() __asm__ __volatile__ ("isb" : : : "memory") + +/* Data Synchronization Barrier */ +#define dsb() __asm__ __volatile__ ("dsb" : : : "memory") + +static void TXBegin() { + #if !WITHIN(SERIAL_PORT, 1, 6) + #warning "Using POSTMORTEM_DEBUGGING requires a physical U(S)ART hardware in case of severe error." + #warning "Disabling the severe error reporting feature currently because the used serial port is not a HW port." + #else + // We use MYSERIAL1 here, so we need to figure out how to get the linked register + struct usart_dev* dev = MYSERIAL1.c_dev(); + + // Or use this if removing libmaple + // int irq = dev->irq_num; + // int nvicUART[] = { NVIC_USART1 /* = 37 */, NVIC_USART2 /* = 38 */, NVIC_USART3 /* = 39 */, NVIC_UART4 /* = 52 */, NVIC_UART5 /* = 53 */ }; + // Disabling irq means setting the bit in the NVIC ICER register located at + // Disable UART interrupt in NVIC + nvic_irq_disable(dev->irq_num); + + // Use this if removing libmaple + //SBI(NVIC_BASE->ICER[1], irq - 32); + + // We NEED memory barriers to ensure Interrupts are actually disabled! + // ( https://dzone.com/articles/nvic-disabling-interrupts-on-arm-cortex-m-and-the ) + dsb(); + isb(); + + rcc_clk_disable(dev->clk_id); + rcc_clk_enable(dev->clk_id); + + usart_reg_map *regs = dev->regs; + regs->CR1 = 0; // Reset the USART + regs->CR2 = 0; // 1 stop bit + + // If we don't touch the BRR (baudrate register), we don't need to recompute. Else we would need to call + usart_set_baud_rate(dev, 0, BAUDRATE); + + regs->CR1 = (USART_CR1_TE | USART_CR1_UE); // 8 bits, no parity, 1 stop bit + #endif +} + +// A SW memory barrier, to ensure GCC does not overoptimize loops +#define sw_barrier() __asm__ volatile("": : :"memory"); +static void TX(char c) { + #if WITHIN(SERIAL_PORT, 1, 6) + struct usart_dev* dev = MYSERIAL1.c_dev(); + while (!(dev->regs->SR & USART_SR_TXE)) { + hal.watchdog_refresh(); + sw_barrier(); + } + dev->regs->DR = c; + #endif +} + +void install_min_serial() { + HAL_min_serial_init = &TXBegin; + HAL_min_serial_out = &TX; +} + +#if DISABLED(DYNAMIC_VECTORTABLE) && DISABLED(STM32F0xx) // Cortex M0 can't branch to a symbol that's too far, so we have a specific hack for them +extern "C" { + __attribute__((naked)) void JumpHandler_ASM() { + __asm__ __volatile__ ( + "b CommonHandler_ASM\n" + ); + } + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_hardfault(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_busfault(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_usagefault(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_memmanage(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __exc_nmi(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception7(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception8(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception9(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception10(); + void __attribute__((naked, alias("JumpHandler_ASM"), nothrow)) __stm32reservedexception13(); +} +#endif + +#endif // POSTMORTEM_DEBUGGING +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/README.md b/Marlin/src/HAL/STM32F1/README.md new file mode 100644 index 0000000000..b5bd5141fb --- /dev/null +++ b/Marlin/src/HAL/STM32F1/README.md @@ -0,0 +1,11 @@ +# STM32F1 + +This HAL is for STM32F103 boards used with [Arduino STM32](https://github.com/rogerclarkmelbourne/Arduino_STM32) framework. + +Currently has been tested in Malyan M200 (103CBT6), SKRmini (103RCT6), Chitu 3d (103ZET6), and various 103VET6 boards. + +### Main developers: +- Victorpv +- xC000005 +- thisiskeithb +- tpruvot diff --git a/Marlin/src/HAL/STM32F1/SPI.cpp b/Marlin/src/HAL/STM32F1/SPI.cpp new file mode 100644 index 0000000000..a180684757 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/SPI.cpp @@ -0,0 +1,736 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2010 Perry Hung. + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + *****************************************************************************/ + +/** + * @author Marti Bolivar + * @brief Wirish SPI implementation. + */ + +#ifdef __STM32F1__ + +#include + +#include +#include +#include + +#include +#include + +#include "../../inc/MarlinConfig.h" +#include "spi_pins.h" + +/** Time in ms for DMA receive timeout */ +#define DMA_TIMEOUT 100 + +#if CYCLES_PER_MICROSECOND != 72 + #warning "Unexpected clock speed; SPI frequency calculation will be incorrect" +#endif + +struct spi_pins { uint8_t nss, sck, miso, mosi; }; + +static const spi_pins* dev_to_spi_pins(spi_dev *dev); +static void configure_gpios(spi_dev *dev, bool as_master); +static spi_baud_rate determine_baud_rate(spi_dev *dev, uint32_t freq); + +#if BOARD_NR_SPI >= 3 && !defined(STM32_HIGH_DENSITY) + #error "The SPI library is misconfigured: 3 SPI ports only available on high density STM32 devices" +#endif + +static const spi_pins board_spi_pins[] __FLASH__ = { + #if BOARD_NR_SPI >= 1 + { BOARD_SPI1_NSS_PIN, + BOARD_SPI1_SCK_PIN, + BOARD_SPI1_MISO_PIN, + BOARD_SPI1_MOSI_PIN }, + #endif + #if BOARD_NR_SPI >= 2 + { BOARD_SPI2_NSS_PIN, + BOARD_SPI2_SCK_PIN, + BOARD_SPI2_MISO_PIN, + BOARD_SPI2_MOSI_PIN }, + #endif + #if BOARD_NR_SPI >= 3 + { BOARD_SPI3_NSS_PIN, + BOARD_SPI3_SCK_PIN, + BOARD_SPI3_MISO_PIN, + BOARD_SPI3_MOSI_PIN }, + #endif +}; + +#if BOARD_NR_SPI >= 1 + static void *_spi1_this; +#endif +#if BOARD_NR_SPI >= 2 + static void *_spi2_this; +#endif +#if BOARD_NR_SPI >= 3 + static void *_spi3_this; +#endif + +/** + * @brief Wait until TXE (tx empty) flag is set and BSY (busy) flag unset. + */ +static inline void waitSpiTxEnd(spi_dev *spi_d) { + while (spi_is_tx_empty(spi_d) == 0) { /* nada */ } // wait until TXE=1 + while (spi_is_busy(spi_d) != 0) { /* nada */ } // wait until BSY=0 +} + +/** + * Constructor + */ +SPIClass::SPIClass(uint32_t spi_num) { + _currentSetting = &_settings[spi_num - 1]; // SPI channels are called 1 2 and 3 but the array is zero indexed + + switch (spi_num) { + #if BOARD_NR_SPI >= 1 + case 1: + _currentSetting->spi_d = SPI1; + _spi1_this = (void*)this; + break; + #endif + #if BOARD_NR_SPI >= 2 + case 2: + _currentSetting->spi_d = SPI2; + _spi2_this = (void*)this; + break; + #endif + #if BOARD_NR_SPI >= 3 + case 3: + _currentSetting->spi_d = SPI3; + _spi3_this = (void*)this; + break; + #endif + default: ASSERT(0); + } + + // Init things specific to each SPI device + // clock divider setup is a bit of hack, and needs to be improved at a later date. + #if BOARD_NR_SPI >= 1 + _settings[0].spi_d = SPI1; + _settings[0].clockDivider = determine_baud_rate(_settings[0].spi_d, _settings[0].clock); + _settings[0].spiDmaDev = DMA1; + _settings[0].spiTxDmaChannel = DMA_CH3; + _settings[0].spiRxDmaChannel = DMA_CH2; + #endif + #if BOARD_NR_SPI >= 2 + _settings[1].spi_d = SPI2; + _settings[1].clockDivider = determine_baud_rate(_settings[1].spi_d, _settings[1].clock); + _settings[1].spiDmaDev = DMA1; + _settings[1].spiTxDmaChannel = DMA_CH5; + _settings[1].spiRxDmaChannel = DMA_CH4; + #endif + #if BOARD_NR_SPI >= 3 + _settings[2].spi_d = SPI3; + _settings[2].clockDivider = determine_baud_rate(_settings[2].spi_d, _settings[2].clock); + _settings[2].spiDmaDev = DMA2; + _settings[2].spiTxDmaChannel = DMA_CH2; + _settings[2].spiRxDmaChannel = DMA_CH1; + #endif + + // added for DMA callbacks. + _currentSetting->state = SPI_STATE_IDLE; +} + +SPIClass::SPIClass(int8_t mosi, int8_t miso, int8_t sclk, int8_t ssel) : SPIClass(1) { + #if BOARD_NR_SPI >= 1 + if (mosi == BOARD_SPI1_MOSI_PIN) setModule(1); + #endif + #if BOARD_NR_SPI >= 2 + if (mosi == BOARD_SPI2_MOSI_PIN) setModule(2); + #endif + #if BOARD_NR_SPI >= 3 + if (mosi == BOARD_SPI3_MOSI_PIN) setModule(3); + #endif +} + +/** + * Set up/tear down + */ +void SPIClass::updateSettings() { + uint32_t flags = ((_currentSetting->bitOrder == MSBFIRST ? SPI_FRAME_MSB : SPI_FRAME_LSB) | _currentSetting->dataSize | SPI_SW_SLAVE | SPI_SOFT_SS); + spi_master_enable(_currentSetting->spi_d, (spi_baud_rate)_currentSetting->clockDivider, (spi_mode)_currentSetting->dataMode, flags); +} + +void SPIClass::begin() { + spi_init(_currentSetting->spi_d); + configure_gpios(_currentSetting->spi_d, 1); + updateSettings(); + // added for DMA callbacks. + _currentSetting->state = SPI_STATE_READY; +} + +void SPIClass::beginSlave() { + spi_init(_currentSetting->spi_d); + configure_gpios(_currentSetting->spi_d, 0); + uint32_t flags = ((_currentSetting->bitOrder == MSBFIRST ? SPI_FRAME_MSB : SPI_FRAME_LSB) | _currentSetting->dataSize); + spi_slave_enable(_currentSetting->spi_d, (spi_mode)_currentSetting->dataMode, flags); + // added for DMA callbacks. + _currentSetting->state = SPI_STATE_READY; +} + +void SPIClass::end() { + if (!spi_is_enabled(_currentSetting->spi_d)) return; + + // Follows RM0008's sequence for disabling a SPI in master/slave + // full duplex mode. + while (spi_is_rx_nonempty(_currentSetting->spi_d)) { + // FIXME [0.1.0] remove this once you have an interrupt based driver + volatile uint16_t rx __attribute__((unused)) = spi_rx_reg(_currentSetting->spi_d); + } + waitSpiTxEnd(_currentSetting->spi_d); + + spi_peripheral_disable(_currentSetting->spi_d); + // added for DMA callbacks. + // Need to add unsetting the callbacks for the DMA channels. + _currentSetting->state = SPI_STATE_IDLE; +} + +/* Roger Clark added 3 functions */ +void SPIClass::setClockDivider(uint32_t clockDivider) { + _currentSetting->clockDivider = clockDivider; + uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_BR); + _currentSetting->spi_d->regs->CR1 = cr1 | (clockDivider & SPI_CR1_BR); +} + +void SPIClass::setBitOrder(BitOrder bitOrder) { + _currentSetting->bitOrder = bitOrder; + uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_LSBFIRST); + if (bitOrder == LSBFIRST) cr1 |= SPI_CR1_LSBFIRST; + _currentSetting->spi_d->regs->CR1 = cr1; +} + +/** + * Victor Perez. Added to test changing datasize from 8 to 16 bit modes on the fly. + * Input parameter should be SPI_CR1_DFF set to 0 or 1 on a 32bit word. + */ +void SPIClass::setDataSize(uint32_t datasize) { + _currentSetting->dataSize = datasize; + uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_DFF); + uint8_t en = spi_is_enabled(_currentSetting->spi_d); + spi_peripheral_disable(_currentSetting->spi_d); + _currentSetting->spi_d->regs->CR1 = cr1 | (datasize & SPI_CR1_DFF) | en; +} + +void SPIClass::setDataMode(uint8_t dataMode) { + /** + * Notes: + * As far as we know the AVR numbers for dataMode match the numbers required by the STM32. + * From the AVR doc https://www.atmel.com/images/doc2585.pdf section 2.4 + * + * SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge + * 0 0 0 Falling Rising + * 1 0 1 Rising Falling + * 2 1 0 Rising Falling + * 3 1 1 Falling Rising + * + * On the STM32 it appears to be + * + * bit 1 - CPOL : Clock polarity + * (This bit should not be changed when communication is ongoing) + * 0 : CLK to 0 when idle + * 1 : CLK to 1 when idle + * + * bit 0 - CPHA : Clock phase + * (This bit should not be changed when communication is ongoing) + * 0 : The first clock transition is the first data capture edge + * 1 : The second clock transition is the first data capture edge + * + * If someone finds this is not the case or sees a logic error with this let me know ;-) + */ + _currentSetting->dataMode = dataMode; + uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_CPOL|SPI_CR1_CPHA); + _currentSetting->spi_d->regs->CR1 = cr1 | (dataMode & (SPI_CR1_CPOL|SPI_CR1_CPHA)); +} + +void SPIClass::beginTransaction(uint8_t pin, const SPISettings &settings) { + setBitOrder(settings.bitOrder); + setDataMode(settings.dataMode); + setDataSize(settings.dataSize); + setClockDivider(determine_baud_rate(_currentSetting->spi_d, settings.clock)); + begin(); +} + +void SPIClass::beginTransactionSlave(const SPISettings &settings) { + setBitOrder(settings.bitOrder); + setDataMode(settings.dataMode); + setDataSize(settings.dataSize); + beginSlave(); +} + +void SPIClass::endTransaction() { } + +/** + * I/O + */ + +uint16_t SPIClass::read() { + while (!spi_is_rx_nonempty(_currentSetting->spi_d)) { /* nada */ } + return (uint16_t)spi_rx_reg(_currentSetting->spi_d); +} + +void SPIClass::read(uint8_t *buf, uint32_t len) { + if (len == 0) return; + spi_rx_reg(_currentSetting->spi_d); // clear the RX buffer in case a byte is waiting on it. + spi_reg_map * regs = _currentSetting->spi_d->regs; + // start sequence: write byte 0 + regs->DR = 0x00FF; // write the first byte + // main loop + while (--len) { + while (!(regs->SR & SPI_SR_TXE)) { /* nada */ } // wait for TXE flag + noInterrupts(); // go atomic level - avoid interrupts to surely get the previously received data + regs->DR = 0x00FF; // write the next data item to be transmitted into the SPI_DR register. This clears the TXE flag. + while (!(regs->SR & SPI_SR_RXNE)) { /* nada */ } // wait till data is available in the DR register + *buf++ = (uint8)(regs->DR); // read and store the received byte. This clears the RXNE flag. + interrupts(); // let systick do its job + } + // read remaining last byte + while (!(regs->SR & SPI_SR_RXNE)) { /* nada */ } // wait till data is available in the Rx register + *buf++ = (uint8)(regs->DR); // read and store the received byte +} + +void SPIClass::write(uint16_t data) { + /* Added for 16bit data Victor Perez. Roger Clark + * Improved speed by just directly writing the single byte to the SPI data reg and wait for completion, + * by taking the Tx code from transfer(byte) + * This almost doubles the speed of this function. + */ + spi_tx_reg(_currentSetting->spi_d, data); // write the data to be transmitted into the SPI_DR register (this clears the TXE flag) + waitSpiTxEnd(_currentSetting->spi_d); +} + +void SPIClass::write16(uint16_t data) { + // Added by stevestrong: write two consecutive bytes in 8 bit mode (DFF=0) + spi_tx_reg(_currentSetting->spi_d, data>>8); // write high byte + while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // Wait until TXE=1 + spi_tx_reg(_currentSetting->spi_d, data); // write low byte + waitSpiTxEnd(_currentSetting->spi_d); +} + +void SPIClass::write(uint16_t data, uint32_t n) { + // Added by stevstrong: Repeatedly send same data by the specified number of times + spi_reg_map * regs = _currentSetting->spi_d->regs; + while (n--) { + regs->DR = data; // write the data to be transmitted into the SPI_DR register (this clears the TXE flag) + while (!(regs->SR & SPI_SR_TXE)) { /* nada */ } // wait till Tx empty + } + while (regs->SR & SPI_SR_BSY) { /* nada */ } // wait until BSY=0 before returning +} + +void SPIClass::write(const void *data, uint32_t length) { + spi_dev * spi_d = _currentSetting->spi_d; + spi_tx(spi_d, data, length); // data can be array of bytes or words + waitSpiTxEnd(spi_d); +} + +uint8_t SPIClass::transfer(uint8_t byte) const { + spi_dev * spi_d = _currentSetting->spi_d; + spi_rx_reg(spi_d); // read any previous data + spi_tx_reg(spi_d, byte); // Write the data item to be transmitted into the SPI_DR register + waitSpiTxEnd(spi_d); + return (uint8)spi_rx_reg(spi_d); // "... and read the last received data." +} + +uint16_t SPIClass::transfer16(uint16_t data) const { + // Modified by stevestrong: write & read two consecutive bytes in 8 bit mode (DFF=0) + // This is more effective than two distinct byte transfers + spi_dev * spi_d = _currentSetting->spi_d; + spi_rx_reg(spi_d); // read any previous data + spi_tx_reg(spi_d, data>>8); // write high byte + waitSpiTxEnd(spi_d); // wait until TXE=1 and then wait until BSY=0 + uint16_t ret = spi_rx_reg(spi_d)<<8; // read and shift high byte + spi_tx_reg(spi_d, data); // write low byte + waitSpiTxEnd(spi_d); // wait until TXE=1 and then wait until BSY=0 + ret += spi_rx_reg(spi_d); // read low byte + return ret; +} + +/** + * Roger Clark and Victor Perez, 2015 + * Performs a DMA SPI transfer with at least a receive buffer. + * If a TX buffer is not provided, FF is sent over and over for the length of the transfer. + * On exit TX buffer is not modified, and RX buffer contains the received data. + * Still in progress. + */ +void SPIClass::dmaTransferSet(const void *transmitBuf, void *receiveBuf) { + dma_init(_currentSetting->spiDmaDev); + //spi_rx_dma_enable(_currentSetting->spi_d); + //spi_tx_dma_enable(_currentSetting->spi_d); + dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_16BIT) ? DMA_SIZE_16BITS : DMA_SIZE_8BITS; + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &_currentSetting->spi_d->regs->DR, + dma_bit_size, receiveBuf, dma_bit_size, (DMA_MINC_MODE | DMA_TRNS_CMPLT ));// receive buffer DMA + if (!transmitBuf) { + transmitBuf = &ff; + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, + dma_bit_size, (volatile void*)transmitBuf, dma_bit_size, (DMA_FROM_MEM));// Transmit FF repeatedly + } + else { + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, + dma_bit_size, (volatile void*)transmitBuf, dma_bit_size, (DMA_MINC_MODE | DMA_FROM_MEM ));// Transmit buffer DMA + } + dma_set_priority(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, DMA_PRIORITY_LOW); + dma_set_priority(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, DMA_PRIORITY_VERY_HIGH); +} + +uint8_t SPIClass::dmaTransferRepeat(uint16_t length) { + if (length == 0) return 0; + if (spi_is_rx_nonempty(_currentSetting->spi_d) == 1) spi_rx_reg(_currentSetting->spi_d); + _currentSetting->state = SPI_STATE_TRANSFER; + dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, length); + dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length); + dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel);// enable receive + dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit + spi_rx_dma_enable(_currentSetting->spi_d); + spi_tx_dma_enable(_currentSetting->spi_d); + if (_currentSetting->receiveCallback) + return 0; + + //uint32_t m = millis(); + uint8_t b = 0; + uint32_t m = millis(); + while (!(dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)) { + // Avoid interrupts and just loop waiting for the flag to be set. + if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; } + } + + waitSpiTxEnd(_currentSetting->spi_d); // until TXE=1 and BSY=0 + spi_tx_dma_disable(_currentSetting->spi_d); + spi_rx_dma_disable(_currentSetting->spi_d); + dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel); + dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel); + dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + _currentSetting->state = SPI_STATE_READY; + return b; +} + +/** + * Roger Clark and Victor Perez, 2015 + * Performs a DMA SPI transfer with at least a receive buffer. + * If a TX buffer is not provided, FF is sent over and over for the length of the transfer. + * On exit TX buffer is not modified, and RX buffer contains the received data. + * Still in progress. + */ +uint8_t SPIClass::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16_t length) { + dmaTransferSet(transmitBuf, receiveBuf); + return dmaTransferRepeat(length); +} + +/** + * Roger Clark and Victor Perez, 2015 + * Performs a DMA SPI send using a TX buffer. + * On exit TX buffer is not modified. + * Still in progress. + * 2016 - stevstrong - reworked to automatically detect bit size from SPI setting + */ +void SPIClass::dmaSendSet(const void * transmitBuf, bool minc) { + uint32_t flags = ( (DMA_MINC_MODE*minc) | DMA_FROM_MEM | DMA_TRNS_CMPLT); + dma_init(_currentSetting->spiDmaDev); + dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_16BIT) ? DMA_SIZE_16BITS : DMA_SIZE_8BITS; + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, dma_bit_size, + (volatile void*)transmitBuf, dma_bit_size, flags);// Transmit buffer DMA + dma_set_priority(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, DMA_PRIORITY_LOW); +} + +uint8_t SPIClass::dmaSendRepeat(uint16_t length) { + if (length == 0) return 0; + + dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length); + _currentSetting->state = SPI_STATE_TRANSMIT; + dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); // enable transmit + spi_tx_dma_enable(_currentSetting->spi_d); + if (_currentSetting->transmitCallback) return 0; + + uint32_t m = millis(); + uint8_t b = 0; + while (!(dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)) { + // Avoid interrupts and just loop waiting for the flag to be set. + if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; } + } + waitSpiTxEnd(_currentSetting->spi_d); // until TXE=1 and BSY=0 + spi_tx_dma_disable(_currentSetting->spi_d); + dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + _currentSetting->state = SPI_STATE_READY; + return b; +} + +uint8_t SPIClass::dmaSend(const void * transmitBuf, uint16_t length, bool minc) { + dmaSendSet(transmitBuf, minc); + return dmaSendRepeat(length); +} + +uint8_t SPIClass::dmaSendAsync(const void * transmitBuf, uint16_t length, bool minc) { + uint8_t b = 0; + + if (_currentSetting->state != SPI_STATE_READY) { + uint32_t m = millis(); + while (!(dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)) { + //Avoid interrupts and just loop waiting for the flag to be set. + //delayMicroseconds(10); + if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; } + } + waitSpiTxEnd(_currentSetting->spi_d); // until TXE=1 and BSY=0 + spi_tx_dma_disable(_currentSetting->spi_d); + dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + _currentSetting->state = SPI_STATE_READY; + } + + if (length == 0) return 0; + uint32_t flags = ( (DMA_MINC_MODE*minc) | DMA_FROM_MEM | DMA_TRNS_CMPLT); + + dma_init(_currentSetting->spiDmaDev); + // TX + dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_16BIT) ? DMA_SIZE_16BITS : DMA_SIZE_8BITS; + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, + dma_bit_size, (volatile void*)transmitBuf, dma_bit_size, flags);// Transmit buffer DMA + dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length); + dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit + spi_tx_dma_enable(_currentSetting->spi_d); + + _currentSetting->state = SPI_STATE_TRANSMIT; + return b; +} + + +/** + * New functions added to manage callbacks. + * Victor Perez 2017 + */ +void SPIClass::onReceive(void(*callback)()) { + _currentSetting->receiveCallback = callback; + if (callback) { + switch (_currentSetting->spi_d->clk_id) { + #if BOARD_NR_SPI >= 1 + case RCC_SPI1: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 2 + case RCC_SPI2: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 3 + case RCC_SPI3: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback); + break; + #endif + default: ASSERT(0); + } + } + else { + dma_detach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel); + } +} + +void SPIClass::onTransmit(void(*callback)()) { + _currentSetting->transmitCallback = callback; + if (callback) { + switch (_currentSetting->spi_d->clk_id) { + #if BOARD_NR_SPI >= 1 + case RCC_SPI1: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 2 + case RCC_SPI2: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback); + break; + #endif + #if BOARD_NR_SPI >= 3 + case RCC_SPI3: + dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback); + break; + #endif + default: ASSERT(0); + } + } + else { + dma_detach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + } +} + +/** + * TODO: check if better to first call the customer code, next disable the DMA requests. + * Also see if we need to check whether callbacks are set or not, may be better to be checked + * during the initial setup and only set the callback to EventCallback if they are set. + */ +void SPIClass::EventCallback() { + waitSpiTxEnd(_currentSetting->spi_d); + switch (_currentSetting->state) { + case SPI_STATE_TRANSFER: + while (spi_is_rx_nonempty(_currentSetting->spi_d)) { /* nada */ } + _currentSetting->state = SPI_STATE_READY; + spi_tx_dma_disable(_currentSetting->spi_d); + spi_rx_dma_disable(_currentSetting->spi_d); + //dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + //dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel); + if (_currentSetting->receiveCallback) + _currentSetting->receiveCallback(); + break; + case SPI_STATE_TRANSMIT: + _currentSetting->state = SPI_STATE_READY; + spi_tx_dma_disable(_currentSetting->spi_d); + //dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); + if (_currentSetting->transmitCallback) + _currentSetting->transmitCallback(); + break; + default: + break; + } +} + +void SPIClass::attachInterrupt() { + // Should be enableInterrupt() +} + +void SPIClass::detachInterrupt() { + // Should be disableInterrupt() +} + +/** + * Pin accessors + */ + +uint8_t SPIClass::misoPin() { + return dev_to_spi_pins(_currentSetting->spi_d)->miso; +} + +uint8_t SPIClass::mosiPin() { + return dev_to_spi_pins(_currentSetting->spi_d)->mosi; +} + +uint8_t SPIClass::sckPin() { + return dev_to_spi_pins(_currentSetting->spi_d)->sck; +} + +uint8_t SPIClass::nssPin() { + return dev_to_spi_pins(_currentSetting->spi_d)->nss; +} + +/** + * Deprecated functions + */ +uint8_t SPIClass::send(uint8_t data) { write(data); return 1; } +uint8_t SPIClass::send(uint8_t *buf, uint32_t len) { write(buf, len); return len; } +uint8_t SPIClass::recv() { return read(); } + +/** + * DMA call back functions, one per port. + */ +#if BOARD_NR_SPI >= 1 + void SPIClass::_spi1EventCallback() { + reinterpret_cast(_spi1_this)->EventCallback(); + } +#endif +#if BOARD_NR_SPI >= 2 + void SPIClass::_spi2EventCallback() { + reinterpret_cast(_spi2_this)->EventCallback(); + } +#endif +#if BOARD_NR_SPI >= 3 + void SPIClass::_spi3EventCallback() { + reinterpret_cast(_spi3_this)->EventCallback(); + } +#endif + +/** + * Auxiliary functions + */ +static const spi_pins* dev_to_spi_pins(spi_dev *dev) { + switch (dev->clk_id) { + #if BOARD_NR_SPI >= 1 + case RCC_SPI1: return board_spi_pins; + #endif + #if BOARD_NR_SPI >= 2 + case RCC_SPI2: return board_spi_pins + 1; + #endif + #if BOARD_NR_SPI >= 3 + case RCC_SPI3: return board_spi_pins + 2; + #endif + default: return nullptr; + } +} + +static void disable_pwm(const stm32_pin_info *i) { + if (i->timer_device) + timer_set_mode(i->timer_device, i->timer_channel, TIMER_DISABLED); +} + +static void configure_gpios(spi_dev *dev, bool as_master) { + const spi_pins *pins = dev_to_spi_pins(dev); + if (!pins) return; + + const stm32_pin_info *nssi = &PIN_MAP[pins->nss], + *scki = &PIN_MAP[pins->sck], + *misoi = &PIN_MAP[pins->miso], + *mosii = &PIN_MAP[pins->mosi]; + + disable_pwm(nssi); + disable_pwm(scki); + disable_pwm(misoi); + disable_pwm(mosii); + + spi_config_gpios(dev, as_master, nssi->gpio_device, nssi->gpio_bit, + scki->gpio_device, scki->gpio_bit, misoi->gpio_bit, + mosii->gpio_bit); +} + +static const spi_baud_rate baud_rates[8] __FLASH__ = { + SPI_BAUD_PCLK_DIV_2, + SPI_BAUD_PCLK_DIV_4, + SPI_BAUD_PCLK_DIV_8, + SPI_BAUD_PCLK_DIV_16, + SPI_BAUD_PCLK_DIV_32, + SPI_BAUD_PCLK_DIV_64, + SPI_BAUD_PCLK_DIV_128, + SPI_BAUD_PCLK_DIV_256, +}; + +/** + * Note: This assumes you're on a LeafLabs-style board + * (CYCLES_PER_MICROSECOND == 72, APB2 at 72MHz, APB1 at 36MHz). + */ +static spi_baud_rate determine_baud_rate(spi_dev *dev, uint32_t freq) { + uint32_t clock = 0; + switch (rcc_dev_clk(dev->clk_id)) { + case RCC_AHB: + case RCC_APB2: clock = STM32_PCLK2; break; // 72 Mhz + case RCC_APB1: clock = STM32_PCLK1; break; // 36 Mhz + } + clock >>= 1; + + uint8_t i = 0; + while (i < 7 && freq < clock) { clock >>= 1; i++; } + return baud_rates[i]; +} + +SPIClass SPI(SPI_DEVICE); + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/SPI.h b/Marlin/src/HAL/STM32F1/SPI.h new file mode 100644 index 0000000000..0941fa55b7 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/SPI.h @@ -0,0 +1,426 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2010 Perry Hung. + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + *****************************************************************************/ +#pragma once + +#include +#include +#include + +#include +#include +#include + +// Number of SPI ports +#ifdef BOARD_SPI3_SCK_PIN + #define BOARD_NR_SPI 3 +#elif defined(BOARD_SPI2_SCK_PIN) + #define BOARD_NR_SPI 2 +#elif defined(BOARD_SPI1_SCK_PIN) + #define BOARD_NR_SPI 1 +#endif + +// SPI_HAS_TRANSACTION means SPI has +// - beginTransaction() +// - endTransaction() +// - usingInterrupt() +// - SPISetting(clock, bitOrder, dataMode) +//#define SPI_HAS_TRANSACTION + +#define SPI_CLOCK_DIV2 SPI_BAUD_PCLK_DIV_2 +#define SPI_CLOCK_DIV4 SPI_BAUD_PCLK_DIV_4 +#define SPI_CLOCK_DIV8 SPI_BAUD_PCLK_DIV_8 +#define SPI_CLOCK_DIV16 SPI_BAUD_PCLK_DIV_16 +#define SPI_CLOCK_DIV32 SPI_BAUD_PCLK_DIV_32 +#define SPI_CLOCK_DIV64 SPI_BAUD_PCLK_DIV_64 +#define SPI_CLOCK_DIV128 SPI_BAUD_PCLK_DIV_128 +#define SPI_CLOCK_DIV256 SPI_BAUD_PCLK_DIV_256 + +/* + * Roger Clark. 20150106 + * Commented out redundant AVR defined + * +#define SPI_MODE_MASK 0x0C // CPOL = bit 3, CPHA = bit 2 on SPCR +#define SPI_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR +#define SPI_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR + +// define SPI_AVR_EIMSK for AVR boards with external interrupt pins +#ifdef EIMSK + #define SPI_AVR_EIMSK EIMSK +#elif defined(GICR) + #define SPI_AVR_EIMSK GICR +#elif defined(GIMSK) + #define SPI_AVR_EIMSK GIMSK +#endif +*/ + +#ifndef STM32_LSBFIRST + #define STM32_LSBFIRST 0 +#endif +#ifndef STM32_MSBFIRST + #define STM32_MSBFIRST 1 +#endif + +// PC13 or PA4 +#define BOARD_SPI_DEFAULT_SS PA4 +//#define BOARD_SPI_DEFAULT_SS PC13 + +#define SPI_MODE0 SPI_MODE_0 +#define SPI_MODE1 SPI_MODE_1 +#define SPI_MODE2 SPI_MODE_2 +#define SPI_MODE3 SPI_MODE_3 + +#define DATA_SIZE_8BIT SPI_CR1_DFF_8_BIT +#define DATA_SIZE_16BIT SPI_CR1_DFF_16_BIT + +typedef enum { + SPI_STATE_IDLE, + SPI_STATE_READY, + SPI_STATE_RECEIVE, + SPI_STATE_TRANSMIT, + SPI_STATE_TRANSFER +} spi_mode_t; + +class SPISettings { +public: + SPISettings(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode) { + if (__builtin_constant_p(inClock)) + init_AlwaysInline(inClock, inBitOrder, inDataMode, DATA_SIZE_8BIT); + else + init_MightInline(inClock, inBitOrder, inDataMode, DATA_SIZE_8BIT); + } + SPISettings(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) { + if (__builtin_constant_p(inClock)) + init_AlwaysInline(inClock, inBitOrder, inDataMode, inDataSize); + else + init_MightInline(inClock, inBitOrder, inDataMode, inDataSize); + } + SPISettings(uint32_t inClock) { + if (__builtin_constant_p(inClock)) + init_AlwaysInline(inClock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); + else + init_MightInline(inClock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); + } + SPISettings() { + init_AlwaysInline(4000000, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT); + } +private: + void init_MightInline(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) { + init_AlwaysInline(inClock, inBitOrder, inDataMode, inDataSize); + } + void init_AlwaysInline(uint32_t inClock, BitOrder inBitOrder, uint8_t inDataMode, uint32_t inDataSize) __attribute__((__always_inline__)) { + clock = inClock; + bitOrder = inBitOrder; + dataMode = inDataMode; + dataSize = inDataSize; + //state = SPI_STATE_IDLE; + } + uint32_t clock; + uint32_t dataSize; + uint32_t clockDivider; + BitOrder bitOrder; + uint8_t dataMode; + uint8_t _SSPin; + volatile spi_mode_t state; + spi_dev *spi_d; + dma_channel spiRxDmaChannel, spiTxDmaChannel; + dma_dev* spiDmaDev; + void (*receiveCallback)() = nullptr; + void (*transmitCallback)() = nullptr; + + friend class SPIClass; +}; + +/* + * Kept for compat. + */ +static const uint8_t ff = 0xFF; + +/** + * @brief Wirish SPI interface. + * + * This implementation uses software slave management, so the caller + * is responsible for controlling the slave select line. + */ +class SPIClass { + +public: + /** + * @param spiPortNumber Number of the SPI port to manage. + */ + SPIClass(uint32_t spiPortNumber); + + /** + * Init using pins + */ + SPIClass(int8_t mosi, int8_t miso, int8_t sclk, int8_t ssel=-1); + + /** + * @brief Equivalent to begin(SPI_1_125MHZ, MSBFIRST, 0). + */ + void begin(); + + /** + * @brief Turn on a SPI port and set its GPIO pin modes for use as a slave. + * + * SPI port is enabled in full duplex mode, with software slave management. + * + * @param bitOrder Either LSBFIRST (little-endian) or MSBFIRST(big-endian) + * @param mode SPI mode to use + */ + void beginSlave(uint32_t bitOrder, uint32_t mode); + + /** + * @brief Equivalent to beginSlave(MSBFIRST, 0). + */ + void beginSlave(); + + /** + * @brief Disables the SPI port, but leaves its GPIO pin modes unchanged. + */ + void end(); + + void beginTransaction(const SPISettings &settings) { beginTransaction(BOARD_SPI_DEFAULT_SS, settings); } + void beginTransaction(uint8_t pin, const SPISettings &settings); + void endTransaction(); + + void beginTransactionSlave(const SPISettings &settings); + + void setClockDivider(uint32_t clockDivider); + void setBitOrder(BitOrder bitOrder); + void setDataMode(uint8_t dataMode); + + // SPI Configuration methods + void attachInterrupt(); + void detachInterrupt(); + + /* Victor Perez. Added to change datasize from 8 to 16 bit modes on the fly. + * Input parameter should be SPI_CR1_DFF set to 0 or 1 on a 32bit word. + * Requires an added function spi_data_size on STM32F1 / cores / maple / libmaple / spi.c + */ + void setDataSize(uint32_t ds); + + uint32_t getDataSize() { return _currentSetting->dataSize; } + + /* Victor Perez 2017. Added to set and clear callback functions for callback + * on DMA transfer completion. + * onReceive used to set the callback in case of dmaTransfer (tx/rx), once rx is completed + * onTransmit used to set the callback in case of dmaSend (tx only). That function + * will NOT be called in case of TX/RX + */ + void onReceive(void(*)()); + void onTransmit(void(*)()); + + /* + * I/O + */ + + /** + * @brief Return the next unread byte/word. + * + * If there is no unread byte/word waiting, this function will block + * until one is received. + */ + uint16_t read(); + + /** + * @brief Read length bytes, storing them into buffer. + * @param buffer Buffer to store received bytes into. + * @param length Number of bytes to store in buffer. This + * function will block until the desired number of + * bytes have been read. + */ + void read(uint8_t *buffer, uint32_t length); + + /** + * @brief Transmit one byte/word. + * @param data to transmit. + */ + void write(uint16_t data); + void write16(uint16_t data); // write 2 bytes in 8 bit mode (DFF=0) + + /** + * @brief Transmit one byte/word a specified number of times. + * @param data to transmit. + */ + void write(uint16_t data, uint32_t n); + + /** + * @brief Transmit multiple bytes/words. + * @param buffer Bytes/words to transmit. + * @param length Number of bytes/words in buffer to transmit. + */ + void write(const void * buffer, uint32_t length); + + /** + * @brief Transmit a byte, then return the next unread byte. + * + * This function transmits before receiving. + * + * @param data Byte to transmit. + * @return Next unread byte. + */ + uint8_t transfer(uint8_t data) const; + uint16_t transfer16(uint16_t data) const; + + /** + * @brief Sets up a DMA Transfer for "length" bytes. + * The transfer mode (8 or 16 bit mode) is evaluated from the SPI peripheral setting. + * + * This function transmits and receives to buffers. + * + * @param transmitBuf buffer Bytes to transmit. If passed as 0, it sends FF repeatedly for "length" bytes + * @param receiveBuf buffer Bytes to save received data. + * @param length Number of bytes in buffer to transmit. + */ + uint8_t dmaTransfer(const void * transmitBuf, void * receiveBuf, uint16_t length); + void dmaTransferSet(const void *transmitBuf, void *receiveBuf); + uint8_t dmaTransferRepeat(uint16_t length); + + /** + * @brief Sets up a DMA Transmit for SPI 8 or 16 bit transfer mode. + * The transfer mode (8 or 16 bit mode) is evaluated from the SPI peripheral setting. + * + * This function only transmits and does not care about the RX fifo. + * + * @param data buffer half words to transmit, + * @param length Number of bytes in buffer to transmit. + * @param minc Set to use Memory Increment mode, clear to use Circular mode. + */ + uint8_t dmaSend(const void * transmitBuf, uint16_t length, bool minc = 1); + void dmaSendSet(const void * transmitBuf, bool minc); + uint8_t dmaSendRepeat(uint16_t length); + + uint8_t dmaSendAsync(const void * transmitBuf, uint16_t length, bool minc = 1); + /* + * Pin accessors + */ + + /** + * @brief Return the number of the MISO (master in, slave out) pin + */ + uint8_t misoPin(); + + /** + * @brief Return the number of the MOSI (master out, slave in) pin + */ + uint8_t mosiPin(); + + /** + * @brief Return the number of the SCK (serial clock) pin + */ + uint8_t sckPin(); + + /** + * @brief Return the number of the NSS (slave select) pin + */ + uint8_t nssPin(); + + /* Escape hatch */ + + /** + * @brief Get a pointer to the underlying libmaple spi_dev for + * this HardwareSPI instance. + */ + spi_dev* c_dev() { return _currentSetting->spi_d; } + + spi_dev* dev() { return _currentSetting->spi_d; } + + /** + * @brief Sets the number of the SPI peripheral to be used by + * this HardwareSPI instance. + * + * @param spi_num Number of the SPI port. 1-2 in low density devices + * or 1-3 in high density devices. + */ + void setModule(int spi_num) { + _currentSetting = &_settings[spi_num - 1];// SPI channels are called 1 2 and 3 but the array is zero indexed + } + + /* -- The following methods are deprecated --------------------------- */ + + /** + * @brief Deprecated. + * + * Use HardwareSPI::transfer() instead. + * + * @see HardwareSPI::transfer() + */ + uint8_t send(uint8_t data); + + /** + * @brief Deprecated. + * + * Use HardwareSPI::write() in combination with + * HardwareSPI::read() (or HardwareSPI::transfer()) instead. + * + * @see HardwareSPI::write() + * @see HardwareSPI::read() + * @see HardwareSPI::transfer() + */ + uint8_t send(uint8_t *data, uint32_t length); + + /** + * @brief Deprecated. + * + * Use HardwareSPI::read() instead. + * + * @see HardwareSPI::read() + */ + uint8_t recv(); + +private: + + SPISettings _settings[BOARD_NR_SPI]; + SPISettings *_currentSetting; + + void updateSettings(); + + /* + * Functions added for DMA transfers with Callback. + * Experimental. + */ + + void EventCallback(); + + #if BOARD_NR_SPI >= 1 + static void _spi1EventCallback(); + #endif + #if BOARD_NR_SPI >= 2 + static void _spi2EventCallback(); + #endif + #if BOARD_NR_SPI >= 3 + static void _spi3EventCallback(); + #endif + /* + spi_dev *spi_d; + uint8_t _SSPin; + uint32_t clockDivider; + uint8_t dataMode; + BitOrder bitOrder; + */ +}; + +extern SPIClass SPI; diff --git a/Marlin/src/HAL/STM32F1/Servo.cpp b/Marlin/src/HAL/STM32F1/Servo.cpp new file mode 100644 index 0000000000..47ffb631cf --- /dev/null +++ b/Marlin/src/HAL/STM32F1/Servo.cpp @@ -0,0 +1,226 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * 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 . + * + */ +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +uint8_t ServoCount = 0; + +#include "Servo.h" + +//#include "Servo.h" + +#include +#include +#include +#include + +/** + * 20 millisecond period config. For a 1-based prescaler, + * + * (prescaler * overflow / CYC_MSEC) msec = 1 timer cycle = 20 msec + * => prescaler * overflow = 20 * CYC_MSEC + * + * This uses the smallest prescaler that allows an overflow < 2^16. + */ +#define MAX_OVERFLOW UINT16_MAX // _BV(16) - 1 +#define CYC_MSEC (1000 * CYCLES_PER_MICROSECOND) +#define TAU_MSEC 20 +#define TAU_USEC (TAU_MSEC * 1000) +#define TAU_CYC (TAU_MSEC * CYC_MSEC) +#define SERVO_PRESCALER (TAU_CYC / MAX_OVERFLOW + 1) +#define SERVO_OVERFLOW ((uint16_t)round((double)TAU_CYC / SERVO_PRESCALER)) + +// Unit conversions +#define US_TO_COMPARE(us) uint16_t(map((us), 0, TAU_USEC, 0, SERVO_OVERFLOW)) +#define COMPARE_TO_US(c) uint32_t(map((c), 0, SERVO_OVERFLOW, 0, TAU_USEC)) +#define ANGLE_TO_US(a) uint16_t(map((a), minAngle, maxAngle, SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW)) +#define US_TO_ANGLE(us) int16_t(map((us), SERVO_DEFAULT_MIN_PW, SERVO_DEFAULT_MAX_PW, minAngle, maxAngle)) + +void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) { + #ifdef MF_TIMER_SERVO0 + if (servoIndex == 0) { + pwmSetDuty(duty_cycle); + return; + } + #endif + + timer_dev *tdev = PIN_MAP[inPin].timer_device; + uint8_t tchan = PIN_MAP[inPin].timer_channel; + if (tdev) timer_set_compare(tdev, tchan, duty_cycle); +} + +libServo::libServo() { + servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO; + HAL_timer_set_interrupt_priority(MF_TIMER_SERVO0, SERVO0_TIMER_IRQ_PRIO); +} + +bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32_t inMaxAngle) { + if (servoIndex >= MAX_SERVOS) return false; + if (inPin >= BOARD_NR_GPIO_PINS) return false; + + minAngle = inMinAngle; + maxAngle = inMaxAngle; + angle = -1; + + #ifdef MF_TIMER_SERVO0 + if (servoIndex == 0 && setupSoftPWM(inPin)) { + pin = inPin; // set attached() + return true; + } + #endif + + if (!PWM_PIN(inPin)) return false; + + timer_dev *tdev = PIN_MAP[inPin].timer_device; + //uint8_t tchan = PIN_MAP[inPin].timer_channel; + + SET_PWM(inPin); + servoWrite(inPin, 0); + + timer_pause(tdev); + timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based + timer_set_reload(tdev, SERVO_OVERFLOW); + timer_generate_update(tdev); + timer_resume(tdev); + + pin = inPin; // set attached() + return true; +} + +bool libServo::detach() { + if (!attached()) return false; + angle = -1; + servoWrite(pin, 0); + return true; +} + +int32_t libServo::read() const { + if (attached()) { + #ifdef MF_TIMER_SERVO0 + if (servoIndex == 0) return angle; + #endif + timer_dev *tdev = PIN_MAP[pin].timer_device; + uint8_t tchan = PIN_MAP[pin].timer_channel; + return US_TO_ANGLE(COMPARE_TO_US(timer_get_compare(tdev, tchan))); + } + return 0; +} + +void libServo::move(const int32_t value) { + constexpr uint16_t servo_delay[] = SERVO_DELAY; + static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long."); + + if (attached()) { + angle = constrain(value, minAngle, maxAngle); + servoWrite(pin, US_TO_COMPARE(ANGLE_TO_US(angle))); + safe_delay(servo_delay[servoIndex]); + TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach()); + } +} + +#ifdef MF_TIMER_SERVO0 + extern "C" void Servo_IRQHandler() { + static timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); + uint16_t SR = timer_get_status(tdev); + if (SR & TIMER_SR_CC1IF) { // channel 1 off + #ifdef SERVO0_PWM_OD + OUT_WRITE_OD(SERVO0_PIN, HIGH); // off + #else + OUT_WRITE(SERVO0_PIN, LOW); + #endif + timer_reset_status_bit(tdev, TIMER_SR_CC1IF_BIT); + } + if (SR & TIMER_SR_CC2IF) { // channel 2 resume + #ifdef SERVO0_PWM_OD + OUT_WRITE_OD(SERVO0_PIN, LOW); // on + #else + OUT_WRITE(SERVO0_PIN, HIGH); + #endif + timer_reset_status_bit(tdev, TIMER_SR_CC2IF_BIT); + } + } + + bool libServo::setupSoftPWM(const int32_t inPin) { + timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); + if (!tdev) return false; + #ifdef SERVO0_PWM_OD + OUT_WRITE_OD(inPin, HIGH); + #else + OUT_WRITE(inPin, LOW); + #endif + + timer_pause(tdev); + timer_set_mode(tdev, 1, TIMER_OUTPUT_COMPARE); // counter with isr + timer_oc_set_mode(tdev, 1, TIMER_OC_MODE_FROZEN, 0); // no pin output change + timer_oc_set_mode(tdev, 2, TIMER_OC_MODE_FROZEN, 0); // no pin output change + timer_set_prescaler(tdev, SERVO_PRESCALER - 1); // prescaler is 1-based + timer_set_reload(tdev, SERVO_OVERFLOW); + timer_set_compare(tdev, 1, SERVO_OVERFLOW); + timer_set_compare(tdev, 2, SERVO_OVERFLOW); + timer_attach_interrupt(tdev, 1, Servo_IRQHandler); + timer_attach_interrupt(tdev, 2, Servo_IRQHandler); + timer_generate_update(tdev); + timer_resume(tdev); + + return true; + } + + void libServo::pwmSetDuty(const uint16_t duty_cycle) { + timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); + timer_set_compare(tdev, 1, duty_cycle); + timer_generate_update(tdev); + if (duty_cycle) { + timer_enable_irq(tdev, 1); + timer_enable_irq(tdev, 2); + } + else { + timer_disable_irq(tdev, 1); + timer_disable_irq(tdev, 2); + #ifdef SERVO0_PWM_OD + OUT_WRITE_OD(pin, HIGH); // off + #else + OUT_WRITE(pin, LOW); + #endif + } + } + + void libServo::pauseSoftPWM() { // detach + timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); + timer_pause(tdev); + pwmSetDuty(0); + } + +#else + + bool libServo::setupSoftPWM(const int32_t inPin) { return false; } + void libServo::pwmSetDuty(const uint16_t duty_cycle) {} + void libServo::pauseSoftPWM() {} + +#endif + +#endif // HAS_SERVOS + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/Servo.h b/Marlin/src/HAL/STM32F1/Servo.h new file mode 100644 index 0000000000..745a1c93f0 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/Servo.h @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Pin number of unattached pins +#define NOT_ATTACHED (-1) +#define INVALID_SERVO 255 + +#ifndef MAX_SERVOS + #define MAX_SERVOS 3 +#endif + +#define SERVO_DEFAULT_MIN_PW 544 +#define SERVO_DEFAULT_MAX_PW 2400 +#define SERVO_DEFAULT_MIN_ANGLE 0 +#define SERVO_DEFAULT_MAX_ANGLE 180 + +class libServo; +typedef libServo hal_servo_t; + +class libServo { + public: + libServo(); + bool attach(const int32_t pin, const int32_t minAngle=SERVO_DEFAULT_MIN_ANGLE, const int32_t maxAngle=SERVO_DEFAULT_MAX_ANGLE); + bool attached() const { return pin != NOT_ATTACHED; } + bool detach(); + void move(const int32_t value); + int32_t read() const; + private: + void servoWrite(uint8_t pin, const uint16_t duty_cycle); + + uint8_t servoIndex; // index into the channel data for this servo + int32_t pin = NOT_ATTACHED; + int32_t minAngle; + int32_t maxAngle; + int32_t angle; + + bool setupSoftPWM(const int32_t pin); + void pauseSoftPWM(); + void pwmSetDuty(const uint16_t duty_cycle); +}; diff --git a/Marlin/src/HAL/STM32F1/build_flags.py b/Marlin/src/HAL/STM32F1/build_flags.py new file mode 100644 index 0000000000..970ca8b767 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/build_flags.py @@ -0,0 +1,56 @@ +from __future__ import print_function +import sys + +#dynamic build flags for generic compile options +if __name__ == "__main__": + args = " ".join([ "-std=gnu++14", + "-Os", + "-mcpu=cortex-m3", + "-mthumb", + + "-fsigned-char", + "-fno-move-loop-invariants", + "-fno-strict-aliasing", + "-fsingle-precision-constant", + + "--specs=nano.specs", + "--specs=nosys.specs", + + "-IMarlin/src/HAL/STM32F1", + + "-MMD", + "-MP", + "-DTARGET_STM32F1" + ]) + + for i in range(1, len(sys.argv)): + args += " " + sys.argv[i] + + print(args) + +# extra script for linker options +else: + import pioutil + if pioutil.is_pio_build(): + from SCons.Script import DefaultEnvironment + env = DefaultEnvironment() + env.Append( + ARFLAGS=["rcs"], + + ASFLAGS=["-x", "assembler-with-cpp"], + + CXXFLAGS=[ + "-fabi-version=0", + "-fno-use-cxa-atexit", + "-fno-threadsafe-statics" + ], + LINKFLAGS=[ + "-Os", + "-mcpu=cortex-m3", + "-ffreestanding", + "-mthumb", + "--specs=nano.specs", + "--specs=nosys.specs", + "-u_printf_float", + ], + ) diff --git a/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp b/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp new file mode 100644 index 0000000000..26ea1ea19a --- /dev/null +++ b/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp @@ -0,0 +1,170 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#ifdef __STM32F1__ + +#include "../../../inc/MarlinConfig.h" + +#if BOTH(HAS_MARLINUI_U8GLIB, FORCE_SOFT_SPI) + +#include +#include "../../shared/HAL_SPI.h" + +#ifndef LCD_SPI_SPEED + #define LCD_SPI_SPEED SPI_FULL_SPEED // Fastest + //#define LCD_SPI_SPEED SPI_QUARTER_SPEED // Slower +#endif + +static uint8_t SPI_speed = LCD_SPI_SPEED; + +static inline uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t miso_pin=-1) { + LOOP_L_N(i, 8) { + if (spi_speed == 0) { + WRITE(DOGLCD_MOSI, !!(b & 0x80)); + WRITE(DOGLCD_SCK, HIGH); + b <<= 1; + if (miso_pin >= 0 && READ(miso_pin)) b |= 1; + WRITE(DOGLCD_SCK, LOW); + } + else { + const uint8_t state = (b & 0x80) ? HIGH : LOW; + LOOP_L_N(j, spi_speed) + WRITE(DOGLCD_MOSI, state); + + LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + WRITE(DOGLCD_SCK, HIGH); + + b <<= 1; + if (miso_pin >= 0 && READ(miso_pin)) b |= 1; + + LOOP_L_N(j, spi_speed) + WRITE(DOGLCD_SCK, LOW); + } + } + return b; +} + +static inline uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t miso_pin=-1) { + LOOP_L_N(i, 8) { + const uint8_t state = (b & 0x80) ? HIGH : LOW; + if (spi_speed == 0) { + WRITE(DOGLCD_SCK, LOW); + WRITE(DOGLCD_MOSI, state); + WRITE(DOGLCD_MOSI, state); // need some setup time + WRITE(DOGLCD_SCK, HIGH); + } + else { + LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + WRITE(DOGLCD_SCK, LOW); + + LOOP_L_N(j, spi_speed) + WRITE(DOGLCD_MOSI, state); + + LOOP_L_N(j, spi_speed) + WRITE(DOGLCD_SCK, HIGH); + } + b <<= 1; + if (miso_pin >= 0 && READ(miso_pin)) b |= 1; + } + return b; +} + +static void u8g_sw_spi_HAL_STM32F1_shift_out(uint8_t val) { + #if ENABLED(FYSETC_MINI_12864) + swSpiTransfer_mode_3(val, SPI_speed); + #else + swSpiTransfer_mode_0(val, SPI_speed); + #endif +} + +static uint8_t swSpiInit(const uint8_t spi_speed) { + #if PIN_EXISTS(LCD_RESET) + SET_OUTPUT(LCD_RESET_PIN); + #endif + SET_OUTPUT(DOGLCD_A0); + OUT_WRITE(DOGLCD_SCK, LOW); + OUT_WRITE(DOGLCD_MOSI, LOW); + OUT_WRITE(DOGLCD_CS, HIGH); + return spi_speed; +} + +uint8_t u8g_com_HAL_STM32F1_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { + switch (msg) { + case U8G_COM_MSG_INIT: + SPI_speed = swSpiInit(LCD_SPI_SPEED); + break; + + case U8G_COM_MSG_STOP: + break; + + case U8G_COM_MSG_RESET: + #if PIN_EXISTS(LCD_RESET) + WRITE(LCD_RESET_PIN, arg_val); + #endif + break; + + case U8G_COM_MSG_CHIP_SELECT: + #if ENABLED(FYSETC_MINI_12864) // This LCD SPI is running mode 3 while SD card is running mode 0 + if (arg_val) { // SCK idle state needs to be set to the proper idle state before + // the next chip select goes active + WRITE(DOGLCD_SCK, HIGH); // Set SCK to mode 3 idle state before CS goes active + WRITE(DOGLCD_CS, LOW); + } + else { + WRITE(DOGLCD_CS, HIGH); + WRITE(DOGLCD_SCK, LOW); // Set SCK to mode 0 idle state after CS goes inactive + } + #else + WRITE(DOGLCD_CS, !arg_val); + #endif + break; + + case U8G_COM_MSG_WRITE_BYTE: + u8g_sw_spi_HAL_STM32F1_shift_out(arg_val); + break; + + case U8G_COM_MSG_WRITE_SEQ: { + uint8_t *ptr = (uint8_t *)arg_ptr; + while (arg_val > 0) { + u8g_sw_spi_HAL_STM32F1_shift_out(*ptr++); + arg_val--; + } + } break; + + case U8G_COM_MSG_WRITE_SEQ_P: { + uint8_t *ptr = (uint8_t *)arg_ptr; + while (arg_val > 0) { + u8g_sw_spi_HAL_STM32F1_shift_out(u8g_pgm_read(ptr)); + ptr++; + arg_val--; + } + } break; + + case U8G_COM_MSG_ADDRESS: /* define cmd (arg_val = 0) or data mode (arg_val = 1) */ + WRITE(DOGLCD_A0, arg_val); + break; + } + return 1; +} + +#endif // HAS_MARLINUI_U8GLIB && FORCE_SOFT_SPI +#endif // STM32F1 diff --git a/Marlin/src/HAL/STM32F1/eeprom_bl24cxx.cpp b/Marlin/src/HAL/STM32F1/eeprom_bl24cxx.cpp new file mode 100644 index 0000000000..4e25bc69da --- /dev/null +++ b/Marlin/src/HAL/STM32F1/eeprom_bl24cxx.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#ifdef __STM32F1__ + +/** + * PersistentStore for Arduino-style EEPROM interface + * with simple implementations supplied by Marlin. + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(IIC_BL24CXX_EEPROM) + +#include "../shared/eeprom_if.h" +#include "../shared/eeprom_api.h" + +// +// PersistentStore +// + +#ifndef MARLIN_EEPROM_SIZE + #error "MARLIN_EEPROM_SIZE is required for IIC_BL24CXX_EEPROM." +#endif + +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_start() { eeprom_init(); return true; } +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + uint16_t written = 0; + while (size--) { + uint8_t v = *value; + uint8_t * const p = (uint8_t * const)pos; + if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed! + eeprom_write_byte(p, v); + if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes + if (eeprom_read_byte(p) != v) { + SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + uint8_t * const p = (uint8_t * const)pos; + uint8_t c = eeprom_read_byte(p); + if (writing) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // IIC_BL24CXX_EEPROM +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/eeprom_flash.cpp b/Marlin/src/HAL/STM32F1/eeprom_flash.cpp new file mode 100644 index 0000000000..e7d9dd29e2 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/eeprom_flash.cpp @@ -0,0 +1,113 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com + * + * 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 . + * + */ + +/** + * persistent_store_flash.cpp + * HAL for stm32duino and compatible (STM32F1) + * Implementation of EEPROM settings in SDCard + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(FLASH_EEPROM_EMULATION) + +#include "../shared/eeprom_api.h" + +#include +#include + +// Store settings in the last two pages +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE ((EEPROM_PAGE_SIZE) * 2) +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +static uint8_t ram_eeprom[MARLIN_EEPROM_SIZE] __attribute__((aligned(4))) = {0}; +static bool eeprom_dirty = false; + +bool PersistentStore::access_start() { + const uint32_t *source = reinterpret_cast(EEPROM_PAGE0_BASE); + uint32_t *destination = reinterpret_cast(ram_eeprom); + + static_assert(0 == (MARLIN_EEPROM_SIZE) % 4, "MARLIN_EEPROM_SIZE is corrupted. (Must be a multiple of 4.)"); // Ensure copying as uint32_t is safe + constexpr size_t eeprom_size_u32 = (MARLIN_EEPROM_SIZE) / 4; + + for (size_t i = 0; i < eeprom_size_u32; ++i, ++destination, ++source) + *destination = *source; + + eeprom_dirty = false; + return true; +} + +bool PersistentStore::access_finish() { + + if (eeprom_dirty) { + FLASH_Status status; + + // Instead of erasing all (both) pages, maybe in the loop we check what page we are in, and if the + // data has changed in that page. We then erase the first time we "detect" a change. In theory, if + // nothing changed in a page, we wouldn't need to erase/write it. + // Or, instead of checking at this point, turn eeprom_dirty into an array of bool the size of number + // of pages. Inside write_data, we set the flag to true at that time if something in that + // page changes...either way, something to look at later. + FLASH_Unlock(); + + #define ACCESS_FINISHED(TF) { FLASH_Lock(); eeprom_dirty = false; return TF; } + + status = FLASH_ErasePage(EEPROM_PAGE0_BASE); + if (status != FLASH_COMPLETE) ACCESS_FINISHED(true); + status = FLASH_ErasePage(EEPROM_PAGE1_BASE); + if (status != FLASH_COMPLETE) ACCESS_FINISHED(true); + + const uint16_t *source = reinterpret_cast(ram_eeprom); + for (size_t i = 0; i < MARLIN_EEPROM_SIZE; i += 2, ++source) { + if (FLASH_ProgramHalfWord(EEPROM_PAGE0_BASE + i, *source) != FLASH_COMPLETE) + ACCESS_FINISHED(false); + } + + ACCESS_FINISHED(true); + } + + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + for (size_t i = 0; i < size; ++i) ram_eeprom[pos + i] = value[i]; + eeprom_dirty = true; + crc16(crc, value, size); + pos += size; + return false; // return true for any error +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uint16_t *crc, const bool writing/*=true*/) { + const uint8_t * const buff = writing ? &value[0] : &ram_eeprom[pos]; + if (writing) for (size_t i = 0; i < size; i++) value[i] = ram_eeprom[pos + i]; + crc16(crc, buff, size); + pos += size; + return false; // return true for any error +} + +#endif // FLASH_EEPROM_EMULATION +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/eeprom_if_iic.cpp b/Marlin/src/HAL/STM32F1/eeprom_if_iic.cpp new file mode 100644 index 0000000000..78b7af0b04 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/eeprom_if_iic.cpp @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Platform-independent Arduino functions for I2C EEPROM. + * Enable USE_SHARED_EEPROM if not supplied by the framework. + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(IIC_BL24CXX_EEPROM) + +#include "../../libs/BL24CXX.h" +#include "../shared/eeprom_if.h" + +void eeprom_init() { BL24CXX::init(); } + +// ------------------------ +// Public functions +// ------------------------ + +void eeprom_write_byte(uint8_t *pos, uint8_t value) { + const unsigned eeprom_address = (unsigned)pos; + return BL24CXX::writeOneByte(eeprom_address, value); +} + +uint8_t eeprom_read_byte(uint8_t *pos) { + const unsigned eeprom_address = (unsigned)pos; + return BL24CXX::readOneByte(eeprom_address); +} + +#endif // IIC_BL24CXX_EEPROM +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp b/Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp new file mode 100644 index 0000000000..9cfa97c1ab --- /dev/null +++ b/Marlin/src/HAL/STM32F1/eeprom_sdcard.cpp @@ -0,0 +1,93 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + * Implementation of EEPROM settings in SD Card + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SDCARD_EEPROM_EMULATION) + +#include "../shared/eeprom_api.h" +#include "../../sd/cardreader.h" + +#define EEPROM_FILENAME "eeprom.dat" + +#ifndef MARLIN_EEPROM_SIZE + #define MARLIN_EEPROM_SIZE 0x1000 // 4KB +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +#define _ALIGN(x) __attribute__ ((aligned(x))) // SDIO uint32_t* compat. +static char _ALIGN(4) HAL_eeprom_data[MARLIN_EEPROM_SIZE]; + +bool PersistentStore::access_start() { + if (!card.isMounted()) return false; + + MediaFile file, root = card.getroot(); + if (!file.open(&root, EEPROM_FILENAME, O_RDONLY)) + return true; // false aborts the save + + int bytes_read = file.read(HAL_eeprom_data, MARLIN_EEPROM_SIZE); + if (bytes_read < 0) return false; + for (; bytes_read < MARLIN_EEPROM_SIZE; bytes_read++) + HAL_eeprom_data[bytes_read] = 0xFF; + file.close(); + return true; +} + +bool PersistentStore::access_finish() { + if (!card.isMounted()) return false; + + MediaFile file, root = card.getroot(); + int bytes_written = 0; + if (file.open(&root, EEPROM_FILENAME, O_CREAT | O_WRITE | O_TRUNC)) { + bytes_written = file.write(HAL_eeprom_data, MARLIN_EEPROM_SIZE); + file.close(); + } + return (bytes_written == MARLIN_EEPROM_SIZE); +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + for (size_t i = 0; i < size; i++) + HAL_eeprom_data[pos + i] = value[i]; + crc16(crc, value, size); + pos += size; + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uint16_t *crc, const bool writing/*=true*/) { + for (size_t i = 0; i < size; i++) { + uint8_t c = HAL_eeprom_data[pos + i]; + if (writing) value[i] = c; + crc16(crc, &c, 1); + } + pos += size; + return false; +} + +#endif // SDCARD_EEPROM_EMULATION +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/eeprom_wired.cpp b/Marlin/src/HAL/STM32F1/eeprom_wired.cpp new file mode 100644 index 0000000000..bc48eef34f --- /dev/null +++ b/Marlin/src/HAL/STM32F1/eeprom_wired.cpp @@ -0,0 +1,89 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * HAL PersistentStore for STM32F1 + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +#if USE_WIRED_EEPROM + +#include "../shared/eeprom_if.h" +#include "../shared/eeprom_api.h" + +#ifndef MARLIN_EEPROM_SIZE + #error "MARLIN_EEPROM_SIZE is required for I2C / SPI EEPROM." +#endif +size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } + +bool PersistentStore::access_finish() { return true; } + +bool PersistentStore::access_start() { + eeprom_init(); + #if ENABLED(SPI_EEPROM) + #if SPI_CHAN_EEPROM1 == 1 + SET_OUTPUT(BOARD_SPI1_SCK_PIN); + SET_OUTPUT(BOARD_SPI1_MOSI_PIN); + SET_INPUT(BOARD_SPI1_MISO_PIN); + SET_OUTPUT(SPI_EEPROM1_CS_PIN); + #endif + spiInit(0); + #endif + return true; +} + +bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc) { + uint16_t written = 0; + while (size--) { + uint8_t * const p = (uint8_t * const)pos; + uint8_t v = *value; + if (v != eeprom_read_byte(p)) { // EEPROM has only ~100,000 write cycles, so only write bytes that have changed! + eeprom_write_byte(p, v); + if (++written & 0x7F) delay(2); else safe_delay(2); // Avoid triggering watchdog during long EEPROM writes + if (eeprom_read_byte(p) != v) { + SERIAL_ECHO_MSG(STR_ERR_EEPROM_WRITE); + return true; + } + } + crc16(crc, &v, 1); + pos++; + value++; + } + return false; +} + +bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing/*=true*/) { + do { + uint8_t c = eeprom_read_byte((uint8_t*)pos); + if (writing && value) *value = c; + crc16(crc, &c, 1); + pos++; + value++; + } while (--size); + return false; +} + +#endif // USE_WIRED_EEPROM +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/endstop_interrupts.h b/Marlin/src/HAL/STM32F1/endstop_interrupts.h new file mode 100644 index 0000000000..a1ef8a8c3a --- /dev/null +++ b/Marlin/src/HAL/STM32F1/endstop_interrupts.h @@ -0,0 +1,86 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Endstop interrupts for Libmaple STM32F1 based targets. + * + * On STM32F, all pins support external interrupt capability. + * Any pin can be used for external interrupts, but there are some restrictions. + * At most 16 different external interrupts can be used at one time. + * Further, you can’t just pick any 16 pins to use. This is because every pin on the STM32 + * connects to what is called an EXTI line, and only one pin per EXTI line can be used for external interrupts at a time + * Check the Reference Manual of the MCU to confirm which line is used by each pin + */ + +/** + * Endstop Interrupts + * + * Without endstop interrupts the endstop pins must be polled continually in + * the temperature-ISR via endstops.update(), most of the time finding no change. + * With this feature endstops.update() is called only when we know that at + * least one endstop has changed state, saving valuable CPU cycles. + * + * This feature only works when all used endstop pins can generate an 'external interrupt'. + * + * Test whether pins issue interrupts on your board by flashing 'pin_interrupt_test.ino'. + * (Located in Marlin/buildroot/share/pin_interrupt_test/pin_interrupt_test.ino) + */ + +#include "../../module/endstops.h" + +// One ISR for all EXT-Interrupts +void endstop_ISR() { endstops.update(); } + +void setup_endstop_interrupts() { + #define _ATTACH(P) attachInterrupt(P, endstop_ISR, CHANGE) + TERN_(HAS_X_MAX, _ATTACH(X_MAX_PIN)); + TERN_(HAS_X_MIN, _ATTACH(X_MIN_PIN)); + TERN_(HAS_Y_MAX, _ATTACH(Y_MAX_PIN)); + TERN_(HAS_Y_MIN, _ATTACH(Y_MIN_PIN)); + TERN_(HAS_Z_MAX, _ATTACH(Z_MAX_PIN)); + TERN_(HAS_Z_MIN, _ATTACH(Z_MIN_PIN)); + TERN_(HAS_X2_MAX, _ATTACH(X2_MAX_PIN)); + TERN_(HAS_X2_MIN, _ATTACH(X2_MIN_PIN)); + TERN_(HAS_Y2_MAX, _ATTACH(Y2_MAX_PIN)); + TERN_(HAS_Y2_MIN, _ATTACH(Y2_MIN_PIN)); + TERN_(HAS_Z2_MAX, _ATTACH(Z2_MAX_PIN)); + TERN_(HAS_Z2_MIN, _ATTACH(Z2_MIN_PIN)); + TERN_(HAS_Z3_MAX, _ATTACH(Z3_MAX_PIN)); + TERN_(HAS_Z3_MIN, _ATTACH(Z3_MIN_PIN)); + TERN_(HAS_Z4_MAX, _ATTACH(Z4_MAX_PIN)); + TERN_(HAS_Z4_MIN, _ATTACH(Z4_MIN_PIN)); + TERN_(HAS_Z_MIN_PROBE_PIN, _ATTACH(Z_MIN_PROBE_PIN)); + TERN_(HAS_I_MAX, _ATTACH(I_MAX_PIN)); + TERN_(HAS_I_MIN, _ATTACH(I_MIN_PIN)); + TERN_(HAS_J_MAX, _ATTACH(J_MAX_PIN)); + TERN_(HAS_J_MIN, _ATTACH(J_MIN_PIN)); + TERN_(HAS_K_MAX, _ATTACH(K_MAX_PIN)); + TERN_(HAS_K_MIN, _ATTACH(K_MIN_PIN)); + TERN_(HAS_U_MAX, _ATTACH(U_MAX_PIN)); + TERN_(HAS_U_MIN, _ATTACH(U_MIN_PIN)); + TERN_(HAS_V_MAX, _ATTACH(V_MAX_PIN)); + TERN_(HAS_V_MIN, _ATTACH(V_MIN_PIN)); + TERN_(HAS_W_MAX, _ATTACH(W_MAX_PIN)); + TERN_(HAS_W_MIN, _ATTACH(W_MIN_PIN)); +} diff --git a/Marlin/src/HAL/STM32F1/fast_pwm.cpp b/Marlin/src/HAL/STM32F1/fast_pwm.cpp new file mode 100644 index 0000000000..c3f96f0f92 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/fast_pwm.cpp @@ -0,0 +1,85 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +#include + +#define NR_TIMERS TERN(STM32_XL_DENSITY, 14, 8) // Maple timers, 14 for STM32_XL_DENSITY (F/G chips), 8 for HIGH density (C D E) + +static uint16_t timer_freq[NR_TIMERS]; + +inline uint8_t timer_and_index_for_pin(const pin_t pin, timer_dev **timer_ptr) { + *timer_ptr = PIN_MAP[pin].timer_device; + for (uint8_t i = 0; i < NR_TIMERS; i++) if (*timer_ptr == HAL_get_timer_dev(i)) + return i; + return 0; +} + +void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { + const uint16_t duty = invert ? v_size - v : v; + if (PWM_PIN(pin)) { + timer_dev *timer; + if (timer_freq[timer_and_index_for_pin(pin, &timer)] == 0) + set_pwm_frequency(pin, PWM_FREQUENCY); + const uint8_t channel = PIN_MAP[pin].timer_channel; + timer_set_compare(timer, channel, duty); + timer_set_mode(timer, channel, TIMER_PWM); // PWM Output Mode + } + else { + pinMode(pin, OUTPUT); + digitalWrite(pin, duty < v_size / 2 ? LOW : HIGH); + } +} + +void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { + if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer + + timer_dev *timer; + timer_freq[timer_and_index_for_pin(pin, &timer)] = f_desired; + + // Protect used timers + if (timer == HAL_get_timer_dev(MF_TIMER_TEMP)) return; + if (timer == HAL_get_timer_dev(MF_TIMER_STEP)) return; + #if MF_TIMER_PULSE != MF_TIMER_STEP + if (timer == HAL_get_timer_dev(MF_TIMER_PULSE)) return; + #endif + + if (!(timer->regs.bas->SR & TIMER_CR1_CEN)) // Ensure the timer is enabled + timer_init(timer); + + const uint8_t channel = PIN_MAP[pin].timer_channel; + timer_set_mode(timer, channel, TIMER_PWM); + // Preload (resolution) cannot be equal to duty of 255 otherwise it may not result in digital off or on. + uint16_t preload = 254; + int32_t prescaler = (HAL_TIMER_RATE) / (preload + 1) / f_desired - 1; + if (prescaler > 65535) { // For low frequencies increase prescaler + prescaler = 65535; + preload = (HAL_TIMER_RATE) / (prescaler + 1) / f_desired - 1; + } + if (prescaler < 0) return; // Too high frequency + timer_set_reload(timer, preload); + timer_set_prescaler(timer, prescaler); +} + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/fastio.h b/Marlin/src/HAL/STM32F1/fastio.h new file mode 100644 index 0000000000..e75254d692 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/fastio.h @@ -0,0 +1,186 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Fast I/O interfaces for STM32F1 + * These use GPIO functions instead of Direct Port Manipulation, as on AVR. + */ + +#include + +#define READ(IO) (PIN_MAP[IO].gpio_device->regs->IDR & _BV32(PIN_MAP[IO].gpio_bit) ? HIGH : LOW) +#define WRITE(IO,V) (PIN_MAP[IO].gpio_device->regs->BSRR = _BV32(PIN_MAP[IO].gpio_bit) << ((V) ? 0 : 16)) +#define TOGGLE(IO) TBI32(PIN_MAP[IO].gpio_device->regs->ODR, PIN_MAP[IO].gpio_bit) + +#define _GET_MODE(IO) gpio_get_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit) +#define _SET_MODE(IO,M) gpio_set_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit, M) +#define _SET_OUTPUT(IO) _SET_MODE(IO, GPIO_OUTPUT_PP) +#define _SET_OUTPUT_OD(IO) _SET_MODE(IO, GPIO_OUTPUT_OD) + +#define OUT_WRITE(IO,V) do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0) +#define OUT_WRITE_OD(IO,V) do{ _SET_OUTPUT_OD(IO); WRITE(IO,V); }while(0) + +#define SET_INPUT(IO) _SET_MODE(IO, GPIO_INPUT_FLOATING) +#define SET_INPUT_PULLUP(IO) _SET_MODE(IO, GPIO_INPUT_PU) +#define SET_INPUT_PULLDOWN(IO) _SET_MODE(IO, GPIO_INPUT_PD) +#define SET_OUTPUT(IO) OUT_WRITE(IO, LOW) +#define SET_PWM(IO) pinMode(IO, PWM) // do{ gpio_set_mode(PIN_MAP[pin].gpio_device, PIN_MAP[pin].gpio_bit, GPIO_AF_OUTPUT_PP); timer_set_mode(PIN_MAP[pin].timer_device, PIN_MAP[pin].timer_channel, TIMER_PWM); }while(0) +#define SET_PWM_OD(IO) pinMode(IO, PWM_OPEN_DRAIN) + +#define IS_INPUT(IO) (_GET_MODE(IO) == GPIO_INPUT_FLOATING || _GET_MODE(IO) == GPIO_INPUT_ANALOG || _GET_MODE(IO) == GPIO_INPUT_PU || _GET_MODE(IO) == GPIO_INPUT_PD) +#define IS_OUTPUT(IO) (_GET_MODE(IO) == GPIO_OUTPUT_PP || _GET_MODE(IO) == GPIO_OUTPUT_OD) + +#define PWM_PIN(IO) !!PIN_MAP[IO].timer_device + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) + +// +// Pins Definitions +// +#define PA0 0x00 +#define PA1 0x01 +#define PA2 0x02 +#define PA3 0x03 +#define PA4 0x04 +#define PA5 0x05 +#define PA6 0x06 +#define PA7 0x07 +#define PA8 0x08 +#define PA9 0x09 +#define PA10 0x0A +#define PA11 0x0B +#define PA12 0x0C +#define PA13 0x0D +#define PA14 0x0E +#define PA15 0x0F + +#define PB0 0x10 +#define PB1 0x11 +#define PB2 0x12 +#define PB3 0x13 +#define PB4 0x14 +#define PB5 0x15 +#define PB6 0x16 +#define PB7 0x17 // 36 pins (F103T) +#define PB8 0x18 +#define PB9 0x19 +#define PB10 0x1A +#define PB11 0x1B +#define PB12 0x1C +#define PB13 0x1D +#define PB14 0x1E +#define PB15 0x1F + +#if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8) + #define PC13 0x20 + #define PC14 0x21 + #define PC15 0x22 +#else + #define PC0 0x20 + #define PC1 0x21 + #define PC2 0x22 + #define PC3 0x23 + #define PC4 0x24 + #define PC5 0x25 + #define PC6 0x26 + #define PC7 0x27 + #define PC8 0x28 + #define PC9 0x29 + #define PC10 0x2A + #define PC11 0x2B + #define PC12 0x2C + #define PC13 0x2D + #define PC14 0x2E + #define PC15 0x2F +#endif + +#define PD0 0x30 +#define PD1 0x31 +#define PD2 0x32 // 64 pins (F103R) +#define PD3 0x33 +#define PD4 0x34 +#define PD5 0x35 +#define PD6 0x36 +#define PD7 0x37 +#define PD8 0x38 +#define PD9 0x39 +#define PD10 0x3A +#define PD11 0x3B +#define PD12 0x3C +#define PD13 0x3D +#define PD14 0x3E +#define PD15 0x3F + +#define PE0 0x40 +#define PE1 0x41 +#define PE2 0x42 +#define PE3 0x43 +#define PE4 0x44 +#define PE5 0x45 +#define PE6 0x46 +#define PE7 0x47 +#define PE8 0x48 +#define PE9 0x49 +#define PE10 0x4A +#define PE11 0x4B +#define PE12 0x4C +#define PE13 0x4D +#define PE14 0x4E +#define PE15 0x4F // 100 pins (F103V) + +#define PF0 0x50 +#define PF1 0x51 +#define PF2 0x52 +#define PF3 0x53 +#define PF4 0x54 +#define PF5 0x55 +#define PF6 0x56 +#define PF7 0x57 +#define PF8 0x58 +#define PF9 0x59 +#define PF10 0x5A +#define PF11 0x5B +#define PF12 0x5C +#define PF13 0x5D +#define PF14 0x5E +#define PF15 0x5F + +#define PG0 0x60 +#define PG1 0x61 +#define PG2 0x62 +#define PG3 0x63 +#define PG4 0x64 +#define PG5 0x65 +#define PG6 0x66 +#define PG7 0x67 +#define PG8 0x68 +#define PG9 0x69 +#define PG10 0x6A +#define PG11 0x6B +#define PG12 0x6C +#define PG13 0x6D +#define PG14 0x6E +#define PG15 0x6F // 144 pins (F103Z) diff --git a/Marlin/src/HAL/STM32F1/inc/Conditionals_LCD.h b/Marlin/src/HAL/STM32F1/inc/Conditionals_LCD.h new file mode 100644 index 0000000000..5f1c4b1601 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/inc/Conditionals_LCD.h @@ -0,0 +1,22 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once diff --git a/Marlin/src/HAL/STM32F1/inc/Conditionals_adv.h b/Marlin/src/HAL/STM32F1/inc/Conditionals_adv.h new file mode 100644 index 0000000000..0fe7924765 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/inc/Conditionals_adv.h @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifdef USE_USB_COMPOSITE + //#warning "SD_CHECK_AND_RETRY isn't needed with USE_USB_COMPOSITE." + #undef SD_CHECK_AND_RETRY + #if DISABLED(NO_SD_HOST_DRIVE) + #define HAS_SD_HOST_DRIVE 1 + #endif +#endif diff --git a/Marlin/src/HAL/STM32F1/inc/Conditionals_post.h b/Marlin/src/HAL/STM32F1/inc/Conditionals_post.h new file mode 100644 index 0000000000..656fbe1ce2 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/inc/Conditionals_post.h @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// If no real EEPROM, Flash emulation, or SRAM emulation is available fall back to SD emulation +#if USE_FALLBACK_EEPROM + #define SDCARD_EEPROM_EMULATION +#elif EITHER(I2C_EEPROM, SPI_EEPROM) + #define USE_SHARED_EEPROM 1 +#endif + +// Allow SDSUPPORT to be disabled +#if DISABLED(SDSUPPORT) + #undef SDIO_SUPPORT +#endif diff --git a/Marlin/src/HAL/STM32F1/inc/SanityCheck.h b/Marlin/src/HAL/STM32F1/inc/SanityCheck.h new file mode 100644 index 0000000000..fe8f6e0ec2 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/inc/SanityCheck.h @@ -0,0 +1,51 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Test STM32F1-specific configuration values for errors at compile-time. + */ + +#if ENABLED(SDCARD_EEPROM_EMULATION) && DISABLED(SDSUPPORT) + #undef SDCARD_EEPROM_EMULATION // Avoid additional error noise + #if USE_FALLBACK_EEPROM + #warning "EEPROM type not specified. Fallback is SDCARD_EEPROM_EMULATION." + #endif + #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation." +#endif + +#if ENABLED(SERIAL_STATS_MAX_RX_QUEUED) + #error "SERIAL_STATS_MAX_RX_QUEUED is not supported on the STM32F1 platform." +#elif ENABLED(SERIAL_STATS_DROPPED_RX) + #error "SERIAL_STATS_DROPPED_RX is not supported on the STM32F1 platform." +#endif + +#if ENABLED(NEOPIXEL_LED) && DISABLED(FYSETC_MINI_12864_2_1) + #error "NEOPIXEL_LED (Adafruit NeoPixel) is not supported for HAL/STM32F1. Comment out this line to proceed at your own risk!" +#endif + +// Emergency Parser needs at least one serial with HardwareSerial or USBComposite. +// The USBSerial maple don't allow any hook to implement EMERGENCY_PARSER. +// And copy all USBSerial code to marlin space to support EMERGENCY_PARSER, when we have another options, don't worth it. +#if ENABLED(EMERGENCY_PARSER) && !defined(USE_USB_COMPOSITE) && ((SERIAL_PORT == -1 && !defined(SERIAL_PORT_2)) || (SERIAL_PORT_2 == -1 && !defined(SERIAL_PORT))) + #error "EMERGENCY_PARSER is only supported by HardwareSerial or USBComposite in HAL/STM32F1." +#endif diff --git a/Marlin/src/HAL/STM32F1/maple_win_usb_driver/maple_serial.inf b/Marlin/src/HAL/STM32F1/maple_win_usb_driver/maple_serial.inf new file mode 100644 index 0000000000..c39f4ce0ed --- /dev/null +++ b/Marlin/src/HAL/STM32F1/maple_win_usb_driver/maple_serial.inf @@ -0,0 +1,56 @@ +; +; STMicroelectronics Communication Device Class driver installation file +; (C)2006 Copyright STMicroelectronics +; + +[Version] +Signature="$Windows NT$" +Class=Ports +ClassGuid={4D36E978-E325-11CE-BFC1-08002BE10318} +Provider=%STM% +LayoutFile=layout.inf + +[Manufacturer] +%MFGNAME%=VirComDevice,NT,NTamd64 + +[DestinationDirs] +DefaultDestDir = 12 + +[VirComDevice.NT] +%DESCRIPTION%=DriverInstall,USB\VID_1EAF&PID_0029&MI_01 +%DESCRIPTION%=DriverInstall,USB\VID_1EAF&PID_0029&MI_01 + +[VirComDevice.NTamd64] +%DESCRIPTION%=DriverInstall,USB\VID_1EAF&PID_0029&MI_01 +%DESCRIPTION%=DriverInstall,USB\VID_1EAF&PID_0029&MI_01 + +[DriverInstall.NT] +Include=mdmcpq.inf +CopyFiles=FakeModemCopyFileSection +AddReg=DriverInstall.NT.AddReg + +[DriverInstall.NT.AddReg] +HKR,,DevLoader,,*ntkern +HKR,,NTMPDriver,,usbser.sys +HKR,,EnumPropPages32,,"MsPorts.dll,SerialPortPropPageProvider" + +[DriverInstall.NT.Services] +AddService=usbser, 0x00000002, DriverServiceInst + +[DriverServiceInst] +DisplayName=%SERVICE% +ServiceType=1 +StartType=3 +ErrorControl=1 +ServiceBinary=%12%\usbser.sys + +;------------------------------------------------------------------------------ +; String Definitions +;------------------------------------------------------------------------------ + + +[Strings] +STM = "LeafLabs" +MFGNAME = "LeafLabs" +DESCRIPTION = "Maple R3" +SERVICE = "USB Virtual COM port" diff --git a/Marlin/src/HAL/STM32F1/msc_sd.cpp b/Marlin/src/HAL/STM32F1/msc_sd.cpp new file mode 100644 index 0000000000..f490c83ed8 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/msc_sd.cpp @@ -0,0 +1,98 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] + * + * 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. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfigPre.h" + +#if HAS_SD_HOST_DRIVE + +#include "msc_sd.h" +#include "SPI.h" +#include "usb_reg_map.h" + +#define PRODUCT_ID 0x29 + +USBMassStorage MarlinMSC; +Serial1Class MarlinCompositeSerial(true); + +#include "../../inc/MarlinConfig.h" + +#if SD_CONNECTION_IS(ONBOARD) + + #include "onboard_sd.h" + + static bool MSC_Write(const uint8_t *writebuff, uint32_t startSector, uint16_t numSectors) { + return (disk_write(0, writebuff, startSector, numSectors) == RES_OK); + } + static bool MSC_Read(uint8_t *readbuff, uint32_t startSector, uint16_t numSectors) { + return (disk_read(0, readbuff, startSector, numSectors) == RES_OK); + } + +#endif + +#if ENABLED(EMERGENCY_PARSER) + + // The original callback is not called (no way to retrieve address). + // That callback detects a special STM32 reset sequence: this functionality is not essential + // as M997 achieves the same. + void my_rx_callback(unsigned int, void*) { + // max length of 16 is enough to contain all emergency commands + uint8 buf[16]; + + //rx is usbSerialPart.endpoints[2] + uint16 len = usb_get_ep_rx_count(usbSerialPart.endpoints[2].address); + uint32 total = composite_cdcacm_data_available(); + + if (len == 0 || total == 0 || !WITHIN(total, len, COUNT(buf))) + return; + + // cannot get character by character due to bug in composite_cdcacm_peek_ex + len = composite_cdcacm_peek(buf, total); + + for (uint32 i = 0; i < len; i++) + emergency_parser.update(MarlinCompositeSerial.emergency_state, buf[i+total-len]); + } + +#endif + +void MSC_SD_init() { + USBComposite.setProductId(PRODUCT_ID); + // Just set MarlinCompositeSerial enabled to true + // because when MarlinCompositeSerial.begin() is used in setup() + // it clears all USBComposite devices. + MarlinCompositeSerial.begin(); + USBComposite.end(); + USBComposite.clear(); + // Set api and register mass storage + #if SD_CONNECTION_IS(ONBOARD) + uint32_t cardSize; + if (disk_initialize(0) == RES_OK) { + if (disk_ioctl(0, GET_SECTOR_COUNT, (void *)(&cardSize)) == RES_OK) { + MarlinMSC.setDriveData(0, cardSize, MSC_Read, MSC_Write); + MarlinMSC.registerComponent(); + } + } + #endif + // Register composite Serial + MarlinCompositeSerial.registerComponent(); + USBComposite.begin(); + #if ENABLED(EMERGENCY_PARSER) + composite_cdcacm_set_hooks(USBHID_CDCACM_HOOK_RX, my_rx_callback); + #endif +} + +#endif // HAS_SD_HOST_DRIVE +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/msc_sd.h b/Marlin/src/HAL/STM32F1/msc_sd.h new file mode 100644 index 0000000000..f4636bdff7 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/msc_sd.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] + * + * 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. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +#include "../../inc/MarlinConfigPre.h" +#include "../../core/serial_hook.h" + +extern USBMassStorage MarlinMSC; +extern Serial1Class MarlinCompositeSerial; + +void MSC_SD_init(); diff --git a/Marlin/src/HAL/STM32F1/onboard_sd.cpp b/Marlin/src/HAL/STM32F1/onboard_sd.cpp new file mode 100644 index 0000000000..a3d8dcb2d5 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/onboard_sd.cpp @@ -0,0 +1,571 @@ +/** + * STM32F1: MMCv3/SDv1/SDv2 (SPI mode) control module + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] + * Copyright (C) 2015, ChaN, all right reserved. + * + * This software is a free software and there is NO WARRANTY. + * No restriction on use. You can use, modify and redistribute it for + * personal, non-profit or commercial products UNDER YOUR RESPONSIBILITY. + * Redistributions of source code must retain the above copyright notice. + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +#if SD_CONNECTION_IS(ONBOARD) + +#include "onboard_sd.h" +#include "SPI.h" +#include "fastio.h" + +#ifndef ONBOARD_SPI_DEVICE + #define ONBOARD_SPI_DEVICE SPI_DEVICE +#endif + +#if HAS_SD_HOST_DRIVE + #define ONBOARD_SD_SPI SPI +#else + SPIClass OnboardSPI(ONBOARD_SPI_DEVICE); + #define ONBOARD_SD_SPI OnboardSPI +#endif + +#if ONBOARD_SPI_DEVICE == 1 + #define SPI_CLOCK_MAX SPI_BAUD_PCLK_DIV_4 +#else + #define SPI_CLOCK_MAX SPI_BAUD_PCLK_DIV_2 +#endif + +#if PIN_EXISTS(ONBOARD_SD_CS) && ONBOARD_SD_CS_PIN != SD_SS_PIN + #define CS_LOW() WRITE(ONBOARD_SD_CS_PIN, LOW) // Set OnboardSPI cs low + #define CS_HIGH() WRITE(ONBOARD_SD_CS_PIN, HIGH) // Set OnboardSPI cs high +#else + #define CS_LOW() + #define CS_HIGH() +#endif + +#define FCLK_FAST() ONBOARD_SD_SPI.setClockDivider(SPI_CLOCK_MAX) +#define FCLK_SLOW() ONBOARD_SD_SPI.setClockDivider(SPI_BAUD_PCLK_DIV_256) + +/*-------------------------------------------------------------------------- + Module Private Functions +---------------------------------------------------------------------------*/ + +/* MMC/SD command */ +#define CMD0 (0) // GO_IDLE_STATE +#define CMD1 (1) // SEND_OP_COND (MMC) +#define ACMD41 (0x80+41) // SEND_OP_COND (SDC) +#define CMD8 (8) // SEND_IF_COND +#define CMD9 (9) // SEND_CSD +#define CMD10 (10) // SEND_CID +#define CMD12 (12) // STOP_TRANSMISSION +#define ACMD13 (0x80+13) // SD_STATUS (SDC) +#define CMD16 (16) // SET_BLOCKLEN +#define CMD17 (17) // READ_SINGLE_BLOCK +#define CMD18 (18) // READ_MULTIPLE_BLOCK +#define CMD23 (23) // SET_BLOCK_COUNT (MMC) +#define ACMD23 (0x80+23) // SET_WR_BLK_ERASE_COUNT (SDC) +#define CMD24 (24) // WRITE_BLOCK +#define CMD25 (25) // WRITE_MULTIPLE_BLOCK +#define CMD32 (32) // ERASE_ER_BLK_START +#define CMD33 (33) // ERASE_ER_BLK_END +#define CMD38 (38) // ERASE +#define CMD48 (48) // READ_EXTR_SINGLE +#define CMD49 (49) // WRITE_EXTR_SINGLE +#define CMD55 (55) // APP_CMD +#define CMD58 (58) // READ_OCR + +static volatile DSTATUS Stat = STA_NOINIT; // Physical drive status +static volatile UINT timeout; +static BYTE CardType; // Card type flags + +/*-----------------------------------------------------------------------*/ +/* Send/Receive data to the MMC (Platform dependent) */ +/*-----------------------------------------------------------------------*/ + +/* Exchange a byte */ +static BYTE xchg_spi ( + BYTE dat // Data to send +) { + BYTE returnByte = ONBOARD_SD_SPI.transfer(dat); + return returnByte; +} + +/* Receive multiple byte */ +static void rcvr_spi_multi ( + BYTE *buff, // Pointer to data buffer + UINT btr // Number of bytes to receive (16, 64 or 512) +) { + ONBOARD_SD_SPI.dmaTransfer(0, const_cast(buff), btr); +} + +#if _DISKIO_WRITE + + // Send multiple bytes + static void xmit_spi_multi ( + const BYTE *buff, // Pointer to the data + UINT btx // Number of bytes to send (multiple of 16) + ) { + ONBOARD_SD_SPI.dmaSend(const_cast(buff), btx); + } + +#endif // _DISKIO_WRITE + +/*-----------------------------------------------------------------------*/ +/* Wait for card ready */ +/*-----------------------------------------------------------------------*/ + +static int wait_ready ( // 1:Ready, 0:Timeout + UINT wt // Timeout [ms] +) { + BYTE d; + timeout = millis() + wt; + do { + d = xchg_spi(0xFF); + // This loop takes a while. Insert rot_rdq() here for multitask environment. + } while (d != 0xFF && (timeout > millis())); // Wait for card goes ready or timeout + + return (d == 0xFF) ? 1 : 0; +} + +/*-----------------------------------------------------------------------*/ +/* Deselect card and release SPI */ +/*-----------------------------------------------------------------------*/ + +static void deselect() { + CS_HIGH(); // CS = H + xchg_spi(0xFF); // Dummy clock (force DO hi-z for multiple slave SPI) +} + +/*-----------------------------------------------------------------------*/ +/* Select card and wait for ready */ +/*-----------------------------------------------------------------------*/ + +static int select() { // 1:OK, 0:Timeout + CS_LOW(); // CS = L + xchg_spi(0xFF); // Dummy clock (force DO enabled) + + if (wait_ready(500)) return 1; // Leading busy check: Wait for card ready + + deselect(); // Timeout + return 0; +} + +/*-----------------------------------------------------------------------*/ +/* Control SPI module (Platform dependent) */ +/*-----------------------------------------------------------------------*/ + +// Enable SSP module and attach it to I/O pads +static void sd_power_on() { + ONBOARD_SD_SPI.setModule(ONBOARD_SPI_DEVICE); + ONBOARD_SD_SPI.begin(); + ONBOARD_SD_SPI.setBitOrder(MSBFIRST); + ONBOARD_SD_SPI.setDataMode(SPI_MODE0); + CS_HIGH(); +} + +// Disable SPI function +static void sd_power_off() { + select(); // Wait for card ready + deselect(); +} + +/*-----------------------------------------------------------------------*/ +/* Receive a data packet from the MMC */ +/*-----------------------------------------------------------------------*/ + +static int rcvr_datablock ( // 1:OK, 0:Error + BYTE *buff, // Data buffer + UINT btr // Data block length (byte) +) { + BYTE token; + + timeout = millis() + 200; + do { // Wait for DataStart token in timeout of 200ms + token = xchg_spi(0xFF); + // This loop will take a while. Insert rot_rdq() here for multitask environment. + } while ((token == 0xFF) && (timeout > millis())); + if (token != 0xFE) return 0; // Function fails if invalid DataStart token or timeout + + rcvr_spi_multi(buff, btr); // Store trailing data to the buffer + xchg_spi(0xFF); xchg_spi(0xFF); // Discard CRC + + return 1; // Function succeeded +} + +/*-----------------------------------------------------------------------*/ +/* Send a data packet to the MMC */ +/*-----------------------------------------------------------------------*/ + +#if _DISKIO_WRITE + + static int xmit_datablock( // 1:OK, 0:Failed + const BYTE *buff, // Pointer to 512 byte data to be sent + BYTE token // Token + ) { + BYTE resp; + + if (!wait_ready(500)) return 0; // Leading busy check: Wait for card ready to accept data block + + xchg_spi(token); // Send token + if (token == 0xFD) return 1; // Do not send data if token is StopTran + + xmit_spi_multi(buff, 512); // Data + xchg_spi(0xFF); xchg_spi(0xFF); // Dummy CRC + + resp = xchg_spi(0xFF); // Receive data resp + + return (resp & 0x1F) == 0x05 ? 1 : 0; // Data was accepted or not + + // Busy check is done at next transmission + } + +#endif // _DISKIO_WRITE + +/*-----------------------------------------------------------------------*/ +/* Send a command packet to the MMC */ +/*-----------------------------------------------------------------------*/ + +static BYTE send_cmd( // Return value: R1 resp (bit7==1:Failed to send) + BYTE cmd, // Command index + DWORD arg // Argument +) { + BYTE n, res; + + if (cmd & 0x80) { // Send a CMD55 prior to ACMD + cmd &= 0x7F; + res = send_cmd(CMD55, 0); + if (res > 1) return res; + } + + // Select the card and wait for ready except to stop multiple block read + if (cmd != CMD12) { + deselect(); + if (!select()) return 0xFF; + } + + // Send command packet + xchg_spi(0x40 | cmd); // Start + command index + xchg_spi((BYTE)(arg >> 24)); // Argument[31..24] + xchg_spi((BYTE)(arg >> 16)); // Argument[23..16] + xchg_spi((BYTE)(arg >> 8)); // Argument[15..8] + xchg_spi((BYTE)arg); // Argument[7..0] + n = 0x01; // Dummy CRC + Stop + if (cmd == CMD0) n = 0x95; // Valid CRC for CMD0(0) + if (cmd == CMD8) n = 0x87; // Valid CRC for CMD8(0x1AA) + xchg_spi(n); + + // Receive command response + if (cmd == CMD12) xchg_spi(0xFF); // Discard the following byte when CMD12 + n = 10; // Wait for response (10 bytes max) + do + res = xchg_spi(0xFF); + while ((res & 0x80) && --n); + + return res; // Return received response +} + +/*-------------------------------------------------------------------------- + Public Functions +---------------------------------------------------------------------------*/ + +/*-----------------------------------------------------------------------*/ +/* Initialize disk drive */ +/*-----------------------------------------------------------------------*/ + +DSTATUS disk_initialize ( + BYTE drv // Physical drive number (0) +) { + BYTE n, cmd, ty, ocr[4]; + + if (drv) return STA_NOINIT; // Supports only drive 0 + sd_power_on(); // Initialize SPI + + if (Stat & STA_NODISK) return Stat; // Is a card existing in the socket? + + FCLK_SLOW(); + for (n = 10; n; n--) xchg_spi(0xFF); // Send 80 dummy clocks + + ty = 0; + if (send_cmd(CMD0, 0) == 1) { // Put the card SPI state + timeout = millis() + 1000; // Initialization timeout = 1 sec + if (send_cmd(CMD8, 0x1AA) == 1) { // Is the catd SDv2? + for (n = 0; n < 4; n++) ocr[n] = xchg_spi(0xFF); // Get 32 bit return value of R7 resp + if (ocr[2] == 0x01 && ocr[3] == 0xAA) { // Does the card support 2.7-3.6V? + while ((timeout > millis()) && send_cmd(ACMD41, 1UL << 30)); // Wait for end of initialization with ACMD41(HCS) + if ((timeout > millis()) && send_cmd(CMD58, 0) == 0) { // Check CCS bit in the OCR + for (n = 0; n < 4; n++) ocr[n] = xchg_spi(0xFF); + ty = (ocr[0] & 0x40) ? CT_SD2 | CT_BLOCK : CT_SD2; // Check if the card is SDv2 + } + } + } + else { // Not an SDv2 card + if (send_cmd(ACMD41, 0) <= 1) { // SDv1 or MMCv3? + ty = CT_SD1; cmd = ACMD41; // SDv1 (ACMD41(0)) + } + else { + ty = CT_MMC; cmd = CMD1; // MMCv3 (CMD1(0)) + } + while ((timeout > millis()) && send_cmd(cmd, 0)); // Wait for the card leaves idle state + if (!(timeout > millis()) || send_cmd(CMD16, 512) != 0) // Set block length: 512 + ty = 0; + } + } + CardType = ty; // Card type + deselect(); + + if (ty) { // OK + FCLK_FAST(); // Set fast clock + Stat &= ~STA_NOINIT; // Clear STA_NOINIT flag + } + else { // Failed + sd_power_off(); + Stat = STA_NOINIT; + } + + return Stat; +} + +/*-----------------------------------------------------------------------*/ +/* Get disk status */ +/*-----------------------------------------------------------------------*/ + +DSTATUS disk_status ( + BYTE drv // Physical drive number (0) +) { + if (drv) return STA_NOINIT; // Supports only drive 0 + return Stat; // Return disk status +} + +/*-----------------------------------------------------------------------*/ +/* Read sector(s) */ +/*-----------------------------------------------------------------------*/ + +DRESULT disk_read ( + BYTE drv, // Physical drive number (0) + BYTE *buff, // Pointer to the data buffer to store read data + DWORD sector, // Start sector number (LBA) + UINT count // Number of sectors to read (1..128) +) { + BYTE cmd; + + if (drv || !count) return RES_PARERR; // Check parameter + if (Stat & STA_NOINIT) return RES_NOTRDY; // Check if drive is ready + if (!(CardType & CT_BLOCK)) sector *= 512; // LBA ot BA conversion (byte addressing cards) + FCLK_FAST(); + cmd = count > 1 ? CMD18 : CMD17; // READ_MULTIPLE_BLOCK : READ_SINGLE_BLOCK + if (send_cmd(cmd, sector) == 0) { + do { + if (!rcvr_datablock(buff, 512)) break; + buff += 512; + } while (--count); + if (cmd == CMD18) send_cmd(CMD12, 0); // STOP_TRANSMISSION + } + deselect(); + + return count ? RES_ERROR : RES_OK; // Return result +} + +/*-----------------------------------------------------------------------*/ +/* Write sector(s) */ +/*-----------------------------------------------------------------------*/ + +#if _DISKIO_WRITE + + DRESULT disk_write( + BYTE drv, // Physical drive number (0) + const BYTE *buff, // Pointer to the data to write + DWORD sector, // Start sector number (LBA) + UINT count // Number of sectors to write (1..128) + ) { + if (drv || !count) return RES_PARERR; // Check parameter + if (Stat & STA_NOINIT) return RES_NOTRDY; // Check drive status + if (Stat & STA_PROTECT) return RES_WRPRT; // Check write protect + FCLK_FAST(); + if (!(CardType & CT_BLOCK)) sector *= 512; // LBA ==> BA conversion (byte addressing cards) + + if (count == 1) { // Single sector write + if ((send_cmd(CMD24, sector) == 0) // WRITE_BLOCK + && xmit_datablock(buff, 0xFE)) { + count = 0; + } + } + else { // Multiple sector write + if (CardType & CT_SDC) send_cmd(ACMD23, count); // Predefine number of sectors + if (send_cmd(CMD25, sector) == 0) { // WRITE_MULTIPLE_BLOCK + do { + if (!xmit_datablock(buff, 0xFC)) break; + buff += 512; + } while (--count); + if (!xmit_datablock(0, 0xFD)) count = 1; // STOP_TRAN token + } + } + deselect(); + + return count ? RES_ERROR : RES_OK; // Return result + } + +#endif // _DISKIO_WRITE + +/*-----------------------------------------------------------------------*/ +/* Miscellaneous drive controls other than data read/write */ +/*-----------------------------------------------------------------------*/ + +#if _DISKIO_IOCTL + + DRESULT disk_ioctl ( + BYTE drv, // Physical drive number (0) + BYTE cmd, // Control command code + void *buff // Pointer to the conrtol data + ) { + DRESULT res; + BYTE n, csd[16], *ptr = (BYTE *)buff; + DWORD *dp, st, ed, csize; + #if _DISKIO_ISDIO + SDIO_CMD *sdio = buff; + BYTE rc, *buf; + UINT dc; + #endif + + if (drv) return RES_PARERR; // Check parameter + if (Stat & STA_NOINIT) return RES_NOTRDY; // Check if drive is ready + + res = RES_ERROR; + FCLK_FAST(); + switch (cmd) { + case CTRL_SYNC: // Wait for end of internal write process of the drive + if (select()) res = RES_OK; + break; + + case GET_SECTOR_COUNT: // Get drive capacity in unit of sector (DWORD) + if ((send_cmd(CMD9, 0) == 0) && rcvr_datablock(csd, 16)) { + if ((csd[0] >> 6) == 1) { // SDC ver 2.00 + csize = csd[9] + ((WORD)csd[8] << 8) + ((DWORD)(csd[7] & 63) << 16) + 1; + *(DWORD*)buff = csize << 10; + } + else { // SDC ver 1.XX or MMC ver 3 + n = (csd[5] & 15) + ((csd[10] & 128) >> 7) + ((csd[9] & 3) << 1) + 2; + csize = (csd[8] >> 6) + ((WORD)csd[7] << 2) + ((WORD)(csd[6] & 3) << 10) + 1; + *(DWORD*)buff = csize << (n - 9); + } + res = RES_OK; + } + break; + + case GET_BLOCK_SIZE: // Get erase block size in unit of sector (DWORD) + if (CardType & CT_SD2) { // SDC ver 2.00 + if (send_cmd(ACMD13, 0) == 0) { // Read SD status + xchg_spi(0xFF); + if (rcvr_datablock(csd, 16)) { // Read partial block + for (n = 64 - 16; n; n--) xchg_spi(0xFF); // Purge trailing data + *(DWORD*)buff = 16UL << (csd[10] >> 4); + res = RES_OK; + } + } + } + else { // SDC ver 1.XX or MMC + if ((send_cmd(CMD9, 0) == 0) && rcvr_datablock(csd, 16)) { // Read CSD + if (CardType & CT_SD1) { // SDC ver 1.XX + *(DWORD*)buff = (((csd[10] & 63) << 1) + ((WORD)(csd[11] & 128) >> 7) + 1) << ((csd[13] >> 6) - 1); + } + else { // MMC + *(DWORD*)buff = ((WORD)((csd[10] & 124) >> 2) + 1) * (((csd[11] & 3) << 3) + ((csd[11] & 224) >> 5) + 1); + } + res = RES_OK; + } + } + break; + + case CTRL_TRIM: // Erase a block of sectors (used when _USE_TRIM in ffconf.h is 1) + if (!(CardType & CT_SDC)) break; // Check if the card is SDC + if (disk_ioctl(drv, MMC_GET_CSD, csd)) break; // Get CSD + if (!(csd[0] >> 6) && !(csd[10] & 0x40)) break; // Check if sector erase can be applied to the card + dp = (DWORD *)buff; st = dp[0]; ed = dp[1]; // Load sector block + if (!(CardType & CT_BLOCK)) { + st *= 512; ed *= 512; + } + if (send_cmd(CMD32, st) == 0 && send_cmd(CMD33, ed) == 0 && send_cmd(CMD38, 0) == 0 && wait_ready(30000)) { // Erase sector block + res = RES_OK; // FatFs does not check result of this command + } + break; + + // The following commands are never used by FatFs module + + case MMC_GET_TYPE: // Get MMC/SDC type (BYTE) + *ptr = CardType; + res = RES_OK; + break; + + case MMC_GET_CSD: // Read CSD (16 bytes) + if (send_cmd(CMD9, 0) == 0 && rcvr_datablock(ptr, 16)) { + res = RES_OK; + } + break; + + case MMC_GET_CID: // Read CID (16 bytes) + if (send_cmd(CMD10, 0) == 0 && rcvr_datablock(ptr, 16)) { + res = RES_OK; + } + break; + + case MMC_GET_OCR: // Read OCR (4 bytes) + if (send_cmd(CMD58, 0) == 0) { + for (n = 4; n; n--) *ptr++ = xchg_spi(0xFF); + res = RES_OK; + } + break; + + case MMC_GET_SDSTAT: // Read SD status (64 bytes) + if (send_cmd(ACMD13, 0) == 0) { + xchg_spi(0xFF); + if (rcvr_datablock(ptr, 64)) res = RES_OK; + } + break; + + #if _DISKIO_ISDIO + + case ISDIO_READ: + sdio = buff; + if (send_cmd(CMD48, 0x80000000 | sdio->func << 28 | sdio->addr << 9 | ((sdio->ndata - 1) & 0x1FF)) == 0) { + for (Timer1 = 1000; (rc = xchg_spi(0xFF)) == 0xFF && Timer1; ) ; + if (rc == 0xFE) { + for (buf = sdio->data, dc = sdio->ndata; dc; dc--) *buf++ = xchg_spi(0xFF); + for (dc = 514 - sdio->ndata; dc; dc--) xchg_spi(0xFF); + res = RES_OK; + } + } + break; + case ISDIO_WRITE: + sdio = buff; + if (send_cmd(CMD49, 0x80000000 | sdio->func << 28 | sdio->addr << 9 | ((sdio->ndata - 1) & 0x1FF)) == 0) { + xchg_spi(0xFF); xchg_spi(0xFE); + for (buf = sdio->data, dc = sdio->ndata; dc; dc--) xchg_spi(*buf++); + for (dc = 514 - sdio->ndata; dc; dc--) xchg_spi(0xFF); + if ((xchg_spi(0xFF) & 0x1F) == 0x05) res = RES_OK; + } + break; + case ISDIO_MRITE: + sdio = buff; + if (send_cmd(CMD49, 0x84000000 | sdio->func << 28 | sdio->addr << 9 | sdio->ndata >> 8) == 0) { + xchg_spi(0xFF); xchg_spi(0xFE); + xchg_spi(sdio->ndata); + for (dc = 513; dc; dc--) xchg_spi(0xFF); + if ((xchg_spi(0xFF) & 0x1F) == 0x05) res = RES_OK; + } + break; + + #endif // _DISKIO_ISDIO + + default: res = RES_PARERR; + } + + deselect(); + return res; + } + +#endif // _DISKIO_IOCTL + +#endif // SD_CONNECTION_IS(ONBOARD) +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/onboard_sd.h b/Marlin/src/HAL/STM32F1/onboard_sd.h new file mode 100644 index 0000000000..f8846e95bc --- /dev/null +++ b/Marlin/src/HAL/STM32F1/onboard_sd.h @@ -0,0 +1,116 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/*----------------------------------------------------------------------- +/ * Copyright (c) 2019 BigTreeTech [https://github.com/bigtreetech] +/ * Low level disk interface module include file (c) ChaN, 2015 +/-----------------------------------------------------------------------*/ + +#define _DISKIO_WRITE 1 /* 1: Enable disk_write function */ +#define _DISKIO_IOCTL 1 /* 1: Enable disk_ioctl function */ +#define _DISKIO_ISDIO 0 /* 1: Enable iSDIO control function */ + +typedef unsigned char BYTE; +typedef unsigned short WORD; +typedef unsigned long DWORD; +typedef unsigned int UINT; + +/* Status of Disk Functions */ +typedef BYTE DSTATUS; + +/* Results of Disk Functions */ +typedef enum { + RES_OK = 0, /* 0: Successful */ + RES_ERROR, /* 1: R/W Error */ + RES_WRPRT, /* 2: Write Protected */ + RES_NOTRDY, /* 3: Not Ready */ + RES_PARERR /* 4: Invalid Parameter */ +} DRESULT; + + +#if _DISKIO_ISDIO +/* Command structure for iSDIO ioctl command */ +typedef struct { + BYTE func; /* Function number: 0..7 */ + WORD ndata; /* Number of bytes to transfer: 1..512, or mask + data */ + DWORD addr; /* Register address: 0..0x1FFFF */ + void* data; /* Pointer to the data (to be written | read buffer) */ +} SDIO_CMD; +#endif + +/*---------------------------------------*/ +/* Prototypes for disk control functions */ + +DSTATUS disk_initialize(BYTE pdrv); +DSTATUS disk_status(BYTE pdrv); +DRESULT disk_read(BYTE pdrv, BYTE* buff, DWORD sector, UINT count); +#if _DISKIO_WRITE + DRESULT disk_write(BYTE pdrv, const BYTE* buff, DWORD sector, UINT count); +#endif +#if _DISKIO_IOCTL + DRESULT disk_ioctl(BYTE pdrv, BYTE cmd, void *buff); +#endif + +/* Disk Status Bits (DSTATUS) */ +#define STA_NOINIT 0x01 /* Drive not initialized */ +#define STA_NODISK 0x02 /* No medium in the drive */ +#define STA_PROTECT 0x04 /* Write protected */ + +/* Command code for disk_ioctrl function */ + +/* Generic command (Used by FatFs) */ +#define CTRL_SYNC 0 /* Complete pending write process (needed at _FS_READONLY == 0) */ +#define GET_SECTOR_COUNT 1 /* Get media size (needed at _USE_MKFS == 1) */ +#define GET_SECTOR_SIZE 2 /* Get sector size (needed at _MAX_SS != _MIN_SS) */ +#define GET_BLOCK_SIZE 3 /* Get erase block size (needed at _USE_MKFS == 1) */ +#define CTRL_TRIM 4 /* Inform device that the data on the block of sectors is no longer used (needed at _USE_TRIM == 1) */ + +/* Generic command (Not used by FatFs) */ +#define CTRL_FORMAT 5 /* Create physical format on the media */ +#define CTRL_POWER_IDLE 6 /* Put the device idle state */ +#define CTRL_POWER_OFF 7 /* Put the device off state */ +#define CTRL_LOCK 8 /* Lock media removal */ +#define CTRL_UNLOCK 9 /* Unlock media removal */ +#define CTRL_EJECT 10 /* Eject media */ + +/* MMC/SDC specific ioctl command (Not used by FatFs) */ +#define MMC_GET_TYPE 50 /* Get card type */ +#define MMC_GET_CSD 51 /* Get CSD */ +#define MMC_GET_CID 52 /* Get CID */ +#define MMC_GET_OCR 53 /* Get OCR */ +#define MMC_GET_SDSTAT 54 /* Get SD status */ +#define ISDIO_READ 55 /* Read data form SD iSDIO register */ +#define ISDIO_WRITE 56 /* Write data to SD iSDIO register */ +#define ISDIO_MRITE 57 /* Masked write data to SD iSDIO register */ + +/* ATA/CF specific ioctl command (Not used by FatFs) */ +#define ATA_GET_REV 60 /* Get F/W revision */ +#define ATA_GET_MODEL 61 /* Get model name */ +#define ATA_GET_SN 62 /* Get serial number */ + +/* MMC card type flags (MMC_GET_TYPE) */ +#define CT_MMC 0x01 /* MMC ver 3 */ +#define CT_SD1 0x02 /* SD ver 1 */ +#define CT_SD2 0x04 /* SD ver 2 */ +#define CT_SDC (CT_SD1|CT_SD2) /* SD */ +#define CT_BLOCK 0x08 /* Block addressing */ diff --git a/Marlin/src/HAL/STM32F1/pinsDebug.h b/Marlin/src/HAL/STM32F1/pinsDebug.h new file mode 100644 index 0000000000..7828479658 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/pinsDebug.h @@ -0,0 +1,123 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Support routines for MAPLE_STM32F1 + */ + +/** + * Translation of routines & variables used by pinsDebug.h + */ + +#ifndef BOARD_NR_GPIO_PINS // Only in MAPLE_STM32F1 + #error "Expected BOARD_NR_GPIO_PINS not found" +#endif + +#include "fastio.h" + +extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS]; + +#define NUM_DIGITAL_PINS BOARD_NR_GPIO_PINS +#define NUMBER_PINS_TOTAL BOARD_NR_GPIO_PINS +#define VALID_PIN(pin) (pin >= 0 && pin < BOARD_NR_GPIO_PINS) +#define GET_ARRAY_PIN(p) pin_t(pin_array[p].pin) +#define pwm_status(pin) PWM_PIN(pin) +#define digitalRead_mod(p) extDigitalRead(p) +#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%3hd "), int16_t(p)); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR(" (A%2d) "), DIGITAL_PIN_TO_ANALOG_PIN(pin)); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PORT(p) print_port(p) +#define PRINT_ARRAY_NAME(x) do{ sprintf_P(buffer, PSTR("%-" STRINGIFY(MAX_NAME_LENGTH) "s"), pin_array[x].name); SERIAL_ECHO(buffer); }while(0) +#define MULTI_NAME_PAD 21 // space needed to be pretty if not first name assigned to a pin + +// pins that will cause hang/reset/disconnect in M43 Toggle and Watch utilities +#ifndef M43_NEVER_TOUCH + #define M43_NEVER_TOUCH(Q) (Q >= 9 && Q <= 12) // SERIAL/USB pins PA9(TX) PA10(RX) +#endif + +static int8_t get_pin_mode(pin_t pin) { + return VALID_PIN(pin) ? _GET_MODE(pin) : -1; +} + +static pin_t DIGITAL_PIN_TO_ANALOG_PIN(pin_t pin) { + if (!VALID_PIN(pin)) return -1; + int8_t adc_channel = int8_t(PIN_MAP[pin].adc_channel); + #ifdef NUM_ANALOG_INPUTS + if (adc_channel >= NUM_ANALOG_INPUTS) adc_channel = ADCx; + #endif + return pin_t(adc_channel); +} + +static bool IS_ANALOG(pin_t pin) { + if (!VALID_PIN(pin)) return false; + if (PIN_MAP[pin].adc_channel != ADCx) { + #ifdef NUM_ANALOG_INPUTS + if (PIN_MAP[pin].adc_channel >= NUM_ANALOG_INPUTS) return false; + #endif + return _GET_MODE(pin) == GPIO_INPUT_ANALOG && !M43_NEVER_TOUCH(pin); + } + return false; +} + +static bool GET_PINMODE(const pin_t pin) { + return VALID_PIN(pin) && !IS_INPUT(pin); +} + +static bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) { + const pin_t pin = GET_ARRAY_PIN(array_pin); + return (!IS_ANALOG(pin) + #ifdef NUM_ANALOG_INPUTS + || PIN_MAP[pin].adc_channel >= NUM_ANALOG_INPUTS + #endif + ); +} + +#include "../../inc/MarlinConfig.h" // Allow pins/pins.h to set density + +static void pwm_details(const pin_t pin) { + if (PWM_PIN(pin)) { + timer_dev * const tdev = PIN_MAP[pin].timer_device; + const uint8_t channel = PIN_MAP[pin].timer_channel; + const char num = ( + #if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) + tdev == &timer8 ? '8' : + tdev == &timer5 ? '5' : + #endif + tdev == &timer4 ? '4' : + tdev == &timer3 ? '3' : + tdev == &timer2 ? '2' : + tdev == &timer1 ? '1' : '?' + ); + char buffer[10]; + sprintf_P(buffer, PSTR(" TIM%c CH%c"), num, ('0' + channel)); + SERIAL_ECHO(buffer); + } +} + +static void print_port(pin_t pin) { + const char port = 'A' + char(pin >> 4); // pin div 16 + const int16_t gbit = PIN_MAP[pin].gpio_bit; + char buffer[8]; + sprintf_P(buffer, PSTR("P%c%hd "), port, gbit); + if (gbit < 10) SERIAL_CHAR(' '); + SERIAL_ECHO(buffer); +} diff --git a/Marlin/src/HAL/STM32F1/sdio.cpp b/Marlin/src/HAL/STM32F1/sdio.cpp new file mode 100644 index 0000000000..6e41d2cbf1 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/sdio.cpp @@ -0,0 +1,307 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2017 Victor Perez + * + * 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 . + * + */ +#ifdef ARDUINO_ARCH_STM32F1 + +#include + +#include "../../inc/MarlinConfig.h" // Allow pins/pins.h to set density + +#if EITHER(STM32_HIGH_DENSITY, STM32_XL_DENSITY) + +#include "sdio.h" + +SDIO_CardInfoTypeDef SdCard; + +bool SDIO_Init() { + uint32_t count = 0U; + SdCard.CardType = SdCard.CardVersion = SdCard.Class = SdCard.RelCardAdd = SdCard.BlockNbr = SdCard.BlockSize = SdCard.LogBlockNbr = SdCard.LogBlockSize = 0; + + sdio_begin(); + sdio_set_dbus_width(SDIO_CLKCR_WIDBUS_1BIT); + + dma_init(SDIO_DMA_DEV); + dma_disable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + dma_set_priority(SDIO_DMA_DEV, SDIO_DMA_CHANNEL, DMA_PRIORITY_MEDIUM); + + if (!SDIO_CmdGoIdleState()) return false; + if (!SDIO_CmdGoIdleState()) return false; /* Hotplugged cards tends to miss first CMD0, so give them a second chance. */ + + SdCard.CardVersion = SDIO_CmdOperCond() ? CARD_V2_X : CARD_V1_X; + + do { + if (count++ == SDMMC_MAX_VOLT_TRIAL) return false; + SDIO_CmdAppOperCommand(SdCard.CardVersion == CARD_V2_X ? SDMMC_HIGH_CAPACITY : SDMMC_STD_CAPACITY); + } while ((SDIO_GetResponse(SDIO_RESP1) & 0x80000000) == 0); + + SdCard.CardType = (SDIO_GetResponse(SDIO_RESP1) & SDMMC_HIGH_CAPACITY) ? CARD_SDHC_SDXC : CARD_SDSC; + + if (!SDIO_CmdSendCID()) return false; + if (!SDIO_CmdSetRelAdd(&SdCard.RelCardAdd)) return false; /* Send CMD3 SET_REL_ADDR with argument 0. SD Card publishes its RCA. */ + if (!SDIO_CmdSendCSD(SdCard.RelCardAdd << 16U)) return false; + + SdCard.Class = (SDIO_GetResponse(SDIO_RESP2) >> 20U); + + if (SdCard.CardType == CARD_SDHC_SDXC) { + SdCard.LogBlockNbr = SdCard.BlockNbr = (((SDIO_GetResponse(SDIO_RESP2) & 0x0000003FU) << 26U) | ((SDIO_GetResponse(SDIO_RESP3) & 0xFFFF0000U) >> 6U)) + 1024; + SdCard.LogBlockSize = SdCard.BlockSize = 512U; + } + else { + SdCard.BlockNbr = ((((SDIO_GetResponse(SDIO_RESP2) & 0x000003FFU) << 2U ) | ((SDIO_GetResponse(SDIO_RESP3) & 0xC0000000U) >> 30U)) + 1U) * (4U << ((SDIO_GetResponse(SDIO_RESP3) & 0x00038000U) >> 15U)); + SdCard.BlockSize = 1U << ((SDIO_GetResponse(SDIO_RESP2) >> 16) & 0x0FU); + SdCard.LogBlockNbr = (SdCard.BlockNbr) * ((SdCard.BlockSize) / 512U); + SdCard.LogBlockSize = 512U; + } + + if (!SDIO_CmdSelDesel(SdCard.RelCardAdd << 16U)) return false; + if (!SDIO_CmdAppSetClearCardDetect(SdCard.RelCardAdd << 16U)) return false; + if (!SDIO_CmdAppSetBusWidth(SdCard.RelCardAdd << 16U, 2)) return false; + + sdio_set_dbus_width(SDIO_CLKCR_WIDBUS_4BIT); + sdio_set_clock(SDIO_CLOCK); + return true; +} + +bool SDIO_ReadBlock_DMA(uint32_t blockAddress, uint8_t *data) { + if (SDIO_GetCardState() != SDIO_CARD_TRANSFER) return false; + if (blockAddress >= SdCard.LogBlockNbr) return false; + if ((0x03 & (uint32_t)data)) return false; // misaligned data + + if (SdCard.CardType != CARD_SDHC_SDXC) { blockAddress *= 512U; } + + dma_setup_transfer(SDIO_DMA_DEV, SDIO_DMA_CHANNEL, &SDIO->FIFO, DMA_SIZE_32BITS, data, DMA_SIZE_32BITS, DMA_MINC_MODE); + dma_set_num_transfers(SDIO_DMA_DEV, SDIO_DMA_CHANNEL, 128); + dma_clear_isr_bits(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + dma_enable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + + sdio_setup_transfer(SDIO_DATA_TIMEOUT * (F_CPU / 1000U), 512, SDIO_BLOCKSIZE_512 | SDIO_DCTRL_DMAEN | SDIO_DCTRL_DTEN | SDIO_DIR_RX); + + if (!SDIO_CmdReadSingleBlock(blockAddress)) { + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS); + dma_disable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + return false; + } + + while (!SDIO_GET_FLAG(SDIO_STA_DATAEND | SDIO_STA_TRX_ERROR_FLAGS)) { /* wait */ } + + //If there were SDIO errors, do not wait DMA. + if (SDIO->STA & SDIO_STA_TRX_ERROR_FLAGS) { + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS | SDIO_ICR_DATA_FLAGS); + dma_disable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + return false; + } + + //Wait for DMA transaction to complete + while ((DMA2_BASE->ISR & (DMA_ISR_TEIF4|DMA_ISR_TCIF4)) == 0 ) { /* wait */ } + + if (DMA2_BASE->ISR & DMA_ISR_TEIF4) { + dma_disable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS | SDIO_ICR_DATA_FLAGS); + return false; + } + + dma_disable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + + if (SDIO->STA & SDIO_STA_RXDAVL) { + while (SDIO->STA & SDIO_STA_RXDAVL) (void)SDIO->FIFO; + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS | SDIO_ICR_DATA_FLAGS); + return false; + } + + if (SDIO_GET_FLAG(SDIO_STA_TRX_ERROR_FLAGS)) { + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS | SDIO_ICR_DATA_FLAGS); + return false; + } + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS | SDIO_ICR_DATA_FLAGS); + return true; +} + +bool SDIO_ReadBlock(uint32_t blockAddress, uint8_t *data) { + uint32_t retries = SDIO_READ_RETRIES; + while (retries--) if (SDIO_ReadBlock_DMA(blockAddress, data)) return true; + return false; +} + +uint32_t millis(); + +bool SDIO_WriteBlock(uint32_t blockAddress, const uint8_t *data) { + if (SDIO_GetCardState() != SDIO_CARD_TRANSFER) return false; + if (blockAddress >= SdCard.LogBlockNbr) return false; + if ((0x03 & (uint32_t)data)) return false; // misaligned data + + if (SdCard.CardType != CARD_SDHC_SDXC) { blockAddress *= 512U; } + + dma_setup_transfer(SDIO_DMA_DEV, SDIO_DMA_CHANNEL, &SDIO->FIFO, DMA_SIZE_32BITS, (volatile void *) data, DMA_SIZE_32BITS, DMA_MINC_MODE | DMA_FROM_MEM); + dma_set_num_transfers(SDIO_DMA_DEV, SDIO_DMA_CHANNEL, 128); + dma_clear_isr_bits(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + dma_enable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + + if (!SDIO_CmdWriteSingleBlock(blockAddress)) { + dma_disable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + return false; + } + + sdio_setup_transfer(SDIO_DATA_TIMEOUT * (F_CPU / 1000U), 512U, SDIO_BLOCKSIZE_512 | SDIO_DCTRL_DMAEN | SDIO_DCTRL_DTEN); + + while (!SDIO_GET_FLAG(SDIO_STA_DATAEND | SDIO_STA_TRX_ERROR_FLAGS)) { /* wait */ } + + dma_disable(SDIO_DMA_DEV, SDIO_DMA_CHANNEL); + + if (SDIO_GET_FLAG(SDIO_STA_TRX_ERROR_FLAGS)) { + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS | SDIO_ICR_DATA_FLAGS); + return false; + } + + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS | SDIO_ICR_DATA_FLAGS); + + uint32_t timeout = millis() + SDIO_WRITE_TIMEOUT; + while (timeout > millis()) { + if (SDIO_GetCardState() == SDIO_CARD_TRANSFER) { + return true; + } + } + return false; +} + +inline uint32_t SDIO_GetCardState() { return SDIO_CmdSendStatus(SdCard.RelCardAdd << 16U) ? (SDIO_GetResponse(SDIO_RESP1) >> 9U) & 0x0FU : SDIO_CARD_ERROR; } + +// No F1 board with SDIO + MSC using Maple, that I aware of... +bool SDIO_IsReady() { return true; } +uint32_t SDIO_GetCardSize() { return 0; } + +// ------------------------ +// SD Commands and Responses +// ------------------------ + +void SDIO_SendCommand(uint16_t command, uint32_t argument) { SDIO->ARG = argument; SDIO->CMD = (uint32_t)(SDIO_CMD_CPSMEN | command); } +uint8_t SDIO_GetCommandResponse() { return (uint8_t)(SDIO->RESPCMD); } +uint32_t SDIO_GetResponse(uint32_t response) { return SDIO->RESP[response]; } + +bool SDIO_CmdGoIdleState() { SDIO_SendCommand(CMD0_GO_IDLE_STATE, 0); return SDIO_GetCmdError(); } +bool SDIO_CmdSendCID() { SDIO_SendCommand(CMD2_ALL_SEND_CID, 0); return SDIO_GetCmdResp2(); } +bool SDIO_CmdSetRelAdd(uint32_t *rca) { SDIO_SendCommand(CMD3_SET_REL_ADDR, 0); return SDIO_GetCmdResp6(SDMMC_CMD_SET_REL_ADDR, rca); } +bool SDIO_CmdSelDesel(uint32_t address) { SDIO_SendCommand(CMD7_SEL_DESEL_CARD, address); return SDIO_GetCmdResp1(SDMMC_CMD_SEL_DESEL_CARD); } +bool SDIO_CmdOperCond() { SDIO_SendCommand(CMD8_HS_SEND_EXT_CSD, SDMMC_CHECK_PATTERN); return SDIO_GetCmdResp7(); } +bool SDIO_CmdSendCSD(uint32_t argument) { SDIO_SendCommand(CMD9_SEND_CSD, argument); return SDIO_GetCmdResp2(); } +bool SDIO_CmdSendStatus(uint32_t argument) { SDIO_SendCommand(CMD13_SEND_STATUS, argument); return SDIO_GetCmdResp1(SDMMC_CMD_SEND_STATUS); } +bool SDIO_CmdReadSingleBlock(uint32_t address) { SDIO_SendCommand(CMD17_READ_SINGLE_BLOCK, address); return SDIO_GetCmdResp1(SDMMC_CMD_READ_SINGLE_BLOCK); } +bool SDIO_CmdWriteSingleBlock(uint32_t address) { SDIO_SendCommand(CMD24_WRITE_SINGLE_BLOCK, address); return SDIO_GetCmdResp1(SDMMC_CMD_WRITE_SINGLE_BLOCK); } +bool SDIO_CmdAppCommand(uint32_t rsa) { SDIO_SendCommand(CMD55_APP_CMD, rsa); return SDIO_GetCmdResp1(SDMMC_CMD_APP_CMD); } + +bool SDIO_CmdAppSetBusWidth(uint32_t rsa, uint32_t argument) { + if (!SDIO_CmdAppCommand(rsa)) return false; + SDIO_SendCommand(ACMD6_APP_SD_SET_BUSWIDTH, argument); + return SDIO_GetCmdResp2(); +} + +bool SDIO_CmdAppOperCommand(uint32_t sdType) { + if (!SDIO_CmdAppCommand(0)) return false; + SDIO_SendCommand(ACMD41_SD_APP_OP_COND , SDMMC_VOLTAGE_WINDOW_SD | sdType); + return SDIO_GetCmdResp3(); +} + +bool SDIO_CmdAppSetClearCardDetect(uint32_t rsa) { + if (!SDIO_CmdAppCommand(rsa)) return false; + SDIO_SendCommand(ACMD42_SD_APP_SET_CLR_CARD_DETECT, 0); + return SDIO_GetCmdResp2(); +} + +// Wait until given flags are unset or till timeout +#define SDIO_WAIT(FLAGS) do{ \ + uint32_t count = 1 + (SDIO_CMDTIMEOUT) * ((F_CPU) / 8U / 1000U); \ + do { if (!--count) return false; } while (!SDIO_GET_FLAG(FLAGS)); \ +}while(0) + +bool SDIO_GetCmdError() { + SDIO_WAIT(SDIO_STA_CMDSENT); + + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS); + return true; +} + +bool SDIO_GetCmdResp1(uint8_t command) { + SDIO_WAIT(SDIO_STA_CCRCFAIL | SDIO_STA_CMDREND | SDIO_STA_CTIMEOUT); + + if (SDIO_GET_FLAG(SDIO_STA_CCRCFAIL | SDIO_STA_CTIMEOUT)) { + SDIO_CLEAR_FLAG(SDIO_STA_CCRCFAIL | SDIO_STA_CTIMEOUT); + return false; + } + if (SDIO_GetCommandResponse() != command) return false; + + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS); + return (SDIO_GetResponse(SDIO_RESP1) & SDMMC_OCR_ERRORBITS) == SDMMC_ALLZERO; +} + +bool SDIO_GetCmdResp2() { + SDIO_WAIT(SDIO_STA_CCRCFAIL | SDIO_STA_CMDREND | SDIO_STA_CTIMEOUT); + + if (SDIO_GET_FLAG(SDIO_STA_CCRCFAIL | SDIO_STA_CTIMEOUT)) { + SDIO_CLEAR_FLAG(SDIO_STA_CCRCFAIL | SDIO_STA_CTIMEOUT); + return false; + } + + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS); + return true; +} + +bool SDIO_GetCmdResp3() { + SDIO_WAIT(SDIO_STA_CCRCFAIL | SDIO_STA_CMDREND | SDIO_STA_CTIMEOUT); + + if (SDIO_GET_FLAG(SDIO_STA_CTIMEOUT)) { + SDIO_CLEAR_FLAG(SDIO_STA_CTIMEOUT); + return false; + } + + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS); + return true; +} + +bool SDIO_GetCmdResp6(uint8_t command, uint32_t *rca) { + SDIO_WAIT(SDIO_STA_CCRCFAIL | SDIO_STA_CMDREND | SDIO_STA_CTIMEOUT); + + if (SDIO_GET_FLAG(SDIO_STA_CCRCFAIL | SDIO_STA_CTIMEOUT)) { + SDIO_CLEAR_FLAG(SDIO_STA_CCRCFAIL | SDIO_STA_CTIMEOUT); + return false; + } + if (SDIO_GetCommandResponse() != command) return false; + + SDIO_CLEAR_FLAG(SDIO_ICR_CMD_FLAGS); + if (SDIO_GetResponse(SDIO_RESP1) & (SDMMC_R6_GENERAL_UNKNOWN_ERROR | SDMMC_R6_ILLEGAL_CMD | SDMMC_R6_COM_CRC_FAILED)) return false; + + *rca = SDIO_GetResponse(SDIO_RESP1) >> 16; + return true; +} + +bool SDIO_GetCmdResp7() { + SDIO_WAIT(SDIO_STA_CCRCFAIL | SDIO_STA_CMDREND | SDIO_STA_CTIMEOUT); + + if (SDIO_GET_FLAG(SDIO_STA_CTIMEOUT)) { + SDIO_CLEAR_FLAG(SDIO_STA_CTIMEOUT); + return false; + } + + if (SDIO_GET_FLAG(SDIO_STA_CMDREND)) { SDIO_CLEAR_FLAG(SDIO_STA_CMDREND); } + return true; +} + +#endif // STM32_HIGH_DENSITY || STM32_XL_DENSITY +#endif // ARDUINO_ARCH_STM32F1 diff --git a/Marlin/src/HAL/STM32F1/sdio.h b/Marlin/src/HAL/STM32F1/sdio.h new file mode 100644 index 0000000000..8777299f01 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/sdio.h @@ -0,0 +1,155 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../inc/MarlinConfig.h" // Allow pins/pins.h to override SDIO clock / retries + +#include +#include + +// ------------------------ +// Defines +// ------------------------ + +#define SDMMC_CMD_GO_IDLE_STATE ((uint8_t)0) /* Resets the SD memory card. */ +#define SDMMC_CMD_ALL_SEND_CID ((uint8_t)2) /* Asks any card connected to the host to send the CID numbers on the CMD line. */ +#define SDMMC_CMD_SET_REL_ADDR ((uint8_t)3) /* Asks the card to publish a new relative address (RCA). */ +#define SDMMC_CMD_SEL_DESEL_CARD ((uint8_t)7) /* Selects the card by its own relative address and gets deselected by any other address */ +#define SDMMC_CMD_HS_SEND_EXT_CSD ((uint8_t)8) /* Sends SD Memory Card interface condition, which includes host supply voltage information and asks the card whether card supports voltage. */ +#define SDMMC_CMD_SEND_CSD ((uint8_t)9) /* Addressed card sends its card specific data (CSD) on the CMD line. */ +#define SDMMC_CMD_SEND_STATUS ((uint8_t)13) /*!< Addressed card sends its status register. */ +#define SDMMC_CMD_READ_SINGLE_BLOCK ((uint8_t)17) /* Reads single block of size selected by SET_BLOCKLEN in case of SDSC, and a block of fixed 512 bytes in case of SDHC and SDXC. */ +#define SDMMC_CMD_WRITE_SINGLE_BLOCK ((uint8_t)24) /* Writes single block of size selected by SET_BLOCKLEN in case of SDSC, and a block of fixed 512 bytes in case of SDHC and SDXC. */ +#define SDMMC_CMD_APP_CMD ((uint8_t)55) /* Indicates to the card that the next command is an application specific command rather than a standard command. */ + +#define SDMMC_ACMD_APP_SD_SET_BUSWIDTH ((uint8_t)6) /* (ACMD6) Defines the data bus width to be used for data transfer. The allowed data bus widths are given in SCR register. */ +#define SDMMC_ACMD_SD_APP_OP_COND ((uint8_t)41) /* (ACMD41) Sends host capacity support information (HCS) and asks the accessed card to send its operating condition register (OCR) content in the response on the CMD line. */ +#define SDMMC_ACMD_SD_APP_SET_CLR_CARD_DETECT ((uint8_t)42) /* (ACMD42) Connect/Disconnect the 50 KOhm pull-up resistor on CD/DAT3 (pin 1) of the card */ + +#define CMD0_GO_IDLE_STATE (uint16_t)(SDMMC_CMD_GO_IDLE_STATE | SDIO_CMD_WAIT_NO_RESP) +#define CMD2_ALL_SEND_CID (uint16_t)(SDMMC_CMD_ALL_SEND_CID | SDIO_CMD_WAIT_LONG_RESP) +#define CMD3_SET_REL_ADDR (uint16_t)(SDMMC_CMD_SET_REL_ADDR | SDIO_CMD_WAIT_SHORT_RESP) +#define CMD7_SEL_DESEL_CARD (uint16_t)(SDMMC_CMD_SEL_DESEL_CARD | SDIO_CMD_WAIT_SHORT_RESP) +#define CMD8_HS_SEND_EXT_CSD (uint16_t)(SDMMC_CMD_HS_SEND_EXT_CSD | SDIO_CMD_WAIT_SHORT_RESP) +#define CMD9_SEND_CSD (uint16_t)(SDMMC_CMD_SEND_CSD | SDIO_CMD_WAIT_LONG_RESP) +#define CMD13_SEND_STATUS (uint16_t)(SDMMC_CMD_SEND_STATUS | SDIO_CMD_WAIT_SHORT_RESP) +#define CMD17_READ_SINGLE_BLOCK (uint16_t)(SDMMC_CMD_READ_SINGLE_BLOCK | SDIO_CMD_WAIT_SHORT_RESP) +#define CMD24_WRITE_SINGLE_BLOCK (uint16_t)(SDMMC_CMD_WRITE_SINGLE_BLOCK | SDIO_CMD_WAIT_SHORT_RESP) +#define CMD55_APP_CMD (uint16_t)(SDMMC_CMD_APP_CMD | SDIO_CMD_WAIT_SHORT_RESP) + +#define ACMD6_APP_SD_SET_BUSWIDTH (uint16_t)(SDMMC_ACMD_APP_SD_SET_BUSWIDTH | SDIO_CMD_WAIT_SHORT_RESP) +#define ACMD41_SD_APP_OP_COND (uint16_t)(SDMMC_ACMD_SD_APP_OP_COND | SDIO_CMD_WAIT_SHORT_RESP) +#define ACMD42_SD_APP_SET_CLR_CARD_DETECT (uint16_t)(SDMMC_ACMD_SD_APP_SET_CLR_CARD_DETECT | SDIO_CMD_WAIT_SHORT_RESP) + + +#define SDMMC_ALLZERO 0x00000000U +#define SDMMC_OCR_ERRORBITS 0xFDFFE008U + +#define SDMMC_R6_GENERAL_UNKNOWN_ERROR 0x00002000U +#define SDMMC_R6_ILLEGAL_CMD 0x00004000U +#define SDMMC_R6_COM_CRC_FAILED 0x00008000U + +#define SDMMC_VOLTAGE_WINDOW_SD 0x80100000U +#define SDMMC_HIGH_CAPACITY 0x40000000U +#define SDMMC_STD_CAPACITY 0x00000000U +#define SDMMC_CHECK_PATTERN 0x000001AAU + +#define SDIO_TRANSFER_MODE_BLOCK 0x00000000U +#define SDIO_DPSM_ENABLE 0x00000001U +#define SDIO_TRANSFER_DIR_TO_CARD 0x00000000U +#define SDIO_DATABLOCK_SIZE_512B 0x00000090U +#define SDIO_TRANSFER_DIR_TO_SDIO 0x00000100U +#define SDIO_DMA_ENABLE 0x00001000U + +#define CARD_V1_X 0x00000000U +#define CARD_V2_X 0x00000001U +#define CARD_SDSC 0x00000000U +#define CARD_SDHC_SDXC 0x00000001U + +#define SDIO_RESP1 0 +#define SDIO_RESP2 1 +#define SDIO_RESP3 2 +#define SDIO_RESP4 3 + +#define SDIO_GET_FLAG(__FLAG__) !!((SDIO->STA) & (__FLAG__)) +#define SDIO_CLEAR_FLAG(__FLAG__) (SDIO->ICR = (__FLAG__)) + +#define SDMMC_MAX_VOLT_TRIAL 0x00000FFFU +#define SDIO_CARD_TRANSFER 0x00000004U /* Card is in transfer state */ +#define SDIO_CARD_ERROR 0x000000FFU /* Card response Error */ +#define SDIO_CMDTIMEOUT 200U /* Command send and response timeout */ +#define SDIO_DATA_TIMEOUT 100U /* Read data transfer timeout */ +#define SDIO_WRITE_TIMEOUT 200U /* Write data transfer timeout */ + +#ifndef SDIO_CLOCK + #define SDIO_CLOCK 18000000 /* 18 MHz */ +#endif + +#ifndef SDIO_READ_RETRIES + #define SDIO_READ_RETRIES 3 +#endif + +// ------------------------ +// Types +// ------------------------ + +typedef struct { + uint32_t CardType; // Card Type + uint32_t CardVersion; // Card version + uint32_t Class; // Class of the card class + uint32_t RelCardAdd; // Relative Card Address + uint32_t BlockNbr; // Card Capacity in blocks + uint32_t BlockSize; // One block size in bytes + uint32_t LogBlockNbr; // Card logical Capacity in blocks + uint32_t LogBlockSize; // Logical block size in bytes +} SDIO_CardInfoTypeDef; + +// ------------------------ +// Public functions +// ------------------------ + +inline uint32_t SDIO_GetCardState(); + +bool SDIO_CmdGoIdleState(); +bool SDIO_CmdSendCID(); +bool SDIO_CmdSetRelAdd(uint32_t *rca); +bool SDIO_CmdSelDesel(uint32_t address); +bool SDIO_CmdOperCond(); +bool SDIO_CmdSendCSD(uint32_t argument); +bool SDIO_CmdSendStatus(uint32_t argument); +bool SDIO_CmdReadSingleBlock(uint32_t address); +bool SDIO_CmdWriteSingleBlock(uint32_t address); +bool SDIO_CmdAppCommand(uint32_t rsa); + +bool SDIO_CmdAppSetBusWidth(uint32_t rsa, uint32_t argument); +bool SDIO_CmdAppOperCommand(uint32_t sdType); +bool SDIO_CmdAppSetClearCardDetect(uint32_t rsa); + +void SDIO_SendCommand(uint16_t command, uint32_t argument); +uint8_t SDIO_GetCommandResponse(); +uint32_t SDIO_GetResponse(uint32_t response); +bool SDIO_GetCmdError(); +bool SDIO_GetCmdResp1(uint8_t command); +bool SDIO_GetCmdResp2(); +bool SDIO_GetCmdResp3(); +bool SDIO_GetCmdResp6(uint8_t command, uint32_t *rca); +bool SDIO_GetCmdResp7(); diff --git a/Marlin/src/HAL/STM32F1/spi_pins.h b/Marlin/src/HAL/STM32F1/spi_pins.h new file mode 100644 index 0000000000..3d3c8f8d2f --- /dev/null +++ b/Marlin/src/HAL/STM32F1/spi_pins.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + */ + +/** + * STM32F1 Default SPI Pins + * + * SS SCK MISO MOSI + * +-----------------------------+ + * SPI1 | PA4 PA5 PA6 PA7 | + * SPI2 | PB12 PB13 PB14 PB15 | + * SPI3 | PA15 PB3 PB4 PB5 | + * +-----------------------------+ + * Any pin can be used for Chip Select (SD_SS_PIN) + * SPI1 is enabled by default + */ +#ifndef SD_SCK_PIN + #define SD_SCK_PIN PA5 +#endif +#ifndef SD_MISO_PIN + #define SD_MISO_PIN PA6 +#endif +#ifndef SD_MOSI_PIN + #define SD_MOSI_PIN PA7 +#endif +#ifndef SD_SS_PIN + #define SD_SS_PIN PA4 +#endif +#undef SDSS +#define SDSS SD_SS_PIN + +#ifndef SPI_DEVICE + #define SPI_DEVICE 1 +#endif diff --git a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp new file mode 100644 index 0000000000..512e70cf3f --- /dev/null +++ b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp @@ -0,0 +1,262 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if HAS_FSMC_TFT + +#include "tft_fsmc.h" +#include +#include +#include + +LCD_CONTROLLER_TypeDef *TFT_FSMC::LCD; + +/** + * FSMC LCD IO + */ +#define __ASM __asm +#define __STATIC_INLINE static inline + +__attribute__((always_inline)) __STATIC_INLINE void __DSB() { + __ASM volatile ("dsb 0xF":::"memory"); +} + +#define FSMC_CS_NE1 PD7 + +#if ENABLED(STM32_XL_DENSITY) + #define FSMC_CS_NE2 PG9 + #define FSMC_CS_NE3 PG10 + #define FSMC_CS_NE4 PG12 + + #define FSMC_RS_A0 PF0 + #define FSMC_RS_A1 PF1 + #define FSMC_RS_A2 PF2 + #define FSMC_RS_A3 PF3 + #define FSMC_RS_A4 PF4 + #define FSMC_RS_A5 PF5 + #define FSMC_RS_A6 PF12 + #define FSMC_RS_A7 PF13 + #define FSMC_RS_A8 PF14 + #define FSMC_RS_A9 PF15 + #define FSMC_RS_A10 PG0 + #define FSMC_RS_A11 PG1 + #define FSMC_RS_A12 PG2 + #define FSMC_RS_A13 PG3 + #define FSMC_RS_A14 PG4 + #define FSMC_RS_A15 PG5 +#endif + +#define FSMC_RS_A16 PD11 +#define FSMC_RS_A17 PD12 +#define FSMC_RS_A18 PD13 +#define FSMC_RS_A19 PE3 +#define FSMC_RS_A20 PE4 +#define FSMC_RS_A21 PE5 +#define FSMC_RS_A22 PE6 +#define FSMC_RS_A23 PE2 + +#if ENABLED(STM32_XL_DENSITY) + #define FSMC_RS_A24 PG13 + #define FSMC_RS_A25 PG14 +#endif + +/* Timing configuration */ +#define FSMC_ADDRESS_SETUP_TIME 15 // AddressSetupTime +#define FSMC_DATA_SETUP_TIME 15 // DataSetupTime + +static uint8_t fsmcInit = 0; +void TFT_FSMC::Init() { + uint8_t cs = FSMC_CS_PIN, rs = FSMC_RS_PIN; + uint32_t controllerAddress; + + #if ENABLED(LCD_USE_DMA_FSMC) + dma_init(FSMC_DMA_DEV); + dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + dma_set_priority(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, DMA_PRIORITY_MEDIUM); + #endif + + struct fsmc_nor_psram_reg_map* fsmcPsramRegion; + + if (fsmcInit) return; + fsmcInit = 1; + + switch (cs) { + case FSMC_CS_NE1: controllerAddress = (uint32_t)FSMC_NOR_PSRAM_REGION1; fsmcPsramRegion = FSMC_NOR_PSRAM1_BASE; break; + #if ENABLED(STM32_XL_DENSITY) + case FSMC_CS_NE2: controllerAddress = (uint32_t)FSMC_NOR_PSRAM_REGION2; fsmcPsramRegion = FSMC_NOR_PSRAM2_BASE; break; + case FSMC_CS_NE3: controllerAddress = (uint32_t)FSMC_NOR_PSRAM_REGION3; fsmcPsramRegion = FSMC_NOR_PSRAM3_BASE; break; + case FSMC_CS_NE4: controllerAddress = (uint32_t)FSMC_NOR_PSRAM_REGION4; fsmcPsramRegion = FSMC_NOR_PSRAM4_BASE; break; + #endif + default: return; + } + + #define _ORADDR(N) controllerAddress |= (_BV32(N) - 2) + + switch (rs) { + #if ENABLED(STM32_XL_DENSITY) + case FSMC_RS_A0: _ORADDR( 1); break; + case FSMC_RS_A1: _ORADDR( 2); break; + case FSMC_RS_A2: _ORADDR( 3); break; + case FSMC_RS_A3: _ORADDR( 4); break; + case FSMC_RS_A4: _ORADDR( 5); break; + case FSMC_RS_A5: _ORADDR( 6); break; + case FSMC_RS_A6: _ORADDR( 7); break; + case FSMC_RS_A7: _ORADDR( 8); break; + case FSMC_RS_A8: _ORADDR( 9); break; + case FSMC_RS_A9: _ORADDR(10); break; + case FSMC_RS_A10: _ORADDR(11); break; + case FSMC_RS_A11: _ORADDR(12); break; + case FSMC_RS_A12: _ORADDR(13); break; + case FSMC_RS_A13: _ORADDR(14); break; + case FSMC_RS_A14: _ORADDR(15); break; + case FSMC_RS_A15: _ORADDR(16); break; + #endif + case FSMC_RS_A16: _ORADDR(17); break; + case FSMC_RS_A17: _ORADDR(18); break; + case FSMC_RS_A18: _ORADDR(19); break; + case FSMC_RS_A19: _ORADDR(20); break; + case FSMC_RS_A20: _ORADDR(21); break; + case FSMC_RS_A21: _ORADDR(22); break; + case FSMC_RS_A22: _ORADDR(23); break; + case FSMC_RS_A23: _ORADDR(24); break; + #if ENABLED(STM32_XL_DENSITY) + case FSMC_RS_A24: _ORADDR(25); break; + case FSMC_RS_A25: _ORADDR(26); break; + #endif + default: return; + } + + rcc_clk_enable(RCC_FSMC); + + gpio_set_mode(GPIOD, 14, GPIO_AF_OUTPUT_PP); // FSMC_D00 + gpio_set_mode(GPIOD, 15, GPIO_AF_OUTPUT_PP); // FSMC_D01 + gpio_set_mode(GPIOD, 0, GPIO_AF_OUTPUT_PP); // FSMC_D02 + gpio_set_mode(GPIOD, 1, GPIO_AF_OUTPUT_PP); // FSMC_D03 + gpio_set_mode(GPIOE, 7, GPIO_AF_OUTPUT_PP); // FSMC_D04 + gpio_set_mode(GPIOE, 8, GPIO_AF_OUTPUT_PP); // FSMC_D05 + gpio_set_mode(GPIOE, 9, GPIO_AF_OUTPUT_PP); // FSMC_D06 + gpio_set_mode(GPIOE, 10, GPIO_AF_OUTPUT_PP); // FSMC_D07 + gpio_set_mode(GPIOE, 11, GPIO_AF_OUTPUT_PP); // FSMC_D08 + gpio_set_mode(GPIOE, 12, GPIO_AF_OUTPUT_PP); // FSMC_D09 + gpio_set_mode(GPIOE, 13, GPIO_AF_OUTPUT_PP); // FSMC_D10 + gpio_set_mode(GPIOE, 14, GPIO_AF_OUTPUT_PP); // FSMC_D11 + gpio_set_mode(GPIOE, 15, GPIO_AF_OUTPUT_PP); // FSMC_D12 + gpio_set_mode(GPIOD, 8, GPIO_AF_OUTPUT_PP); // FSMC_D13 + gpio_set_mode(GPIOD, 9, GPIO_AF_OUTPUT_PP); // FSMC_D14 + gpio_set_mode(GPIOD, 10, GPIO_AF_OUTPUT_PP); // FSMC_D15 + + gpio_set_mode(GPIOD, 4, GPIO_AF_OUTPUT_PP); // FSMC_NOE + gpio_set_mode(GPIOD, 5, GPIO_AF_OUTPUT_PP); // FSMC_NWE + + gpio_set_mode(PIN_MAP[cs].gpio_device, PIN_MAP[cs].gpio_bit, GPIO_AF_OUTPUT_PP); //FSMC_CS_NEx + gpio_set_mode(PIN_MAP[rs].gpio_device, PIN_MAP[rs].gpio_bit, GPIO_AF_OUTPUT_PP); //FSMC_RS_Ax + + fsmcPsramRegion->BCR = FSMC_BCR_WREN | FSMC_BCR_MTYP_SRAM | FSMC_BCR_MWID_16BITS | FSMC_BCR_MBKEN; + fsmcPsramRegion->BTR = (FSMC_DATA_SETUP_TIME << 8) | FSMC_ADDRESS_SETUP_TIME; + + afio_remap(AFIO_REMAP_FSMC_NADV); + + LCD = (LCD_CONTROLLER_TypeDef*)controllerAddress; +} + +void TFT_FSMC::Transmit(uint16_t Data) { + LCD->RAM = Data; + __DSB(); +} + +void TFT_FSMC::WriteReg(uint16_t Reg) { + LCD->REG = Reg; + __DSB(); +} + +uint32_t TFT_FSMC::GetID() { + uint32_t id; + WriteReg(0x0000); + id = LCD->RAM; + + if (id == 0) + id = ReadID(LCD_READ_ID); + if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) + id = ReadID(LCD_READ_ID4); + if ((id & 0xFF00) == 0 && (id & 0xFF) != 0) + id = ReadID(LCD_READ_ID4); + return id; +} + + uint32_t TFT_FSMC::ReadID(uint16_t Reg) { + uint32_t id; + WriteReg(Reg); + id = LCD->RAM; // dummy read + id = Reg << 24; + id |= (LCD->RAM & 0x00FF) << 16; + id |= (LCD->RAM & 0x00FF) << 8; + id |= LCD->RAM & 0x00FF; + return id; + } + +bool TFT_FSMC::isBusy() { + #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__) (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0) + + if (!__IS_DMA_CONFIGURED(FSMC_DMA_DEV, FSMC_DMA_CHANNEL)) return false; + + // Check if DMA transfer error or transfer complete flags are set + if ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_ISR_TCIF | DMA_ISR_TEIF)) == 0) return true; + + __DSB(); + Abort(); + return false; +} + +void TFT_FSMC::Abort() { + dma_channel_reg_map *channel_regs = dma_channel_regs(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + + dma_disable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); // Abort DMA transfer if any + + // Deconfigure DMA + channel_regs->CCR = 0U; + channel_regs->CNDTR = 0U; + channel_regs->CMAR = 0U; + channel_regs->CPAR = 0U; +} + +void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + // TODO: HAL STM32 uses DMA2_Channel1 for FSMC on STM32F1 + dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | MemoryIncrease); + dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Count); + dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); +} + +void TFT_FSMC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + #if defined(FSMC_DMA_DEV) && defined(FSMC_DMA_CHANNEL) + dma_setup_transfer(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Data, DMA_SIZE_16BITS, &LCD->RAM, DMA_SIZE_16BITS, DMA_MEM_2_MEM | MemoryIncrease); + dma_set_num_transfers(FSMC_DMA_DEV, FSMC_DMA_CHANNEL, Count); + dma_clear_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + dma_enable(FSMC_DMA_DEV, FSMC_DMA_CHANNEL); + + while ((dma_get_isr_bits(FSMC_DMA_DEV, FSMC_DMA_CHANNEL) & (DMA_CCR_TEIE | DMA_CCR_TCIE)) == 0) {} + Abort(); + #endif +} + +#endif // HAS_FSMC_TFT diff --git a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h new file mode 100644 index 0000000000..8d26f6eac0 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifndef LCD_READ_ID + #define LCD_READ_ID 0x04 // Read display identification information (0xD3 on ILI9341) +#endif +#ifndef LCD_READ_ID4 + #define LCD_READ_ID4 0xD3 // Read display identification information (0xD3 on ILI9341) +#endif + +#include + +#define DATASIZE_8BIT DMA_SIZE_8BITS +#define DATASIZE_16BIT DMA_SIZE_16BITS +#define TFT_IO_DRIVER TFT_FSMC +#define DMA_MAX_SIZE 0xFFFF + +#define DMA_PINC_ENABLE DMA_PINC_MODE +#define DMA_PINC_DISABLE 0 + +typedef struct { + __IO uint16_t REG; + __IO uint16_t RAM; +} LCD_CONTROLLER_TypeDef; + +class TFT_FSMC { + private: + static LCD_CONTROLLER_TypeDef *LCD; + + static uint32_t ReadID(uint16_t Reg); + static void Transmit(uint16_t Data); + static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + + public: + static void Init(); + static uint32_t GetID(); + static bool isBusy(); + static void Abort(); + + static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT) {}; + static void DataTransferEnd() {}; + + static void WriteData(uint16_t Data) { Transmit(Data); } + static void WriteReg(uint16_t Reg); + + static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); } + static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); } + + static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_PINC_ENABLE, Data, Count); } + static void WriteMultiple(uint16_t Color, uint32_t Count) { + while (Count > 0) { + Transmit(DMA_PINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count); + Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0; + } + } +}; diff --git a/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp b/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp new file mode 100644 index 0000000000..bb495d5f58 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp @@ -0,0 +1,167 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if HAS_SPI_TFT + +#include "tft_spi.h" + +SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE); + +void TFT_SPI::Init() { + #if PIN_EXISTS(TFT_RESET) + OUT_WRITE(TFT_RESET_PIN, HIGH); + delay(100); + #endif + + #if PIN_EXISTS(TFT_BACKLIGHT) + OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH); + #endif + + OUT_WRITE(TFT_DC_PIN, HIGH); + OUT_WRITE(TFT_CS_PIN, HIGH); + + /** + * STM32F1 APB2 = 72MHz, APB1 = 36MHz, max SPI speed of this MCU if 18Mhz + * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1 + * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2 + */ + #if TFT_SPI_DEVICE == 1 + #define SPI_CLOCK_MAX SPI_CLOCK_DIV4 + #else + #define SPI_CLOCK_MAX SPI_CLOCK_DIV2 + #endif + uint8_t clock; + uint8_t spiRate = SPI_FULL_SPEED; + switch (spiRate) { + case SPI_FULL_SPEED: clock = SPI_CLOCK_MAX ; break; + case SPI_HALF_SPEED: clock = SPI_CLOCK_DIV4 ; break; + case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8 ; break; + case SPI_EIGHTH_SPEED: clock = SPI_CLOCK_DIV16; break; + case SPI_SPEED_5: clock = SPI_CLOCK_DIV32; break; + case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break; + default: clock = SPI_CLOCK_DIV2; // Default from the SPI library + } + SPIx.setModule(TFT_SPI_DEVICE); + SPIx.setClockDivider(clock); + SPIx.setBitOrder(MSBFIRST); + SPIx.setDataMode(SPI_MODE0); +} + +void TFT_SPI::DataTransferBegin(uint16_t DataSize) { + SPIx.setDataSize(DataSize); + SPIx.begin(); + WRITE(TFT_CS_PIN, LOW); +} + +#ifdef TFT_DEFAULT_DRIVER + #include "../../../lcd/tft_io/tft_ids.h" +#endif + +uint32_t TFT_SPI::GetID() { + uint32_t id; + id = ReadID(LCD_READ_ID); + if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) { + id = ReadID(LCD_READ_ID4); + #ifdef TFT_DEFAULT_DRIVER + if ((id & 0xFFFF) == 0 || (id & 0xFFFF) == 0xFFFF) + id = TFT_DEFAULT_DRIVER; + #endif + } + return id; +} + +uint32_t TFT_SPI::ReadID(uint16_t Reg) { + #if !PIN_EXISTS(TFT_MISO) + return 0; + #else + uint8_t d = 0; + uint32_t data = 0; + SPIx.setClockDivider(SPI_CLOCK_DIV16); + DataTransferBegin(DATASIZE_8BIT); + WriteReg(Reg); + + LOOP_L_N(i, 4) { + SPIx.read((uint8_t*)&d, 1); + data = (data << 8) | d; + } + + DataTransferEnd(); + SPIx.setClockDivider(SPI_CLOCK_MAX); + + return data >> 7; + #endif +} + +bool TFT_SPI::isBusy() { + #define __IS_DMA_CONFIGURED(__DMAx__, __CHx__) (dma_channel_regs(__DMAx__, __CHx__)->CPAR != 0) + + if (!__IS_DMA_CONFIGURED(DMAx, DMA_CHx)) return false; + + if (dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TEIF) { + // You should not be here - DMA transfer error flag is set + // Abort DMA transfer and release SPI + } + else { + // Check if DMA transfer completed flag is set + if (!(dma_get_isr_bits(DMAx, DMA_CHx) & DMA_ISR_TCIF)) return true; + // Check if SPI TX butter is empty and SPI is idle + if (!(SPIdev->regs->SR & SPI_SR_TXE) || (SPIdev->regs->SR & SPI_SR_BSY)) return true; + } + + Abort(); + return false; +} + +void TFT_SPI::Abort() { + dma_channel_reg_map *channel_regs = dma_channel_regs(DMAx, DMA_CHx); + + dma_disable(DMAx, DMA_CHx); // Abort DMA transfer if any + spi_tx_dma_disable(SPIdev); + + // Deconfigure DMA + channel_regs->CCR = 0U; + channel_regs->CNDTR = 0U; + channel_regs->CMAR = 0U; + channel_regs->CPAR = 0U; + + DataTransferEnd(); +} + +void TFT_SPI::Transmit(uint16_t Data) { SPIx.send(Data); } + +void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + DataTransferBegin(); + SPIx.dmaSendAsync(Data, Count, MemoryIncrease == DMA_MINC_ENABLE); + + TERN_(TFT_SHARED_SPI, while (isBusy())); +} + +void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + WRITE(TFT_DC_PIN, HIGH); + DataTransferBegin(); + SPIx.dmaSend(Data, Count, MemoryIncrease == DMA_MINC_ENABLE); + DataTransferEnd(); +} + +#endif // HAS_SPI_TFT diff --git a/Marlin/src/HAL/STM32F1/tft/tft_spi.h b/Marlin/src/HAL/STM32F1/tft/tft_spi.h new file mode 100644 index 0000000000..2bda8c21f7 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/tft/tft_spi.h @@ -0,0 +1,96 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../../inc/MarlinConfig.h" + +#include + +#define IS_SPI(N) (BOARD_NR_SPI >= N && (TFT_SCK_PIN == BOARD_SPI##N##_SCK_PIN) && (TFT_MOSI_PIN == BOARD_SPI##N##_MOSI_PIN) && (TFT_MISO_PIN == BOARD_SPI##N##_MISO_PIN)) +#if IS_SPI(1) + #define TFT_SPI_DEVICE 1 + #define SPIdev SPI1 + #define DMAx DMA1 + #define DMA_CHx DMA_CH3 +#elif IS_SPI(2) + #define TFT_SPI_DEVICE 2 + #define SPIdev SPI2 + #define DMAx DMA1 + #define DMA_CHx DMA_CH5 +#elif IS_SPI(3) + #define TFT_SPI_DEVICE 3 + #define SPIdev SPI3 + #define DMAx DMA2 + #define DMA_CHx DMA_CH2 +#else + #error "Invalid TFT SPI configuration." +#endif +#undef IS_SPI + +#ifndef LCD_READ_ID + #define LCD_READ_ID 0x04 // Read display identification information (0xD3 on ILI9341) +#endif +#ifndef LCD_READ_ID4 + #define LCD_READ_ID4 0xD3 // Read display identification information (0xD3 on ILI9341) +#endif + +#define DATASIZE_8BIT DATA_SIZE_8BIT +#define DATASIZE_16BIT DATA_SIZE_16BIT +#define TFT_IO_DRIVER TFT_SPI +#define DMA_MAX_SIZE 0xFFFF + +#define DMA_MINC_ENABLE DMA_MINC_MODE +#define DMA_MINC_DISABLE 0 + +class TFT_SPI { +private: + static uint32_t ReadID(uint16_t Reg); + static void Transmit(uint16_t Data); + static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static void TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + +public: + static SPIClass SPIx; + + static void Init(); + static uint32_t GetID(); + static bool isBusy(); + static void Abort(); + + static void DataTransferBegin(uint16_t DataWidth = DATA_SIZE_16BIT); + static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); SPIx.end(); }; + static void DataTransferAbort(); + + static void WriteData(uint16_t Data) { Transmit(Data); } + static void WriteReg(uint16_t Reg) { WRITE(TFT_DC_PIN, LOW); Transmit(Reg); WRITE(TFT_DC_PIN, HIGH); } + + static void WriteSequence_DMA(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } + static void WriteMultiple_DMA(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } + + static void WriteSequence(uint16_t *Data, uint16_t Count) { Transmit(DMA_MINC_ENABLE, Data, Count); } + static void WriteMultiple(uint16_t Color, uint32_t Count) { + while (Count > 0) { + Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count); + Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0; + } + } +}; diff --git a/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp b/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp new file mode 100644 index 0000000000..ac9ad072aa --- /dev/null +++ b/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp @@ -0,0 +1,144 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS + +#include "xpt2046.h" +#include + +uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; } + +#if ENABLED(TOUCH_BUTTONS_HW_SPI) + #include + + SPIClass XPT2046::SPIx(TOUCH_BUTTONS_HW_SPI_DEVICE); + + static void touch_spi_init(uint8_t spiRate) { + /** + * STM32F1 APB2 = 72MHz, APB1 = 36MHz, max SPI speed of this MCU if 18Mhz + * STM32F1 has 3 SPI ports, SPI1 in APB2, SPI2/SPI3 in APB1 + * so the minimum prescale of SPI1 is DIV4, SPI2/SPI3 is DIV2 + */ + uint8_t clock; + switch (spiRate) { + case SPI_FULL_SPEED: clock = SPI_CLOCK_DIV4; break; + case SPI_HALF_SPEED: clock = SPI_CLOCK_DIV4; break; + case SPI_QUARTER_SPEED: clock = SPI_CLOCK_DIV8; break; + case SPI_EIGHTH_SPEED: clock = SPI_CLOCK_DIV16; break; + case SPI_SPEED_5: clock = SPI_CLOCK_DIV32; break; + case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break; + default: clock = SPI_CLOCK_DIV2; // Default from the SPI library + } + XPT2046::SPIx.setModule(TOUCH_BUTTONS_HW_SPI_DEVICE); + XPT2046::SPIx.setClockDivider(clock); + XPT2046::SPIx.setBitOrder(MSBFIRST); + XPT2046::SPIx.setDataMode(SPI_MODE0); + } +#endif // TOUCH_BUTTONS_HW_SPI + +void XPT2046::Init() { + SET_INPUT(TOUCH_MISO_PIN); + SET_OUTPUT(TOUCH_MOSI_PIN); + SET_OUTPUT(TOUCH_SCK_PIN); + OUT_WRITE(TOUCH_CS_PIN, HIGH); + + #if PIN_EXISTS(TOUCH_INT) + // Optional Pendrive interrupt pin + SET_INPUT(TOUCH_INT_PIN); + #endif + + TERN_(TOUCH_BUTTONS_HW_SPI, touch_spi_init(SPI_SPEED_6)); + + // Read once to enable pendrive status pin + getRawData(XPT2046_X); +} + +bool XPT2046::isTouched() { + return isBusy() ? false : ( + #if PIN_EXISTS(TOUCH_INT) + READ(TOUCH_INT_PIN) != HIGH + #else + getRawData(XPT2046_Z1) >= XPT2046_Z1_THRESHOLD + #endif + ); +} + +bool XPT2046::getRawPoint(int16_t *x, int16_t *y) { + if (isBusy()) return false; + if (!isTouched()) return false; + *x = getRawData(XPT2046_X); + *y = getRawData(XPT2046_Y); + return isTouched(); +} + +uint16_t XPT2046::getRawData(const XPTCoordinate coordinate) { + uint16_t data[3]; + + DataTransferBegin(); + TERN_(TOUCH_BUTTONS_HW_SPI, SPIx.begin()); + + for (uint16_t i = 0; i < 3 ; i++) { + IO(coordinate); + data[i] = (IO() << 4) | (IO() >> 4); + } + + TERN_(TOUCH_BUTTONS_HW_SPI, SPIx.end()); + DataTransferEnd(); + + uint16_t delta01 = delta(data[0], data[1]), + delta02 = delta(data[0], data[2]), + delta12 = delta(data[1], data[2]); + + if (delta01 > delta02 || delta01 > delta12) + data[delta02 > delta12 ? 0 : 1] = data[2]; + + return (data[0] + data[1]) >> 1; +} + +uint16_t XPT2046::IO(uint16_t data) { + return TERN(TOUCH_BUTTONS_HW_SPI, HardwareIO, SoftwareIO)(data); +} + +#if ENABLED(TOUCH_BUTTONS_HW_SPI) + uint16_t XPT2046::HardwareIO(uint16_t data) { + uint16_t result = SPIx.transfer(data); + return result; + } +#endif + +uint16_t XPT2046::SoftwareIO(uint16_t data) { + uint16_t result = 0; + + for (uint8_t j = 0x80; j; j >>= 1) { + WRITE(TOUCH_SCK_PIN, LOW); + WRITE(TOUCH_MOSI_PIN, data & j ? HIGH : LOW); + if (READ(TOUCH_MISO_PIN)) result |= j; + WRITE(TOUCH_SCK_PIN, HIGH); + } + WRITE(TOUCH_SCK_PIN, LOW); + + return result; +} + +#endif // HAS_TFT_XPT2046 diff --git a/Marlin/src/HAL/STM32F1/tft/xpt2046.h b/Marlin/src/HAL/STM32F1/tft/xpt2046.h new file mode 100644 index 0000000000..7c456cf00e --- /dev/null +++ b/Marlin/src/HAL/STM32F1/tft/xpt2046.h @@ -0,0 +1,83 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(TOUCH_BUTTONS_HW_SPI) + #include +#endif + +#ifndef TOUCH_MISO_PIN + #define TOUCH_MISO_PIN SD_MISO_PIN +#endif +#ifndef TOUCH_MOSI_PIN + #define TOUCH_MOSI_PIN SD_MOSI_PIN +#endif +#ifndef TOUCH_SCK_PIN + #define TOUCH_SCK_PIN SD_SCK_PIN +#endif +#ifndef TOUCH_CS_PIN + #define TOUCH_CS_PIN SD_SS_PIN +#endif +#ifndef TOUCH_INT_PIN + #define TOUCH_INT_PIN -1 +#endif + +#define XPT2046_DFR_MODE 0x00 +#define XPT2046_SER_MODE 0x04 +#define XPT2046_CONTROL 0x80 + +enum XPTCoordinate : uint8_t { + XPT2046_X = 0x10 | XPT2046_CONTROL | XPT2046_DFR_MODE, + XPT2046_Y = 0x50 | XPT2046_CONTROL | XPT2046_DFR_MODE, + XPT2046_Z1 = 0x30 | XPT2046_CONTROL | XPT2046_DFR_MODE, + XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE, +}; + +#ifndef XPT2046_Z1_THRESHOLD + #define XPT2046_Z1_THRESHOLD 10 +#endif + +class XPT2046 { +private: + static bool isBusy() { return false; } + + static uint16_t getRawData(const XPTCoordinate coordinate); + static bool isTouched(); + + static void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); }; + static void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + #if ENABLED(TOUCH_BUTTONS_HW_SPI) + static uint16_t HardwareIO(uint16_t data); + #endif + static uint16_t SoftwareIO(uint16_t data); + static uint16_t IO(uint16_t data = 0); + +public: + #if ENABLED(TOUCH_BUTTONS_HW_SPI) + static SPIClass SPIx; + #endif + + static void Init(); + static bool getRawPoint(int16_t *x, int16_t *y); +}; diff --git a/Marlin/src/HAL/STM32F1/timers.cpp b/Marlin/src/HAL/STM32F1/timers.cpp new file mode 100644 index 0000000000..112c730b9a --- /dev/null +++ b/Marlin/src/HAL/STM32F1/timers.cpp @@ -0,0 +1,183 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * + * 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 . + * + */ + +/** + * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + */ + +#ifdef __STM32F1__ + +#include "../../inc/MarlinConfig.h" + +// ------------------------ +// Local defines +// ------------------------ + +// ------------------------ +// Public functions +// ------------------------ + +/** + * Timer_clock1: Prescaler 2 -> 36 MHz + * Timer_clock2: Prescaler 8 -> 9 MHz + * Timer_clock3: Prescaler 32 -> 2.25 MHz + * Timer_clock4: Prescaler 128 -> 562.5 kHz + */ + +/** + * TODO: Calculate Timer prescale value, so we get the 32bit to adjust + */ + +void HAL_timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority) { + nvic_irq_num irq_num; + switch (timer_num) { + case 1: irq_num = NVIC_TIMER1_CC; break; + case 2: irq_num = NVIC_TIMER2; break; + case 3: irq_num = NVIC_TIMER3; break; + case 4: irq_num = NVIC_TIMER4; break; + case 5: irq_num = NVIC_TIMER5; break; + #ifdef STM32_HIGH_DENSITY + // 6 & 7 are basic timers, avoid them + case 8: irq_num = NVIC_TIMER8_CC; break; + #endif + default: + /** + * This should never happen. Add a Sanitycheck for timer number. + * Should be a general timer since basic timers have no CC channels. + */ + return; + } + + nvic_irq_set_priority(irq_num, priority); +} + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + /** + * Give the Stepper ISR a higher priority (lower number) + * so it automatically preempts the Temperature ISR. + */ + + switch (timer_num) { + case MF_TIMER_STEP: + timer_pause(STEP_TIMER_DEV); + timer_set_mode(STEP_TIMER_DEV, STEP_TIMER_CHAN, TIMER_OUTPUT_COMPARE); // counter + timer_set_count(STEP_TIMER_DEV, 0); + timer_set_prescaler(STEP_TIMER_DEV, (uint16_t)(STEPPER_TIMER_PRESCALE - 1)); + timer_set_reload(STEP_TIMER_DEV, 0xFFFF); + timer_oc_set_mode(STEP_TIMER_DEV, STEP_TIMER_CHAN, TIMER_OC_MODE_FROZEN, TIMER_OC_NO_PRELOAD); // no output pin change + timer_set_compare(STEP_TIMER_DEV, STEP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (STEPPER_TIMER_RATE) / frequency)); + timer_no_ARR_preload_ARPE(STEP_TIMER_DEV); // Need to be sure no preload on ARR register + timer_attach_interrupt(STEP_TIMER_DEV, STEP_TIMER_CHAN, stepTC_Handler); + HAL_timer_set_interrupt_priority(MF_TIMER_STEP, STEP_TIMER_IRQ_PRIO); + timer_generate_update(STEP_TIMER_DEV); + timer_resume(STEP_TIMER_DEV); + break; + case MF_TIMER_TEMP: + timer_pause(TEMP_TIMER_DEV); + timer_set_mode(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, TIMER_OUTPUT_COMPARE); + timer_set_count(TEMP_TIMER_DEV, 0); + timer_set_prescaler(TEMP_TIMER_DEV, (uint16_t)(TEMP_TIMER_PRESCALE - 1)); + timer_set_reload(TEMP_TIMER_DEV, 0xFFFF); + timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, _MIN(hal_timer_t(HAL_TIMER_TYPE_MAX), (F_CPU) / (TEMP_TIMER_PRESCALE) / frequency)); + timer_attach_interrupt(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, tempTC_Handler); + HAL_timer_set_interrupt_priority(MF_TIMER_TEMP, TEMP_TIMER_IRQ_PRIO); + timer_generate_update(TEMP_TIMER_DEV); + timer_resume(TEMP_TIMER_DEV); + break; + } +} + +void HAL_timer_enable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case MF_TIMER_STEP: ENABLE_STEPPER_DRIVER_INTERRUPT(); break; + case MF_TIMER_TEMP: ENABLE_TEMPERATURE_INTERRUPT(); break; + } +} + +void HAL_timer_disable_interrupt(const uint8_t timer_num) { + switch (timer_num) { + case MF_TIMER_STEP: DISABLE_STEPPER_DRIVER_INTERRUPT(); break; + case MF_TIMER_TEMP: DISABLE_TEMPERATURE_INTERRUPT(); break; + } +} + +static inline bool HAL_timer_irq_enabled(const timer_dev * const dev, const uint8_t interrupt) { + return bool(*bb_perip(&(dev->regs).gen->DIER, interrupt)); +} + +bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { + switch (timer_num) { + case MF_TIMER_STEP: return HAL_timer_irq_enabled(STEP_TIMER_DEV, STEP_TIMER_CHAN); + case MF_TIMER_TEMP: return HAL_timer_irq_enabled(TEMP_TIMER_DEV, TEMP_TIMER_CHAN); + } + return false; +} + +timer_dev* HAL_get_timer_dev(int number) { + switch (number) { + #if STM32_HAVE_TIMER(1) + case 1: return &timer1; + #endif + #if STM32_HAVE_TIMER(2) + case 2: return &timer2; + #endif + #if STM32_HAVE_TIMER(3) + case 3: return &timer3; + #endif + #if STM32_HAVE_TIMER(4) + case 4: return &timer4; + #endif + #if STM32_HAVE_TIMER(5) + case 5: return &timer5; + #endif + #if STM32_HAVE_TIMER(6) + case 6: return &timer6; + #endif + #if STM32_HAVE_TIMER(7) + case 7: return &timer7; + #endif + #if STM32_HAVE_TIMER(8) + case 8: return &timer8; + #endif + #if STM32_HAVE_TIMER(9) + case 9: return &timer9; + #endif + #if STM32_HAVE_TIMER(10) + case 10: return &timer10; + #endif + #if STM32_HAVE_TIMER(11) + case 11: return &timer11; + #endif + #if STM32_HAVE_TIMER(12) + case 12: return &timer12; + #endif + #if STM32_HAVE_TIMER(13) + case 13: return &timer13; + #endif + #if STM32_HAVE_TIMER(14) + case 14: return &timer14; + #endif + default: return nullptr; + } +} + +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/timers.h b/Marlin/src/HAL/STM32F1/timers.h new file mode 100644 index 0000000000..0cd807fc84 --- /dev/null +++ b/Marlin/src/HAL/STM32F1/timers.h @@ -0,0 +1,201 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2017 Victor Perez + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) + */ + +#include "../../inc/MarlinConfig.h" +#include "HAL.h" + +#include + +// ------------------------ +// Defines +// ------------------------ + +/** + * TODO: Check and confirm what timer we will use for each Temps and stepper driving. + * We should probable drive temps with PWM. + */ + +typedef uint16_t hal_timer_t; +#define HAL_TIMER_TYPE_MAX 0xFFFF + +#define HAL_TIMER_RATE uint32_t(F_CPU) // frequency of timers peripherals + +#ifndef STEP_TIMER_CHAN + #define STEP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts +#endif +#ifndef TEMP_TIMER_CHAN + #define TEMP_TIMER_CHAN 1 // Channel of the timer to use for compare and interrupts +#endif + +/** + * Note: Timers may be used by platforms and libraries + * + * FAN PWMs: + * With FAN_SOFT_PWM disabled the Temperature class uses + * FANx_PIN timers to generate FAN PWM signals. + * + * Speaker: + * When SPEAKER is enabled, one timer is allocated by maple/tone.cpp. + * - If BEEPER_PIN has a timer channel (and USE_PIN_TIMER is + * defined in tone.cpp) it uses the pin's own timer. + * - Otherwise it uses Timer 8 on boards with STM32_HIGH_DENSITY + * or Timer 4 on other boards. + */ +#ifndef MF_TIMER_STEP + #if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8) + #define MF_TIMER_STEP 4 // For C8/CB boards, use timer 4 + #else + #define MF_TIMER_STEP 5 // for other boards, five is fine. + #endif +#endif +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP +#endif +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 2 // Timer Index for Temperature + //#define MF_TIMER_TEMP 4 // 2->4, Timer 2 for Stepper Current PWM +#endif + +#if MB(BTT_SKR_MINI_E3_V1_0, BTT_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE, MKS_ROBIN_E3D, MKS_ROBIN_E3) + // SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM. + #ifdef STM32_HIGH_DENSITY + #define MF_TIMER_SERVO0 8 // tone.cpp uses Timer 4 + #else + #define MF_TIMER_SERVO0 3 // tone.cpp uses Timer 8 + #endif +#else + #define MF_TIMER_SERVO0 1 // SERVO0 or BLTOUCH +#endif + +#define STEP_TIMER_IRQ_PRIO 2 +#define TEMP_TIMER_IRQ_PRIO 3 +#define SERVO0_TIMER_IRQ_PRIO 1 + +#define TEMP_TIMER_PRESCALE 1000 // prescaler for setting Temp timer, 72Khz +#define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency + +#define STEPPER_TIMER_PRESCALE 18 // prescaler for setting stepper timer, 4Mhz +#define STEPPER_TIMER_RATE (HAL_TIMER_RATE / STEPPER_TIMER_PRESCALE) // frequency of stepper timer +#define STEPPER_TIMER_TICKS_PER_US ((STEPPER_TIMER_RATE) / 1000000) // stepper timer ticks per µs + +#define PULSE_TIMER_RATE STEPPER_TIMER_RATE // frequency of pulse timer +#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE +#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US + +timer_dev* HAL_get_timer_dev(int number); +#define TIMER_DEV(num) HAL_get_timer_dev(num) +#define STEP_TIMER_DEV TIMER_DEV(MF_TIMER_STEP) +#define TEMP_TIMER_DEV TIMER_DEV(MF_TIMER_TEMP) + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() timer_enable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() timer_disable_irq(STEP_TIMER_DEV, STEP_TIMER_CHAN) +#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(MF_TIMER_STEP) + +#define ENABLE_TEMPERATURE_INTERRUPT() timer_enable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN) +#define DISABLE_TEMPERATURE_INTERRUPT() timer_disable_irq(TEMP_TIMER_DEV, TEMP_TIMER_CHAN) + +#define HAL_timer_get_count(timer_num) timer_get_count(TIMER_DEV(timer_num)) + +// TODO change this + +#ifndef HAL_TEMP_TIMER_ISR + #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler() +#endif +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler() +#endif + +extern "C" { + void tempTC_Handler(); + void stepTC_Handler(); +} + +// ------------------------ +// Public Variables +// ------------------------ + +//static HardwareTimer StepperTimer(MF_TIMER_STEP); +//static HardwareTimer TempTimer(MF_TIMER_TEMP); + +// ------------------------ +// Public functions +// ------------------------ + +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); +void HAL_timer_enable_interrupt(const uint8_t timer_num); +void HAL_timer_disable_interrupt(const uint8_t timer_num); +bool HAL_timer_interrupt_enabled(const uint8_t timer_num); + +/** + * NOTE: By default libmaple sets ARPE = 1, which means the Auto reload register is preloaded (will only update with an update event) + * Thus we have to pause the timer, update the value, refresh, resume the timer. + * That seems like a big waste of time and may be better to change the timer config to ARPE = 0, so ARR can be updated any time. + * We are using a Channel in each timer in Capture/Compare mode. We could also instead use the Time Update Event Interrupt, but need to disable ARPE + * so we can change the ARR value on the fly (without calling refresh), and not get an interrupt right there because we caused an UEV. + * This mode pretty much makes 2 timers unusable for PWM since they have their counts updated all the time on ISRs. + * The way Marlin manages timer interrupts doesn't make for an efficient usage in STM32F1 + * Todo: Look at that possibility later. + */ + +FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { + switch (timer_num) { + case MF_TIMER_STEP: + // NOTE: WE have set ARPE = 0, which means the Auto reload register is not preloaded + // and there is no need to use any compare, as in the timer mode used, setting ARR to the compare value + // will result in exactly the same effect, ie triggering an interrupt, and on top, set counter to 0 + timer_set_reload(STEP_TIMER_DEV, compare); // We reload direct ARR as needed during counting up + break; + case MF_TIMER_TEMP: + timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, compare); + break; + } +} + +FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { + switch (timer_num) { + case MF_TIMER_STEP: + // No counter to clear + timer_generate_update(STEP_TIMER_DEV); + return; + case MF_TIMER_TEMP: + timer_set_count(TEMP_TIMER_DEV, 0); + timer_generate_update(TEMP_TIMER_DEV); + return; + } +} + +#define HAL_timer_isr_epilogue(T) NOOP + +// No command is available in framework to turn off ARPE bit, which is turned on by default in libmaple. +// Needed here to reset ARPE=0 for stepper timer +FORCE_INLINE static void timer_no_ARR_preload_ARPE(timer_dev *dev) { + bb_peri_set_bit(&(dev->regs).gen->CR1, TIMER_CR1_ARPE_BIT, 0); +} + +void HAL_timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority); + +#define TIMER_OC_NO_PRELOAD 0 // Need to disable preload also on compare registers. diff --git a/Marlin/src/HAL/platforms.h b/Marlin/src/HAL/platforms.h new file mode 100644 index 0000000000..488980ce09 --- /dev/null +++ b/Marlin/src/HAL/platforms.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define XSTR(V...) #V + +#ifdef __AVR__ + #define HAL_PATH(PATH, NAME) XSTR(PATH/AVR/NAME) +#elif defined(ARDUINO_ARCH_SAM) + #define HAL_PATH(PATH, NAME) XSTR(PATH/DUE/NAME) +#elif defined(__MK20DX256__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY31_32/NAME) +#elif defined(__MK64FX512__) || defined(__MK66FX1M0__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY35_36/NAME) +#elif defined(__IMXRT1062__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/TEENSY40_41/NAME) +#elif defined(TARGET_LPC1768) + #define HAL_PATH(PATH, NAME) XSTR(PATH/LPC1768/NAME) +#elif defined(__STM32F1__) || defined(TARGET_STM32F1) + #define HAL_PATH(PATH, NAME) XSTR(PATH/STM32F1/NAME) +#elif defined(ARDUINO_ARCH_STM32) + #ifndef HAL_STM32 + #define HAL_STM32 + #endif + #define HAL_PATH(PATH, NAME) XSTR(PATH/STM32/NAME) +#elif defined(ARDUINO_ARCH_ESP32) + #define HAL_PATH(PATH, NAME) XSTR(PATH/ESP32/NAME) +#elif defined(__PLAT_LINUX__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/LINUX/NAME) +#elif defined(__PLAT_NATIVE_SIM__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/NATIVE_SIM/NAME) +#elif defined(__SAMD51__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/SAMD51/NAME) +#elif defined(__SAMD21__) + #define HAL_PATH(PATH, NAME) XSTR(PATH/SAMD21/NAME) +#else + #error "Unsupported Platform!" +#endif diff --git a/Marlin/src/HAL/shared/Delay.cpp b/Marlin/src/HAL/shared/Delay.cpp new file mode 100644 index 0000000000..c64376d25d --- /dev/null +++ b/Marlin/src/HAL/shared/Delay.cpp @@ -0,0 +1,178 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "Delay.h" + +#include "../../inc/MarlinConfig.h" + +#if defined(__arm__) || defined(__thumb__) + + static uint32_t ASM_CYCLES_PER_ITERATION = 4; // Initial bet which will be adjusted in calibrate_delay_loop + + // Simple assembler loop counting down + void delay_asm(uint32_t cy) { + cy = _MAX(cy / ASM_CYCLES_PER_ITERATION, 1U); // Zero is forbidden here + __asm__ __volatile__( + A(".syntax unified") // is to prevent CM0,CM1 non-unified syntax + L("1") + A("subs %[cnt],#1") + A("bne 1b") + : [cnt]"+r"(cy) // output: +r means input+output + : // input: + : "cc" // clobbers: + ); + } + + // We can't use CMSIS since it's not available on all platform, so fallback to hardcoded register values + #define HW_REG(X) *(volatile uint32_t *)(X) + #define _DWT_CTRL 0xE0001000 + #define _DWT_CYCCNT 0xE0001004 // CYCCNT is 32bits, takes 37s or so to wrap. + #define _DEM_CR 0xE000EDFC + #define _LAR 0xE0001FB0 + + // Use hardware cycle counter instead, it's much safer + void delay_dwt(uint32_t count) { + // Reuse the ASM_CYCLES_PER_ITERATION variable to avoid wasting another useless variable + uint32_t start = HW_REG(_DWT_CYCCNT) - ASM_CYCLES_PER_ITERATION, elapsed; + do { + elapsed = HW_REG(_DWT_CYCCNT) - start; + } while (elapsed < count); + } + + // Pointer to asm function, calling the functions has a ~20 cycles overhead + DelayImpl DelayCycleFnc = delay_asm; + + void calibrate_delay_loop() { + // Check if we have a working DWT implementation in the CPU (see https://developer.arm.com/documentation/ddi0439/b/Data-Watchpoint-and-Trace-Unit/DWT-Programmers-Model) + if (!HW_REG(_DWT_CTRL)) { + // No DWT present, so fallback to plain old ASM nop counting + // Unfortunately, we don't exactly know how many iteration it'll take to decrement a counter in a loop + // It depends on the CPU architecture, the code current position (flash vs SRAM) + // So, instead of wild guessing and making mistake, instead + // compute it once for all + ASM_CYCLES_PER_ITERATION = 1; + // We need to fetch some reference clock before waiting + cli(); + uint32_t start = micros(); + delay_asm(1000); // On a typical CPU running in MHz, waiting 1000 "unknown cycles" means it'll take between 1ms to 6ms, that's perfectly acceptable + uint32_t end = micros(); + sei(); + uint32_t expectedCycles = (end - start) * ((F_CPU) / 1000000UL); // Convert microseconds to cycles + // Finally compute the right scale + ASM_CYCLES_PER_ITERATION = (uint32_t)(expectedCycles / 1000); + + // No DWT present, likely a Cortex M0 so NOP counting is our best bet here + DelayCycleFnc = delay_asm; + } + else { + // Enable DWT counter + // From https://stackoverflow.com/a/41188674/1469714 + HW_REG(_DEM_CR) = HW_REG(_DEM_CR) | 0x01000000; // Enable trace + #if __CORTEX_M == 7 + HW_REG(_LAR) = 0xC5ACCE55; // Unlock access to DWT registers, see https://developer.arm.com/documentation/ihi0029/e/ section B2.3.10 + #endif + HW_REG(_DWT_CYCCNT) = 0; // Clear DWT cycle counter + HW_REG(_DWT_CTRL) = HW_REG(_DWT_CTRL) | 1; // Enable DWT cycle counter + + // Then calibrate the constant offset from the counter + ASM_CYCLES_PER_ITERATION = 0; + uint32_t s = HW_REG(_DWT_CYCCNT); + uint32_t e = HW_REG(_DWT_CYCCNT); // (e - s) contains the number of cycle required to read the cycle counter + delay_dwt(0); + uint32_t f = HW_REG(_DWT_CYCCNT); // (f - e) contains the delay to call the delay function + the time to read the cycle counter + ASM_CYCLES_PER_ITERATION = (f - e) - (e - s); + + // Use safer DWT function + DelayCycleFnc = delay_dwt; + } + } + + #if ENABLED(MARLIN_DEV_MODE) + void dump_delay_accuracy_check() { + auto report_call_time = [](FSTR_P const name, FSTR_P const unit, const uint32_t cycles, const uint32_t total, const bool do_flush=true) { + SERIAL_ECHOPGM("Calling "); + SERIAL_ECHOF(name); + SERIAL_ECHOLNPGM(" for ", cycles); + SERIAL_ECHOF(unit); + SERIAL_ECHOLNPGM(" took: ", total); + SERIAL_CHAR(' '); + SERIAL_ECHOF(unit); + if (do_flush) SERIAL_FLUSHTX(); + }; + + uint32_t s, e; + + SERIAL_ECHOLNPGM("Computed delay calibration value: ", ASM_CYCLES_PER_ITERATION); + SERIAL_FLUSH(); + // Display the results of the calibration above + constexpr uint32_t testValues[] = { 1, 5, 10, 20, 50, 100, 150, 200, 350, 500, 750, 1000 }; + for (auto i : testValues) { + s = micros(); DELAY_US(i); e = micros(); + report_call_time(F("delay"), F("us"), i, e - s); + } + + if (HW_REG(_DWT_CTRL)) { + static FSTR_P cyc = F("cycles"); + static FSTR_P dcd = F("DELAY_CYCLES directly "); + + for (auto i : testValues) { + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES(i); e = HW_REG(_DWT_CYCCNT); + report_call_time(F("runtime delay"), cyc, i, e - s); + } + + // Measure the delay to call a real function compared to a function pointer + s = HW_REG(_DWT_CYCCNT); delay_dwt(1); e = HW_REG(_DWT_CYCCNT); + report_call_time(F("delay_dwt"), cyc, 1, e - s); + + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES( 1); e = HW_REG(_DWT_CYCCNT); + report_call_time(dcd, cyc, 1, e - s, false); + + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES( 5); e = HW_REG(_DWT_CYCCNT); + report_call_time(dcd, cyc, 5, e - s, false); + + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES(10); e = HW_REG(_DWT_CYCCNT); + report_call_time(dcd, cyc, 10, e - s, false); + + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES(20); e = HW_REG(_DWT_CYCCNT); + report_call_time(dcd, cyc, 20, e - s, false); + + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES(50); e = HW_REG(_DWT_CYCCNT); + report_call_time(dcd, cyc, 50, e - s, false); + + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES(100); e = HW_REG(_DWT_CYCCNT); + report_call_time(dcd, cyc, 100, e - s, false); + + s = HW_REG(_DWT_CYCCNT); DELAY_CYCLES(200); e = HW_REG(_DWT_CYCCNT); + report_call_time(dcd, cyc, 200, e - s, false); + } + } + #endif // MARLIN_DEV_MODE + + +#else + + void calibrate_delay_loop() {} + #if ENABLED(MARLIN_DEV_MODE) + void dump_delay_accuracy_check() { SERIAL_ECHOPGM("N/A on this platform"); } + #endif + +#endif diff --git a/Marlin/src/HAL/shared/Delay.h b/Marlin/src/HAL/shared/Delay.h new file mode 100644 index 0000000000..a6795a78ea --- /dev/null +++ b/Marlin/src/HAL/shared/Delay.h @@ -0,0 +1,219 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../inc/MarlinConfigPre.h" + +/** + * Busy wait delay cycles routines: + * + * DELAY_CYCLES(count): Delay execution in cycles + * DELAY_NS(count): Delay execution in nanoseconds + * DELAY_US(count): Delay execution in microseconds + */ + +#include "../../core/macros.h" + +void calibrate_delay_loop(); + +#if defined(__arm__) || defined(__thumb__) + + // We want to have delay_cycle function with the lowest possible overhead, so we adjust at the function at runtime based on the current CPU best feature + typedef void (*DelayImpl)(uint32_t); + extern DelayImpl DelayCycleFnc; + + // I've measured 36 cycles on my system to call the cycle waiting method, but it shouldn't change much to have a bit more margin, it only consume a bit more flash + #define TRIP_POINT_FOR_CALLING_FUNCTION 40 + + // A simple recursive template class that output exactly one 'nop' of code per recursion + template struct NopWriter { + FORCE_INLINE static void build() { + __asm__ __volatile__("nop"); + NopWriter::build(); + } + }; + // End the loop + template <> struct NopWriter<0> { FORCE_INLINE static void build() {} }; + + namespace Private { + // Split recursing template in 2 different class so we don't reach the maximum template instantiation depth limit + template struct Helper { + FORCE_INLINE static void build() { + DelayCycleFnc(N - 2); // Approximative cost of calling the function (might be off by one or 2 cycles) + } + }; + + template struct Helper { + FORCE_INLINE static void build() { + NopWriter::build(); + } + }; + + template <> struct Helper { + FORCE_INLINE static void build() {} + }; + + } + // Select a behavior based on the constexpr'ness of the parameter + // If called with a compile-time parameter, then write as many NOP as required to reach the asked cycle count + // (there is some tripping point here to start looping when it's more profitable than gruntly executing NOPs) + // If not called from a compile-time parameter, fallback to a runtime loop counting version instead + template + struct SmartDelay { + FORCE_INLINE SmartDelay(int) { + if (Cycles == 0) return; + Private::Helper::build(); + } + }; + // Runtime version below. There is no way this would run under less than ~TRIP_POINT_FOR_CALLING_FUNCTION cycles + template + struct SmartDelay { + FORCE_INLINE SmartDelay(int v) { DelayCycleFnc(v); } + }; + + #define DELAY_CYCLES(X) do { SmartDelay _smrtdly_X(X); } while(0) + + #if GCC_VERSION <= 70000 + #define DELAY_CYCLES_VAR(X) DelayCycleFnc(X) + #else + #define DELAY_CYCLES_VAR DELAY_CYCLES + #endif + + // For delay in microseconds, no smart delay selection is required, directly call the delay function + // Teensy compiler is too old and does not accept smart delay compile-time / run-time selection correctly + #define DELAY_US(x) DelayCycleFnc((x) * ((F_CPU) / 1000000UL)) + +#elif defined(__AVR__) + FORCE_INLINE static void __delay_up_to_3c(uint8_t cycles) { + switch (cycles) { + case 3: + __asm__ __volatile__(A("RJMP .+0") A("NOP")); + break; + case 2: + __asm__ __volatile__(A("RJMP .+0")); + break; + case 1: + __asm__ __volatile__(A("NOP")); + break; + } + } + + // Delay in cycles + FORCE_INLINE static void DELAY_CYCLES(uint16_t cycles) { + if (__builtin_constant_p(cycles)) { + if (cycles <= 3) { + __delay_up_to_3c(cycles); + } + else if (cycles == 4) { + __delay_up_to_3c(2); + __delay_up_to_3c(2); + } + else { + cycles -= 1 + 4; // Compensate for the first LDI (1) and the first round (4) + __delay_up_to_3c(cycles % 4); + + cycles /= 4; + // The following code burns [1 + 4 * (rounds+1)] cycles + uint16_t dummy; + __asm__ __volatile__( + // "manually" load counter from constants, otherwise the compiler may optimize this part away + A("LDI %A[rounds], %[l]") // 1c + A("LDI %B[rounds], %[h]") // 1c (compensating the non branching BRCC) + L("1") + A("SBIW %[rounds], 1") // 2c + A("BRCC 1b") // 2c when branching, else 1c (end of loop) + : // Outputs ... + [rounds] "=w" (dummy) // Restrict to a wo (=) 16 bit register pair (w) + : // Inputs ... + [l] "M" (cycles%256), // Restrict to 0..255 constant (M) + [h] "M" (cycles/256) // Restrict to 0..255 constant (M) + :// Clobbers ... + "cc" // Indicate we are modifying flags like Carry (cc) + ); + } + } + else { + __asm__ __volatile__( + L("1") + A("SBIW %[cycles], 4") // 2c + A("BRCC 1b") // 2c when branching, else 1c (end of loop) + : [cycles] "+w" (cycles) // output: Restrict to a rw (+) 16 bit register pair (w) + : // input: - + : "cc" // clobbers: We are modifying flags like Carry (cc) + ); + } + } + + // Delay in microseconds + #define DELAY_US(x) DELAY_CYCLES((x) * ((F_CPU) / 1000000UL)) + + #define DELAY_CYCLES_VAR DELAY_CYCLES + +#elif defined(ESP32) || defined(__PLAT_LINUX__) || defined(__PLAT_NATIVE_SIM__) + + // DELAY_CYCLES specified inside platform + + // Delay in microseconds + #define DELAY_US(x) DELAY_CYCLES((x) * ((F_CPU) / 1000000UL)) +#else + + #error "Unsupported MCU architecture" + +#endif + +/************************************************************** + * Delay in nanoseconds. Requires the F_CPU macro. + * These macros follow avr-libc delay conventions. + * + * For AVR there are three possible operation modes, due to its + * slower clock speeds and thus coarser delay resolution. For + * example, when F_CPU = 16000000 the resolution is 62.5ns. + * + * Round up (default) + * Round up the delay according to the CPU clock resolution. + * e.g., 100 will give a delay of 2 cycles (125ns). + * + * Round down (DELAY_NS_ROUND_DOWN) + * Round down the delay according to the CPU clock resolution. + * e.g., 100 will be rounded down to 1 cycle (62.5ns). + * + * Nearest (DELAY_NS_ROUND_CLOSEST) + * Round the delay to the nearest number of clock cycles. + * e.g., 165 will be rounded up to 3 cycles (187.5ns) because + * it's closer to the requested delay than 2 cycle (125ns). + */ + +#ifndef __AVR__ + #undef DELAY_NS_ROUND_DOWN + #undef DELAY_NS_ROUND_CLOSEST +#endif + +#if ENABLED(DELAY_NS_ROUND_DOWN) + #define _NS_TO_CYCLES(x) ( (x) * ((F_CPU) / 1000000UL) / 1000UL) // floor +#elif ENABLED(DELAY_NS_ROUND_CLOSEST) + #define _NS_TO_CYCLES(x) (((x) * ((F_CPU) / 1000000UL) + 500) / 1000UL) // round +#else + #define _NS_TO_CYCLES(x) (((x) * ((F_CPU) / 1000000UL) + 999) / 1000UL) // "ceil" +#endif + +#define DELAY_NS(x) DELAY_CYCLES(_NS_TO_CYCLES(x)) +#define DELAY_NS_VAR(x) DELAY_CYCLES_VAR(_NS_TO_CYCLES(x)) diff --git a/Marlin/src/HAL/shared/HAL.cpp b/Marlin/src/HAL/shared/HAL.cpp new file mode 100644 index 0000000000..4d92aedd9a --- /dev/null +++ b/Marlin/src/HAL/shared/HAL.cpp @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 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 . + * + */ + +/** + * HAL/shared/HAL.cpp + */ + +#include "../../inc/MarlinConfig.h" + +MarlinHAL hal; + +#if ENABLED(SOFT_RESET_VIA_SERIAL) + + // Global for use by e_parser.h + void HAL_reboot() { hal.reboot(); } + +#endif diff --git a/Marlin/src/HAL/shared/HAL_SPI.h b/Marlin/src/HAL/shared/HAL_SPI.h new file mode 100644 index 0000000000..6611f9ec4e --- /dev/null +++ b/Marlin/src/HAL/shared/HAL_SPI.h @@ -0,0 +1,93 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * HAL/shared/HAL_SPI.h + * Core Marlin definitions for SPI, implemented in the HALs + */ + +#include "Marduino.h" +#include + +/** + * SPI speed where 0 <= index <= 6 + * + * Approximate rates : + * + * 0 : 8 - 10 MHz + * 1 : 4 - 5 MHz + * 2 : 2 - 2.5 MHz + * 3 : 1 - 1.25 MHz + * 4 : 500 - 625 kHz + * 5 : 250 - 312 kHz + * 6 : 125 - 156 kHz + * + * On AVR, actual speed is F_CPU/2^(1 + index). + * On other platforms, speed should be in range given above where possible. + */ + +#define SPI_FULL_SPEED 0 // Set SCK to max rate +#define SPI_HALF_SPEED 1 // Set SCK rate to half of max rate +#define SPI_QUARTER_SPEED 2 // Set SCK rate to quarter of max rate +#define SPI_EIGHTH_SPEED 3 // Set SCK rate to 1/8 of max rate +#define SPI_SIXTEENTH_SPEED 4 // Set SCK rate to 1/16 of max rate +#define SPI_SPEED_5 5 // Set SCK rate to 1/32 of max rate +#define SPI_SPEED_6 6 // Set SCK rate to 1/64 of max rate + +// +// Standard SPI functions +// + +// Initialize SPI bus +void spiBegin(); + +// Configure SPI for specified SPI speed +void spiInit(uint8_t spiRate); + +// Write single byte to SPI +void spiSend(uint8_t b); + +// Read single byte from SPI +uint8_t spiRec(); + +// Read from SPI into buffer +void spiRead(uint8_t *buf, uint16_t nbyte); + +// Write token and then write from 512 byte buffer to SPI (for SD card) +void spiSendBlock(uint8_t token, const uint8_t *buf); + +// Begin SPI transaction, set clock, bit order, data mode +void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode); + +// +// Extended SPI functions taking a channel number (Hardware SPI only) +// + +// Write single byte to specified SPI channel +void spiSend(uint32_t chan, byte b); + +// Write buffer to specified SPI channel +void spiSend(uint32_t chan, const uint8_t *buf, size_t n); + +// Read single byte from specified SPI channel +uint8_t spiRec(uint32_t chan); diff --git a/Marlin/src/HAL/shared/HAL_ST7920.h b/Marlin/src/HAL/shared/HAL_ST7920.h new file mode 100644 index 0000000000..4e362f96ba --- /dev/null +++ b/Marlin/src/HAL/shared/HAL_ST7920.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * HAL/ST7920.h + * For the HALs that provide direct access to the ST7920 display + * (bypassing U8G), it will allow the LIGHTWEIGHT_UI to operate. + */ + +#if BOTH(HAS_MARLINUI_U8GLIB, LIGHTWEIGHT_UI) + void ST7920_cs(); + void ST7920_ncs(); + void ST7920_set_cmd(); + void ST7920_set_dat(); + void ST7920_write_byte(const uint8_t data); +#endif diff --git a/Marlin/src/HAL/shared/Marduino.h b/Marlin/src/HAL/shared/Marduino.h new file mode 100644 index 0000000000..0e2a021a3c --- /dev/null +++ b/Marlin/src/HAL/shared/Marduino.h @@ -0,0 +1,96 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * HAL/shared/Marduino.h + */ + +#undef DISABLED // Redefined by ESP32 +#undef M_PI // Redefined by all +#undef _BV // Redefined by some +#undef SBI // Redefined by arduino/const_functions.h +#undef CBI // Redefined by arduino/const_functions.h +#undef sq // Redefined by teensy3/wiring.h +#undef UNUSED // Redefined by stm32f4xx_hal_def.h + +#include // NOTE: If included earlier then this line is a NOOP + +#undef DISABLED +#define DISABLED(V...) DO(DIS,&&,V) + +#undef _BV +#define _BV(b) (1 << (b)) +#ifndef SBI + #define SBI(A,B) (A |= _BV(B)) +#endif +#ifndef CBI + #define CBI(A,B) (A &= ~_BV(B)) +#endif + +#undef sq +#define sq(x) ((x)*(x)) + +#ifndef __AVR__ + #ifndef strchr_P // Some platforms define a macro (DUE, teensy35) + inline const char* strchr_P(const char *s, int c) { return strchr(s,c); } + //#define strchr_P(s,c) strchr(s,c) + #endif + + #ifndef snprintf_P + #define snprintf_P snprintf + #endif + #ifndef vsnprintf_P + #define vsnprintf_P vsnprintf + #endif +#endif + +// Restart causes +#define RST_POWER_ON 1 +#define RST_EXTERNAL 2 +#define RST_BROWN_OUT 4 +#define RST_WATCHDOG 8 +#define RST_JTAG 16 +#define RST_SOFTWARE 32 +#define RST_BACKUP 64 + +#ifndef M_PI + #define M_PI 3.14159265358979323846f +#endif + +// Remove compiler warning on an unused variable +#ifndef UNUSED + #define UNUSED(x) ((void)(x)) +#endif + +#ifndef FORCE_INLINE + #define FORCE_INLINE __attribute__((always_inline)) inline +#endif + +#include "progmem.h" + +class __FlashStringHelper; +typedef const __FlashStringHelper* FSTR_P; +#ifndef FPSTR + #define FPSTR(S) (reinterpret_cast(S)) +#endif +#define FTOP(S) (reinterpret_cast(S)) diff --git a/Marlin/src/HAL/shared/MinSerial.cpp b/Marlin/src/HAL/shared/MinSerial.cpp new file mode 100644 index 0000000000..2e718d83dc --- /dev/null +++ b/Marlin/src/HAL/shared/MinSerial.cpp @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "MinSerial.h" + +#if ENABLED(POSTMORTEM_DEBUGGING) + +void HAL_min_serial_init_default() {} +void HAL_min_serial_out_default(char ch) { SERIAL_CHAR(ch); } +void (*HAL_min_serial_init)() = &HAL_min_serial_init_default; +void (*HAL_min_serial_out)(char) = &HAL_min_serial_out_default; + +bool MinSerial::force_using_default_output = false; + +#endif diff --git a/Marlin/src/HAL/shared/MinSerial.h b/Marlin/src/HAL/shared/MinSerial.h new file mode 100644 index 0000000000..3089b8aa06 --- /dev/null +++ b/Marlin/src/HAL/shared/MinSerial.h @@ -0,0 +1,79 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../core/serial.h" +#include + +// Serial stuff here +// Inside an exception handler, the CPU state is not safe, we can't expect the handler to resume +// and the software to continue. UART communication can't rely on later callback/interrupt as it might never happen. +// So, you need to provide some method to send one byte to the usual UART with the interrupts disabled +// By default, the method uses SERIAL_CHAR but it's 100% guaranteed to break (couldn't be worse than nothing...)7 +extern void (*HAL_min_serial_init)(); +extern void (*HAL_min_serial_out)(char ch); + +struct MinSerial { + static bool force_using_default_output; + // Serial output + static void TX(char ch) { + if (force_using_default_output) + SERIAL_CHAR(ch); + else + HAL_min_serial_out(ch); + } + // Send String through UART + static void TX(const char *s) { while (*s) TX(*s++); } + // Send a digit through UART + static void TXDigit(uint32_t d) { + if (d < 10) TX((char)(d+'0')); + else if (d < 16) TX((char)(d+'A'-10)); + else TX('?'); + } + + // Send Hex number through UART + static void TXHex(uint32_t v) { + TX("0x"); + for (uint8_t i = 0; i < 8; i++, v <<= 4) + TXDigit((v >> 28) & 0xF); + } + + // Send Decimal number through UART + static void TXDec(uint32_t v) { + if (!v) { + TX('0'); + return; + } + + char nbrs[14]; + char *p = &nbrs[0]; + while (v != 0) { + *p++ = '0' + (v % 10); + v /= 10; + } + do { + p--; + TX(*p); + } while (p != &nbrs[0]); + } + static void init() { if (!force_using_default_output) HAL_min_serial_init(); } +}; diff --git a/Marlin/src/HAL/shared/backtrace/backtrace.cpp b/Marlin/src/HAL/shared/backtrace/backtrace.cpp new file mode 100644 index 0000000000..33e8e65154 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/backtrace.cpp @@ -0,0 +1,106 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#if defined(__arm__) || defined(__thumb__) + +#include "backtrace.h" +#include "unwinder.h" +#include "unwmemaccess.h" + +#include "../MinSerial.h" +#include + +// Dump a backtrace entry +static bool UnwReportOut(void *ctx, const UnwReport *bte) { + int *p = (int*)ctx; + + (*p)++; + + const uint32_t a = bte->address, f = bte->function; + MinSerial::TX('#'); MinSerial::TXDec(*p); MinSerial::TX(" : "); + MinSerial::TX(bte->name?:"unknown"); MinSerial::TX('@'); MinSerial::TXHex(f); + MinSerial::TX('+'); MinSerial::TXDec(a - f); + MinSerial::TX(" PC:"); MinSerial::TXHex(a); + MinSerial::TX('\n'); + return true; +} + +#ifdef UNW_DEBUG + void UnwPrintf(const char *format, ...) { + char dest[256]; + va_list argptr; + va_start(argptr, format); + vsprintf(dest, format, argptr); + va_end(argptr); + MinSerial::TX(&dest[0]); + } +#endif + +/* Table of function pointers for passing to the unwinder */ +static const UnwindCallbacks UnwCallbacks = { + UnwReportOut, + UnwReadW, + UnwReadH, + UnwReadB + #ifdef UNW_DEBUG + , UnwPrintf + #endif +}; + +// Perform a backtrace to the serial port +void backtrace() { + + unsigned long sp = 0, lr = 0, pc = 0; + + // Capture the values of the registers to perform the traceback + __asm__ __volatile__ ( + " mov %[lrv],lr\n" + " mov %[spv],sp\n" + " mov %[pcv],pc\n" + : [spv]"+r"( sp ), + [lrv]"+r"( lr ), + [pcv]"+r"( pc ) + :: + ); + + backtrace_ex(sp, lr, pc); +} + +void backtrace_ex(unsigned long sp, unsigned long lr, unsigned long pc) { + UnwindFrame btf; + + // Fill the traceback structure + btf.sp = sp; + btf.fp = btf.sp; + btf.lr = lr; + btf.pc = pc | 1; // Force Thumb, as CORTEX only support it + + // Perform a backtrace + MinSerial::TX("Backtrace:"); + int ctr = 0; + UnwindStart(&btf, &UnwCallbacks, &ctr); +} + +#else // !__arm__ && !__thumb__ + +void backtrace() {} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/backtrace/backtrace.h b/Marlin/src/HAL/shared/backtrace/backtrace.h new file mode 100644 index 0000000000..5d2ba601a0 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/backtrace.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Perform a backtrace to the serial port +void backtrace(); + +// Perform a backtrace to the serial port +void backtrace_ex(unsigned long sp, unsigned long lr, unsigned long pc); diff --git a/Marlin/src/HAL/shared/backtrace/unwarm.cpp b/Marlin/src/HAL/shared/backtrace/unwarm.cpp new file mode 100644 index 0000000000..e72a02e487 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarm.cpp @@ -0,0 +1,176 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Utility functions and glue for ARM unwinding sub-modules. + **************************************************************************/ + +#if defined(__arm__) || defined(__thumb__) + +#define MODULE_NAME "UNWARM" + +#include +#include +#include +#include +#include "unwarm.h" +#include "unwarmmem.h" + +#ifdef UNW_DEBUG + +/** + * Printf wrapper. + * This is used such that alternative outputs for any output can be selected + * by modification of this wrapper function. + */ +void UnwPrintf(const char *format, ...) { + va_list args; + + va_start(args, format); + vprintf(format, args); + va_end(args); +} +#endif + +/** + * Invalidate all general purpose registers. + */ +void UnwInvalidateRegisterFile(RegData *regFile) { + uint8_t t = 0; + do { + regFile[t].o = REG_VAL_INVALID; + t++; + } while (t < 13); +} + + +/** + * Initialize the data used for unwinding. + */ +void UnwInitState(UnwState * const state, /**< Pointer to structure to fill. */ + const UnwindCallbacks *cb, /**< Callbacks. */ + void *rptData, /**< Data to pass to report function. */ + uint32_t pcValue, /**< PC at which to start unwinding. */ + uint32_t spValue) { /**< SP at which to start unwinding. */ + + UnwInvalidateRegisterFile(state->regData); + + /* Store the pointer to the callbacks */ + state->cb = cb; + state->reportData = rptData; + + /* Setup the SP and PC */ + state->regData[13].v = spValue; + state->regData[13].o = REG_VAL_FROM_CONST; + state->regData[15].v = pcValue; + state->regData[15].o = REG_VAL_FROM_CONST; + + UnwPrintd3("\nInitial: PC=0x%08x SP=0x%08x\n", pcValue, spValue); + + /* Invalidate all memory addresses */ + memset(state->memData.used, 0, sizeof(state->memData.used)); +} + +// Detect if function names are available +static int __attribute__ ((noinline)) has_function_names() { + uint32_t flag_word = ((uint32_t*)(((uint32_t)(&has_function_names)) & (-4))) [-1]; + return ((flag_word & 0xFF000000) == 0xFF000000) ? 1 : 0; +} + +/** + * Call the report function to indicate some return address. + * This returns the value of the report function, which if true + * indicates that unwinding may continue. + */ +bool UnwReportRetAddr(UnwState * const state, uint32_t addr) { + + UnwReport entry; + + // We found two acceptable values. + entry.name = nullptr; + entry.address = addr & 0xFFFFFFFE; // Remove Thumb bit + entry.function = 0; + + // If there are function names, try to solve name + if (has_function_names()) { + + // Lets find the function name, if possible + + // Align address to 4 bytes + uint32_t pf = addr & (-4); + + // Scan backwards until we find the function name + uint32_t v; + while (state->cb->readW(pf-4,&v)) { + + // Check if name descriptor is valid + if ((v & 0xFFFFFF00) == 0xFF000000 && (v & 0xFF) > 1) { + // Assume the name was found! + entry.name = ((const char*)pf) - 4 - (v & 0xFF); + entry.function = pf; + break; + } + + // Go backwards to the previous word + pf -= 4; + } + } + + /* Cast away const from reportData. + * The const is only to prevent the unw module modifying the data. + */ + return state->cb->report((void *)state->reportData, &entry); +} + + +/** + * Write some register to memory. + * This will store some register and meta data onto the virtual stack. + * The address for the write + * \param state [in/out] The unwinding state. + * \param wAddr [in] The address at which to write the data. + * \param reg [in] The register to store. + * \return true if the write was successful, false otherwise. + */ +bool UnwMemWriteRegister(UnwState * const state, const uint32_t addr, const RegData * const reg) { + return UnwMemHashWrite(&state->memData, addr, reg->v, M_IsOriginValid(reg->o)); +} + +/** + * Read a register from memory. + * This will read a register from memory, and setup the meta data. + * If the register has been previously written to memory using + * UnwMemWriteRegister, the local hash will be used to return the + * value while respecting whether the data was valid or not. If the + * register was previously written and was invalid at that point, + * REG_VAL_INVALID will be returned in *reg. + * \param state [in] The unwinding state. + * \param addr [in] The address to read. + * \param reg [out] The result, containing the data value and the origin + * which will be REG_VAL_FROM_MEMORY, or REG_VAL_INVALID. + * \return true if the address could be read and *reg has been filled in. + * false is the data could not be read. + */ +bool UnwMemReadRegister(UnwState * const state, const uint32_t addr, RegData * const reg) { + bool tracked; + + // Check if the value can be found in the hash + if (UnwMemHashRead(&state->memData, addr, ®->v, &tracked)) { + reg->o = tracked ? REG_VAL_FROM_MEMORY : REG_VAL_INVALID; + return true; + } + else if (state->cb->readW(addr, ®->v)) { // Not in the hash, so read from real memory + reg->o = REG_VAL_FROM_MEMORY; + return true; + } + else return false; // Not in the hash, and failed to read from memory +} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/backtrace/unwarm.h b/Marlin/src/HAL/shared/backtrace/unwarm.h new file mode 100644 index 0000000000..edae90650e --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarm.h @@ -0,0 +1,140 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Internal interface between the ARM unwinding sub-modules. + **************************************************************************/ + +#pragma once + +#include "unwinder.h" + +/** The maximum number of instructions to interpet in a function. + * Unwinding will be unconditionally stopped and UNWIND_EXHAUSTED returned + * if more than this number of instructions are interpreted in a single + * function without unwinding a stack frame. This prevents infinite loops + * or corrupted program memory from preventing unwinding from progressing. + */ +#define UNW_MAX_INSTR_COUNT 500 + +/** The size of the hash used to track reads and writes to memory. + * This should be a prime value for efficiency. + */ +#define MEM_HASH_SIZE 31 + +/*************************************************************************** + * Type Definitions + **************************************************************************/ + +typedef enum { + /** Invalid value. */ + REG_VAL_INVALID = 0x00, + REG_VAL_FROM_STACK = 0x01, + REG_VAL_FROM_MEMORY = 0x02, + REG_VAL_FROM_CONST = 0x04, + REG_VAL_ARITHMETIC = 0x80 +} RegValOrigin; + + +/** Type for tracking information about a register. + * This stores the register value, as well as other data that helps unwinding. + */ +typedef struct { + + /** The value held in the register. */ + uint32_t v; + + /** The origin of the register value. + * This is used to track how the value in the register was loaded. + */ + int o; /* (RegValOrigin) */ +} RegData; + + +/** Structure used to track reads and writes to memory. + * This structure is used as a hash to store a small number of writes + * to memory. + */ +typedef struct { + /** Memory contents. */ + uint32_t v[MEM_HASH_SIZE]; + + /** Address at which v[n] represents. */ + uint32_t a[MEM_HASH_SIZE]; + + /** Indicates whether the data in v[n] and a[n] is occupied. + * Each bit represents one hash value. + */ + uint8_t used[(MEM_HASH_SIZE + 7) / 8]; + + /** Indicates whether the data in v[n] is valid. + * This allows a[n] to be set, but for v[n] to be marked as invalid. + * Specifically this is needed for when an untracked register value + * is written to memory. + */ + uint8_t tracked[(MEM_HASH_SIZE + 7) / 8]; +} MemData; + + +/** Structure that is used to keep track of unwinding meta-data. + * This data is passed between all the unwinding functions. + */ +typedef struct { + /** The register values and meta-data. */ + RegData regData[16]; + + /** Memory tracking data. */ + MemData memData; + + /** Pointer to the callback functions */ + const UnwindCallbacks *cb; + + /** Pointer to pass to the report function. */ + const void *reportData; +} UnwState; + +/*************************************************************************** + * Macros + **************************************************************************/ + +#define M_IsOriginValid(v) !!((v) & 0x7F) +#define M_Origin2Str(v) ((v) ? "VALID" : "INVALID") + +#ifdef UNW_DEBUG +#define UnwPrintd1(a) state->cb->printf(a) +#define UnwPrintd2(a,b) state->cb->printf(a,b) +#define UnwPrintd3(a,b,c) state->cb->printf(a,b,c) +#define UnwPrintd4(a,b,c,d) state->cb->printf(a,b,c,d) +#define UnwPrintd5(a,b,c,d,e) state->cb->printf(a,b,c,d,e) +#define UnwPrintd6(a,b,c,d,e,f) state->cb->printf(a,b,c,d,e,f) +#define UnwPrintd7(a,b,c,d,e,f,g) state->cb->printf(a,b,c,d,e,f,g) +#define UnwPrintd8(a,b,c,d,e,f,g,h) state->cb->printf(a,b,c,d,e,f,g,h) +#else +#define UnwPrintd1(a) +#define UnwPrintd2(a,b) +#define UnwPrintd3(a,b,c) +#define UnwPrintd4(a,b,c,d) +#define UnwPrintd5(a,b,c,d,e) +#define UnwPrintd6(a,b,c,d,e,f) +#define UnwPrintd7(a,b,c,d,e,f,g) +#define UnwPrintd8(a,b,c,d,e,f,g,h) +#endif + +/*************************************************************************** + * Function Prototypes + **************************************************************************/ + +UnwResult UnwStartArm(UnwState * const state); +UnwResult UnwStartThumb(UnwState * const state); +void UnwInvalidateRegisterFile(RegData *regFile); +void UnwInitState(UnwState * const state, const UnwindCallbacks *cb, void *rptData, uint32_t pcValue, uint32_t spValue); +bool UnwReportRetAddr(UnwState * const state, uint32_t addr); +bool UnwMemWriteRegister(UnwState * const state, const uint32_t addr, const RegData * const reg); +bool UnwMemReadRegister(UnwState * const state, const uint32_t addr, RegData * const reg); +void UnwMemHashGC(UnwState * const state); diff --git a/Marlin/src/HAL/shared/backtrace/unwarm_arm.cpp b/Marlin/src/HAL/shared/backtrace/unwarm_arm.cpp new file mode 100644 index 0000000000..decf74e6e9 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarm_arm.cpp @@ -0,0 +1,534 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Abstract interpreter for ARM mode. + **************************************************************************/ + +#if defined(__arm__) || defined(__thumb__) + +#define MODULE_NAME "UNWARM_ARM" + +#include +#include "unwarm.h" + +/** Check if some instruction is a data-processing instruction. + * Decodes the passed instruction, checks if it is a data-processing and + * verifies that the parameters and operation really indicate a data- + * processing instruction. This is needed because some parts of the + * instruction space under this instruction can be extended or represent + * other operations such as MRS, MSR. + * + * \param[in] inst The instruction word. + * \retval true Further decoding of the instruction indicates that this is + * a valid data-processing instruction. + * \retval false This is not a data-processing instruction, + */ +static bool isDataProc(uint32_t instr) { + uint8_t opcode = (instr & 0x01E00000) >> 21; + if ((instr & 0xFC000000) != 0xE0000000) return false; + + /* TST, TEQ, CMP and CMN all require S to be set */ + bool S = !!(instr & 0x00100000); + if (!S && opcode >= 8 && opcode <= 11) return false; + + return true; +} + +UnwResult UnwStartArm(UnwState * const state) { + uint16_t t = UNW_MAX_INSTR_COUNT; + + for (;;) { + uint32_t instr; + + /* Attempt to read the instruction */ + if (!state->cb->readW(state->regData[15].v, &instr)) + return UNWIND_IREAD_W_FAIL; + + UnwPrintd4("A %x %x %08x:", state->regData[13].v, state->regData[15].v, instr); + + /* Check that the PC is still on Arm alignment */ + if (state->regData[15].v & 0x3) { + UnwPrintd1("\nError: PC misalignment\n"); + return UNWIND_INCONSISTENT; + } + + /* Check that the SP and PC have not been invalidated */ + if (!M_IsOriginValid(state->regData[13].o) || !M_IsOriginValid(state->regData[15].o)) { + UnwPrintd1("\nError: PC or SP invalidated\n"); + return UNWIND_INCONSISTENT; + } + + /* Branch and Exchange (BX) + * This is tested prior to data processing to prevent + * mis-interpretation as an invalid TEQ instruction. + */ + if ((instr & 0xFFFFFFF0) == 0xE12FFF10) { + uint8_t rn = instr & 0xF; + + UnwPrintd4("BX r%d\t ; r%d %s\n", rn, rn, M_Origin2Str(state->regData[rn].o)); + + if (!M_IsOriginValid(state->regData[rn].o)) { + UnwPrintd1("\nUnwind failure: BX to untracked register\n"); + return UNWIND_FAILURE; + } + + /* Set the new PC value */ + state->regData[15].v = state->regData[rn].v; + + /* Check if the return value is from the stack */ + if (state->regData[rn].o == REG_VAL_FROM_STACK) { + + /* Now have the return address */ + UnwPrintd2(" Return PC=%x\n", state->regData[15].v & (~0x1)); + + /* Report the return address */ + if (!UnwReportRetAddr(state, state->regData[rn].v)) + return UNWIND_TRUNCATED; + } + + /* Determine the return mode */ + if (state->regData[rn].v & 0x1) /* Branching to THUMB */ + return UnwStartThumb(state); + + /* Branch to ARM */ + /* Account for the auto-increment which isn't needed */ + state->regData[15].v -= 4; + } + /* Branch */ + else if ((instr & 0xFF000000) == 0xEA000000) { + + int32_t offset = (instr & 0x00FFFFFF) << 2; + + /* Sign extend if needed */ + if (offset & 0x02000000) offset |= 0xFC000000; + + UnwPrintd2("B %d\n", offset); + + /* Adjust PC */ + state->regData[15].v += offset; + + /* Account for pre-fetch, where normally the PC is 8 bytes + * ahead of the instruction just executed. + */ + state->regData[15].v += 4; + } + + /* MRS */ + else if ((instr & 0xFFBF0FFF) == 0xE10F0000) { + uint8_t rd = (instr & 0x0000F000) >> 12; + #ifdef UNW_DEBUG + const bool R = !!(instr & 0x00400000); + UnwPrintd4("MRS r%d,%s\t; r%d invalidated", rd, R ? "SPSR" : "CPSR", rd); + #endif + + /* Status registers untracked */ + state->regData[rd].o = REG_VAL_INVALID; + } + /* MSR */ + else if ((instr & 0xFFB0F000) == 0xE120F000) { + #ifdef UNW_DEBUG + UnwPrintd2("MSR %s_?, ???", (instr & 0x00400000) ? "SPSR" : "CPSR"); + #endif + + /* Status registers untracked. + * Potentially this could change processor mode and switch + * banked registers r8-r14. Most likely is that r13 (sp) will + * be banked. However, invalidating r13 will stop unwinding + * when potentially this write is being used to disable/enable + * interrupts (a common case). Therefore no invalidation is + * performed. + */ + } + /* Data processing */ + else if (isDataProc(instr)) { + bool I = !!(instr & 0x02000000); + uint8_t opcode = (instr & 0x01E00000) >> 21; + #ifdef UNW_DEBUG + bool S = !!(instr & 0x00100000); + #endif + uint8_t rn = (instr & 0x000F0000) >> 16; + uint8_t rd = (instr & 0x0000F000) >> 12; + uint16_t operand2 = (instr & 0x00000FFF); + uint32_t op2val; + int op2origin; + + switch (opcode) { + case 0: UnwPrintd4("AND%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 1: UnwPrintd4("EOR%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 2: UnwPrintd4("SUB%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 3: UnwPrintd4("RSB%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 4: UnwPrintd4("ADD%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 5: UnwPrintd4("ADC%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 6: UnwPrintd4("SBC%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 7: UnwPrintd4("RSC%s r%d,r%d,", S ? "S" : "", rd, rn); break; + case 8: UnwPrintd3("TST%s r%d,", S ? "S" : "", rn); break; + case 9: UnwPrintd3("TEQ%s r%d,", S ? "S" : "", rn); break; + case 10: UnwPrintd3("CMP%s r%d,", S ? "S" : "", rn); break; + case 11: UnwPrintd3("CMN%s r%d,", S ? "S" : "", rn); break; + case 12: UnwPrintd3("ORR%s r%d,", S ? "S" : "", rn); break; + case 13: UnwPrintd3("MOV%s r%d,", S ? "S" : "", rd); break; + case 14: UnwPrintd4("BIC%s r%d,r%d", S ? "S" : "", rd, rn); break; + case 15: UnwPrintd3("MVN%s r%d,", S ? "S" : "", rd); break; + } + + /* Decode operand 2 */ + if (I) { + uint8_t shiftDist = (operand2 & 0x0F00) >> 8; + uint8_t shiftConst = (operand2 & 0x00FF); + + /* rotate const right by 2 * shiftDist */ + shiftDist *= 2; + op2val = (shiftConst >> shiftDist) | + (shiftConst << (32 - shiftDist)); + op2origin = REG_VAL_FROM_CONST; + + UnwPrintd2("#0x%x", op2val); + } + else { + + /* Register and shift */ + uint8_t rm = (operand2 & 0x000F); + uint8_t regShift = !!(operand2 & 0x0010); + uint8_t shiftType = (operand2 & 0x0060) >> 5; + uint32_t shiftDist; + #ifdef UNW_DEBUG + const char * const shiftMnu[4] = { "LSL", "LSR", "ASR", "ROR" }; + #endif + UnwPrintd2("r%d ", rm); + + /* Get the shift distance */ + if (regShift) { + uint8_t rs = (operand2 & 0x0F00) >> 8; + + if (operand2 & 0x00800) { + UnwPrintd1("\nError: Bit should be zero\n"); + return UNWIND_ILLEGAL_INSTR; + } + else if (rs == 15) { + UnwPrintd1("\nError: Cannot use R15 with register shift\n"); + return UNWIND_ILLEGAL_INSTR; + } + + /* Get shift distance */ + shiftDist = state->regData[rs].v; + op2origin = state->regData[rs].o; + + UnwPrintd7("%s r%d\t; r%d %s r%d %s", shiftMnu[shiftType], rs, rm, M_Origin2Str(state->regData[rm].o), rs, M_Origin2Str(state->regData[rs].o)); + } + else { + shiftDist = (operand2 & 0x0F80) >> 7; + op2origin = REG_VAL_FROM_CONST; + if (shiftDist) UnwPrintd3("%s #%d", shiftMnu[shiftType], shiftDist); + UnwPrintd3("\t; r%d %s", rm, M_Origin2Str(state->regData[rm].o)); + } + + /* Apply the shift type to the source register */ + switch (shiftType) { + case 0: /* logical left */ + op2val = state->regData[rm].v << shiftDist; + break; + + case 1: /* logical right */ + if (!regShift && shiftDist == 0) shiftDist = 32; + op2val = state->regData[rm].v >> shiftDist; + break; + + case 2: /* arithmetic right */ + if (!regShift && shiftDist == 0) shiftDist = 32; + + if (state->regData[rm].v & 0x80000000) { + /* Register shifts maybe greater than 32 */ + if (shiftDist >= 32) + op2val = 0xFFFFFFFF; + else + op2val = (state->regData[rm].v >> shiftDist) | (0xFFFFFFFF << (32 - shiftDist)); + } + else + op2val = state->regData[rm].v >> shiftDist; + break; + + case 3: /* rotate right */ + + if (!regShift && shiftDist == 0) { + /* Rotate right with extend. + * This uses the carry bit and so always has an + * untracked result. + */ + op2origin = REG_VAL_INVALID; + op2val = 0; + } + else { + /* Limit shift distance to 0-31 incase of register shift */ + shiftDist &= 0x1F; + + op2val = (state->regData[rm].v >> shiftDist) | + (state->regData[rm].v << (32 - shiftDist)); + } + break; + + default: + UnwPrintd2("\nError: Invalid shift type: %d\n", shiftType); + return UNWIND_FAILURE; + } + + /* Decide the data origin */ + if (M_IsOriginValid(op2origin) && M_IsOriginValid(state->regData[rm].o)) + op2origin = REG_VAL_ARITHMETIC | state->regData[rm].o; + else + op2origin = REG_VAL_INVALID; + } + + /* Propagate register validity */ + switch (opcode) { + case 0: /* AND: Rd := Op1 AND Op2 */ + case 1: /* EOR: Rd := Op1 EOR Op2 */ + case 2: /* SUB: Rd:= Op1 - Op2 */ + case 3: /* RSB: Rd:= Op2 - Op1 */ + case 4: /* ADD: Rd:= Op1 + Op2 */ + case 12: /* ORR: Rd:= Op1 OR Op2 */ + case 14: /* BIC: Rd:= Op1 AND NOT Op2 */ + if (!M_IsOriginValid(state->regData[rn].o) || + !M_IsOriginValid(op2origin)) { + state->regData[rd].o = REG_VAL_INVALID; + } + else { + state->regData[rd].o = state->regData[rn].o; + state->regData[rd].o = (RegValOrigin)(state->regData[rd].o | op2origin); + } + break; + + case 5: /* ADC: Rd:= Op1 + Op2 + C */ + case 6: /* SBC: Rd:= Op1 - Op2 + C */ + case 7: /* RSC: Rd:= Op2 - Op1 + C */ + /* CPSR is not tracked */ + state->regData[rd].o = REG_VAL_INVALID; + break; + + case 8: /* TST: set condition codes on Op1 AND Op2 */ + case 9: /* TEQ: set condition codes on Op1 EOR Op2 */ + case 10: /* CMP: set condition codes on Op1 - Op2 */ + case 11: /* CMN: set condition codes on Op1 + Op2 */ + break; + + case 13: /* MOV: Rd:= Op2 */ + case 15: /* MVN: Rd:= NOT Op2 */ + state->regData[rd].o = (RegValOrigin) op2origin; + break; + } + + /* Account for pre-fetch by temporarily adjusting PC */ + if (rn == 15) { + + /* If the shift amount is specified in the instruction, + * the PC will be 8 bytes ahead. If a register is used + * to specify the shift amount the PC will be 12 bytes + * ahead. + */ + state->regData[rn].v += ((!I && (operand2 & 0x0010)) ? 12 : 8); + } + + /* Compute values */ + switch (opcode) { + case 0: /* AND: Rd := Op1 AND Op2 */ + state->regData[rd].v = state->regData[rn].v & op2val; + break; + + case 1: /* EOR: Rd := Op1 EOR Op2 */ + state->regData[rd].v = state->regData[rn].v ^ op2val; + break; + + case 2: /* SUB: Rd:= Op1 - Op2 */ + state->regData[rd].v = state->regData[rn].v - op2val; + break; + case 3: /* RSB: Rd:= Op2 - Op1 */ + state->regData[rd].v = op2val - state->regData[rn].v; + break; + + case 4: /* ADD: Rd:= Op1 + Op2 */ + state->regData[rd].v = state->regData[rn].v + op2val; + break; + + case 5: /* ADC: Rd:= Op1 + Op2 + C */ + case 6: /* SBC: Rd:= Op1 - Op2 + C */ + case 7: /* RSC: Rd:= Op2 - Op1 + C */ + case 8: /* TST: set condition codes on Op1 AND Op2 */ + case 9: /* TEQ: set condition codes on Op1 EOR Op2 */ + case 10: /* CMP: set condition codes on Op1 - Op2 */ + case 11: /* CMN: set condition codes on Op1 + Op2 */ + UnwPrintd1("\t; ????"); + break; + + case 12: /* ORR: Rd:= Op1 OR Op2 */ + state->regData[rd].v = state->regData[rn].v | op2val; + break; + + case 13: /* MOV: Rd:= Op2 */ + state->regData[rd].v = op2val; + break; + + case 14: /* BIC: Rd:= Op1 AND NOT Op2 */ + state->regData[rd].v = state->regData[rn].v & (~op2val); + break; + + case 15: /* MVN: Rd:= NOT Op2 */ + state->regData[rd].v = ~op2val; + break; + } + + /* Remove the prefetch offset from the PC */ + if (rd != 15 && rn == 15) + state->regData[rn].v -= ((!I && (operand2 & 0x0010)) ? 12 : 8); + } + + /* Block Data Transfer + * LDM, STM + */ + else if ((instr & 0xFE000000) == 0xE8000000) { + + bool P = !!(instr & 0x01000000), + U = !!(instr & 0x00800000), + S = !!(instr & 0x00400000), + W = !!(instr & 0x00200000), + L = !!(instr & 0x00100000); + uint16_t baseReg = (instr & 0x000F0000) >> 16; + uint16_t regList = (instr & 0x0000FFFF); + uint32_t addr = state->regData[baseReg].v; + bool addrValid = M_IsOriginValid(state->regData[baseReg].o); + int8_t r; + + #ifdef UNW_DEBUG + /* Display the instruction */ + if (L) + UnwPrintd6("LDM%c%c r%d%s, {reglist}%s\n", P ? 'E' : 'F', U ? 'D' : 'A', baseReg, W ? "!" : "", S ? "^" : ""); + else + UnwPrintd6("STM%c%c r%d%s, {reglist}%s\n", !P ? 'E' : 'F', !U ? 'D' : 'A', baseReg, W ? "!" : "", S ? "^" : ""); + #endif + + /* S indicates that banked registers (untracked) are used, unless + * this is a load including the PC when the S-bit indicates that + * that CPSR is loaded from SPSR (also untracked, but ignored). + */ + if (S && (!L || (regList & (0x01 << 15)) == 0)) { + UnwPrintd1("\nError:S-bit set requiring banked registers\n"); + return UNWIND_FAILURE; + } + else if (baseReg == 15) { + UnwPrintd1("\nError: r15 used as base register\n"); + return UNWIND_FAILURE; + } + else if (regList == 0) { + UnwPrintd1("\nError: Register list empty\n"); + return UNWIND_FAILURE; + } + + /* Check if ascending or descending. + * Registers are loaded/stored in order of address. + * i.e. r0 is at the lowest address, r15 at the highest. + */ + r = U ? 0 : 15; + do { + + /* Check if the register is to be transferred */ + if (regList & (0x01 << r)) { + + if (P) addr += U ? 4 : -4; + + if (L) { + + if (addrValid) { + + if (!UnwMemReadRegister(state, addr, &state->regData[r])) + return UNWIND_DREAD_W_FAIL; + + /* Update the origin if read via the stack pointer */ + if (M_IsOriginValid(state->regData[r].o) && baseReg == 13) + state->regData[r].o = REG_VAL_FROM_STACK; + + UnwPrintd5(" R%d = 0x%08x\t; r%d %s\n",r,state->regData[r].v,r, M_Origin2Str(state->regData[r].o)); + } + else { + /* Invalidate the register as the base reg was invalid */ + state->regData[r].o = REG_VAL_INVALID; + UnwPrintd2(" R%d = ???\n", r); + } + } + else { + if (addrValid && !UnwMemWriteRegister(state, state->regData[13].v, &state->regData[r])) + return UNWIND_DWRITE_W_FAIL; + + UnwPrintd2(" R%d = 0x%08x\n", r); + } + + if (!P) addr += U ? 4 : -4; + } + + /* Check the next register */ + r += U ? 1 : -1; + + } while (r >= 0 && r <= 15); + + /* Check the writeback bit */ + if (W) state->regData[baseReg].v = addr; + + /* Check if the PC was loaded */ + if (L && (regList & (0x01 << 15))) { + if (!M_IsOriginValid(state->regData[15].o)) { + /* Return address is not valid */ + UnwPrintd1("PC popped with invalid address\n"); + return UNWIND_FAILURE; + } + else { + /* Store the return address */ + if (!UnwReportRetAddr(state, state->regData[15].v)) + return UNWIND_TRUNCATED; + + UnwPrintd2(" Return PC=0x%x", state->regData[15].v); + + /* Determine the return mode */ + if (state->regData[15].v & 0x1) { + /* Branching to THUMB */ + return UnwStartThumb(state); + } + else { + /* Branch to ARM */ + + /* Account for the auto-increment which isn't needed */ + state->regData[15].v -= 4; + } + } + } + } + else { + UnwPrintd1("????"); + + /* Unknown/undecoded. May alter some register, so invalidate file */ + UnwInvalidateRegisterFile(state->regData); + } + + UnwPrintd1("\n"); + + /* Should never hit the reset vector */ + if (state->regData[15].v == 0) return UNWIND_RESET; + + /* Check next address */ + state->regData[15].v += 4; + + /* Garbage collect the memory hash (used only for the stack) */ + UnwMemHashGC(state); + + if (--t == 0) return UNWIND_EXHAUSTED; + + } + + return UNWIND_UNSUPPORTED; +} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/backtrace/unwarm_thumb.cpp b/Marlin/src/HAL/shared/backtrace/unwarm_thumb.cpp new file mode 100644 index 0000000000..0c6a70649d --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarm_thumb.cpp @@ -0,0 +1,1066 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Abstract interpretation for Thumb mode. + **************************************************************************/ + +#if defined(__arm__) || defined(__thumb__) + +#define MODULE_NAME "UNWARM_THUMB" + +#include +#include "unwarm.h" + +/** Sign extend an 11 bit value. + * This function simply inspects bit 11 of the input \a value, and if + * set, the top 5 bits are set to give a 2's compliment signed value. + * \param value The value to sign extend. + * \return The signed-11 bit value stored in a 16bit data type. + */ +static int32_t signExtend11(const uint16_t value) { + return (value & 0x400) ? value | 0xFFFFF800 : value; +} + +UnwResult UnwStartThumb(UnwState * const state) { + uint16_t t = UNW_MAX_INSTR_COUNT; + uint32_t lastJumpAddr = 0; // Last JUMP address, to try to detect infinite loops + bool loopDetected = false; // If a loop was detected + + for (;;) { + uint16_t instr; + + /* Attempt to read the instruction */ + if (!state->cb->readH(state->regData[15].v & (~0x1), &instr)) + return UNWIND_IREAD_H_FAIL; + + UnwPrintd4("T %x %x %04x:", state->regData[13].v, state->regData[15].v, instr); + + /* Check that the PC is still on Thumb alignment */ + if (!(state->regData[15].v & 0x1)) { + UnwPrintd1("\nError: PC misalignment\n"); + return UNWIND_INCONSISTENT; + } + + /* Check that the SP and PC have not been invalidated */ + if (!M_IsOriginValid(state->regData[13].o) || !M_IsOriginValid(state->regData[15].o)) { + UnwPrintd1("\nError: PC or SP invalidated\n"); + return UNWIND_INCONSISTENT; + } + + /* + * Detect 32bit thumb instructions + */ + if ((instr & 0xE000) == 0xE000 && (instr & 0x1800) != 0) { + uint16_t instr2; + + /* Check next address */ + state->regData[15].v += 2; + + /* Attempt to read the 2nd part of the instruction */ + if (!state->cb->readH(state->regData[15].v & (~0x1), &instr2)) + return UNWIND_IREAD_H_FAIL; + + UnwPrintd3(" %x %04x:", state->regData[15].v, instr2); + + /* + * Load/Store multiple: Only interpret + * PUSH and POP + */ + if ((instr & 0xFE6F) == 0xE82D) { + bool L = !!(instr & 0x10); + uint16_t rList = instr2; + + if (L) { + uint8_t r; + + /* Load from memory: POP */ + UnwPrintd1("POP {Rlist}\n"); + + /* Load registers from stack */ + for (r = 0; r < 16; r++) { + if (rList & (0x1 << r)) { + + /* Read the word */ + if (!UnwMemReadRegister(state, state->regData[13].v, &state->regData[r])) + return UNWIND_DREAD_W_FAIL; + + /* Alter the origin to be from the stack if it was valid */ + if (M_IsOriginValid(state->regData[r].o)) { + + state->regData[r].o = REG_VAL_FROM_STACK; + + /* If restoring the PC */ + if (r == 15) { + + /* The bottom bit should have been set to indicate that + * the caller was from Thumb. This would allow return + * by BX for interworking APCS. + */ + if ((state->regData[15].v & 0x1) == 0) { + UnwPrintd2("Warning: Return address not to Thumb: 0x%08x\n", state->regData[15].v); + + /* Pop into the PC will not switch mode */ + return UNWIND_INCONSISTENT; + } + + /* Store the return address */ + if (!UnwReportRetAddr(state, state->regData[15].v)) + return UNWIND_TRUNCATED; + + /* Now have the return address */ + UnwPrintd2(" Return PC=%x\n", state->regData[15].v); + + /* Compensate for the auto-increment, which isn't needed here */ + state->regData[15].v -= 2; + + } + + } else { + + if (r == 15) { + /* Return address is not valid */ + UnwPrintd1("PC popped with invalid address\n"); + return UNWIND_FAILURE; + } + } + + state->regData[13].v += 4; + + UnwPrintd3(" r%d = 0x%08x\n", r, state->regData[r].v); + } + } + } + else { + int8_t r; + + /* Store to memory: PUSH */ + UnwPrintd1("PUSH {Rlist}"); + + for (r = 15; r >= 0; r--) { + if (rList & (0x1 << r)) { + UnwPrintd4("\n r%d = 0x%08x\t; %s", r, state->regData[r].v, M_Origin2Str(state->regData[r].o)); + + state->regData[13].v -= 4; + + if (!UnwMemWriteRegister(state, state->regData[13].v, &state->regData[r])) + return UNWIND_DWRITE_W_FAIL; + } + } + } + } + /* + * PUSH register + */ + else if (instr == 0xF84D && (instr2 & 0x0FFF) == 0x0D04) { + uint8_t r = instr2 >> 12; + + /* Store to memory: PUSH */ + UnwPrintd2("PUSH {R%d}\n", r); + UnwPrintd4("\n r%d = 0x%08x\t; %s", r, state->regData[r].v, M_Origin2Str(state->regData[r].o)); + + state->regData[13].v -= 4; + + if (!UnwMemWriteRegister(state, state->regData[13].v, &state->regData[r])) + return UNWIND_DWRITE_W_FAIL; + } + /* + * POP register + */ + else if (instr == 0xF85D && (instr2 & 0x0FFF) == 0x0B04) { + uint8_t r = instr2 >> 12; + + /* Load from memory: POP */ + UnwPrintd2("POP {R%d}\n", r); + + /* Read the word */ + if (!UnwMemReadRegister(state, state->regData[13].v, &state->regData[r])) + return UNWIND_DREAD_W_FAIL; + + /* Alter the origin to be from the stack if it was valid */ + if (M_IsOriginValid(state->regData[r].o)) { + + state->regData[r].o = REG_VAL_FROM_STACK; + + /* If restoring the PC */ + if (r == 15) { + + /* The bottom bit should have been set to indicate that + * the caller was from Thumb. This would allow return + * by BX for interworking APCS. + */ + if ((state->regData[15].v & 0x1) == 0) { + UnwPrintd2("Warning: Return address not to Thumb: 0x%08x\n", state->regData[15].v); + + /* Pop into the PC will not switch mode */ + return UNWIND_INCONSISTENT; + } + + /* Store the return address */ + if (!UnwReportRetAddr(state, state->regData[15].v)) + return UNWIND_TRUNCATED; + + /* Now have the return address */ + UnwPrintd2(" Return PC=%x\n", state->regData[15].v); + + /* Compensate for the auto-increment, which isn't needed here */ + state->regData[15].v -= 2; + + } + + } else { + + if (r == 15) { + /* Return address is not valid */ + UnwPrintd1("PC popped with invalid address\n"); + return UNWIND_FAILURE; + } + } + + state->regData[13].v += 4; + + UnwPrintd3(" r%d = 0x%08x\n", r, state->regData[r].v); + } + /* + * TBB / TBH + */ + else if ((instr & 0xFFF0) == 0xE8D0 && (instr2 & 0xFFE0) == 0xF000) { + /* We are only interested in + * the forms + * TBB [PC, ...] + * TBH [PC, ..., LSL #1] + * as those are used by the C compiler to implement + * the switch clauses + */ + uint8_t rn = instr & 0xF; + bool H = !!(instr2 & 0x10); + + UnwPrintd5("TB%c [r%d,r%d%s]\n", H ? 'H' : 'B', rn, (instr2 & 0xF), H ? ",LSL #1" : ""); + + // We are only interested if the RN is the PC. Let's choose the 1st destination + if (rn == 15) { + if (H) { + uint16_t rv; + if (!state->cb->readH((state->regData[15].v & (~1)) + 2, &rv)) + return UNWIND_DREAD_H_FAIL; + state->regData[15].v += rv * 2; + } + else { + uint8_t rv; + if (!state->cb->readB((state->regData[15].v & (~1)) + 2, &rv)) + return UNWIND_DREAD_B_FAIL; + state->regData[15].v += rv * 2; + } + } + } + /* + * Unconditional branch + */ + else if ((instr & 0xF800) == 0xF000 && (instr2 & 0xD000) == 0x9000) { + uint32_t v; + + uint8_t S = (instr & 0x400) >> 10; + uint16_t imm10 = (instr & 0x3FF); + uint8_t J1 = (instr2 & 0x2000) >> 13; + uint8_t J2 = (instr2 & 0x0800) >> 11; + uint16_t imm11 = (instr2 & 0x7FF); + + uint8_t I1 = J1 ^ S ^ 1; + uint8_t I2 = J2 ^ S ^ 1; + uint32_t imm32 = (S << 24) | (I1 << 23) | (I2 << 22) |(imm10 << 12) | (imm11 << 1); + if (S) imm32 |= 0xFE000000; + + UnwPrintd2("B %d \n", imm32); + + /* Update PC */ + state->regData[15].v += imm32; + + /* Need to advance by a word to account for pre-fetch. + * Advance by a half word here, allowing the normal address + * advance to account for the other half word. + */ + state->regData[15].v += 2; + + /* Compute the jump address */ + v = state->regData[15].v + 2; + + /* Display PC of next instruction */ + UnwPrintd2(" New PC=%x", v); + + /* Did we detect an infinite loop ? */ + loopDetected = lastJumpAddr == v; + + /* Remember the last address we jumped to */ + lastJumpAddr = v; + } + + /* + * Branch with link + */ + else if ((instr & 0xF800) == 0xF000 && (instr2 & 0xD000) == 0xD000) { + + uint8_t S = (instr & 0x400) >> 10; + uint16_t imm10 = (instr & 0x3FF); + uint8_t J1 = (instr2 & 0x2000) >> 13; + uint8_t J2 = (instr2 & 0x0800) >> 11; + uint16_t imm11 = (instr2 & 0x7FF); + + uint8_t I1 = J1 ^ S ^ 1; + uint8_t I2 = J2 ^ S ^ 1; + uint32_t imm32 = (S << 24) | (I1 << 23) | (I2 << 22) |(imm10 << 12) | (imm11 << 1); + if (S) imm32 |= 0xFE000000; + + UnwPrintd2("BL %d \n", imm32); + + /* Never taken, as we are unwinding the stack */ + if (0) { + + /* Store return address in LR register */ + state->regData[14].v = state->regData[15].v + 2; + state->regData[14].o = REG_VAL_FROM_CONST; + + /* Update PC */ + state->regData[15].v += imm32; + + /* Need to advance by a word to account for pre-fetch. + * Advance by a half word here, allowing the normal address + * advance to account for the other half word. + */ + state->regData[15].v += 2; + + /* Display PC of next instruction */ + UnwPrintd2(" Return PC=%x", state->regData[15].v); + + /* Report the return address, including mode bit */ + if (!UnwReportRetAddr(state, state->regData[15].v)) + return UNWIND_TRUNCATED; + + /* Determine the new mode */ + if (state->regData[15].v & 0x1) { + /* Branching to THUMB */ + + /* Account for the auto-increment which isn't needed */ + state->regData[15].v -= 2; + } + else { + /* Branch to ARM */ + return UnwStartArm(state); + } + } + } + + /* + * Conditional branches. Usually not taken, unless infinite loop is detected + */ + else if ((instr & 0xF800) == 0xF000 && (instr2 & 0xD000) == 0x8000) { + + uint8_t S = (instr & 0x400) >> 10; + uint16_t imm6 = (instr & 0x3F); + uint8_t J1 = (instr2 & 0x2000) >> 13; + uint8_t J2 = (instr2 & 0x0800) >> 11; + uint16_t imm11 = (instr2 & 0x7FF); + + uint8_t I1 = J1 ^ S ^ 1; + uint8_t I2 = J2 ^ S ^ 1; + uint32_t imm32 = (S << 20) | (I1 << 19) | (I2 << 18) |(imm6 << 12) | (imm11 << 1); + if (S) imm32 |= 0xFFE00000; + + UnwPrintd2("Bcond %d\n", imm32); + + /* Take the jump only if a loop is detected */ + if (loopDetected) { + + /* Update PC */ + state->regData[15].v += imm32; + + /* Need to advance by a word to account for pre-fetch. + * Advance by a half word here, allowing the normal address + * advance to account for the other half word. + */ + state->regData[15].v += 2; + + /* Display PC of next instruction */ + UnwPrintd2(" New PC=%x", state->regData[15].v + 2); + } + } + /* + * PC-relative load + * LDR Rd,[PC, #+/-imm] + */ + else if ((instr & 0xFF7F) == 0xF85F) { + uint8_t rt = (instr2 & 0xF000) >> 12; + uint8_t imm12 = (instr2 & 0x0FFF); + bool A = !!(instr & 0x80); + uint32_t address; + + /* Compute load address, adding a word to account for prefetch */ + address = (state->regData[15].v & (~0x3)) + 4; + if (A) address += imm12; + else address -= imm12; + + UnwPrintd4("LDR r%d,[PC #%c0x%08x]", rt, A?'+':'-', address); + + if (!UnwMemReadRegister(state, address, &state->regData[rt])) + return UNWIND_DREAD_W_FAIL; + } + /* + * LDR immediate. + * We are only interested when destination is PC. + * LDR Rt,[Rn , #n] + */ + else if ((instr & 0xFFF0) == 0xF8D0) { + uint8_t rn = (instr & 0xF); + uint8_t rt = (instr2 & 0xF000) >> 12; + uint16_t imm12 = (instr2 & 0xFFF); + + /* If destination is PC and we don't know the source value, then fail */ + if (!M_IsOriginValid(state->regData[rn].o)) { + state->regData[rt].o = state->regData[rn].o; + } + else { + uint32_t address = state->regData[rn].v + imm12; + if (!UnwMemReadRegister(state, address, &state->regData[rt])) + return UNWIND_DREAD_W_FAIL; + } + } + /* + * LDR immediate + * We are only interested when destination is PC. + * LDR Rt,[Rn , #-n] + * LDR Rt,[Rn], #+/-n] + * LDR Rt,[Rn, #+/-n]! + */ + else if ((instr & 0xFFF0) == 0xF850 && (instr2 & 0x0800) == 0x0800) { + uint8_t rn = (instr & 0xF); + uint8_t rt = (instr2 & 0xF000) >> 12; + uint16_t imm8 = (instr2 & 0xFF); + bool P = !!(instr2 & 0x400); + bool U = !!(instr2 & 0x200); + bool W = !!(instr2 & 0x100); + + if (!M_IsOriginValid(state->regData[rn].o)) + state->regData[rt].o = state->regData[rn].o; + else { + uint32_t offaddress = state->regData[rn].v + (U ? imm8 + imm8 : 0), + address = P ? offaddress : state->regData[rn].v; + + if (!UnwMemReadRegister(state, address, &state->regData[rt])) + return UNWIND_DREAD_W_FAIL; + + if (W) state->regData[rn].v = offaddress; + } + } + /* + * LDR (register). + * We are interested in the form + * ldr Rt, [Rn, Rm, lsl #x] + * Where Rt is PC, Rn value is known, Rm is not known or unknown + */ + else if ((instr & 0xFFF0) == 0xF850 && (instr2 & 0x0FC0) == 0x0000) { + const uint8_t rn = (instr & 0xF), + rt = (instr2 & 0xF000) >> 12, + rm = (instr2 & 0xF), + imm2 = (instr2 & 0x30) >> 4; + + if (!M_IsOriginValid(state->regData[rn].o) || !M_IsOriginValid(state->regData[rm].o)) { + + /* If Rt is PC, and Rn is known, then do an exception and assume + Rm equals 0 => This takes the first case in a switch() */ + if (rt == 15 && M_IsOriginValid(state->regData[rn].o)) { + uint32_t address = state->regData[rn].v; + if (!UnwMemReadRegister(state, address, &state->regData[rt])) + return UNWIND_DREAD_W_FAIL; + } + else /* Propagate unknown value */ + state->regData[rt].o = state->regData[rn].o; + + } + else { + uint32_t address = state->regData[rn].v + (state->regData[rm].v << imm2); + if (!UnwMemReadRegister(state, address, &state->regData[rt])) + return UNWIND_DREAD_W_FAIL; + } + } + else { + UnwPrintd1("???? (32)"); + + /* Unknown/undecoded. May alter some register, so invalidate file */ + UnwInvalidateRegisterFile(state->regData); + } + /* End of thumb 32bit code */ + + } + /* Format 1: Move shifted register + * LSL Rd, Rs, #Offset5 + * LSR Rd, Rs, #Offset5 + * ASR Rd, Rs, #Offset5 + */ + else if ((instr & 0xE000) == 0x0000 && (instr & 0x1800) != 0x1800) { + bool signExtend; + const uint8_t op = (instr & 0x1800) >> 11, + offset5 = (instr & 0x07C0) >> 6, + rs = (instr & 0x0038) >> 3, + rd = (instr & 0x0007); + + switch (op) { + case 0: /* LSL */ + UnwPrintd6("LSL r%d, r%d, #%d\t; r%d %s", rd, rs, offset5, rs, M_Origin2Str(state->regData[rs].o)); + state->regData[rd].v = state->regData[rs].v << offset5; + state->regData[rd].o = state->regData[rs].o; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + break; + + case 1: /* LSR */ + UnwPrintd6("LSR r%d, r%d, #%d\t; r%d %s", rd, rs, offset5, rs, M_Origin2Str(state->regData[rs].o)); + state->regData[rd].v = state->regData[rs].v >> offset5; + state->regData[rd].o = state->regData[rs].o; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + break; + + case 2: /* ASR */ + UnwPrintd6("ASL r%d, r%d, #%d\t; r%d %s", rd, rs, offset5, rs, M_Origin2Str(state->regData[rs].o)); + + signExtend = !!(state->regData[rs].v & 0x8000); + state->regData[rd].v = state->regData[rs].v >> offset5; + if (signExtend) state->regData[rd].v |= 0xFFFFFFFF << (32 - offset5); + state->regData[rd].o = state->regData[rs].o; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + break; + } + } + /* Format 2: add/subtract + * ADD Rd, Rs, Rn + * ADD Rd, Rs, #Offset3 + * SUB Rd, Rs, Rn + * SUB Rd, Rs, #Offset3 + */ + else if ((instr & 0xF800) == 0x1800) { + bool I = !!(instr & 0x0400); + bool op = !!(instr & 0x0200); + uint8_t rn = (instr & 0x01C0) >> 6; + uint8_t rs = (instr & 0x0038) >> 3; + uint8_t rd = (instr & 0x0007); + + /* Print decoding */ + UnwPrintd6("%s r%d, r%d, %c%d\t;",op ? "SUB" : "ADD",rd, rs,I ? '#' : 'r',rn); + UnwPrintd5("r%d %s, r%d %s",rd, M_Origin2Str(state->regData[rd].o),rs, M_Origin2Str(state->regData[rs].o)); + if (!I) { + + UnwPrintd3(", r%d %s", rn, M_Origin2Str(state->regData[rn].o)); + + /* Perform calculation */ + state->regData[rd].v = state->regData[rs].v + (op ? -state->regData[rn].v : state->regData[rn].v); + + /* Propagate the origin */ + if (M_IsOriginValid(state->regData[rs].o) && M_IsOriginValid(state->regData[rn].o)) { + state->regData[rd].o = state->regData[rs].o; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + } + else + state->regData[rd].o = REG_VAL_INVALID; + } + else { + /* Perform calculation */ + state->regData[rd].v = state->regData[rs].v + (op ? -rn : rn); + + /* Propagate the origin */ + state->regData[rd].o = state->regData[rs].o; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + } + } + /* Format 3: move/compare/add/subtract immediate + * MOV Rd, #Offset8 + * CMP Rd, #Offset8 + * ADD Rd, #Offset8 + * SUB Rd, #Offset8 + */ + else if ((instr & 0xE000) == 0x2000) { + + uint8_t op = (instr & 0x1800) >> 11; + uint8_t rd = (instr & 0x0700) >> 8; + uint8_t offset8 = (instr & 0x00FF); + + switch (op) { + case 0: /* MOV */ + UnwPrintd3("MOV r%d, #0x%x", rd, offset8); + state->regData[rd].v = offset8; + state->regData[rd].o = REG_VAL_FROM_CONST; + break; + + case 1: /* CMP */ + /* Irrelevant to unwinding */ + UnwPrintd1("CMP ???"); + break; + + case 2: /* ADD */ + UnwPrintd5("ADD r%d, #0x%x\t; r%d %s", rd, offset8, rd, M_Origin2Str(state->regData[rd].o)); + state->regData[rd].v += offset8; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + break; + + case 3: /* SUB */ + UnwPrintd5("SUB r%d, #0x%d\t; r%d %s", rd, offset8, rd, M_Origin2Str(state->regData[rd].o)); + state->regData[rd].v -= offset8; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + break; + } + } + /* Format 4: ALU operations + * AND Rd, Rs + * EOR Rd, Rs + * LSL Rd, Rs + * LSR Rd, Rs + * ASR Rd, Rs + * ADC Rd, Rs + * SBC Rd, Rs + * ROR Rd, Rs + * TST Rd, Rs + * NEG Rd, Rs + * CMP Rd, Rs + * CMN Rd, Rs + * ORR Rd, Rs + * MUL Rd, Rs + * BIC Rd, Rs + * MVN Rd, Rs + */ + else if ((instr & 0xFC00) == 0x4000) { + uint8_t op = (instr & 0x03C0) >> 6; + uint8_t rs = (instr & 0x0038) >> 3; + uint8_t rd = (instr & 0x0007); + +#ifdef UNW_DEBUG + static const char * const mnu[16] = { + "AND", "EOR", "LSL", "LSR", + "ASR", "ADC", "SBC", "ROR", + "TST", "NEG", "CMP", "CMN", + "ORR", "MUL", "BIC", "MVN" }; +#endif + /* Print the mnemonic and registers */ + switch (op) { + case 0: /* AND */ + case 1: /* EOR */ + case 2: /* LSL */ + case 3: /* LSR */ + case 4: /* ASR */ + case 7: /* ROR */ + case 9: /* NEG */ + case 12: /* ORR */ + case 13: /* MUL */ + case 15: /* MVN */ + UnwPrintd8("%s r%d ,r%d\t; r%d %s, r%d %s",mnu[op],rd, rs, rd, M_Origin2Str(state->regData[rd].o), rs, M_Origin2Str(state->regData[rs].o)); + break; + + case 5: /* ADC */ + case 6: /* SBC */ + UnwPrintd4("%s r%d, r%d", mnu[op], rd, rs); + break; + + case 8: /* TST */ + case 10: /* CMP */ + case 11: /* CMN */ + /* Irrelevant to unwinding */ + UnwPrintd2("%s ???", mnu[op]); + break; + + case 14: /* BIC */ + UnwPrintd5("r%d ,r%d\t; r%d %s", rd, rs, rs, M_Origin2Str(state->regData[rs].o)); + break; + } + + /* Perform operation */ + switch (op) { + case 0: /* AND */ + state->regData[rd].v &= state->regData[rs].v; + break; + + case 1: /* EOR */ + state->regData[rd].v ^= state->regData[rs].v; + break; + + case 2: /* LSL */ + state->regData[rd].v <<= state->regData[rs].v; + break; + + case 3: /* LSR */ + state->regData[rd].v >>= state->regData[rs].v; + break; + + case 4: /* ASR */ + if (state->regData[rd].v & 0x80000000) { + state->regData[rd].v >>= state->regData[rs].v; + state->regData[rd].v |= 0xFFFFFFFF << (32 - state->regData[rs].v); + } + else { + state->regData[rd].v >>= state->regData[rs].v; + } + + break; + + case 5: /* ADC */ + case 6: /* SBC */ + case 8: /* TST */ + case 10: /* CMP */ + case 11: /* CMN */ + break; + + case 7: /* ROR */ + state->regData[rd].v = (state->regData[rd].v >> state->regData[rs].v) | + (state->regData[rd].v << (32 - state->regData[rs].v)); + break; + + case 9: /* NEG */ + state->regData[rd].v = -state->regData[rs].v; + break; + + case 12: /* ORR */ + state->regData[rd].v |= state->regData[rs].v; + break; + + case 13: /* MUL */ + state->regData[rd].v *= state->regData[rs].v; + break; + + case 14: /* BIC */ + state->regData[rd].v &= ~state->regData[rs].v; + break; + + case 15: /* MVN */ + state->regData[rd].v = ~state->regData[rs].v; + break; + } + + /* Propagate data origins */ + switch (op) { + case 0: /* AND */ + case 1: /* EOR */ + case 2: /* LSL */ + case 3: /* LSR */ + case 4: /* ASR */ + case 7: /* ROR */ + case 12: /* ORR */ + case 13: /* MUL */ + case 14: /* BIC */ + if (M_IsOriginValid(state->regData[rd].o) && M_IsOriginValid(state->regData[rs].o)) { + state->regData[rd].o = state->regData[rs].o; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + } + else + state->regData[rd].o = REG_VAL_INVALID; + break; + + case 5: /* ADC */ + case 6: /* SBC */ + /* C-bit not tracked */ + state->regData[rd].o = REG_VAL_INVALID; + break; + + case 8: /* TST */ + case 10: /* CMP */ + case 11: /* CMN */ + /* Nothing propagated */ + break; + + case 9: /* NEG */ + case 15: /* MVN */ + state->regData[rd].o = state->regData[rs].o; + state->regData[rd].o |= REG_VAL_ARITHMETIC; + break; + } + } + /* Format 5: Hi register operations/branch exchange + * ADD Rd, Hs + * CMP Hd, Rs + * MOV Hd, Hs + */ + else if ((instr & 0xFC00) == 0x4400) { + uint8_t op = (instr & 0x0300) >> 8; + bool h1 = (instr & 0x0080) ? true: false; + bool h2 = (instr & 0x0040) ? true: false; + uint8_t rhs = (instr & 0x0038) >> 3; + uint8_t rhd = (instr & 0x0007); + + /* Adjust the register numbers */ + if (h2) rhs += 8; + if (h1) rhd += 8; + + switch (op) { + case 0: /* ADD */ + UnwPrintd5("ADD r%d, r%d\t; r%d %s", rhd, rhs, rhs, M_Origin2Str(state->regData[rhs].o)); + state->regData[rhd].v += state->regData[rhs].v; + state->regData[rhd].o = state->regData[rhs].o; + state->regData[rhd].o |= REG_VAL_ARITHMETIC; + break; + + case 1: /* CMP */ + /* Irrelevant to unwinding */ + UnwPrintd1("CMP ???"); + break; + + case 2: /* MOV */ + UnwPrintd5("MOV r%d, r%d\t; r%d %s", rhd, rhs, rhd, M_Origin2Str(state->regData[rhs].o)); + state->regData[rhd].v = state->regData[rhs].v; + state->regData[rhd].o = state->regData[rhs].o; + break; + + case 3: /* BX */ + UnwPrintd4("BX r%d\t; r%d %s\n", rhs, rhs, M_Origin2Str(state->regData[rhs].o)); + + /* Only follow BX if the data was from the stack or BX LR */ + if (rhs == 14 || state->regData[rhs].o == REG_VAL_FROM_STACK) { + UnwPrintd2(" Return PC=0x%x\n", state->regData[rhs].v & (~0x1)); + + /* Report the return address, including mode bit */ + if (!UnwReportRetAddr(state, state->regData[rhs].v)) + return UNWIND_TRUNCATED; + + /* Update the PC */ + state->regData[15].v = state->regData[rhs].v; + + /* Determine the new mode */ + if (state->regData[rhs].v & 0x1) { + /* Branching to THUMB */ + + /* Account for the auto-increment which isn't needed */ + state->regData[15].v -= 2; + } + else /* Branch to ARM */ + return UnwStartArm(state); + } + else { + UnwPrintd4("\nError: BX to invalid register: r%d = 0x%x (%s)\n", rhs, state->regData[rhs].o, M_Origin2Str(state->regData[rhs].o)); + return UNWIND_FAILURE; + } + } + } + /* Format 9: PC-relative load + * LDR Rd,[PC, #imm] + */ + else if ((instr & 0xF800) == 0x4800) { + uint8_t rd = (instr & 0x0700) >> 8; + uint8_t word8 = (instr & 0x00FF); + uint32_t address; + + /* Compute load address, adding a word to account for prefetch */ + address = (state->regData[15].v & (~0x3)) + 4 + (word8 << 2); + + UnwPrintd3("LDR r%d, 0x%08x", rd, address); + + if (!UnwMemReadRegister(state, address, &state->regData[rd])) + return UNWIND_DREAD_W_FAIL; + } + /* Format 13: add offset to Stack Pointer + * ADD sp,#+imm + * ADD sp,#-imm + */ + else if ((instr & 0xFF00) == 0xB000) { + uint8_t value = (instr & 0x7F) * 4; + + /* Check the negative bit */ + if ((instr & 0x80) != 0) { + UnwPrintd2("SUB sp,#0x%x", value); + state->regData[13].v -= value; + } + else { + UnwPrintd2("ADD sp,#0x%x", value); + state->regData[13].v += value; + } + } + /* Format 14: push/pop registers + * PUSH {Rlist} + * PUSH {Rlist, LR} + * POP {Rlist} + * POP {Rlist, PC} + */ + else if ((instr & 0xF600) == 0xB400) { + bool L = !!(instr & 0x0800); + bool R = !!(instr & 0x0100); + uint8_t rList = (instr & 0x00FF); + + if (L) { + uint8_t r; + + /* Load from memory: POP */ + UnwPrintd2("POP {Rlist%s}\n", R ? ", PC" : ""); + + for (r = 0; r < 8; r++) { + if (rList & (0x1 << r)) { + + /* Read the word */ + if (!UnwMemReadRegister(state, state->regData[13].v, &state->regData[r])) + return UNWIND_DREAD_W_FAIL; + + /* Alter the origin to be from the stack if it was valid */ + if (M_IsOriginValid(state->regData[r].o)) + state->regData[r].o = REG_VAL_FROM_STACK; + + state->regData[13].v += 4; + + UnwPrintd3(" r%d = 0x%08x\n", r, state->regData[r].v); + } + } + + /* Check if the PC is to be popped */ + if (R) { + /* Get the return address */ + if (!UnwMemReadRegister(state, state->regData[13].v, &state->regData[15])) + return UNWIND_DREAD_W_FAIL; + + /* Alter the origin to be from the stack if it was valid */ + if (!M_IsOriginValid(state->regData[15].o)) { + /* Return address is not valid */ + UnwPrintd1("PC popped with invalid address\n"); + return UNWIND_FAILURE; + } + else { + /* The bottom bit should have been set to indicate that + * the caller was from Thumb. This would allow return + * by BX for interworking APCS. + */ + if ((state->regData[15].v & 0x1) == 0) { + UnwPrintd2("Warning: Return address not to Thumb: 0x%08x\n", state->regData[15].v); + + /* Pop into the PC will not switch mode */ + return UNWIND_INCONSISTENT; + } + + /* Store the return address */ + if (!UnwReportRetAddr(state, state->regData[15].v)) + return UNWIND_TRUNCATED; + + /* Now have the return address */ + UnwPrintd2(" Return PC=%x\n", state->regData[15].v); + + /* Update the pc */ + state->regData[13].v += 4; + + /* Compensate for the auto-increment, which isn't needed here */ + state->regData[15].v -= 2; + } + } + } + else { + int8_t r; + + /* Store to memory: PUSH */ + UnwPrintd2("PUSH {Rlist%s}", R ? ", LR" : ""); + + /* Check if the LR is to be pushed */ + if (R) { + UnwPrintd3("\n lr = 0x%08x\t; %s", state->regData[14].v, M_Origin2Str(state->regData[14].o)); + + state->regData[13].v -= 4; + + /* Write the register value to memory */ + if (!UnwMemWriteRegister(state, state->regData[13].v, &state->regData[14])) + return UNWIND_DWRITE_W_FAIL; + } + + for (r = 7; r >= 0; r--) { + if (rList & (0x1 << r)) { + UnwPrintd4("\n r%d = 0x%08x\t; %s", r, state->regData[r].v, M_Origin2Str(state->regData[r].o)); + + state->regData[13].v -= 4; + + if (!UnwMemWriteRegister(state, state->regData[13].v, &state->regData[r])) + return UNWIND_DWRITE_W_FAIL; + } + } + } + } + + /* + * Conditional branches + * Bcond + */ + else if ((instr & 0xF000) == 0xD000) { + int32_t branchValue = (instr & 0xFF); + if (branchValue & 0x80) branchValue |= 0xFFFFFF00; + + /* Branch distance is twice that specified in the instruction. */ + branchValue *= 2; + + UnwPrintd2("Bcond %d \n", branchValue); + + /* Only take the branch if a loop was detected */ + if (loopDetected) { + + /* Update PC */ + state->regData[15].v += branchValue; + + /* Need to advance by a word to account for pre-fetch. + * Advance by a half word here, allowing the normal address + * advance to account for the other half word. + */ + state->regData[15].v += 2; + + /* Display PC of next instruction */ + UnwPrintd2(" New PC=%x", state->regData[15].v + 2); + } + } + + /* Format 18: unconditional branch + * B label + */ + else if ((instr & 0xF800) == 0xE000) { + uint32_t v; + int32_t branchValue = signExtend11(instr & 0x07FF); + + /* Branch distance is twice that specified in the instruction. */ + branchValue *= 2; + + UnwPrintd2("B %d \n", branchValue); + + /* Update PC */ + state->regData[15].v += branchValue; + + /* Need to advance by a word to account for pre-fetch. + * Advance by a half word here, allowing the normal address + * advance to account for the other half word. + */ + state->regData[15].v += 2; + + /* Compute the jump address */ + v = state->regData[15].v + 2; + + /* Display PC of next instruction */ + UnwPrintd2(" New PC=%x", v); + + /* Did we detect an infinite loop ? */ + loopDetected = lastJumpAddr == v; + + /* Remember the last address we jumped to */ + lastJumpAddr = v; + } + else { + UnwPrintd1("????"); + + /* Unknown/undecoded. May alter some register, so invalidate file */ + UnwInvalidateRegisterFile(state->regData); + } + + UnwPrintd1("\n"); + + /* Should never hit the reset vector */ + if (state->regData[15].v == 0) return UNWIND_RESET; + + /* Check next address */ + state->regData[15].v += 2; + + /* Garbage collect the memory hash (used only for the stack) */ + UnwMemHashGC(state); + + if (--t == 0) return UNWIND_EXHAUSTED; + + } + + return UNWIND_SUCCESS; +} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp b/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp new file mode 100644 index 0000000000..148927a19f --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp @@ -0,0 +1,430 @@ +/* + * Libbacktrace + * Copyright 2015 Stephen Street + * + * This Source Code Form is subject to the terms of the Mozilla Public + * License, v. 2.0. If a copy of the MPL was not distributed with this + * file, You can obtain one at https://www.mozilla.org/en-US/MPL/2.0/ + * + * This library was modified, some bugs fixed, stack address validated + * and adapted to be used in Marlin 3D printer firmware as backtracer + * for exceptions for debugging purposes in 2018 by Eduardo José Tagle. + */ + +#if defined(__arm__) || defined(__thumb__) + +#include "unwarmbytab.h" + +#include +#include + +/* These symbols point to the unwind index and should be provide by the linker script */ +extern "C" const UnwTabEntry __exidx_start[]; +extern "C" const UnwTabEntry __exidx_end[]; + +/* This prevents the linking of libgcc unwinder code */ +void __aeabi_unwind_cpp_pr0() {}; +void __aeabi_unwind_cpp_pr1() {}; +void __aeabi_unwind_cpp_pr2() {}; + +static inline __attribute__((always_inline)) uint32_t prel31_to_addr(const uint32_t *prel31) { + uint32_t offset = (((uint32_t)(*prel31)) << 1) >> 1; + return ((uint32_t)prel31 + offset) & 0x7FFFFFFF; +} + +static const UnwTabEntry *UnwTabSearchIndex(const UnwTabEntry *start, const UnwTabEntry *end, uint32_t ip) { + const UnwTabEntry *middle; + + /* Perform a binary search of the unwind index */ + while (start < end - 1) { + middle = start + ((end - start + 1) >> 1); + if (ip < prel31_to_addr(&middle->addr_offset)) + end = middle; + else + start = middle; + } + return start; +} + +/* + * Get the function name or nullptr if not found + */ +static const char *UnwTabGetFunctionName(const UnwindCallbacks *cb, uint32_t address) { + uint32_t flag_word = 0; + if (!cb->readW(address-4,&flag_word)) + return nullptr; + + if ((flag_word & 0xFF000000) == 0xFF000000) { + return (const char *)(address - 4 - (flag_word & 0x00FFFFFF)); + } + return nullptr; +} + +/** + * Get the next frame unwinding instruction + * + * Return either the instruction or -1 to signal no more instructions + * are available + */ +static int UnwTabGetNextInstruction(const UnwindCallbacks *cb, UnwTabState *ucb) { + int instruction; + + /* Are there more instructions */ + if (ucb->remaining == 0) + return -1; + + /* Extract the current instruction */ + uint32_t v = 0; + if (!cb->readW(ucb->current, &v)) + return -1; + instruction = (v >> (ucb->byte << 3)) & 0xFF; + + /* Move the next byte */ + --ucb->byte; + if (ucb->byte < 0) { + ucb->current += 4; + ucb->byte = 3; + } + --ucb->remaining; + + return instruction; +} + +/** + * Initialize the frame unwinding state + */ +static UnwResult UnwTabStateInit(const UnwindCallbacks *cb, UnwTabState *ucb, uint32_t instructions, const UnwindFrame *frame) { + + /* Initialize control block */ + memset(ucb, 0, sizeof(UnwTabState)); + ucb->current = instructions; + + /* Is a short unwind description */ + uint32_t v = 0; + if (!cb->readW(instructions, &v)) + return UNWIND_DREAD_W_FAIL; + + if ((v & 0xFF000000) == 0x80000000) { + ucb->remaining = 3; + ucb->byte = 2; + /* Is a long unwind description */ + } else if ((v & 0xFF000000) == 0x81000000) { + ucb->remaining = ((v & 0x00FF0000) >> 14) + 2; + ucb->byte = 1; + } else + return UNWIND_UNSUPPORTED_DWARF_PERSONALITY; + + /* Initialize the virtual register set */ + ucb->vrs[7] = frame->fp; + ucb->vrs[13] = frame->sp; + ucb->vrs[14] = frame->lr; + ucb->vrs[15] = 0; + + /* All good */ + return UNWIND_SUCCESS; +} + +/* + * Execute unwinding instructions + */ +static UnwResult UnwTabExecuteInstructions(const UnwindCallbacks *cb, UnwTabState *ucb) { + int instruction; + uint32_t mask, reg, vsp; + + /* Consume all instruction byte */ + while ((instruction = UnwTabGetNextInstruction(cb, ucb)) != -1) { + + if ((instruction & 0xC0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP + /* vsp += (xxxxxx << 2) + 4 */ + ucb->vrs[13] += ((instruction & 0x3F) << 2) + 4; + } + else if ((instruction & 0xC0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH + /* vsp -= (xxxxxx << 2) - 4 */ + ucb->vrs[13] -= ((instruction & 0x3F) << 2) - 4; + } + else if ((instruction & 0xF0) == 0x80) { + /* pop under mask {r15-r12},{r11-r4} or refuse to unwind */ + instruction = instruction << 8 | UnwTabGetNextInstruction(cb, ucb); + + /* Check for refuse to unwind */ + if (instruction == 0x8000) // ARM_EXIDX_CMD_REFUSED + return UNWIND_REFUSED; + + /* Pop registers using mask */ // ARM_EXIDX_CMD_REG_POP + vsp = ucb->vrs[13]; + mask = instruction & 0xFFF; + + reg = 4; + while (mask) { + if ((mask & 1) != 0) { + uint32_t v; + if (!cb->readW(vsp,&v)) + return UNWIND_DREAD_W_FAIL; + ucb->vrs[reg] = v; + v += 4; + } + mask >>= 1; + ++reg; + } + + /* Patch up the vrs sp if it was in the mask */ + if (instruction & (1 << (13 - 4))) + ucb->vrs[13] = vsp; + } + else if ((instruction & 0xF0) == 0x90 // ARM_EXIDX_CMD_REG_TO_SP + && instruction != 0x9D + && instruction != 0x9F + ) { + /* vsp = r[nnnn] */ + ucb->vrs[13] = ucb->vrs[instruction & 0x0F]; + } + else if ((instruction & 0xF0) == 0xA0) { // ARM_EXIDX_CMD_REG_POP + /* pop r4-r[4+nnn] or pop r4-r[4+nnn], r14*/ + vsp = ucb->vrs[13]; + + for (reg = 4; reg <= uint32_t((instruction & 0x07) + 4); ++reg) { + uint32_t v; + if (!cb->readW(vsp,&v)) + return UNWIND_DREAD_W_FAIL; + + ucb->vrs[reg] = v; + vsp += 4; + } + + if (instruction & 0x08) { // ARM_EXIDX_CMD_REG_POP + uint32_t v; + if (!cb->readW(vsp,&v)) + return UNWIND_DREAD_W_FAIL; + ucb->vrs[14] = v; + vsp += 4; + } + + ucb->vrs[13] = vsp; + + } + else if (instruction == 0xB0) { // ARM_EXIDX_CMD_FINISH + /* finished */ + if (ucb->vrs[15] == 0) + ucb->vrs[15] = ucb->vrs[14]; + + /* All done unwinding */ + return UNWIND_SUCCESS; + + } + else if (instruction == 0xB1) { // ARM_EXIDX_CMD_REG_POP + /* pop register under mask {r3,r2,r1,r0} */ + vsp = ucb->vrs[13]; + mask = UnwTabGetNextInstruction(cb, ucb); + + reg = 0; + while (mask) { + if ((mask & 1) != 0) { + uint32_t v; + if (!cb->readW(vsp,&v)) + return UNWIND_DREAD_W_FAIL; + + ucb->vrs[reg] = v; + vsp += 4; + } + mask >>= 1; + ++reg; + } + ucb->vrs[13] = (uint32_t)vsp; + + } + else if (instruction == 0xB2) { // ARM_EXIDX_CMD_DATA_POP + /* vps = vsp + 0x204 + (uleb128 << 2) */ + ucb->vrs[13] += 0x204 + (UnwTabGetNextInstruction(cb, ucb) << 2); + } + else if (instruction == 0xB3 // ARM_EXIDX_CMD_VFP_POP + || instruction == 0xC8 + || instruction == 0xC9 + ) { + /* pop VFP double-precision registers */ + vsp = ucb->vrs[13]; + + /* D[ssss]-D[ssss+cccc] */ + uint32_t v; + if (!cb->readW(vsp,&v)) + return UNWIND_DREAD_W_FAIL; + + ucb->vrs[14] = v; + vsp += 4; + + if (instruction == 0xC8) { + /* D[16+sssss]-D[16+ssss+cccc] */ + ucb->vrs[14] |= 1 << 16; + } + + if (instruction != 0xB3) { + /* D[sssss]-D[ssss+cccc] */ + ucb->vrs[14] |= 1 << 17; + } + + ucb->vrs[13] = vsp; + } + else if ((instruction & 0xF8) == 0xB8 || (instruction & 0xF8) == 0xD0) { + /* Pop VFP double precision registers D[8]-D[8+nnn] */ + ucb->vrs[14] = 0x80 | (instruction & 0x07); + if ((instruction & 0xF8) == 0xD0) + ucb->vrs[14] = 1 << 17; + } + else + return UNWIND_UNSUPPORTED_DWARF_INSTR; + } + return UNWIND_SUCCESS; +} + +static inline __attribute__((always_inline)) uint32_t read_psp() { + /* Read the current PSP and return its value as a pointer */ + uint32_t psp; + + __asm__ volatile ( + " mrs %0, psp \n" + : "=r" (psp) : : + ); + + return psp; +} + +/* + * Unwind the specified frame and goto the previous one + */ +static UnwResult UnwTabUnwindFrame(const UnwindCallbacks *cb, UnwindFrame *frame) { + + UnwResult err; + UnwTabState ucb; + const UnwTabEntry *index; + uint32_t instructions; + + /* Search the unwind index for the matching unwind table */ + index = UnwTabSearchIndex(__exidx_start, __exidx_end, frame->pc); + + /* Make sure we can unwind this frame */ + if (index->insn == 0x00000001) + return UNWIND_SUCCESS; + + /* Get the pointer to the first unwind instruction */ + if (index->insn & 0x80000000) + instructions = (uint32_t)&index->insn; + else + instructions = prel31_to_addr(&index->insn); + + /* Initialize the unwind control block */ + if ((err = UnwTabStateInit(cb, &ucb, instructions, frame)) < 0) + return err; + + /* Execute the unwind instructions */ + err = UnwTabExecuteInstructions(cb, &ucb); + if (err < 0) + return err; + + /* Set the virtual pc to the virtual lr if this is the first unwind */ + if (ucb.vrs[15] == 0) + ucb.vrs[15] = ucb.vrs[14]; + + /* Check for exception return */ + /* TODO Test with other ARM processors to verify this method. */ + if ((ucb.vrs[15] & 0xF0000000) == 0xF0000000) { + /* According to the Cortex Programming Manual (p.44), the stack address is always 8-byte aligned (Cortex-M7). + Depending on where the exception came from (MSP or PSP), we need the right SP value to work with. + + ucb.vrs[7] contains the right value, so take it and align it by 8 bytes, store it as the current + SP to work with (ucb.vrs[13]) which is then saved as the current (virtual) frame's SP. + */ + uint32_t stack; + ucb.vrs[13] = (ucb.vrs[7] & ~7); + + /* If we need to start from the MSP, we need to go down X words to find the PC, where: + X=2 if it was a non-floating-point exception + X=20 if it was a floating-point (VFP) exception + + If we need to start from the PSP, we need to go up exactly 6 words to find the PC. + See the ARMv7-M Architecture Reference Manual p.594 and Cortex-M7 Processor Programming Manual p.44/p.45 for details. + */ + if ((ucb.vrs[15] & 0xC) == 0) { + /* Return to Handler Mode: MSP (0xFFFFFF-1) */ + stack = ucb.vrs[13]; + + /* The PC is always 2 words down from the MSP, if it was a non-floating-point exception */ + stack -= 2*4; + + /* If there was a VFP exception (0xFFFFFFE1), the PC is located another 18 words down */ + if ((ucb.vrs[15] & 0xF0) == 0xE0) { + stack -= 18*4; + } + } + else { + /* Return to Thread Mode: PSP (0xFFFFFF-d) */ + stack = read_psp(); + + /* The PC is always 6 words up from the PSP */ + stack += 6*4; + } + + /* Store the PC */ + uint32_t v; + if (!cb->readW(stack,&v)) + return UNWIND_DREAD_W_FAIL; + ucb.vrs[15] = v; + stack -= 4; + + /* Store the LR */ + if (!cb->readW(stack,&v)) + return UNWIND_DREAD_W_FAIL; + ucb.vrs[14] = v; + stack -= 4; + } + + /* We are done if current frame pc is equal to the virtual pc, prevent infinite loop */ + if (frame->pc == ucb.vrs[15]) + return UNWIND_SUCCESS; + + /* Update the frame */ + frame->fp = ucb.vrs[7]; + frame->sp = ucb.vrs[13]; + frame->lr = ucb.vrs[14]; + frame->pc = ucb.vrs[15]; + + /* All good - Continue unwinding */ + return UNWIND_MORE_AVAILABLE; +} + +UnwResult UnwindByTableStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data) { + + UnwResult err = UNWIND_SUCCESS; + UnwReport entry; + + /* Use DWARF unwind information to unwind frames */ + do { + if (frame->pc == 0) { + /* Reached __exidx_end. */ + break; + } + + if (frame->pc == 0x00000001) { + /* Reached .cantunwind instruction. */ + break; + } + + /* Find the unwind index of the current frame pc */ + const UnwTabEntry *index = UnwTabSearchIndex(__exidx_start, __exidx_end, frame->pc); + + /* Clear last bit (Thumb indicator) */ + frame->pc &= 0xFFFFFFFEU; + + /* Generate the backtrace information */ + entry.address = frame->pc; + entry.function = prel31_to_addr(&index->addr_offset); + entry.name = UnwTabGetFunctionName(cb, entry.function); + if (!cb->report(data,&entry)) + break; + + /* Unwind frame and repeat */ + } while ((err = UnwTabUnwindFrame(cb, frame)) == UNWIND_MORE_AVAILABLE); + + /* All done */ + return err; +} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/backtrace/unwarmbytab.h b/Marlin/src/HAL/shared/backtrace/unwarmbytab.h new file mode 100644 index 0000000000..53aeca2594 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarmbytab.h @@ -0,0 +1,31 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Interface to the memory tracking sub-system. + **************************************************************************/ + +#pragma once + +#include "unwarm.h" + +typedef struct { + uint32_t vrs[16]; + uint32_t current; /* Address of current byte */ + int remaining; + int byte; +} UnwTabState; + +typedef struct { + uint32_t addr_offset; + uint32_t insn; +} UnwTabEntry; + +UnwResult UnwindByTableStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data); diff --git a/Marlin/src/HAL/shared/backtrace/unwarmmem.cpp b/Marlin/src/HAL/shared/backtrace/unwarmmem.cpp new file mode 100644 index 0000000000..24023200e1 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarmmem.cpp @@ -0,0 +1,106 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Implementation of the memory tracking sub-system. + **************************************************************************/ + +#if defined(__arm__) || defined(__thumb__) +#define MODULE_NAME "UNWARMMEM" + +#include +#include "unwarmmem.h" +#include "unwarm.h" + +#define M_IsIdxUsed(a, v) !!((a)[v >> 3] & (1 << (v & 0x7))) +#define M_SetIdxUsed(a, v) ((a)[v >> 3] |= (1 << (v & 0x7))) +#define M_ClrIdxUsed(a, v) ((a)[v >> 3] &= ~(1 << (v & 0x7))) + +/** Search the memory hash to see if an entry is stored in the hash already. + * This will search the hash and either return the index where the item is + * stored, or -1 if the item was not found. + */ +static int16_t memHashIndex(MemData * const memData, const uint32_t addr) { + + const uint16_t v = addr % MEM_HASH_SIZE; + uint16_t s = v; + + do { + /* Check if the element is occupied */ + if (M_IsIdxUsed(memData->used, s)) { + /* Check if it is occupied with the sought data */ + if (memData->a[s] == addr) return s; + } + else { + /* Item is free, this is where the item should be stored */ + return s; + } + + /* Search the next entry */ + s++; + if (s > MEM_HASH_SIZE) s = 0; + } while (s != v); + + /* Search failed, hash is full and the address not stored */ + return -1; +} + +bool UnwMemHashRead(MemData * const memData, uint32_t addr,uint32_t * const data, bool * const tracked) { + + const int16_t i = memHashIndex(memData, addr); + + if (i >= 0 && M_IsIdxUsed(memData->used, i) && memData->a[i] == addr) { + *data = memData->v[i]; + *tracked = M_IsIdxUsed(memData->tracked, i); + return true; + } + else { + /* Address not found in the hash */ + return false; + } +} + +bool UnwMemHashWrite(MemData * const memData, uint32_t addr, uint32_t val, bool valValid) { + const int16_t i = memHashIndex(memData, addr); + if (i < 0) return false; /* Hash full */ + + /* Store the item */ + memData->a[i] = addr; + M_SetIdxUsed(memData->used, i); + + if (valValid) { + memData->v[i] = val; + M_SetIdxUsed(memData->tracked, i); + } + else { + #ifdef UNW_DEBUG + memData->v[i] = 0xDEADBEEF; + #endif + M_ClrIdxUsed(memData->tracked, i); + } + + return true; +} + +void UnwMemHashGC(UnwState * const state) { + + const uint32_t minValidAddr = state->regData[13].v; + MemData * const memData = &state->memData; + uint16_t t; + + for (t = 0; t < MEM_HASH_SIZE; t++) { + if (M_IsIdxUsed(memData->used, t) && (memData->a[t] < minValidAddr)) { + UnwPrintd3("MemHashGC: Free elem %d, addr 0x%08x\n", t, memData->a[t]); + M_ClrIdxUsed(memData->used, t); + } + } +} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/backtrace/unwarmmem.h b/Marlin/src/HAL/shared/backtrace/unwarmmem.h new file mode 100644 index 0000000000..eb4579a761 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwarmmem.h @@ -0,0 +1,21 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Interface to the memory tracking sub-system. + **************************************************************************/ + +#pragma once + +#include "unwarm.h" + +bool UnwMemHashRead(MemData * const memData, uint32_t addr, uint32_t * const data, bool * const tracked); +bool UnwMemHashWrite(MemData * const memData, uint32_t addr, uint32_t val, bool valValid); +void UnwMemHashGC(UnwState * const state); diff --git a/Marlin/src/HAL/shared/backtrace/unwinder.cpp b/Marlin/src/HAL/shared/backtrace/unwinder.cpp new file mode 100644 index 0000000000..aedfa2404d --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwinder.cpp @@ -0,0 +1,52 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Implementation of the interface into the ARM unwinder. + **************************************************************************/ + +#if defined(__arm__) || defined(__thumb__) + +#define MODULE_NAME "UNWINDER" + +#include +#include +#include "unwinder.h" +#include "unwarm.h" +#include "unwarmbytab.h" + +/* These symbols point to the unwind index and should be provide by the linker script */ +extern "C" const UnwTabEntry __exidx_start[]; +extern "C" const UnwTabEntry __exidx_end[]; + +// Detect if unwind information is present or not +static int HasUnwindTableInfo() { + // > 16 because there are default entries we can't suppress + return ((char*)(&__exidx_end) - (char*)(&__exidx_start)) > 16 ? 1 : 0; +} + +UnwResult UnwindStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data) { + if (HasUnwindTableInfo()) { + /* We have unwind information tables */ + return UnwindByTableStart(frame, cb, data); + } + else { + + /* We don't have unwind information tables */ + UnwState state; + + /* Initialize the unwinding state */ + UnwInitState(&state, cb, data, frame->pc, frame->sp); + + /* Check the Thumb bit */ + return (frame->pc & 0x1) ? UnwStartThumb(&state) : UnwStartArm(&state); + } +} +#endif diff --git a/Marlin/src/HAL/shared/backtrace/unwinder.h b/Marlin/src/HAL/shared/backtrace/unwinder.h new file mode 100644 index 0000000000..9280e2f36e --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwinder.h @@ -0,0 +1,172 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + **************************************************************************/ +/** \file + * Interface to the ARM stack unwinding module. + **************************************************************************/ + +#pragma once + +#include + +/** \def UNW_DEBUG + * If this define is set, additional information will be produced while + * unwinding the stack to allow debug of the unwind module itself. + */ +/* #define UNW_DEBUG 1 */ + +/*************************************************************************** + * Type Definitions + **************************************************************************/ + +/** Possible results for UnwindStart to return. + */ +typedef enum { + /** Unwinding was successful and complete. */ + UNWIND_SUCCESS = 0, + + /** Not an error: More frames are available. */ + UNWIND_MORE_AVAILABLE = 1, + + /** Unsupported DWARF unwind personality. */ + UNWIND_UNSUPPORTED_DWARF_PERSONALITY = -1, + + /** Refused to perform unwind. */ + UNWIND_REFUSED = -2, + + /** Reached an invalid SP. */ + UNWIND_INVALID_SP = -3, + + /** Reached an invalid PC */ + UNWIND_INVALID_PC = -4, + + /** Unsupported DWARF instruction */ + UNWIND_UNSUPPORTED_DWARF_INSTR = -5, + + /** More than UNW_MAX_INSTR_COUNT instructions were interpreted. */ + UNWIND_EXHAUSTED = -6, + + /** Unwinding stopped because the reporting func returned false. */ + UNWIND_TRUNCATED = -7, + + /** Read data was found to be inconsistent. */ + UNWIND_INCONSISTENT = -8, + + /** Unsupported instruction or data found. */ + UNWIND_UNSUPPORTED = -9, + + /** General failure. */ + UNWIND_FAILURE = -10, + + /** Illegal instruction. */ + UNWIND_ILLEGAL_INSTR = -11, + + /** Unwinding hit the reset vector. */ + UNWIND_RESET = -12, + + /** Failed read for an instruction word. */ + UNWIND_IREAD_W_FAIL = -13, + + /** Failed read for an instruction half-word. */ + UNWIND_IREAD_H_FAIL = -14, + + /** Failed read for an instruction byte. */ + UNWIND_IREAD_B_FAIL = -15, + + /** Failed read for a data word. */ + UNWIND_DREAD_W_FAIL = -16, + + /** Failed read for a data half-word. */ + UNWIND_DREAD_H_FAIL = -17, + + /** Failed read for a data byte. */ + UNWIND_DREAD_B_FAIL = -18, + + /** Failed write for a data word. */ + UNWIND_DWRITE_W_FAIL = -19 + +} UnwResult; + +/** A backtrace report */ +typedef struct { + uint32_t function; /** Starts address of function */ + const char *name; /** Function name, or null if not available */ + uint32_t address; /** PC on that function */ +} UnwReport; + +/** Type for function pointer for result callback. + * The function is passed two parameters, the first is a void * pointer, + * and the second is the return address of the function. The bottom bit + * of the passed address indicates the execution mode; if it is set, + * the execution mode at the return address is Thumb, otherwise it is + * ARM. + * + * The return value of this function determines whether unwinding should + * continue or not. If true is returned, unwinding will continue and the + * report function maybe called again in future. If false is returned, + * unwinding will stop with UnwindStart() returning UNWIND_TRUNCATED. + */ +typedef bool (*UnwindReportFunc)(void *data, const UnwReport *bte); + +/** Structure that holds memory callback function pointers. + */ +typedef struct { + + /** Report an unwind result. */ + UnwindReportFunc report; + + /** Read a 32 bit word from memory. + * The memory address to be read is passed as \a address, and + * \a *val is expected to be populated with the read value. + * If the address cannot or should not be read, false can be + * returned to indicate that unwinding should stop. If true + * is returned, \a *val is assumed to be valid and unwinding + * will continue. + */ + bool (*readW)(const uint32_t address, uint32_t *val); + + /** Read a 16 bit half-word from memory. + * This function has the same usage as for readW, but is expected + * to read only a 16 bit value. + */ + bool (*readH)(const uint32_t address, uint16_t *val); + + /** Read a byte from memory. + * This function has the same usage as for readW, but is expected + * to read only an 8 bit value. + */ + bool (*readB)(const uint32_t address, uint8_t *val); + + #ifdef UNW_DEBUG + /** Print a formatted line for debug. */ + void (*printf)(const char *format, ...); + #endif +} UnwindCallbacks; + +/* A frame */ +typedef struct { + uint32_t fp; + uint32_t sp; + uint32_t lr; + uint32_t pc; +} UnwindFrame; + +/** Start unwinding the current stack. + * This will unwind the stack starting at the PC value supplied to in the + * link register (i.e. not a normal register) and the stack pointer value + * supplied. + * + * -If the program was compiled with -funwind-tables it will use them to + * perform the traceback. Otherwise, brute force will be employed + * -If the program was compiled with -mpoke-function-name, then you will + * get function names in the traceback. Otherwise, you will not. + */ +UnwResult UnwindStart(UnwindFrame* frame, const UnwindCallbacks *cb, void *data); diff --git a/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp new file mode 100644 index 0000000000..a4151b38c2 --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp @@ -0,0 +1,210 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Utility functions to access memory + **************************************************************************/ + +#if defined(__arm__) || defined(__thumb__) + +#include "unwmemaccess.h" +#include "../../../inc/MarlinConfig.h" + +/* Validate address */ + +#ifdef ARDUINO_ARCH_SAM + + // For DUE, valid address ranges are + // SRAM (0x20070000 - 0x20088000) (96kb) + // FLASH (0x00080000 - 0x00100000) (512kb) + // + #define START_SRAM_ADDR 0x20070000 + #define END_SRAM_ADDR 0x20088000 + #define START_FLASH_ADDR 0x00080000 + #define END_FLASH_ADDR 0x00100000 + +#elif defined(TARGET_LPC1768) + + // For LPC1769: + // SRAM (0x10000000 - 0x10008000) (32kb) + // FLASH (0x00000000 - 0x00080000) (512kb) + // + #define START_SRAM_ADDR 0x10000000 + #define END_SRAM_ADDR 0x10008000 + #define START_FLASH_ADDR 0x00000000 + #define END_FLASH_ADDR 0x00080000 + +#elif defined(__STM32F1__) || defined(STM32F1xx) || defined(STM32F0xx) || defined(STM32G0xx) + + // For STM32F103ZET6/STM32F103VET6/STM32F0xx + // SRAM (0x20000000 - 0x20010000) (64kb) + // FLASH (0x08000000 - 0x08080000) (512kb) + // + #define START_SRAM_ADDR 0x20000000 + #define END_SRAM_ADDR 0x20010000 + #define START_FLASH_ADDR 0x08000000 + #define END_FLASH_ADDR 0x08080000 + +#elif defined(STM32F4) || defined(STM32F4xx) + + // For STM32F407VET + // SRAM (0x20000000 - 0x20030000) (192kb) + // FLASH (0x08000000 - 0x08080000) (512kb) + // + #define START_SRAM_ADDR 0x20000000 + #define END_SRAM_ADDR 0x20030000 + #define START_FLASH_ADDR 0x08000000 + #define END_FLASH_ADDR 0x08080000 + +#elif MB(REMRAM_V1, NUCLEO_F767ZI) + + // For STM32F765VI in RemRam v1 + // SRAM (0x20000000 - 0x20080000) (512kb) + // FLASH (0x08000000 - 0x08200000) (2048kb) + // + #define START_SRAM_ADDR 0x20000000 + #define END_SRAM_ADDR 0x20080000 + #define START_FLASH_ADDR 0x08000000 + #define END_FLASH_ADDR 0x08200000 + +#elif defined(__MK20DX256__) + + // For MK20DX256 in TEENSY 3.1 or TEENSY 3.2 + // SRAM (0x1FFF8000 - 0x20008000) (64kb) + // FLASH (0x00000000 - 0x00040000) (256kb) + // + #define START_SRAM_ADDR 0x1FFF8000 + #define END_SRAM_ADDR 0x20008000 + #define START_FLASH_ADDR 0x00000000 + #define END_FLASH_ADDR 0x00040000 + +#elif defined(__MK64FX512__) + + // For MK64FX512 in TEENSY 3.5 + // SRAM (0x1FFF0000 - 0x20020000) (192kb) + // FLASH (0x00000000 - 0x00080000) (512kb) + // + #define START_SRAM_ADDR 0x1FFF0000 + #define END_SRAM_ADDR 0x20020000 + #define START_FLASH_ADDR 0x00000000 + #define END_FLASH_ADDR 0x00080000 + +#elif defined(__MK66FX1M0__) + + // For MK66FX1M0 in TEENSY 3.6 + // SRAM (0x1FFF0000 - 0x20030000) (256kb) + // FLASH (0x00000000 - 0x00140000) (1.25Mb) + // + #define START_SRAM_ADDR 0x1FFF0000 + #define END_SRAM_ADDR 0x20030000 + #define START_FLASH_ADDR 0x00000000 + #define END_FLASH_ADDR 0x00140000 + +#elif defined(__IMXRT1062__) + + // For IMXRT1062 in TEENSY 4.0/4/1 + // ITCM (rwx): ORIGIN = 0x00000000, LENGTH = 512K + // DTCM (rwx): ORIGIN = 0x20000000, LENGTH = 512K + // RAM (rwx): ORIGIN = 0x20200000, LENGTH = 512K + // FLASH (rwx): ORIGIN = 0x60000000, LENGTH = 1984K + // + #define START_SRAM_ADDR 0x00000000 + #define END_SRAM_ADDR 0x20280000 + #define START_FLASH_ADDR 0x60000000 + #define END_FLASH_ADDR 0x601F0000 + +#elif defined(__SAMD51P20A__) + + // For SAMD51x20, valid address ranges are + // SRAM (0x20000000 - 0x20040000) (256kb) + // FLASH (0x00000000 - 0x00100000) (1024kb) + // + #define START_SRAM_ADDR 0x20000000 + #define END_SRAM_ADDR 0x20040000 + #define START_FLASH_ADDR 0x00000000 + #define END_FLASH_ADDR 0x00100000 + +#else + // Generic ARM code, that's testing if an access to the given address would cause a fault or not + // It can't guarantee an address is in RAM or Flash only, but we usually don't care + + #define NVIC_FAULT_STAT 0xE000ED28 // Configurable Fault Status Reg. + #define NVIC_CFG_CTRL 0xE000ED14 // Configuration Control Register + #define NVIC_FAULT_STAT_BFARV 0x00008000 // BFAR is valid + #define NVIC_CFG_CTRL_BFHFNMIGN 0x00000100 // Ignore bus fault in NMI/fault + #define HW_REG(X) (*((volatile unsigned long *)(X))) + + static bool validate_addr(uint32_t read_address) { + bool works = true; + uint32_t intDisabled = 0; + // Read current interrupt state + __asm__ __volatile__ ("MRS %[result], PRIMASK\n\t" : [result]"=r"(intDisabled) :: ); // 0 is int enabled, 1 for disabled + + // Clear bus fault indicator first (write 1 to clear) + HW_REG(NVIC_FAULT_STAT) |= NVIC_FAULT_STAT_BFARV; + // Ignore bus fault interrupt + HW_REG(NVIC_CFG_CTRL) |= NVIC_CFG_CTRL_BFHFNMIGN; + // Disable interrupts if not disabled previously + if (!intDisabled) __asm__ __volatile__ ("CPSID f"); + // Probe address + *(volatile uint32_t*)read_address; + // Check if a fault happened + if ((HW_REG(NVIC_FAULT_STAT) & NVIC_FAULT_STAT_BFARV) != 0) + works = false; + // Enable interrupts again if previously disabled + if (!intDisabled) __asm__ __volatile__ ("CPSIE f"); + // Enable fault interrupt flag + HW_REG(NVIC_CFG_CTRL) &= ~NVIC_CFG_CTRL_BFHFNMIGN; + + return works; + } + +#endif + +#ifdef START_SRAM_ADDR + static bool validate_addr(uint32_t addr) { + + // Address must be in SRAM range + if (addr >= START_SRAM_ADDR && addr < END_SRAM_ADDR) + return true; + + // Or in FLASH range + if (addr >= START_FLASH_ADDR && addr < END_FLASH_ADDR) + return true; + + return false; + } +#endif + +bool UnwReadW(const uint32_t a, uint32_t *v) { + if (!validate_addr(a)) + return false; + + *v = *(uint32_t *)a; + return true; +} + +bool UnwReadH(const uint32_t a, uint16_t *v) { + if (!validate_addr(a)) + return false; + + *v = *(uint16_t *)a; + return true; +} + +bool UnwReadB(const uint32_t a, uint8_t *v) { + if (!validate_addr(a)) + return false; + + *v = *(uint8_t *)a; + return true; +} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/backtrace/unwmemaccess.h b/Marlin/src/HAL/shared/backtrace/unwmemaccess.h new file mode 100644 index 0000000000..b911e343dc --- /dev/null +++ b/Marlin/src/HAL/shared/backtrace/unwmemaccess.h @@ -0,0 +1,22 @@ +/*************************************************************************** + * ARM Stack Unwinder, Michael.McTernan.2001@cs.bris.ac.uk + * Updated, adapted and several bug fixes on 2018 by Eduardo José Tagle + * + * This program is PUBLIC DOMAIN. + * This means that there is no copyright and anyone is able to take a copy + * for free and use it as they wish, with or without modifications, and in + * any context, commercially or otherwise. The only limitation is that I + * don't guarantee that the software is fit for any purpose or accept any + * liability for its use or misuse - this software is without warranty. + *************************************************************************** + * File Description: Utility functions to access memory + **************************************************************************/ + +#pragma once + +#include "unwarm.h" +#include + +bool UnwReadW(const uint32_t a, uint32_t *v); +bool UnwReadH(const uint32_t a, uint16_t *v); +bool UnwReadB(const uint32_t a, uint8_t *v); diff --git a/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp b/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp new file mode 100644 index 0000000000..e54661c770 --- /dev/null +++ b/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp @@ -0,0 +1,379 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * Copyright (c) 2020 Cyril Russo + * + * 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 . + * + */ + +/*************************************************************************** + * ARM CPU Exception handler + ***************************************************************************/ + +#if defined(__arm__) || defined(__thumb__) + + +/* + On ARM CPUs exception handling is quite powerful. + + By default, upon a crash, the CPU enters the handlers that have a higher priority than any other interrupts, + so, in effect, no (real) interrupt can "interrupt" the handler (it's acting like if interrupts were disabled). + + If the handler is not called as re-entrant (that is, if the crash is not happening inside an interrupt or an handler), + then it'll patch the return address to a dumping function (resume_from_fault) and save the crash state. + The CPU will exit the handler and, as such, re-allow the other interrupts, and jump to the dumping function. + In this function, the usual serial port (USB / HW) will be used to dump the crash (no special configuration required). + + The only case where it requires hardware UART is when it's crashing in an interrupt or a crash handler. + In that case, instead of returning to the resume_from_fault function (and thus, re-enabling interrupts), + it jumps to this function directly (so with interrupts disabled), after changing the behavior of the serial output + wrapper to use the HW uart (and in effect, calling MinSerial::init which triggers a warning if you are using + a USB serial port). + + In the case you have a USB serial port, this part will be disabled, and only that part (so that's the reason for + the warning). + This means that you can't have a crash report if the crash happens in an interrupt or an handler if you are using + a USB serial port since it's physically impossible. + You will get a crash report in all other cases. +*/ + +#include "exception_hook.h" +#include "../backtrace/backtrace.h" +#include "../MinSerial.h" + +#define HW_REG(X) (*((volatile unsigned long *)(X))) + +// Default function use the CPU VTOR register to get the vector table. +// Accessing the CPU VTOR register is done in assembly since it's the only way that's common to all current tool +unsigned long get_vtor() { return HW_REG(0xE000ED08); } // Even if it looks like an error, it is not an error +void * hook_get_hardfault_vector_address(unsigned vtor) { return (void*)(vtor + 0x03); } +void * hook_get_memfault_vector_address(unsigned vtor) { return (void*)(vtor + 0x04); } +void * hook_get_busfault_vector_address(unsigned vtor) { return (void*)(vtor + 0x05); } +void * hook_get_usagefault_vector_address(unsigned vtor) { return (void*)(vtor + 0x06); } +void * hook_get_reserved_vector_address(unsigned vtor) { return (void*)(vtor + 0x07); } + +// Common exception frame for ARM, should work for all ARM CPU +// Described here (modified for convenience): https://interrupt.memfault.com/blog/cortex-m-fault-debug +struct __attribute__((packed)) ContextStateFrame { + uint32_t r0; + uint32_t r1; + uint32_t r2; + uint32_t r3; + uint32_t r12; + uint32_t lr; + uint32_t pc; + uint32_t xpsr; +}; + +struct __attribute__((packed)) ContextSavedFrame { + uint32_t R0; + uint32_t R1; + uint32_t R2; + uint32_t R3; + uint32_t R12; + uint32_t LR; + uint32_t PC; + uint32_t XPSR; + + uint32_t CFSR; + uint32_t HFSR; + uint32_t DFSR; + uint32_t AFSR; + uint32_t MMAR; + uint32_t BFAR; + + uint32_t ESP; + uint32_t ELR; +}; + +#if NONE(STM32F0xx, STM32G0xx) + extern "C" + __attribute__((naked)) void CommonHandler_ASM() { + __asm__ __volatile__ ( + // Bit 2 of LR tells which stack pointer to use (either main or process, only main should be used anyway) + "tst lr, #4\n" + "ite eq\n" + "mrseq r0, msp\n" + "mrsne r0, psp\n" + // Save the LR in use when being interrupted + "mov r1, lr\n" + // Get the exception number from the ICSR register + "ldr r2, =0xE000ED00\n" + "ldr r2, [r2, #4]\n" + "b CommonHandler_C\n" + ); + } +#else // Cortex M0 does not support conditional mov and testing with a constant, so let's have a specific handler for it + extern "C" + __attribute__((naked)) void CommonHandler_ASM() { + __asm__ __volatile__ ( + ".syntax unified\n" + // Save the LR in use when being interrupted + "mov r1, lr\n" + // Get the exception number from the ICSR register + "ldr r2, =0xE000ED00\n" + "ldr r2, [r2, #4]\n" + "movs r0, #4\n" + "tst r1, r0\n" + "beq _MSP\n" + "mrs r0, psp\n" + "b CommonHandler_C\n" + "_MSP:\n" + "mrs r0, msp\n" + "b CommonHandler_C\n" + ); + } + + #if DISABLED(DYNAMIC_VECTORTABLE) // Cortex M0 requires the handler's address to be within 32kB to the actual function to be able to branch to it + extern "C" { + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_hardfault(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_busfault(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_usagefault(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_memmanage(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __exc_nmi(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception7(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception8(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception9(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception10(); + void __attribute__((naked, alias("CommonHandler_ASM"), nothrow)) __stm32reservedexception13(); + } + //TODO When going off from libmaple, you'll need to replace those by the one from STM32/HAL_MinSerial.cpp + #endif +#endif + +// Must be a macro to avoid creating a function frame +#define HALT_IF_DEBUGGING() \ + do { \ + if (HW_REG(0xE000EDF0) & _BV(0)) { \ + __asm("bkpt 1"); \ + } \ +} while (0) + +// Resume from a fault (if possible) so we can still use interrupt based code for serial output +// In that case, we will not jump back to the faulty code, but instead to a dumping code and then a +// basic loop with watchdog calling or manual resetting +static ContextSavedFrame savedFrame; +static uint8_t lastCause; +bool resume_from_fault() { + static const char* causestr[] = { "Thread", "Rsvd", "NMI", "Hard", "Mem", "Bus", "Usage", "7", "8", "9", "10", "SVC", "Dbg", "13", "PendSV", "SysTk", "IRQ" }; + // Reinit the serial link (might only work if implemented in each of your boards) + MinSerial::init(); + + MinSerial::TX("\n\n## Software Fault detected ##\n"); + MinSerial::TX("Cause: "); MinSerial::TX(causestr[min(lastCause, (uint8_t)16)]); MinSerial::TX('\n'); + + MinSerial::TX("R0 : "); MinSerial::TXHex(savedFrame.R0); MinSerial::TX('\n'); + MinSerial::TX("R1 : "); MinSerial::TXHex(savedFrame.R1); MinSerial::TX('\n'); + MinSerial::TX("R2 : "); MinSerial::TXHex(savedFrame.R2); MinSerial::TX('\n'); + MinSerial::TX("R3 : "); MinSerial::TXHex(savedFrame.R3); MinSerial::TX('\n'); + MinSerial::TX("R12 : "); MinSerial::TXHex(savedFrame.R12); MinSerial::TX('\n'); + MinSerial::TX("LR : "); MinSerial::TXHex(savedFrame.LR); MinSerial::TX('\n'); + MinSerial::TX("PC : "); MinSerial::TXHex(savedFrame.PC); MinSerial::TX('\n'); + MinSerial::TX("PSR : "); MinSerial::TXHex(savedFrame.XPSR); MinSerial::TX('\n'); + + // Configurable Fault Status Register + // Consists of MMSR, BFSR and UFSR + MinSerial::TX("CFSR : "); MinSerial::TXHex(savedFrame.CFSR); MinSerial::TX('\n'); + + // Hard Fault Status Register + MinSerial::TX("HFSR : "); MinSerial::TXHex(savedFrame.HFSR); MinSerial::TX('\n'); + + // Debug Fault Status Register + MinSerial::TX("DFSR : "); MinSerial::TXHex(savedFrame.DFSR); MinSerial::TX('\n'); + + // Auxiliary Fault Status Register + MinSerial::TX("AFSR : "); MinSerial::TXHex(savedFrame.AFSR); MinSerial::TX('\n'); + + // Read the Fault Address Registers. These may not contain valid values. + // Check BFARVALID/MMARVALID to see if they are valid values + // MemManage Fault Address Register + MinSerial::TX("MMAR : "); MinSerial::TXHex(savedFrame.MMAR); MinSerial::TX('\n'); + + // Bus Fault Address Register + MinSerial::TX("BFAR : "); MinSerial::TXHex(savedFrame.BFAR); MinSerial::TX('\n'); + + MinSerial::TX("ExcLR: "); MinSerial::TXHex(savedFrame.ELR); MinSerial::TX('\n'); + MinSerial::TX("ExcSP: "); MinSerial::TXHex(savedFrame.ESP); MinSerial::TX('\n'); + + // The stack pointer is pushed by 8 words upon entering an exception, so we need to revert this + backtrace_ex(savedFrame.ESP + 8*4, savedFrame.LR, savedFrame.PC); + + // Call the last resort function here + hook_last_resort_func(); + + const uint32_t start = millis(), end = start + 100; // 100ms should be enough + // We need to wait for the serial buffers to be output but we don't know for how long + // So we'll just need to refresh the watchdog for a while and then stop for the system to reboot + uint32_t last = start; + while (PENDING(last, end)) { + hal.watchdog_refresh(); + while (millis() == last) { /* nada */ } + last = millis(); + MinSerial::TX('.'); + } + + // Reset now by reinstantiating the bootloader's vector table + HW_REG(0xE000ED08) = 0; + // Restart watchdog + #if DISABLED(USE_WATCHDOG) + // No watchdog, let's perform ARMv7 reset instead by writing to AIRCR register with VECTKEY set to SYSRESETREQ + HW_REG(0xE000ED0C) = (HW_REG(0xE000ED0C) & 0x0000FFFF) | 0x05FA0004; + #endif + + while(1) {} // Bad luck, nothing worked +} + +// Make sure the compiler does not optimize the frame argument away +extern "C" +__attribute__((optimize("O0"))) +void CommonHandler_C(ContextStateFrame * frame, unsigned long lr, unsigned long cause) { + + // If you are using it'll stop here + HALT_IF_DEBUGGING(); + + // Save the state to backtrace later on (don't call memcpy here since the stack can be corrupted) + savedFrame.R0 = frame->r0; + savedFrame.R1 = frame->r1; + savedFrame.R2 = frame->r2; + savedFrame.R3 = frame->r3; + savedFrame.R12 = frame->r12; + savedFrame.LR = frame->lr; + savedFrame.PC = frame->pc; + savedFrame.XPSR= frame->xpsr; + lastCause = cause & 0x1FF; + + volatile uint32_t &CFSR = HW_REG(0xE000ED28); + savedFrame.CFSR = CFSR; + savedFrame.HFSR = HW_REG(0xE000ED2C); + savedFrame.DFSR = HW_REG(0xE000ED30); + savedFrame.AFSR = HW_REG(0xE000ED3C); + savedFrame.MMAR = HW_REG(0xE000ED34); + savedFrame.BFAR = HW_REG(0xE000ED38); + savedFrame.ESP = (unsigned long)frame; // Even on return, this should not be overwritten by the CPU + savedFrame.ELR = lr; + + // First check if we can resume from this exception to our own handler safely + // If we can, then we don't need to disable interrupts and the usual serial code + // can be used + + //const uint32_t non_usage_fault_mask = 0x0000FFFF; + //const bool non_usage_fault_occurred = (CFSR & non_usage_fault_mask) != 0; + // the bottom 8 bits of the xpsr hold the exception number of the + // executing exception or 0 if the processor is in Thread mode + const bool faulted_from_exception = ((frame->xpsr & 0xFF) != 0); + if (!faulted_from_exception) { // Not sure about the non_usage_fault, we want to try anyway, don't we ? && !non_usage_fault_occurred) + // Try to resume to our handler here + CFSR |= CFSR; // The ARM programmer manual says you must write to 1 all fault bits to clear them so this instruction is correct + // The frame will not be valid when returning anymore, let's clean it + savedFrame.CFSR = 0; + + frame->pc = (uint32_t)resume_from_fault; // Patch where to return to + frame->lr = 0xDEADBEEF; // If our handler returns (it shouldn't), let's make it trigger an exception immediately + frame->xpsr = _BV(24); // Need to clean the PSR register to thumb II only + MinSerial::force_using_default_output = true; + return; // The CPU will resume in our handler hopefully, and we'll try to use default serial output + } + + // Sorry, we need to emergency code here since the fault is too dangerous to recover from + MinSerial::force_using_default_output = false; + resume_from_fault(); +} + +void hook_cpu_exceptions() { + #if ENABLED(DYNAMIC_VECTORTABLE) + // On ARM 32bits CPU, the vector table is like this: + // 0x0C => Hardfault + // 0x10 => MemFault + // 0x14 => BusFault + // 0x18 => UsageFault + + // Unfortunately, it's usually run from flash, and we can't write to flash here directly to hook our instruction + // We could set an hardware breakpoint, and hook on the fly when it's being called, but this + // is hard to get right and would probably break debugger when attached + + // So instead, we'll allocate a new vector table filled with the previous value except + // for the fault we are interested in. + // Now, comes the issue to figure out what is the current vector table size + // There is nothing telling us what is the vector table as it's per-cpu vendor specific. + // BUT: we are being called at the end of the setup, so we assume the setup is done + // Thus, we can read the current vector table until we find an address that's not in flash, and it would mark the + // end of the vector table (skipping the fist entry obviously) + // The position of the program in flash is expected to be at 0x08xxx xxxx on all known platform for ARM and the + // flash size is available via register 0x1FFFF7E0 on STM32 family, but it's not the case for all ARM boards + // (accessing this register might trigger a fault if it's not implemented). + + // So we'll simply mask the top 8 bits of the first handler as an hint of being in the flash or not -that's poor and will + // probably break if the flash happens to be more than 128MB, but in this case, we are not magician, we need help from outside. + + unsigned long *vecAddr = (unsigned long*)get_vtor(); + SERIAL_ECHOPGM("Vector table addr: "); + SERIAL_PRINTLN(get_vtor(), PrintBase::Hex); + + #ifdef VECTOR_TABLE_SIZE + uint32_t vec_size = VECTOR_TABLE_SIZE; + alignas(128) static unsigned long vectable[VECTOR_TABLE_SIZE] ; + #else + #ifndef IS_IN_FLASH + #define IS_IN_FLASH(X) (((unsigned long)X & 0xFF000000) == 0x08000000) + #endif + + // When searching for the end of the vector table, this acts as a limit not to overcome + #ifndef VECTOR_TABLE_SENTINEL + #define VECTOR_TABLE_SENTINEL 80 + #endif + + // Find the vector table size + uint32_t vec_size = 1; + while (IS_IN_FLASH(vecAddr[vec_size]) && vec_size < VECTOR_TABLE_SENTINEL) + vec_size++; + + // We failed to find a valid vector table size, let's abort hooking up + if (vec_size == VECTOR_TABLE_SENTINEL) return; + // Poor method that's wasting RAM here, but allocating with malloc and alignment would be worst + // 128 bytes alignment is required for writing the VTOR register + alignas(128) static unsigned long vectable[VECTOR_TABLE_SENTINEL]; + + SERIAL_ECHOPGM("Detected vector table size: "); + SERIAL_PRINTLN(vec_size, PrintBase::Hex); + #endif + + uint32_t defaultFaultHandler = vecAddr[(unsigned)7]; + // Copy the current vector table into the new table + for (uint32_t i = 0; i < vec_size; i++) { + vectable[i] = vecAddr[i]; + // Replace all default handler by our own handler + if (vectable[i] == defaultFaultHandler) + vectable[i] = (unsigned long)&CommonHandler_ASM; + } + + // Let's hook now with our functions + vectable[(unsigned long)hook_get_hardfault_vector_address(0)] = (unsigned long)&CommonHandler_ASM; + vectable[(unsigned long)hook_get_memfault_vector_address(0)] = (unsigned long)&CommonHandler_ASM; + vectable[(unsigned long)hook_get_busfault_vector_address(0)] = (unsigned long)&CommonHandler_ASM; + vectable[(unsigned long)hook_get_usagefault_vector_address(0)] = (unsigned long)&CommonHandler_ASM; + + // Finally swap with our own vector table + // This is supposed to be atomic, but let's do that with interrupt disabled + + HW_REG(0xE000ED08) = (unsigned long)vectable | _BV32(29); // 29th bit is for telling the CPU the table is now in SRAM (should be present already) + + SERIAL_ECHOLNPGM("Installed fault handlers"); + #endif +} + +#endif // __arm__ || __thumb__ diff --git a/Marlin/src/HAL/shared/cpu_exception/exception_hook.cpp b/Marlin/src/HAL/shared/cpu_exception/exception_hook.cpp new file mode 100644 index 0000000000..93e80f3e85 --- /dev/null +++ b/Marlin/src/HAL/shared/cpu_exception/exception_hook.cpp @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "exception_hook.h" + +void * __attribute__((weak)) hook_get_hardfault_vector_address(unsigned) { return 0; } +void * __attribute__((weak)) hook_get_memfault_vector_address(unsigned) { return 0; } +void * __attribute__((weak)) hook_get_busfault_vector_address(unsigned) { return 0; } +void * __attribute__((weak)) hook_get_usagefault_vector_address(unsigned) { return 0; } +void __attribute__((weak)) hook_last_resort_func() {} diff --git a/Marlin/src/HAL/shared/cpu_exception/exception_hook.h b/Marlin/src/HAL/shared/cpu_exception/exception_hook.h new file mode 100644 index 0000000000..70d9434704 --- /dev/null +++ b/Marlin/src/HAL/shared/cpu_exception/exception_hook.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/* Here is the expected behavior of a system producing a CPU exception with this hook installed: + 1. Before the system is crashed + 1.1 Upon validation (not done yet in this code, but we could be using DEBUG flags here to allow/disallow hooking) + 1.2 Install the hook by overwriting the vector table exception handler with the hooked function + 2. Upon system crash (for example, by a dereference of a NULL pointer or anything else) + 2.1 The CPU triggers its exception and jump into the vector table for the exception type + 2.2 Instead of finding the default handler, it finds the updated pointer to our hook + 2.3 The CPU jumps into our hook function (likely a naked function to keep all information about crash point intact) + 2.4 The hook (naked) function saves the important registers (stack pointer, program counter, current mode) and jumps to a common exception handler (in C) + 2.5 The common exception handler dumps the registers on the serial link and perform a backtrace around the crashing point + 2.6 Once the backtrace is performed the last resort function is called (platform specific). + On some platform with a LCD screen, this might display the crash information as a QR code or as text for the + user to capture by taking a picture + 2.7 The CPU is reset and/or halted by triggering a debug breakpoint if a debugger is attached */ + +// Hook into CPU exception interrupt table to call the backtracing code upon an exception +// Most platform will simply do nothing here, but those who can will install/overwrite the default exception handler +// with a more performant exception handler +void hook_cpu_exceptions(); + +// Some platform might deal without a hard fault handler, in that case, return 0 in your platform here or skip implementing it +void * __attribute__((weak)) hook_get_hardfault_vector_address(unsigned base_address); +// Some platform might deal without a memory management fault handler, in that case, return 0 in your platform here or skip implementing it +void * __attribute__((weak)) hook_get_memfault_vector_address(unsigned base_address); +// Some platform might deal without a bus fault handler, in that case, return 0 in your platform here or skip implementing it +void * __attribute__((weak)) hook_get_busfault_vector_address(unsigned base_address); +// Some platform might deal without a usage fault handler, in that case, return 0 in your platform here or skip implementing it +void * __attribute__((weak)) hook_get_usagefault_vector_address(unsigned base_address); + +// Last resort function that can be called after the exception handler was called. +void __attribute__((weak)) hook_last_resort_func(); diff --git a/Marlin/src/HAL/shared/eeprom_api.cpp b/Marlin/src/HAL/shared/eeprom_api.cpp new file mode 100644 index 0000000000..47cfa5a2db --- /dev/null +++ b/Marlin/src/HAL/shared/eeprom_api.cpp @@ -0,0 +1,30 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../../inc/MarlinConfigPre.h" + +#if EITHER(EEPROM_SETTINGS, SD_FIRMWARE_UPDATE) + + #include "eeprom_api.h" + PersistentStore persistentStore; + +#endif diff --git a/Marlin/src/HAL/shared/eeprom_api.h b/Marlin/src/HAL/shared/eeprom_api.h new file mode 100644 index 0000000000..cd744f82dc --- /dev/null +++ b/Marlin/src/HAL/shared/eeprom_api.h @@ -0,0 +1,71 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * Copyright (c) 2016 Victor Perez victor_pv@hotmail.com + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include +#include + +#include "../../libs/crc16.h" + +class PersistentStore { +public: + + // Total available persistent storage space (in bytes) + static size_t capacity(); + + // Prepare to read or write + static bool access_start(); + + // Housecleaning after read or write + static bool access_finish(); + + // Write one or more bytes of data and update the CRC + // Return 'true' on write error + static bool write_data(int &pos, const uint8_t *value, size_t size, uint16_t *crc); + + // Read one or more bytes of data and update the CRC + // Return 'true' on read error + static bool read_data(int &pos, uint8_t *value, size_t size, uint16_t *crc, const bool writing=true); + + // Write one or more bytes of data + // Return 'true' on write error + static bool write_data(const int pos, const uint8_t *value, const size_t size=sizeof(uint8_t)) { + int data_pos = pos; + uint16_t crc = 0; + return write_data(data_pos, value, size, &crc); + } + + // Write a single byte of data + // Return 'true' on write error + static bool write_data(const int pos, const uint8_t value) { return write_data(pos, &value); } + + // Read one or more bytes of data + // Return 'true' on read error + static bool read_data(const int pos, uint8_t *value, const size_t size=1) { + int data_pos = pos; + uint16_t crc = 0; + return read_data(data_pos, value, size, &crc); + } +}; + +extern PersistentStore persistentStore; diff --git a/Marlin/src/HAL/shared/eeprom_if.h b/Marlin/src/HAL/shared/eeprom_if.h new file mode 100644 index 0000000000..e496de2a03 --- /dev/null +++ b/Marlin/src/HAL/shared/eeprom_if.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.com + * Copyright (c) 2015-2016 Nico Tonnhofer wurstnase.reprap@gmail.com + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// +// EEPROM +// +void eeprom_init(); +void eeprom_write_byte(uint8_t *pos, uint8_t value); +uint8_t eeprom_read_byte(uint8_t *pos); diff --git a/Marlin/src/HAL/shared/eeprom_if_i2c.cpp b/Marlin/src/HAL/shared/eeprom_if_i2c.cpp new file mode 100644 index 0000000000..6b559e234b --- /dev/null +++ b/Marlin/src/HAL/shared/eeprom_if_i2c.cpp @@ -0,0 +1,102 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Platform-independent Arduino functions for I2C EEPROM. + * Enable USE_SHARED_EEPROM if not supplied by the framework. + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(I2C_EEPROM) + +#include "eeprom_if.h" + +#if ENABLED(SOFT_I2C_EEPROM) + #include + SlowSoftWire Wire = SlowSoftWire(I2C_SDA_PIN, I2C_SCL_PIN, true); +#else + #include +#endif + +void eeprom_init() { + Wire.begin( + #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM) + uint8_t(I2C_SDA_PIN), uint8_t(I2C_SCL_PIN) + #endif + ); +} + +#if ENABLED(USE_SHARED_EEPROM) + +#ifndef EEPROM_WRITE_DELAY + #define EEPROM_WRITE_DELAY 5 +#endif +#ifndef EEPROM_DEVICE_ADDRESS + #define EEPROM_DEVICE_ADDRESS 0x50 +#endif + +static constexpr uint8_t eeprom_device_address = I2C_ADDRESS(EEPROM_DEVICE_ADDRESS); + +// ------------------------ +// Public functions +// ------------------------ + +#define SMALL_EEPROM (MARLIN_EEPROM_SIZE <= 2048) + +// Combine Address high bits into the device address on <=16Kbit (2K) and >512Kbit (64K) EEPROMs. +// Note: MARLIN_EEPROM_SIZE is specified in bytes, whereas EEPROM model numbers refer to bits. +// e.g., The "16" in BL24C16 indicates a 16Kbit (2KB) size. +static uint8_t _eeprom_calc_device_address(uint8_t * const pos) { + const unsigned eeprom_address = (unsigned)pos; + return (SMALL_EEPROM || MARLIN_EEPROM_SIZE > 65536) + ? uint8_t(eeprom_device_address | ((eeprom_address >> (SMALL_EEPROM ? 8 : 16)) & 0x07)) + : eeprom_device_address; +} + +static void _eeprom_begin(uint8_t * const pos) { + const unsigned eeprom_address = (unsigned)pos; + Wire.beginTransmission(_eeprom_calc_device_address(pos)); + if (!SMALL_EEPROM) + Wire.write(uint8_t((eeprom_address >> 8) & 0xFF)); // Address High, if needed + Wire.write(uint8_t(eeprom_address & 0xFF)); // Address Low +} + +void eeprom_write_byte(uint8_t *pos, uint8_t value) { + _eeprom_begin(pos); + Wire.write(value); + Wire.endTransmission(); + + // wait for write cycle to complete + // this could be done more efficiently with "acknowledge polling" + delay(EEPROM_WRITE_DELAY); +} + +uint8_t eeprom_read_byte(uint8_t *pos) { + _eeprom_begin(pos); + Wire.endTransmission(); + Wire.requestFrom(_eeprom_calc_device_address(pos), (byte)1); + return Wire.available() ? Wire.read() : 0xFF; +} + +#endif // USE_SHARED_EEPROM +#endif // I2C_EEPROM diff --git a/Marlin/src/HAL/shared/eeprom_if_spi.cpp b/Marlin/src/HAL/shared/eeprom_if_spi.cpp new file mode 100644 index 0000000000..72c35addcb --- /dev/null +++ b/Marlin/src/HAL/shared/eeprom_if_spi.cpp @@ -0,0 +1,84 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Platform-independent Arduino functions for SPI EEPROM. + * Enable USE_SHARED_EEPROM if not supplied by the framework. + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SPI_EEPROM) + +#include "eeprom_if.h" + +void eeprom_init() {} + +#if ENABLED(USE_SHARED_EEPROM) + +#define CMD_WREN 6 // WREN +#define CMD_READ 2 // WRITE +#define CMD_WRITE 2 // WRITE + +#ifndef EEPROM_WRITE_DELAY + #define EEPROM_WRITE_DELAY 7 +#endif + +static void _eeprom_begin(uint8_t * const pos, const uint8_t cmd) { + const uint8_t eeprom_temp[3] = { + cmd, + (unsigned(pos) >> 8) & 0xFF, // Address High + unsigned(pos) & 0xFF // Address Low + }; + WRITE(SPI_EEPROM1_CS_PIN, HIGH); // Usually free already + WRITE(SPI_EEPROM1_CS_PIN, LOW); // Activate the Bus + spiSend(SPI_CHAN_EEPROM1, eeprom_temp, 3); + // Leave the Bus in-use +} + +uint8_t eeprom_read_byte(uint8_t *pos) { + _eeprom_begin(pos, CMD_READ); // Set read location and begin transmission + + const uint8_t v = spiRec(SPI_CHAN_EEPROM1); // After READ a value sits on the Bus + + WRITE(SPI_EEPROM1_CS_PIN, HIGH); // Done with device + + return v; +} + +void eeprom_write_byte(uint8_t *pos, uint8_t value) { + const uint8_t eeprom_temp = CMD_WREN; + WRITE(SPI_EEPROM1_CS_PIN, LOW); + spiSend(SPI_CHAN_EEPROM1, &eeprom_temp, 1); // Write Enable + + WRITE(SPI_EEPROM1_CS_PIN, HIGH); // Done with the Bus + delay(1); // For a small amount of time + + _eeprom_begin(pos, CMD_WRITE); // Set write address and begin transmission + + spiSend(SPI_CHAN_EEPROM1, value); // Send the value to be written + WRITE(SPI_EEPROM1_CS_PIN, HIGH); // Done with the Bus + delay(EEPROM_WRITE_DELAY); // Give page write time to complete +} + +#endif // USE_SHARED_EEPROM +#endif // I2C_EEPROM diff --git a/Marlin/src/HAL/shared/esp_wifi.cpp b/Marlin/src/HAL/shared/esp_wifi.cpp new file mode 100644 index 0000000000..a55f5ca39f --- /dev/null +++ b/Marlin/src/HAL/shared/esp_wifi.cpp @@ -0,0 +1,43 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" +#include "Delay.h" + +void esp_wifi_init(void) { // init ESP01 WIFI module pins + #if PIN_EXISTS(ESP_WIFI_MODULE_GPIO0) + OUT_WRITE(ESP_WIFI_MODULE_GPIO0_PIN, HIGH); + #endif + #if PIN_EXISTS(ESP_WIFI_MODULE_GPIO2) + OUT_WRITE(ESP_WIFI_MODULE_GPIO2_PIN, HIGH); + #endif + #if PIN_EXISTS(ESP_WIFI_MODULE_RESET) + delay(1); // power up delay (0.1mS minimum) + OUT_WRITE(ESP_WIFI_MODULE_RESET_PIN, LOW); + delay(1); + OUT_WRITE(ESP_WIFI_MODULE_RESET_PIN, HIGH); + #endif + #if PIN_EXISTS(ESP_WIFI_MODULE_ENABLE) + delay(1); // delay after reset released (0.1mS minimum) + OUT_WRITE(ESP_WIFI_MODULE_ENABLE_PIN, HIGH); + #endif +} diff --git a/Marlin/src/HAL/shared/esp_wifi.h b/Marlin/src/HAL/shared/esp_wifi.h new file mode 100644 index 0000000000..84a50a941d --- /dev/null +++ b/Marlin/src/HAL/shared/esp_wifi.h @@ -0,0 +1,24 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +void esp_wifi_init(); diff --git a/Marlin/src/HAL/shared/math_32bit.h b/Marlin/src/HAL/shared/math_32bit.h new file mode 100644 index 0000000000..1fb233e3e8 --- /dev/null +++ b/Marlin/src/HAL/shared/math_32bit.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../core/macros.h" + +/** + * Math helper functions for 32 bit CPUs + */ +FORCE_INLINE static uint32_t MultiU32X24toH32(uint32_t longIn1, uint32_t longIn2) { + return ((uint64_t)longIn1 * longIn2 + 0x00800000) >> 24; +} diff --git a/Marlin/src/HAL/shared/progmem.h b/Marlin/src/HAL/shared/progmem.h new file mode 100644 index 0000000000..4cd7663df9 --- /dev/null +++ b/Marlin/src/HAL/shared/progmem.h @@ -0,0 +1,190 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifndef __AVR__ +#ifndef __PGMSPACE_H_ +// This define should prevent reading the system pgmspace.h if included elsewhere +// This is not normally needed. +#define __PGMSPACE_H_ 1 +#endif + +#ifndef PROGMEM +#define PROGMEM +#endif +#ifndef PGM_P +#define PGM_P const char * +#endif +#ifndef PSTR +#define PSTR(str) (str) +#endif +#ifndef F +class __FlashStringHelper; +#define F(str) (reinterpret_cast(PSTR(str))) +#endif +#ifndef _SFR_BYTE +#define _SFR_BYTE(n) (n) +#endif +#ifndef memchr_P +#define memchr_P(str, c, len) memchr((str), (c), (len)) +#endif +#ifndef memcmp_P +#define memcmp_P(a, b, n) memcmp((a), (b), (n)) +#endif +#ifndef memcpy_P +#define memcpy_P(dest, src, num) memcpy((dest), (src), (num)) +#endif +#ifndef memmem_P +#define memmem_P(a, alen, b, blen) memmem((a), (alen), (b), (blen)) +#endif +#ifndef memrchr_P +#define memrchr_P(str, val, len) memrchr((str), (val), (len)) +#endif +#ifndef strcat_P +#define strcat_P(dest, src) strcat((dest), (src)) +#endif +#ifndef strchr_P +#define strchr_P(str, c) strchr((str), (c)) +#endif +#ifndef strchrnul_P +#define strchrnul_P(str, c) strchrnul((str), (c)) +#endif +#ifndef strcmp_P +#define strcmp_P(a, b) strcmp((a), (b)) +#endif +#ifndef strcpy_P +#define strcpy_P(dest, src) strcpy((dest), (src)) +#endif +#ifndef strcasecmp_P +#define strcasecmp_P(a, b) strcasecmp((a), (b)) +#endif +#ifndef strcasestr_P +#define strcasestr_P(a, b) strcasestr((a), (b)) +#endif +#ifndef strlcat_P +#define strlcat_P(dest, src, len) strlcat((dest), (src), (len)) +#endif +#ifndef strlcpy_P +#define strlcpy_P(dest, src, len) strlcpy((dest), (src), (len)) +#endif +#ifndef strlen_P +#define strlen_P(s) strlen((const char *)(s)) +#endif +#ifndef strnlen_P +#define strnlen_P(str, len) strnlen((str), (len)) +#endif +#ifndef strncmp_P +#define strncmp_P(a, b, n) strncmp((a), (b), (n)) +#endif +#ifndef strncasecmp_P +#define strncasecmp_P(a, b, n) strncasecmp((a), (b), (n)) +#endif +#ifndef strncat_P +#define strncat_P(a, b, n) strncat((a), (b), (n)) +#endif +#ifndef strncpy_P +#define strncpy_P(a, b, n) strncpy((a), (b), (n)) +#endif +#ifndef strpbrk_P +#define strpbrk_P(str, chrs) strpbrk((str), (chrs)) +#endif +#ifndef strrchr_P +#define strrchr_P(str, c) strrchr((str), (c)) +#endif +#ifndef strsep_P +#define strsep_P(pstr, delim) strsep((pstr), (delim)) +#endif +#ifndef strspn_P +#define strspn_P(str, chrs) strspn((str), (chrs)) +#endif +#ifndef strstr_P +#define strstr_P(a, b) strstr((a), (b)) +#endif +#ifndef sprintf_P +#define sprintf_P(s, ...) sprintf((s), __VA_ARGS__) +#endif +#ifndef vfprintf_P +#define vfprintf_P(s, ...) vfprintf((s), __VA_ARGS__) +#endif +#ifndef printf_P +#define printf_P(...) printf(__VA_ARGS__) +#endif +#ifndef snprintf_P +#define snprintf_P(s, n, ...) snprintf((s), (n), __VA_ARGS__) +#endif +#ifndef vsprintf_P +#define vsprintf_P(s, ...) vsprintf((s),__VA_ARGS__) +#endif +#ifndef vsnprintf_P +#define vsnprintf_P(s, n, ...) vsnprintf((s), (n),__VA_ARGS__) +#endif +#ifndef fprintf_P +#define fprintf_P(s, ...) fprintf((s), __VA_ARGS__) +#endif + +#ifndef pgm_read_byte +#define pgm_read_byte(addr) (*(const unsigned char *)(addr)) +#endif +#ifndef pgm_read_word +#define pgm_read_word(addr) (*(const unsigned short *)(addr)) +#endif +#ifndef pgm_read_dword +#define pgm_read_dword(addr) (*(const unsigned long *)(addr)) +#endif +#ifndef pgm_read_float +#define pgm_read_float(addr) (*(const float *)(addr)) +#endif + +#ifndef pgm_read_byte_near +#define pgm_read_byte_near(addr) pgm_read_byte(addr) +#endif +#ifndef pgm_read_word_near +#define pgm_read_word_near(addr) pgm_read_word(addr) +#endif +#ifndef pgm_read_dword_near +#define pgm_read_dword_near(addr) pgm_read_dword(addr) +#endif +#ifndef pgm_read_float_near +#define pgm_read_float_near(addr) pgm_read_float(addr) +#endif +#ifndef pgm_read_byte_far +#define pgm_read_byte_far(addr) pgm_read_byte(addr) +#endif +#ifndef pgm_read_word_far +#define pgm_read_word_far(addr) pgm_read_word(addr) +#endif +#ifndef pgm_read_dword_far +#define pgm_read_dword_far(addr) pgm_read_dword(addr) +#endif +#ifndef pgm_read_float_far +#define pgm_read_float_far(addr) pgm_read_float(addr) +#endif + +#ifndef pgm_read_pointer +#define pgm_read_pointer +#endif + +// Fix bug in pgm_read_ptr +#undef pgm_read_ptr +#define pgm_read_ptr(addr) (*((void**)(addr))) + +#endif // __AVR__ diff --git a/Marlin/src/HAL/shared/servo.cpp b/Marlin/src/HAL/shared/servo.cpp new file mode 100644 index 0000000000..b838800de6 --- /dev/null +++ b/Marlin/src/HAL/shared/servo.cpp @@ -0,0 +1,157 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 + * Copyright (c) 2009 Michael Margolis. All right reserved. + */ + +/** + * A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method. + * The servos are pulsed in the background using the value most recently written using the write() method + * + * Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached. + * Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four. + * + * The methods are: + * + * Servo - Class for manipulating servo motors connected to Arduino pins. + * + * attach(pin) - Attach a servo motor to an i/o pin. + * attach(pin, min, max) - Attach to a pin, setting min and max values in microseconds + * Default min is 544, max is 2400 + * + * write() - Set the servo angle in degrees. (Invalid angles —over MIN_PULSE_WIDTH— are treated as µs.) + * writeMicroseconds() - Set the servo pulse width in microseconds. + * move(pin, angle) - Sequence of attach(pin), write(angle), safe_delay(servo_delay[servoIndex]). + * With DEACTIVATE_SERVOS_AFTER_MOVE it detaches after servo_delay[servoIndex]. + * read() - Get the last-written servo pulse width as an angle between 0 and 180. + * readMicroseconds() - Get the last-written servo pulse width in microseconds. + * attached() - Return true if a servo is attached. + * detach() - Stop an attached servo from pulsing its i/o pin. + */ + +#include "../../inc/MarlinConfig.h" + +#if SHARED_SERVOS + +#include "servo.h" +#include "servo_private.h" + +ServoInfo_t servo_info[MAX_SERVOS]; // static array of servo info structures +uint8_t ServoCount = 0; // the total number of attached servos + +#define SERVO_MIN(v) (MIN_PULSE_WIDTH - (v) * 4) // minimum value in uS for this servo +#define SERVO_MAX(v) (MAX_PULSE_WIDTH - (v) * 4) // maximum value in uS for this servo + +/************ static functions common to all instances ***********************/ + +static bool anyTimerChannelActive(const timer16_Sequence_t timer) { + // returns true if any servo is active on this timer + LOOP_L_N(channel, SERVOS_PER_TIMER) { + if (SERVO(timer, channel).Pin.isActive) + return true; + } + return false; +} + +/****************** end of static functions ******************************/ + +Servo::Servo() { + if (ServoCount < MAX_SERVOS) { + servoIndex = ServoCount++; // assign a servo index to this instance + servo_info[servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009 + } + else + servoIndex = INVALID_SERVO; // too many servos +} + +int8_t Servo::attach(const int inPin) { + return attach(inPin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); +} + +int8_t Servo::attach(const int inPin, const int inMin, const int inMax) { + + if (servoIndex >= MAX_SERVOS) return -1; + + if (inPin > 0) servo_info[servoIndex].Pin.nbr = inPin; + pinMode(servo_info[servoIndex].Pin.nbr, OUTPUT); // set servo pin to output + + // TODO: min/max check: ABS(min - MIN_PULSE_WIDTH) / 4 < 128 + min = (MIN_PULSE_WIDTH - inMin) / 4; //resolution of min/max is 4 uS + max = (MAX_PULSE_WIDTH - inMax) / 4; + + // initialize the timer if it has not already been initialized + const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); + if (!anyTimerChannelActive(timer)) initISR(timer); + servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for anyTimerChannelActive + + return servoIndex; +} + +void Servo::detach() { + servo_info[servoIndex].Pin.isActive = false; + const timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); + if (!anyTimerChannelActive(timer)) finISR(timer); + //pinMode(servo_info[servoIndex].Pin.nbr, INPUT); // set servo pin to input +} + +void Servo::write(int value) { + if (value < MIN_PULSE_WIDTH) // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds) + value = map(constrain(value, 0, 180), 0, 180, SERVO_MIN(min), SERVO_MAX(max)); + writeMicroseconds(value); +} + +void Servo::writeMicroseconds(int value) { + // calculate and store the values for the given channel + byte channel = servoIndex; + if (channel < MAX_SERVOS) { // ensure channel is valid + // ensure pulse width is valid + value = constrain(value, SERVO_MIN(min), SERVO_MAX(max)) - (TRIM_DURATION); + value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009 + + CRITICAL_SECTION_START(); + servo_info[channel].ticks = value; + CRITICAL_SECTION_END(); + } +} + +// return the value as degrees +int Servo::read() { return map(readMicroseconds() + 1, SERVO_MIN(min), SERVO_MAX(max), 0, 180); } + +int Servo::readMicroseconds() { + return (servoIndex == INVALID_SERVO) ? 0 : ticksToUs(servo_info[servoIndex].ticks) + (TRIM_DURATION); +} + +bool Servo::attached() { return servo_info[servoIndex].Pin.isActive; } + +void Servo::move(const int value) { + constexpr uint16_t servo_delay[] = SERVO_DELAY; + static_assert(COUNT(servo_delay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM_SERVOS long."); + if (attach(0) >= 0) { + write(value); + safe_delay(servo_delay[servoIndex]); + TERN_(DEACTIVATE_SERVOS_AFTER_MOVE, detach()); + } +} + +#endif // SHARED_SERVOS diff --git a/Marlin/src/HAL/shared/servo.h b/Marlin/src/HAL/shared/servo.h new file mode 100644 index 0000000000..15153ca53f --- /dev/null +++ b/Marlin/src/HAL/shared/servo.h @@ -0,0 +1,115 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 + * Copyright (c) 2009 Michael Margolis. All right reserved. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + */ + +/** + * A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method. + * The servos are pulsed in the background using the value most recently written using the write() method + * + * Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached. + * Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four. + * The sequence used to seize timers is defined in timers.h + * + * The methods are: + * + * Servo - Class for manipulating servo motors connected to Arduino pins. + * + * attach(pin ) - Attaches a servo motor to an i/o pin. + * attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds + * default min is 544, max is 2400 + * + * write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds) + * writeMicroseconds() - Sets the servo pulse width in microseconds + * read() - Gets the last written servo pulse width as an angle between 0 and 180. + * readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release) + * attached() - Returns true if there is a servo attached. + * detach() - Stops an attached servos from pulsing its i/o pin. + * move(angle) - Sequence of attach(0), write(angle), + * With DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY and detach. + */ + +#if IS_TEENSY32 + #include "../TEENSY31_32/Servo.h" +#elif IS_TEENSY35 || IS_TEENSY36 + #include "../TEENSY35_36/Servo.h" +#elif IS_TEENSY40 || IS_TEENSY41 + #include "../TEENSY40_41/Servo.h" +#elif defined(TARGET_LPC1768) + #include "../LPC1768/Servo.h" +#elif defined(__STM32F1__) || defined(TARGET_STM32F1) + #include "../STM32F1/Servo.h" +#elif defined(ARDUINO_ARCH_STM32) + #include "../STM32/Servo.h" +#elif defined(ARDUINO_ARCH_ESP32) + #include "../ESP32/Servo.h" +#else + #include + + #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__) || defined(__SAMD21__) + // we're good to go + #else + #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor." + #endif + + #define Servo_VERSION 2 // software version of this library + + class Servo { + public: + Servo(); + int8_t attach(const int pin); // attach the given pin to the next free channel, set pinMode, return channel number (-1 on fail) + int8_t attach(const int pin, const int min, const int max); // as above but also sets min and max values for writes. + void detach(); + void write(int value); // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds + void writeMicroseconds(int value); // write pulse width in microseconds + void move(const int value); // attach the servo, then move to value + // if value is < 200 it is treated as an angle, otherwise as pulse width in microseconds + // if DEACTIVATE_SERVOS_AFTER_MOVE wait SERVO_DELAY, then detach + int read(); // returns current pulse width as an angle between 0 and 180 degrees + int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release) + bool attached(); // return true if this servo is attached, otherwise false + + private: + uint8_t servoIndex; // index into the channel data for this servo + int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH + int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH + }; + +#endif diff --git a/Marlin/src/HAL/shared/servo_private.h b/Marlin/src/HAL/shared/servo_private.h new file mode 100644 index 0000000000..8fd5ab2d88 --- /dev/null +++ b/Marlin/src/HAL/shared/servo_private.h @@ -0,0 +1,100 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * servo_private.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 + * Copyright (c) 2009 Michael Margolis. All right reserved. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library 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 + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + */ + +#include + +// Architecture specific include +#ifdef __AVR__ + #include "../AVR/ServoTimers.h" +#elif defined(ARDUINO_ARCH_SAM) + #include "../DUE/ServoTimers.h" +#elif defined(__SAMD51__) + #include "../SAMD51/ServoTimers.h" +#elif defined(__SAMD21__) + #include "../SAMD21/ServoTimers.h" +#else + #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor." +#endif + +// Macros + +#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo +#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo +#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached +#define REFRESH_INTERVAL 20000 // minimum time to refresh servos in microseconds + +#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer +#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER) + +#define INVALID_SERVO 255 // flag indicating an invalid servo index + +// Convert microseconds to ticks and back (PRESCALER depends on architecture) +#define usToTicks(_us) (clockCyclesPerMicrosecond() * (_us) / (SERVO_TIMER_PRESCALER)) +#define ticksToUs(_ticks) (unsigned(_ticks) * (SERVO_TIMER_PRESCALER) / clockCyclesPerMicrosecond()) + +// convenience macros +#define SERVO_INDEX_TO_TIMER(_servo_nbr) timer16_Sequence_t(_servo_nbr / (SERVOS_PER_TIMER)) // the timer controlling this servo +#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // the index of the servo on this timer +#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // servo index by timer and channel +#define SERVO(_timer,_channel) servo_info[SERVO_INDEX(_timer,_channel)] // servo class by timer and channel + +// Types + +typedef struct { + uint8_t nbr : 7 ; // a pin number from 0 to 127 + uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false +} ServoPin_t; + +typedef struct { + ServoPin_t Pin; + unsigned int ticks; +} ServoInfo_t; + +// Global variables + +extern uint8_t ServoCount; +extern ServoInfo_t servo_info[MAX_SERVOS]; + +// Public functions + +void initISR(const timer16_Sequence_t timer_index); +void finISR(const timer16_Sequence_t timer_index); diff --git a/Marlin/src/MarlinCore.cpp b/Marlin/src/MarlinCore.cpp new file mode 100644 index 0000000000..62f96ddb4b --- /dev/null +++ b/Marlin/src/MarlinCore.cpp @@ -0,0 +1,1690 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * About Marlin + * + * This firmware is a mashup between Sprinter and grbl. + * - https://github.com/kliment/Sprinter + * - https://github.com/grbl/grbl + */ + +#include "MarlinCore.h" + +#include "HAL/shared/Delay.h" +#include "HAL/shared/esp_wifi.h" +#include "HAL/shared/cpu_exception/exception_hook.h" + +#ifdef ARDUINO + #include +#endif +#include + +#include "module/endstops.h" +#include "module/motion.h" +#include "module/planner.h" +#include "module/printcounter.h" // PrintCounter or Stopwatch +#include "module/settings.h" +#include "module/stepper.h" +#include "module/temperature.h" + +#include "gcode/gcode.h" +#include "gcode/parser.h" +#include "gcode/queue.h" + +#include "feature/pause.h" +#include "sd/cardreader.h" + +#include "lcd/marlinui.h" +#if HAS_TOUCH_BUTTONS + #include "lcd/touch/touch_buttons.h" +#endif + +#if HAS_TFT_LVGL_UI + #include "lcd/extui/mks_ui/tft_lvgl_configuration.h" + #include "lcd/extui/mks_ui/draw_ui.h" + #include "lcd/extui/mks_ui/mks_hardware.h" + #include +#endif + +#if HAS_DWIN_E3V2 + #include "lcd/e3v2/common/encoder.h" + #if ENABLED(DWIN_CREALITY_LCD) + #include "lcd/e3v2/creality/dwin.h" + #elif ENABLED(DWIN_LCD_PROUI) + #include "lcd/e3v2/proui/dwin.h" + #endif +#endif + +#if HAS_ETHERNET + #include "feature/ethernet.h" +#endif + +#if ENABLED(IIC_BL24CXX_EEPROM) + #include "libs/BL24CXX.h" +#endif + +#if ENABLED(DIRECT_STEPPING) + #include "feature/direct_stepping.h" +#endif + +#if ENABLED(HOST_ACTION_COMMANDS) + #include "feature/host_actions.h" +#endif + +#if HAS_BEEPER + #include "libs/buzzer.h" +#endif + +#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + #include "feature/closedloop.h" +#endif + +#if HAS_MOTOR_CURRENT_I2C + #include "feature/digipot/digipot.h" +#endif + +#if ENABLED(MIXING_EXTRUDER) + #include "feature/mixing.h" +#endif + +#if ENABLED(MAX7219_DEBUG) + #include "feature/max7219.h" +#endif + +#if HAS_COLOR_LEDS + #include "feature/leds/leds.h" +#endif + +#if ENABLED(BLTOUCH) + #include "feature/bltouch.h" +#endif + +#if ENABLED(BD_SENSOR) + #include "feature/bedlevel/bdl/bdl.h" +#endif + +#if ENABLED(POLL_JOG) + #include "feature/joystick.h" +#endif + +#if HAS_SERVOS + #include "module/servo.h" +#endif + +#if HAS_MOTOR_CURRENT_DAC + #include "feature/dac/stepper_dac.h" +#endif + +#if ENABLED(EXPERIMENTAL_I2CBUS) + #include "feature/twibus.h" +#endif + +#if ENABLED(I2C_POSITION_ENCODERS) + #include "feature/encoder_i2c.h" +#endif + +#if (HAS_TRINAMIC_CONFIG || HAS_TMC_SPI) && DISABLED(PSU_DEFAULT_OFF) + #include "feature/tmc_util.h" +#endif + +#if HAS_CUTTER + #include "feature/spindle_laser.h" +#endif + +#if ENABLED(SDSUPPORT) + CardReader card; +#endif + +#if ENABLED(G38_PROBE_TARGET) + uint8_t G38_move; // = 0 + bool G38_did_trigger; // = false +#endif + +#if ENABLED(DELTA) + #include "module/delta.h" +#elif ENABLED(POLARGRAPH) + #include "module/polargraph.h" +#elif IS_SCARA + #include "module/scara.h" +#endif + +#if HAS_LEVELING + #include "feature/bedlevel/bedlevel.h" +#endif + +#if ENABLED(GCODE_REPEAT_MARKERS) + #include "feature/repeat.h" +#endif + +#if ENABLED(POWER_LOSS_RECOVERY) + #include "feature/powerloss.h" +#endif + +#if ENABLED(CANCEL_OBJECTS) + #include "feature/cancel_object.h" +#endif + +#if HAS_FILAMENT_SENSOR + #include "feature/runout.h" +#endif + +#if EITHER(PROBE_TARE, HAS_Z_SERVO_PROBE) + #include "module/probe.h" +#endif + +#if ENABLED(HOTEND_IDLE_TIMEOUT) + #include "feature/hotend_idle.h" +#endif + +#if ENABLED(TEMP_STAT_LEDS) + #include "feature/leds/tempstat.h" +#endif + +#if ENABLED(CASE_LIGHT_ENABLE) + #include "feature/caselight.h" +#endif + +#if HAS_FANMUX + #include "feature/fanmux.h" +#endif + +#include "module/tool_change.h" + +#if HAS_FANCHECK + #include "feature/fancheck.h" +#endif + +#if ENABLED(USE_CONTROLLER_FAN) + #include "feature/controllerfan.h" +#endif + +#if HAS_PRUSA_MMU1 + #include "feature/mmu/mmu.h" +#endif + +#if HAS_PRUSA_MMU2 + #include "feature/mmu/mmu2.h" +#endif + +#if ENABLED(PASSWORD_FEATURE) + #include "feature/password/password.h" +#endif + +#if DGUS_LCD_UI_MKS + #include "lcd/extui/dgus/DGUSScreenHandler.h" +#endif + +#if HAS_DRIVER_SAFE_POWER_PROTECT + #include "feature/stepper_driver_safety.h" +#endif + +#if ENABLED(PSU_CONTROL) + #include "feature/power.h" +#endif + +#if ENABLED(EASYTHREED_UI) + #include "feature/easythreed_ui.h" +#endif + +#if ENABLED(MARLIN_TEST_BUILD) + #include "tests/marlin_tests.h" +#endif + +PGMSTR(M112_KILL_STR, "M112 Shutdown"); + +MarlinState marlin_state = MF_INITIALIZING; + +// For M109 and M190, this flag may be cleared (by M108) to exit the wait loop +bool wait_for_heatup = true; + +// For M0/M1, this flag may be cleared (by M108) to exit the wait-for-user loop +#if HAS_RESUME_CONTINUE + bool wait_for_user; // = false; + + void wait_for_user_response(millis_t ms/*=0*/, const bool no_sleep/*=false*/) { + UNUSED(no_sleep); + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; + if (ms) ms += millis(); // expire time + while (wait_for_user && !(ms && ELAPSED(millis(), ms))) + idle(TERN_(ADVANCED_PAUSE_FEATURE, no_sleep)); + wait_for_user = false; + while (ui.button_pressed()) safe_delay(50); + } + +#endif + +/** + * *************************************************************************** + * ******************************** FUNCTIONS ******************************** + * *************************************************************************** + */ + +/** + * Stepper Reset (RigidBoard, et.al.) + */ +#if HAS_STEPPER_RESET + void disableStepperDrivers() { OUT_WRITE(STEPPER_RESET_PIN, LOW); } // Drive down to keep motor driver chips in reset + void enableStepperDrivers() { SET_INPUT(STEPPER_RESET_PIN); } // Set to input, allowing pullups to pull the pin high +#endif + +/** + * Sensitive pin test for M42, M226 + */ + +#include "pins/sensitive_pins.h" + +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wnarrowing" + +#ifndef RUNTIME_ONLY_ANALOG_TO_DIGITAL + template + constexpr pin_t OnlyPins<_SP_END, D...>::table[sizeof...(D)]; +#endif + +bool pin_is_protected(const pin_t pin) { + #ifdef RUNTIME_ONLY_ANALOG_TO_DIGITAL + static const pin_t sensitive_pins[] PROGMEM = { SENSITIVE_PINS }; + const size_t pincount = COUNT(sensitive_pins); + #else + static constexpr size_t pincount = OnlyPins::size; + static const pin_t (&sensitive_pins)[pincount] PROGMEM = OnlyPins::table; + #endif + LOOP_L_N(i, pincount) { + const pin_t * const pptr = &sensitive_pins[i]; + if (pin == (sizeof(pin_t) == 2 ? (pin_t)pgm_read_word(pptr) : (pin_t)pgm_read_byte(pptr))) return true; + } + return false; +} + +#pragma GCC diagnostic pop + +bool printer_busy() { + return planner.movesplanned() || printingIsActive(); +} + +/** + * A Print Job exists when the timer is running or SD is printing + */ +bool printJobOngoing() { return print_job_timer.isRunning() || IS_SD_PRINTING(); } + +/** + * Printing is active when a job is underway but not paused + */ +bool printingIsActive() { return !did_pause_print && printJobOngoing(); } + +/** + * Printing is paused according to SD or host indicators + */ +bool printingIsPaused() { + return did_pause_print || print_job_timer.isPaused() || IS_SD_PAUSED(); +} + +void startOrResumeJob() { + if (!printingIsPaused()) { + TERN_(GCODE_REPEAT_MARKERS, repeat.reset()); + TERN_(CANCEL_OBJECTS, cancelable.reset()); + TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0); + #if ENABLED(SET_REMAINING_TIME) + ui.reset_remaining_time(); + #endif + } + print_job_timer.start(); +} + +#if ENABLED(SDSUPPORT) + + inline void abortSDPrinting() { + IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel()); + card.abortFilePrintNow(TERN_(SD_RESORT, true)); + + queue.clear(); + quickstop_stepper(); + + print_job_timer.abort(); + + IF_DISABLED(SD_ABORT_NO_COOLDOWN, thermalManager.disable_all_heaters()); + + TERN(HAS_CUTTER, cutter.kill(), thermalManager.zero_fan_speeds()); // Full cutter shutdown including ISR control + + wait_for_heatup = false; + + TERN_(POWER_LOSS_RECOVERY, recovery.purge()); + + #ifdef EVENT_GCODE_SD_ABORT + queue.inject(F(EVENT_GCODE_SD_ABORT)); + #endif + + TERN_(PASSWORD_AFTER_SD_PRINT_ABORT, password.lock_machine()); + } + + inline void finishSDPrinting() { + if (queue.enqueue_one(F("M1001"))) { // Keep trying until it gets queued + marlin_state = MF_RUNNING; // Signal to stop trying + TERN_(PASSWORD_AFTER_SD_PRINT_END, password.lock_machine()); + TERN_(DGUS_LCD_UI_MKS, ScreenHandler.SDPrintingFinished()); + } + } + +#endif // SDSUPPORT + +/** + * Minimal management of Marlin's core activities: + * - Keep the command buffer full + * - Check for maximum inactive time between commands + * - Check for maximum inactive time between stepper commands + * - Check if CHDK_PIN needs to go LOW + * - Check for KILL button held down + * - Check for HOME button held down + * - Check for CUSTOM USER button held down + * - Check if cooling fan needs to be switched on + * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT) + * - Pulse FET_SAFETY_PIN if it exists + */ +inline void manage_inactivity(const bool no_stepper_sleep=false) { + + queue.get_available_commands(); + + const millis_t ms = millis(); + + // Prevent steppers timing-out + const bool do_reset_timeout = no_stepper_sleep + || TERN0(PAUSE_PARK_NO_STEPPER_TIMEOUT, did_pause_print); + + // Reset both the M18/M84 activity timeout and the M85 max 'kill' timeout + if (do_reset_timeout) gcode.reset_stepper_timeout(ms); + + if (gcode.stepper_max_timed_out(ms)) { + SERIAL_ERROR_START(); + SERIAL_ECHOPGM(STR_KILL_PRE); + SERIAL_ECHOLNPGM(STR_KILL_INACTIVE_TIME, parser.command_ptr); + kill(); + } + + const bool has_blocks = planner.has_blocks_queued(); // Any moves in the planner? + if (has_blocks) gcode.reset_stepper_timeout(ms); // Reset timeout for M18/M84, M85 max 'kill', and laser. + + // M18 / M84 : Handle steppers inactive time timeout + #if HAS_DISABLE_INACTIVE_AXIS + if (gcode.stepper_inactive_time) { + + static bool already_shutdown_steppers; // = false + + if (!has_blocks && !do_reset_timeout && gcode.stepper_inactive_timeout()) { + if (!already_shutdown_steppers) { + already_shutdown_steppers = true; + + // Individual axes will be disabled if configured + TERN_(DISABLE_INACTIVE_X, stepper.disable_axis(X_AXIS)); + TERN_(DISABLE_INACTIVE_Y, stepper.disable_axis(Y_AXIS)); + TERN_(DISABLE_INACTIVE_Z, stepper.disable_axis(Z_AXIS)); + TERN_(DISABLE_INACTIVE_I, stepper.disable_axis(I_AXIS)); + TERN_(DISABLE_INACTIVE_J, stepper.disable_axis(J_AXIS)); + TERN_(DISABLE_INACTIVE_K, stepper.disable_axis(K_AXIS)); + TERN_(DISABLE_INACTIVE_U, stepper.disable_axis(U_AXIS)); + TERN_(DISABLE_INACTIVE_V, stepper.disable_axis(V_AXIS)); + TERN_(DISABLE_INACTIVE_W, stepper.disable_axis(W_AXIS)); + TERN_(DISABLE_INACTIVE_EXTRUDER, stepper.disable_e_steppers()); + + TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled()); + } + } + else + already_shutdown_steppers = false; + } + #endif + + #if ENABLED(PHOTO_GCODE) && PIN_EXISTS(CHDK) + // Check if CHDK should be set to LOW (after M240 set it HIGH) + extern millis_t chdk_timeout; + if (chdk_timeout && ELAPSED(ms, chdk_timeout)) { + chdk_timeout = 0; + WRITE(CHDK_PIN, LOW); + } + #endif + + #if HAS_KILL + + // Check if the kill button was pressed and wait just in case it was an accidental + // key kill key press + // ------------------------------------------------------------------------------- + static int killCount = 0; // make the inactivity button a bit less responsive + const int KILL_DELAY = 750; + if (kill_state()) + killCount++; + else if (killCount > 0) + killCount--; + + // Exceeded threshold and we can confirm that it was not accidental + // KILL the machine + // ---------------------------------------------------------------- + if (killCount >= KILL_DELAY) { + SERIAL_ERROR_START(); + SERIAL_ECHOPGM(STR_KILL_PRE); + SERIAL_ECHOLNPGM(STR_KILL_BUTTON); + kill(); + } + #endif + + #if ENABLED(FREEZE_FEATURE) + stepper.frozen = READ(FREEZE_PIN) == FREEZE_STATE; + #endif + + #if HAS_HOME + // Handle a standalone HOME button + constexpr millis_t HOME_DEBOUNCE_DELAY = 1000UL; + static millis_t next_home_key_ms; // = 0 + if (!IS_SD_PRINTING() && !READ(HOME_PIN)) { // HOME_PIN goes LOW when pressed + if (ELAPSED(ms, next_home_key_ms)) { + next_home_key_ms = ms + HOME_DEBOUNCE_DELAY; + LCD_MESSAGE(MSG_AUTO_HOME); + queue.inject_P(G28_STR); + } + } + #endif + + #if ENABLED(CUSTOM_USER_BUTTONS) + // Handle a custom user button if defined + const bool printer_not_busy = !printingIsActive(); + #define HAS_CUSTOM_USER_BUTTON(N) (PIN_EXISTS(BUTTON##N) && defined(BUTTON##N##_HIT_STATE) && defined(BUTTON##N##_GCODE)) + #define HAS_BETTER_USER_BUTTON(N) HAS_CUSTOM_USER_BUTTON(N) && defined(BUTTON##N##_DESC) + #define _CHECK_CUSTOM_USER_BUTTON(N, CODE) do{ \ + constexpr millis_t CUB_DEBOUNCE_DELAY_##N = 250UL; \ + static millis_t next_cub_ms_##N; \ + if (BUTTON##N##_HIT_STATE == READ(BUTTON##N##_PIN) \ + && (ENABLED(BUTTON##N##_WHEN_PRINTING) || printer_not_busy)) { \ + if (ELAPSED(ms, next_cub_ms_##N)) { \ + next_cub_ms_##N = ms + CUB_DEBOUNCE_DELAY_##N; \ + CODE; \ + queue.inject(F(BUTTON##N##_GCODE)); \ + TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); \ + } \ + } \ + }while(0) + + #define CHECK_CUSTOM_USER_BUTTON(N) _CHECK_CUSTOM_USER_BUTTON(N, NOOP) + #define CHECK_BETTER_USER_BUTTON(N) _CHECK_CUSTOM_USER_BUTTON(N, if (strlen(BUTTON##N##_DESC)) LCD_MESSAGE_F(BUTTON##N##_DESC)) + + #if HAS_BETTER_USER_BUTTON(1) + CHECK_BETTER_USER_BUTTON(1); + #elif HAS_CUSTOM_USER_BUTTON(1) + CHECK_CUSTOM_USER_BUTTON(1); + #endif + #if HAS_BETTER_USER_BUTTON(2) + CHECK_BETTER_USER_BUTTON(2); + #elif HAS_CUSTOM_USER_BUTTON(2) + CHECK_CUSTOM_USER_BUTTON(2); + #endif + #if HAS_BETTER_USER_BUTTON(3) + CHECK_BETTER_USER_BUTTON(3); + #elif HAS_CUSTOM_USER_BUTTON(3) + CHECK_CUSTOM_USER_BUTTON(3); + #endif + #if HAS_BETTER_USER_BUTTON(4) + CHECK_BETTER_USER_BUTTON(4); + #elif HAS_CUSTOM_USER_BUTTON(4) + CHECK_CUSTOM_USER_BUTTON(4); + #endif + #if HAS_BETTER_USER_BUTTON(5) + CHECK_BETTER_USER_BUTTON(5); + #elif HAS_CUSTOM_USER_BUTTON(5) + CHECK_CUSTOM_USER_BUTTON(5); + #endif + #if HAS_BETTER_USER_BUTTON(6) + CHECK_BETTER_USER_BUTTON(6); + #elif HAS_CUSTOM_USER_BUTTON(6) + CHECK_CUSTOM_USER_BUTTON(6); + #endif + #if HAS_BETTER_USER_BUTTON(7) + CHECK_BETTER_USER_BUTTON(7); + #elif HAS_CUSTOM_USER_BUTTON(7) + CHECK_CUSTOM_USER_BUTTON(7); + #endif + #if HAS_BETTER_USER_BUTTON(8) + CHECK_BETTER_USER_BUTTON(8); + #elif HAS_CUSTOM_USER_BUTTON(8) + CHECK_CUSTOM_USER_BUTTON(8); + #endif + #if HAS_BETTER_USER_BUTTON(9) + CHECK_BETTER_USER_BUTTON(9); + #elif HAS_CUSTOM_USER_BUTTON(9) + CHECK_CUSTOM_USER_BUTTON(9); + #endif + #if HAS_BETTER_USER_BUTTON(10) + CHECK_BETTER_USER_BUTTON(10); + #elif HAS_CUSTOM_USER_BUTTON(10) + CHECK_CUSTOM_USER_BUTTON(10); + #endif + #if HAS_BETTER_USER_BUTTON(11) + CHECK_BETTER_USER_BUTTON(11); + #elif HAS_CUSTOM_USER_BUTTON(11) + CHECK_CUSTOM_USER_BUTTON(11); + #endif + #if HAS_BETTER_USER_BUTTON(12) + CHECK_BETTER_USER_BUTTON(12); + #elif HAS_CUSTOM_USER_BUTTON(12) + CHECK_CUSTOM_USER_BUTTON(12); + #endif + #if HAS_BETTER_USER_BUTTON(13) + CHECK_BETTER_USER_BUTTON(13); + #elif HAS_CUSTOM_USER_BUTTON(13) + CHECK_CUSTOM_USER_BUTTON(13); + #endif + #if HAS_BETTER_USER_BUTTON(14) + CHECK_BETTER_USER_BUTTON(14); + #elif HAS_CUSTOM_USER_BUTTON(14) + CHECK_CUSTOM_USER_BUTTON(14); + #endif + #if HAS_BETTER_USER_BUTTON(15) + CHECK_BETTER_USER_BUTTON(15); + #elif HAS_CUSTOM_USER_BUTTON(15) + CHECK_CUSTOM_USER_BUTTON(15); + #endif + #if HAS_BETTER_USER_BUTTON(16) + CHECK_BETTER_USER_BUTTON(16); + #elif HAS_CUSTOM_USER_BUTTON(16) + CHECK_CUSTOM_USER_BUTTON(16); + #endif + #if HAS_BETTER_USER_BUTTON(17) + CHECK_BETTER_USER_BUTTON(17); + #elif HAS_CUSTOM_USER_BUTTON(17) + CHECK_CUSTOM_USER_BUTTON(17); + #endif + #if HAS_BETTER_USER_BUTTON(18) + CHECK_BETTER_USER_BUTTON(18); + #elif HAS_CUSTOM_USER_BUTTON(18) + CHECK_CUSTOM_USER_BUTTON(18); + #endif + #if HAS_BETTER_USER_BUTTON(19) + CHECK_BETTER_USER_BUTTON(19); + #elif HAS_CUSTOM_USER_BUTTON(19) + CHECK_CUSTOM_USER_BUTTON(19); + #endif + #if HAS_BETTER_USER_BUTTON(20) + CHECK_BETTER_USER_BUTTON(20); + #elif HAS_CUSTOM_USER_BUTTON(20) + CHECK_CUSTOM_USER_BUTTON(20); + #endif + #if HAS_BETTER_USER_BUTTON(21) + CHECK_BETTER_USER_BUTTON(21); + #elif HAS_CUSTOM_USER_BUTTON(21) + CHECK_CUSTOM_USER_BUTTON(21); + #endif + #if HAS_BETTER_USER_BUTTON(22) + CHECK_BETTER_USER_BUTTON(22); + #elif HAS_CUSTOM_USER_BUTTON(22) + CHECK_CUSTOM_USER_BUTTON(22); + #endif + #if HAS_BETTER_USER_BUTTON(23) + CHECK_BETTER_USER_BUTTON(23); + #elif HAS_CUSTOM_USER_BUTTON(23) + CHECK_CUSTOM_USER_BUTTON(23); + #endif + #if HAS_BETTER_USER_BUTTON(24) + CHECK_BETTER_USER_BUTTON(24); + #elif HAS_CUSTOM_USER_BUTTON(24) + CHECK_CUSTOM_USER_BUTTON(24); + #endif + #if HAS_BETTER_USER_BUTTON(25) + CHECK_BETTER_USER_BUTTON(25); + #elif HAS_CUSTOM_USER_BUTTON(25) + CHECK_CUSTOM_USER_BUTTON(25); + #endif + #endif + + TERN_(EASYTHREED_UI, easythreed_ui.run()); + + TERN_(USE_CONTROLLER_FAN, controllerFan.update()); // Check if fan should be turned on to cool stepper drivers down + + TERN_(AUTO_POWER_CONTROL, powerManager.check(!ui.on_status_screen() || printJobOngoing() || printingIsPaused())); + + TERN_(HOTEND_IDLE_TIMEOUT, hotend_idle.check()); + + #if ENABLED(EXTRUDER_RUNOUT_PREVENT) + if (thermalManager.degHotend(active_extruder) > (EXTRUDER_RUNOUT_MINTEMP) + && ELAPSED(ms, gcode.previous_move_ms + SEC_TO_MS(EXTRUDER_RUNOUT_SECONDS)) + && !planner.has_blocks_queued() + ) { + #if HAS_SWITCHING_EXTRUDER + bool oldstatus; + switch (active_extruder) { + default: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 0); stepper.ENABLE_EXTRUDER(0); break; + #if E_STEPPERS > 1 + case 2: case 3: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 1); stepper.ENABLE_EXTRUDER(1); break; + #if E_STEPPERS > 2 + case 4: case 5: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 2); stepper.ENABLE_EXTRUDER(2); break; + #if E_STEPPERS > 3 + case 6: case 7: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 3); stepper.ENABLE_EXTRUDER(3); break; + #endif // E_STEPPERS > 3 + #endif // E_STEPPERS > 2 + #endif // E_STEPPERS > 1 + } + #else // !HAS_SWITCHING_EXTRUDER + bool oldstatus; + switch (active_extruder) { + default: + #define _CASE_EN(N) case N: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, N); stepper.ENABLE_EXTRUDER(N); break; + REPEAT(E_STEPPERS, _CASE_EN); + } + #endif + + const float olde = current_position.e; + current_position.e += EXTRUDER_RUNOUT_EXTRUDE; + line_to_current_position(MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED)); + current_position.e = olde; + planner.set_e_position_mm(olde); + planner.synchronize(); + + #if HAS_SWITCHING_EXTRUDER + switch (active_extruder) { + default: if (oldstatus) stepper.ENABLE_EXTRUDER(0); else stepper.DISABLE_EXTRUDER(0); break; + #if E_STEPPERS > 1 + case 2: case 3: if (oldstatus) stepper.ENABLE_EXTRUDER(1); else stepper.DISABLE_EXTRUDER(1); break; + #if E_STEPPERS > 2 + case 4: case 5: if (oldstatus) stepper.ENABLE_EXTRUDER(2); else stepper.DISABLE_EXTRUDER(2); break; + #endif // E_STEPPERS > 2 + #endif // E_STEPPERS > 1 + } + #else // !HAS_SWITCHING_EXTRUDER + switch (active_extruder) { + #define _CASE_RESTORE(N) case N: if (oldstatus) stepper.ENABLE_EXTRUDER(N); else stepper.DISABLE_EXTRUDER(N); break; + REPEAT(E_STEPPERS, _CASE_RESTORE); + } + #endif // !HAS_SWITCHING_EXTRUDER + + gcode.reset_stepper_timeout(ms); + } + #endif // EXTRUDER_RUNOUT_PREVENT + + #if ENABLED(DUAL_X_CARRIAGE) + // handle delayed move timeout + if (delayed_move_time && ELAPSED(ms, delayed_move_time) && IsRunning()) { + // travel moves have been received so enact them + delayed_move_time = 0xFFFFFFFFUL; // force moves to be done + destination = current_position; + prepare_line_to_destination(); + planner.synchronize(); + } + #endif + + TERN_(TEMP_STAT_LEDS, handle_status_leds()); + + TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers()); + + // Limit check_axes_activity frequency to 10Hz + static millis_t next_check_axes_ms = 0; + if (ELAPSED(ms, next_check_axes_ms)) { + planner.check_axes_activity(); + next_check_axes_ms = ms + 100UL; + } + + #if PIN_EXISTS(FET_SAFETY) + static millis_t FET_next; + if (ELAPSED(ms, FET_next)) { + FET_next = ms + FET_SAFETY_DELAY; // 2µs pulse every FET_SAFETY_DELAY mS + OUT_WRITE(FET_SAFETY_PIN, !FET_SAFETY_INVERTED); + DELAY_US(2); + WRITE(FET_SAFETY_PIN, FET_SAFETY_INVERTED); + } + #endif +} + +/** + * Standard idle routine keeps the machine alive: + * - Core Marlin activities + * - Manage heaters (and Watchdog) + * - Max7219 heartbeat, animation, etc. + * + * Only after setup() is complete: + * - Handle filament runout sensors + * - Run HAL idle tasks + * - Handle Power-Loss Recovery + * - Run StallGuard endstop checks + * - Handle SD Card insert / remove + * - Handle USB Flash Drive insert / remove + * - Announce Host Keepalive state (if any) + * - Update the Print Job Timer state + * - Update the Beeper queue + * - Read Buttons and Update the LCD + * - Run i2c Position Encoders + * - Auto-report Temperatures / SD Status + * - Update the Průša MMU2 + * - Handle Joystick jogging + */ +void idle(bool no_stepper_sleep/*=false*/) { + #ifdef MAX7219_DEBUG_PROFILE + CodeProfiler idle_profiler; + #endif + + #if ENABLED(MARLIN_DEV_MODE) + static uint16_t idle_depth = 0; + if (++idle_depth > 5) SERIAL_ECHOLNPGM("idle() call depth: ", idle_depth); + #endif + + // Bed Distance Sensor task + TERN_(BD_SENSOR, bdl.process()); + + // Core Marlin activities + manage_inactivity(no_stepper_sleep); + + // Manage Heaters (and Watchdog) + thermalManager.task(); + + // Max7219 heartbeat, animation, etc + TERN_(MAX7219_DEBUG, max7219.idle_tasks()); + + // Return if setup() isn't completed + if (marlin_state == MF_INITIALIZING) goto IDLE_DONE; + + // TODO: Still causing errors + (void)check_tool_sensor_stats(active_extruder, true); + + // Handle filament runout sensors + #if HAS_FILAMENT_SENSOR + if (TERN1(HAS_PRUSA_MMU2, !mmu2.enabled())) + runout.run(); + #endif + + // Run HAL idle tasks + hal.idletask(); + + // Check network connection + TERN_(HAS_ETHERNET, ethernet.check()); + + // Handle Power-Loss Recovery + #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS) + if (IS_SD_PRINTING()) recovery.outage(); + #endif + + // Run StallGuard endstop checks + #if ENABLED(SPI_ENDSTOPS) + if (endstops.tmc_spi_homing.any && TERN1(IMPROVE_HOMING_RELIABILITY, ELAPSED(millis(), sg_guard_period))) + LOOP_L_N(i, 4) if (endstops.tmc_spi_homing_check()) break; // Read SGT 4 times per idle loop + #endif + + // Handle SD Card insert / remove + TERN_(SDSUPPORT, card.manage_media()); + + // Handle USB Flash Drive insert / remove + TERN_(USB_FLASH_DRIVE_SUPPORT, card.diskIODriver()->idle()); + + // Announce Host Keepalive state (if any) + TERN_(HOST_KEEPALIVE_FEATURE, gcode.host_keepalive()); + + // Update the Print Job Timer state + TERN_(PRINTCOUNTER, print_job_timer.tick()); + + // Update the Beeper queue + TERN_(HAS_BEEPER, buzzer.tick()); + + // Handle UI input / draw events + TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update()); + + // Run i2c Position Encoders + #if ENABLED(I2C_POSITION_ENCODERS) + { + static millis_t i2cpem_next_update_ms; + if (planner.has_blocks_queued()) { + const millis_t ms = millis(); + if (ELAPSED(ms, i2cpem_next_update_ms)) { + I2CPEM.update(); + i2cpem_next_update_ms = ms + I2CPE_MIN_UPD_TIME_MS; + } + } + } + #endif + + // Auto-report Temperatures / SD Status + #if HAS_AUTO_REPORTING + if (!gcode.autoreport_paused) { + TERN_(AUTO_REPORT_TEMPERATURES, thermalManager.auto_reporter.tick()); + TERN_(AUTO_REPORT_FANS, fan_check.auto_reporter.tick()); + TERN_(AUTO_REPORT_SD_STATUS, card.auto_reporter.tick()); + TERN_(AUTO_REPORT_POSITION, position_auto_reporter.tick()); + TERN_(BUFFER_MONITORING, queue.auto_report_buffer_statistics()); + } + #endif + + // Update the Průša MMU2 + TERN_(HAS_PRUSA_MMU2, mmu2.mmu_loop()); + + // Handle Joystick jogging + TERN_(POLL_JOG, joystick.inject_jog_moves()); + + // Direct Stepping + TERN_(DIRECT_STEPPING, page_manager.write_responses()); + + // Update the LVGL interface + TERN_(HAS_TFT_LVGL_UI, LV_TASK_HANDLER()); + + IDLE_DONE: + TERN_(MARLIN_DEV_MODE, idle_depth--); + return; +} + +/** + * Kill all activity and lock the machine. + * After this the machine will need to be reset. + */ +void kill(FSTR_P const lcd_error/*=nullptr*/, FSTR_P const lcd_component/*=nullptr*/, const bool steppers_off/*=false*/) { + thermalManager.disable_all_heaters(); + + TERN_(HAS_CUTTER, cutter.kill()); // Full cutter shutdown including ISR control + + // Echo the LCD message to serial for extra context + if (lcd_error) { SERIAL_ECHO_START(); SERIAL_ECHOLNF(lcd_error); } + + #if HAS_DISPLAY + ui.kill_screen(lcd_error ?: GET_TEXT_F(MSG_KILLED), lcd_component ?: FPSTR(NUL_STR)); + #else + UNUSED(lcd_error); UNUSED(lcd_component); + #endif + + TERN_(HAS_TFT_LVGL_UI, lv_draw_error_message(lcd_error)); + + // "Error:Printer halted. kill() called!" + SERIAL_ERROR_MSG(STR_ERR_KILLED); + + #ifdef ACTION_ON_KILL + hostui.kill(); + #endif + + minkill(steppers_off); +} + +void minkill(const bool steppers_off/*=false*/) { + + // Wait a short time (allows messages to get out before shutting down. + for (int i = 1000; i--;) DELAY_US(600); + + cli(); // Stop interrupts + + // Wait to ensure all interrupts stopped + for (int i = 1000; i--;) DELAY_US(250); + + // Reiterate heaters off + thermalManager.disable_all_heaters(); + + TERN_(HAS_CUTTER, cutter.kill()); // Reiterate cutter shutdown + + // Power off all steppers (for M112) or just the E steppers + steppers_off ? stepper.disable_all_steppers() : stepper.disable_e_steppers(); + + TERN_(PSU_CONTROL, powerManager.power_off()); + + TERN_(HAS_SUICIDE, suicide()); + + #if EITHER(HAS_KILL, SOFT_RESET_ON_KILL) + + // Wait for both KILL and ENC to be released + while (TERN0(HAS_KILL, kill_state()) || TERN0(SOFT_RESET_ON_KILL, ui.button_pressed())) + hal.watchdog_refresh(); + + // Wait for either KILL or ENC to be pressed again + while (TERN1(HAS_KILL, !kill_state()) && TERN1(SOFT_RESET_ON_KILL, !ui.button_pressed())) + hal.watchdog_refresh(); + + // Reboot the board + hal.reboot(); + + #else + + for (;;) hal.watchdog_refresh(); // Wait for RESET button or power-cycle + + #endif +} + +/** + * Turn off heaters and stop the print in progress + * After a stop the machine may be resumed with M999 + */ +void stop() { + thermalManager.disable_all_heaters(); // 'unpause' taken care of in here + + print_job_timer.stop(); + + #if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE) + thermalManager.set_fans_paused(false); // Un-pause fans for safety + #endif + + if (!IsStopped()) { + SERIAL_ERROR_MSG(STR_ERR_STOPPED); + LCD_MESSAGE(MSG_STOPPED); + safe_delay(350); // allow enough time for messages to get out before stopping + marlin_state = MF_STOPPED; + } +} + +inline void tmc_standby_setup() { + #if PIN_EXISTS(X_STDBY) + SET_INPUT_PULLDOWN(X_STDBY_PIN); + #endif + #if PIN_EXISTS(X2_STDBY) + SET_INPUT_PULLDOWN(X2_STDBY_PIN); + #endif + #if PIN_EXISTS(Y_STDBY) + SET_INPUT_PULLDOWN(Y_STDBY_PIN); + #endif + #if PIN_EXISTS(Y2_STDBY) + SET_INPUT_PULLDOWN(Y2_STDBY_PIN); + #endif + #if PIN_EXISTS(Z_STDBY) + SET_INPUT_PULLDOWN(Z_STDBY_PIN); + #endif + #if PIN_EXISTS(Z2_STDBY) + SET_INPUT_PULLDOWN(Z2_STDBY_PIN); + #endif + #if PIN_EXISTS(Z3_STDBY) + SET_INPUT_PULLDOWN(Z3_STDBY_PIN); + #endif + #if PIN_EXISTS(Z4_STDBY) + SET_INPUT_PULLDOWN(Z4_STDBY_PIN); + #endif + #if PIN_EXISTS(I_STDBY) + SET_INPUT_PULLDOWN(I_STDBY_PIN); + #endif + #if PIN_EXISTS(J_STDBY) + SET_INPUT_PULLDOWN(J_STDBY_PIN); + #endif + #if PIN_EXISTS(K_STDBY) + SET_INPUT_PULLDOWN(K_STDBY_PIN); + #endif + #if PIN_EXISTS(U_STDBY) + SET_INPUT_PULLDOWN(U_STDBY_PIN); + #endif + #if PIN_EXISTS(V_STDBY) + SET_INPUT_PULLDOWN(V_STDBY_PIN); + #endif + #if PIN_EXISTS(W_STDBY) + SET_INPUT_PULLDOWN(W_STDBY_PIN); + #endif + #if PIN_EXISTS(E0_STDBY) + SET_INPUT_PULLDOWN(E0_STDBY_PIN); + #endif + #if PIN_EXISTS(E1_STDBY) + SET_INPUT_PULLDOWN(E1_STDBY_PIN); + #endif + #if PIN_EXISTS(E2_STDBY) + SET_INPUT_PULLDOWN(E2_STDBY_PIN); + #endif + #if PIN_EXISTS(E3_STDBY) + SET_INPUT_PULLDOWN(E3_STDBY_PIN); + #endif + #if PIN_EXISTS(E4_STDBY) + SET_INPUT_PULLDOWN(E4_STDBY_PIN); + #endif + #if PIN_EXISTS(E5_STDBY) + SET_INPUT_PULLDOWN(E5_STDBY_PIN); + #endif + #if PIN_EXISTS(E6_STDBY) + SET_INPUT_PULLDOWN(E6_STDBY_PIN); + #endif + #if PIN_EXISTS(E7_STDBY) + SET_INPUT_PULLDOWN(E7_STDBY_PIN); + #endif +} + +/** + * Marlin Firmware entry-point. Abandon Hope All Ye Who Enter Here. + * Setup before the program loop: + * + * - Call any special pre-init set for the board + * - Put TMC drivers into Low Power Standby mode + * - Init the serial ports (so setup can be debugged) + * - Set up the kill and suicide pins + * - Prepare (disable) board JTAG and Debug ports + * - Init serial for a connected MKS TFT with WiFi + * - Install Marlin custom Exception Handlers, if set. + * - Init Marlin's HAL interfaces (for SPI, i2c, etc.) + * - Init some optional hardware and features: + * • MAX Thermocouple pins + * • Duet Smart Effector + * • Filament Runout Sensor + * • TMC220x Stepper Drivers (Serial) + * • PSU control + * • Power-loss Recovery + * • Stepper Driver Reset: DISABLE + * • TMC Stepper Drivers (SPI) + * • Run hal.init_board() for additional pins setup + * • ESP WiFi + * - Get the Reset Reason and report it + * - Print startup messages and diagnostics + * - Calibrate the HAL DELAY for precise timing + * - Init the buzzer, possibly a custom timer + * - Init more optional hardware: + * • Color LED illumination + * • Neopixel illumination + * • Controller Fan + * • Creality DWIN LCD (show boot image) + * • Tare the Probe if possible + * - Mount the (most likely external) SD Card + * - Load settings from EEPROM (or use defaults) + * - Init the Ethernet Port + * - Init Touch Buttons (for emulated DOGLCD) + * - Adjust the (certainly wrong) current position by the home offset + * - Init the Planner::position (steps) based on current (native) position + * - Initialize more managers and peripherals: + * • Temperatures + * • Print Job Timer + * • Endstops and Endstop Interrupts + * • Stepper ISR - Kind of Important! + * • Servos + * • Servo-based Probe + * • Photograph Pin + * • Laser/Spindle tool Power / PWM + * • Coolant Control + * • Bed Probe + * • Stepper Driver Reset: ENABLE + * • Digipot I2C - Stepper driver current control + * • Stepper DAC - Stepper driver current control + * • Solenoid (probe, or for other use) + * • Home Pin + * • Custom User Buttons + * • Red/Blue Status LEDs + * • Case Light + * • Prusa MMU filament changer + * • Fan Multiplexer + * • Mixing Extruder + * • BLTouch Probe + * • I2C Position Encoders + * • Custom I2C Bus handlers + * • Enhanced tools or extruders: + * • Switching Extruder + * • Switching Nozzle + * • Parking Extruder + * • Magnetic Parking Extruder + * • Switching Toolhead + * • Electromagnetic Switching Toolhead + * • Watchdog Timer - Also Kind of Important! + * • Closed Loop Controller + * - Run Startup Commands, if defined + * - Tell host to close Host Prompts + * - Test Trinamic driver connections + * - Init Prusa MMU2 filament changer + * - Init and test BL24Cxx EEPROM + * - Init Creality DWIN encoder, show faux progress bar + * - Reset Status Message / Show Service Messages + * - Init MAX7219 LED Matrix + * - Init Direct Stepping (Klipper-style motion control) + * - Init TFT LVGL UI (with 3D Graphics) + * - Apply Password Lock - Hold for Authentication + * - Open Touch Screen Calibration screen, if not calibrated + * - Set Marlin to RUNNING State + */ +void setup() { + #ifdef FASTIO_INIT + FASTIO_INIT(); + #endif + + #ifdef BOARD_PREINIT + BOARD_PREINIT(); // Low-level init (before serial init) + #endif + + tmc_standby_setup(); // TMC Low Power Standby pins must be set early or they're not usable + + // Check startup - does nothing if bootloader sets MCUSR to 0 + const byte mcu = hal.get_reset_source(); + hal.clear_reset_source(); + + #if ENABLED(MARLIN_DEV_MODE) + auto log_current_ms = [&](PGM_P const msg) { + SERIAL_ECHO_START(); + SERIAL_CHAR('['); SERIAL_ECHO(millis()); SERIAL_ECHOPGM("] "); + SERIAL_ECHOLNPGM_P(msg); + }; + #define SETUP_LOG(M) log_current_ms(PSTR(M)) + #else + #define SETUP_LOG(...) NOOP + #endif + #define SETUP_RUN(C) do{ SETUP_LOG(STRINGIFY(C)); C; }while(0) + + MYSERIAL1.begin(BAUDRATE); + millis_t serial_connect_timeout = millis() + 1000UL; + while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } + + #if HAS_MULTI_SERIAL && !HAS_ETHERNET + #ifndef BAUDRATE_2 + #define BAUDRATE_2 BAUDRATE + #endif + MYSERIAL2.begin(BAUDRATE_2); + serial_connect_timeout = millis() + 1000UL; + while (!MYSERIAL2.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } + #ifdef SERIAL_PORT_3 + #ifndef BAUDRATE_3 + #define BAUDRATE_3 BAUDRATE + #endif + MYSERIAL3.begin(BAUDRATE_3); + serial_connect_timeout = millis() + 1000UL; + while (!MYSERIAL3.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } + #endif + #endif + SERIAL_ECHOLNPGM("start"); + + // Set up these pins early to prevent suicide + #if HAS_KILL + SETUP_LOG("KILL_PIN"); + #if KILL_PIN_STATE + SET_INPUT_PULLDOWN(KILL_PIN); + #else + SET_INPUT_PULLUP(KILL_PIN); + #endif + #endif + + #if ENABLED(FREEZE_FEATURE) + SETUP_LOG("FREEZE_PIN"); + #if FREEZE_STATE + SET_INPUT_PULLDOWN(FREEZE_PIN); + #else + SET_INPUT_PULLUP(FREEZE_PIN); + #endif + #endif + + #if HAS_SUICIDE + SETUP_LOG("SUICIDE_PIN"); + OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_STATE); + #endif + + #ifdef JTAGSWD_RESET + SETUP_LOG("JTAGSWD_RESET"); + JTAGSWD_RESET(); + #endif + + // Disable any hardware debug to free up pins for IO + #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE) + delay(10); + SETUP_LOG("JTAGSWD_DISABLE"); + JTAGSWD_DISABLE(); + #elif ENABLED(DISABLE_JTAG) && defined(JTAG_DISABLE) + delay(10); + SETUP_LOG("JTAG_DISABLE"); + JTAG_DISABLE(); + #endif + + TERN_(DYNAMIC_VECTORTABLE, hook_cpu_exceptions()); // If supported, install Marlin exception handlers at runtime + + SETUP_RUN(hal.init()); + + // Init and disable SPI thermocouples; this is still needed + #if TEMP_SENSOR_IS_MAX_TC(0) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E0)) + OUT_WRITE(TEMP_0_CS_PIN, HIGH); // Disable + #endif + #if TEMP_SENSOR_IS_MAX_TC(1) || (TEMP_SENSOR_IS_MAX_TC(REDUNDANT) && REDUNDANT_TEMP_MATCH(SOURCE, E1)) + OUT_WRITE(TEMP_1_CS_PIN, HIGH); + #endif + + #if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD) + OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); // Put Smart Effector into NORMAL mode + #endif + + #if HAS_FILAMENT_SENSOR + SETUP_RUN(runout.setup()); + #endif + + #if HAS_TMC220x + SETUP_RUN(tmc_serial_begin()); + #endif + + #if HAS_TMC_SPI + #if DISABLED(TMC_USE_SW_SPI) + SETUP_RUN(SPI.begin()); + #endif + SETUP_RUN(tmc_init_cs_pins()); + #endif + + #if ENABLED(PSU_CONTROL) + SETUP_LOG("PSU_CONTROL"); + powerManager.init(); + #endif + + #if ENABLED(POWER_LOSS_RECOVERY) + SETUP_RUN(recovery.setup()); + #endif + + #if HAS_STEPPER_RESET + SETUP_RUN(disableStepperDrivers()); + #endif + + SETUP_RUN(hal.init_board()); + + SETUP_RUN(esp_wifi_init()); + + // Report Reset Reason + if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP); + if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET); + if (mcu & RST_BROWN_OUT) SERIAL_ECHOLNPGM(STR_BROWNOUT_RESET); + if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET); + if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET); + + #if ProUIex + ProEx.C115(); + #else + // Identify myself as Marlin x.x.x + SERIAL_ECHOLNPGM("Marlin " SHORT_BUILD_VERSION); + #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR) + SERIAL_ECHO_MSG( + " Last Updated: " STRING_DISTRIBUTION_DATE + " | Author: " STRING_CONFIG_H_AUTHOR + ); + #endif + SERIAL_ECHO_MSG(" Compiled: " __DATE__); + #endif + SERIAL_ECHO_MSG(STR_FREE_MEMORY, hal.freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE)); + + // Some HAL need precise delay adjustment + calibrate_delay_loop(); + + // Init buzzer pin(s) + #if HAS_BEEPER + SETUP_RUN(buzzer.init()); + #endif + + // Set up LEDs early + #if HAS_COLOR_LEDS + SETUP_RUN(leds.setup()); + #endif + + #if ENABLED(NEOPIXEL2_SEPARATE) + SETUP_RUN(leds2.setup()); + #endif + + #if ENABLED(USE_CONTROLLER_FAN) // Set up fan controller to initialize also the default configurations. + SETUP_RUN(controllerFan.setup()); + #endif + + TERN_(HAS_FANCHECK, fan_check.init()); + + // UI must be initialized before EEPROM + // (because EEPROM code calls the UI). + + SETUP_RUN(ui.init()); + + #if PIN_EXISTS(SAFE_POWER) + #if HAS_DRIVER_SAFE_POWER_PROTECT + SETUP_RUN(stepper_driver_backward_check()); + #else + SETUP_LOG("SAFE_POWER"); + OUT_WRITE(SAFE_POWER_PIN, HIGH); + #endif + #endif + + #if BOTH(SDSUPPORT, SDCARD_EEPROM_EMULATION) + SETUP_RUN(card.mount()); // Mount media with settings before first_load + #endif + + SETUP_RUN(settings.first_load()); // Load data from EEPROM if available (or use defaults) + // This also updates variables in the planner, elsewhere + + #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN) + SETUP_RUN(ui.show_bootscreen()); + const millis_t bootscreen_ms = millis(); + #endif + + #if ENABLED(PROBE_TARE) + SETUP_RUN(probe.tare_init()); + #endif + + #if HAS_ETHERNET + SETUP_RUN(ethernet.init()); + #endif + + #if HAS_TOUCH_BUTTONS + SETUP_RUN(touchBt.init()); + #endif + + TERN_(HAS_M206_COMMAND, current_position += home_offset); // Init current position based on home_offset + + sync_plan_position(); // Vital to init stepper/planner equivalent for current_position + + SETUP_RUN(thermalManager.init()); // Initialize temperature loop + + SETUP_RUN(print_job_timer.init()); // Initial setup of print job timer + + SETUP_RUN(endstops.init()); // Init endstops and pullups + + #if ENABLED(DELTA) && !HAS_SOFTWARE_ENDSTOPS + SETUP_RUN(refresh_delta_clip_start_height()); // Init safe delta height without soft endstops + #endif + + SETUP_RUN(stepper.init()); // Init stepper. This enables interrupts! + + #if HAS_SERVOS + SETUP_RUN(servo_init()); + #endif + + #if HAS_Z_SERVO_PROBE + SETUP_RUN(probe.servo_probe_init()); + #endif + + #if HAS_PHOTOGRAPH + OUT_WRITE(PHOTOGRAPH_PIN, LOW); + #endif + + #if HAS_CUTTER + SETUP_RUN(cutter.init()); + #endif + + #if ENABLED(COOLANT_MIST) + OUT_WRITE(COOLANT_MIST_PIN, COOLANT_MIST_INVERT); // Init Mist Coolant OFF + #endif + #if ENABLED(COOLANT_FLOOD) + OUT_WRITE(COOLANT_FLOOD_PIN, COOLANT_FLOOD_INVERT); // Init Flood Coolant OFF + #endif + + #if HAS_BED_PROBE + #if PIN_EXISTS(PROBE_ENABLE) + OUT_WRITE(PROBE_ENABLE_PIN, LOW); // Disable + #endif + SETUP_RUN(endstops.enable_z_probe(false)); + #endif + + #if HAS_STEPPER_RESET + SETUP_RUN(enableStepperDrivers()); + #endif + + #if HAS_MOTOR_CURRENT_I2C + SETUP_RUN(digipot_i2c.init()); + #endif + + #if HAS_MOTOR_CURRENT_DAC + SETUP_RUN(stepper_dac.init()); + #endif + + #if EITHER(Z_PROBE_SLED, SOLENOID_PROBE) && HAS_SOLENOID_1 + OUT_WRITE(SOL1_PIN, LOW); // OFF + #endif + + #if HAS_HOME + SET_INPUT_PULLUP(HOME_PIN); + #endif + + #if ENABLED(CUSTOM_USER_BUTTONS) + #define INIT_CUSTOM_USER_BUTTON_PIN(N) do{ SET_INPUT(BUTTON##N##_PIN); WRITE(BUTTON##N##_PIN, !BUTTON##N##_HIT_STATE); }while(0) + + #if HAS_CUSTOM_USER_BUTTON(1) + INIT_CUSTOM_USER_BUTTON_PIN(1); + #endif + #if HAS_CUSTOM_USER_BUTTON(2) + INIT_CUSTOM_USER_BUTTON_PIN(2); + #endif + #if HAS_CUSTOM_USER_BUTTON(3) + INIT_CUSTOM_USER_BUTTON_PIN(3); + #endif + #if HAS_CUSTOM_USER_BUTTON(4) + INIT_CUSTOM_USER_BUTTON_PIN(4); + #endif + #if HAS_CUSTOM_USER_BUTTON(5) + INIT_CUSTOM_USER_BUTTON_PIN(5); + #endif + #if HAS_CUSTOM_USER_BUTTON(6) + INIT_CUSTOM_USER_BUTTON_PIN(6); + #endif + #if HAS_CUSTOM_USER_BUTTON(7) + INIT_CUSTOM_USER_BUTTON_PIN(7); + #endif + #if HAS_CUSTOM_USER_BUTTON(8) + INIT_CUSTOM_USER_BUTTON_PIN(8); + #endif + #if HAS_CUSTOM_USER_BUTTON(9) + INIT_CUSTOM_USER_BUTTON_PIN(9); + #endif + #if HAS_CUSTOM_USER_BUTTON(10) + INIT_CUSTOM_USER_BUTTON_PIN(10); + #endif + #if HAS_CUSTOM_USER_BUTTON(11) + INIT_CUSTOM_USER_BUTTON_PIN(11); + #endif + #if HAS_CUSTOM_USER_BUTTON(12) + INIT_CUSTOM_USER_BUTTON_PIN(12); + #endif + #if HAS_CUSTOM_USER_BUTTON(13) + INIT_CUSTOM_USER_BUTTON_PIN(13); + #endif + #if HAS_CUSTOM_USER_BUTTON(14) + INIT_CUSTOM_USER_BUTTON_PIN(14); + #endif + #if HAS_CUSTOM_USER_BUTTON(15) + INIT_CUSTOM_USER_BUTTON_PIN(15); + #endif + #if HAS_CUSTOM_USER_BUTTON(16) + INIT_CUSTOM_USER_BUTTON_PIN(16); + #endif + #if HAS_CUSTOM_USER_BUTTON(17) + INIT_CUSTOM_USER_BUTTON_PIN(17); + #endif + #if HAS_CUSTOM_USER_BUTTON(18) + INIT_CUSTOM_USER_BUTTON_PIN(18); + #endif + #if HAS_CUSTOM_USER_BUTTON(19) + INIT_CUSTOM_USER_BUTTON_PIN(19); + #endif + #if HAS_CUSTOM_USER_BUTTON(20) + INIT_CUSTOM_USER_BUTTON_PIN(20); + #endif + #if HAS_CUSTOM_USER_BUTTON(21) + INIT_CUSTOM_USER_BUTTON_PIN(21); + #endif + #if HAS_CUSTOM_USER_BUTTON(22) + INIT_CUSTOM_USER_BUTTON_PIN(22); + #endif + #if HAS_CUSTOM_USER_BUTTON(23) + INIT_CUSTOM_USER_BUTTON_PIN(23); + #endif + #if HAS_CUSTOM_USER_BUTTON(24) + INIT_CUSTOM_USER_BUTTON_PIN(24); + #endif + #if HAS_CUSTOM_USER_BUTTON(25) + INIT_CUSTOM_USER_BUTTON_PIN(25); + #endif + #endif + + #if PIN_EXISTS(STAT_LED_RED) + OUT_WRITE(STAT_LED_RED_PIN, LOW); // OFF + #endif + #if PIN_EXISTS(STAT_LED_BLUE) + OUT_WRITE(STAT_LED_BLUE_PIN, LOW); // OFF + #endif + + #if ENABLED(CASE_LIGHT_ENABLE) + SETUP_RUN(caselight.init()); + #endif + + #if HAS_PRUSA_MMU1 + SETUP_RUN(mmu_init()); + #endif + + #if HAS_FANMUX + SETUP_RUN(fanmux_init()); + #endif + + #if ENABLED(MIXING_EXTRUDER) + SETUP_RUN(mixer.init()); + #endif + + #if ENABLED(BLTOUCH) + SETUP_RUN(bltouch.init(/*set_voltage=*/true)); + #endif + + #if ENABLED(MAGLEV4) + OUT_WRITE(MAGLEV_TRIGGER_PIN, LOW); + #endif + + #if ENABLED(I2C_POSITION_ENCODERS) + SETUP_RUN(I2CPEM.init()); + #endif + + #if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0 + SETUP_LOG("i2c..."); + i2c.onReceive(i2c_on_receive); + i2c.onRequest(i2c_on_request); + #endif + + #if DO_SWITCH_EXTRUDER + SETUP_RUN(move_extruder_servo(0)); // Initialize extruder servo + #endif + + #if ENABLED(SWITCHING_NOZZLE) + SETUP_LOG("SWITCHING_NOZZLE"); + // Initialize nozzle servo(s) + #if SWITCHING_NOZZLE_TWO_SERVOS + lower_nozzle(0); + raise_nozzle(1); + #else + move_nozzle_servo(0); + #endif + #endif + + #if ENABLED(PARKING_EXTRUDER) + SETUP_RUN(pe_solenoid_init()); + #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) + SETUP_RUN(mpe_settings_init()); + #elif ENABLED(SWITCHING_TOOLHEAD) + SETUP_RUN(swt_init()); + #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) + SETUP_RUN(est_init()); + #endif + + #if ENABLED(USE_WATCHDOG) + SETUP_RUN(hal.watchdog_init()); // Reinit watchdog after hal.get_reset_source call + #endif + + #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + SETUP_RUN(closedloop.init()); + #endif + + #ifdef STARTUP_COMMANDS + SETUP_LOG("STARTUP_COMMANDS"); + queue.inject(F(STARTUP_COMMANDS)); + #endif + + #if ENABLED(HOST_PROMPT_SUPPORT) + SETUP_RUN(hostui.prompt_end()); + #endif + + #if HAS_DRIVER_SAFE_POWER_PROTECT + SETUP_RUN(stepper_driver_backward_report()); + #endif + + #if HAS_PRUSA_MMU2 + SETUP_RUN(mmu2.init()); + #endif + + #if ENABLED(IIC_BL24CXX_EEPROM) + BL24CXX::init(); + const uint8_t err = BL24CXX::check(); + SERIAL_ECHO_TERNARY(err, "BL24CXX Check ", "failed", "succeeded", "!\n"); + #endif + + #if HAS_DWIN_E3V2_BASIC + SETUP_RUN(DWIN_InitScreen()); + #endif + + #if HAS_SERVICE_INTERVALS && !HAS_DWIN_E3V2_BASIC + SETUP_RUN(ui.reset_status(true)); // Show service messages or keep current status + #endif + + #if ENABLED(MAX7219_DEBUG) + SETUP_RUN(max7219.init()); + #endif + + #if ENABLED(DIRECT_STEPPING) + SETUP_RUN(page_manager.init()); + #endif + + #if HAS_TFT_LVGL_UI + #if ENABLED(SDSUPPORT) + if (!card.isMounted()) SETUP_RUN(card.mount()); // Mount SD to load graphics and fonts + #endif + SETUP_RUN(tft_lvgl_init()); + #endif + + #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN) + const millis_t elapsed = millis() - bootscreen_ms; + #if ENABLED(MARLIN_DEV_MODE) + SERIAL_ECHOLNPGM("elapsed=", elapsed); + #endif + SETUP_RUN(ui.bootscreen_completion(elapsed)); + #endif + + #if ENABLED(PASSWORD_ON_STARTUP) + SETUP_RUN(password.lock_machine()); // Will not proceed until correct password provided + #endif + + #if BOTH(HAS_MARLINUI_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI) + SETUP_RUN(ui.check_touch_calibration()); + #endif + + #if ENABLED(EASYTHREED_UI) + SETUP_RUN(easythreed_ui.init()); + #endif + + #if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF) + SETUP_RUN(test_tmc_connection()); + #endif + + #if ENABLED(BD_SENSOR) + SETUP_RUN(bdl.init(I2C_BD_SDA_PIN, I2C_BD_SCL_PIN, I2C_BD_DELAY)); + #endif + + marlin_state = MF_RUNNING; + + SETUP_LOG("setup() completed."); + + TERN_(MARLIN_TEST_BUILD, runStartupTests()); +} + +/** + * The main Marlin program loop + * + * - Call idle() to handle all tasks between G-code commands + * Note that no G-codes from the queue can be executed during idle() + * but many G-codes can be called directly anytime like macros. + * - Check whether SD card auto-start is needed now. + * - Check whether SD print finishing is needed now. + * - Run one G-code command from the immediate or main command queue + * and open up one space. Commands in the main queue may come from sd + * card, host, or by direct injection. The queue will continue to fill + * as long as idle() or manage_inactivity() are being called. + */ +void loop() { + do { + idle(); + + #if ENABLED(SDSUPPORT) + if (card.flag.abort_sd_printing) abortSDPrinting(); + if (marlin_state == MF_SD_COMPLETE) finishSDPrinting(); + #endif + + queue.advance(); + + #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + powerManager.checkAutoPowerOff(); + #endif + + endstops.event_handler(); + + TERN_(HAS_TFT_LVGL_UI, printer_state_polling()); + + TERN_(MARLIN_TEST_BUILD, runPeriodicTests()); + + } while (ENABLED(__AVR__)); // Loop forever on slower (AVR) boards +} diff --git a/Marlin/src/MarlinCore.h b/Marlin/src/MarlinCore.h new file mode 100644 index 0000000000..f80405a302 --- /dev/null +++ b/Marlin/src/MarlinCore.h @@ -0,0 +1,86 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "inc/MarlinConfig.h" + +#include +#include +#include + +void stop(); + +// Pass true to keep steppers from timing out +void idle(bool no_stepper_sleep=false); +inline void idle_no_sleep() { idle(true); } + +#if ENABLED(G38_PROBE_TARGET) + extern uint8_t G38_move; // Flag to tell the ISR that G38 is in progress, and the type + extern bool G38_did_trigger; // Flag from the ISR to indicate the endstop changed +#endif + +void kill(FSTR_P const lcd_error=nullptr, FSTR_P const lcd_component=nullptr, const bool steppers_off=false); +void minkill(const bool steppers_off=false); + +// Global State of the firmware +enum MarlinState : uint8_t { + MF_INITIALIZING = 0, + MF_STOPPED, + MF_KILLED, + MF_RUNNING, + MF_SD_COMPLETE, + MF_PAUSED, + MF_WAITING, +}; + +extern MarlinState marlin_state; +inline bool IsRunning() { return marlin_state >= MF_RUNNING; } +inline bool IsStopped() { return marlin_state == MF_STOPPED; } + +bool printingIsActive(); +bool printJobOngoing(); +bool printingIsPaused(); +void startOrResumeJob(); + +bool printer_busy(); + +extern bool wait_for_heatup; + +#if HAS_RESUME_CONTINUE + extern bool wait_for_user; + void wait_for_user_response(millis_t ms=0, const bool no_sleep=false); +#endif + +bool pin_is_protected(const pin_t pin); + +#if HAS_SUICIDE + inline void suicide() { OUT_WRITE(SUICIDE_PIN, SUICIDE_PIN_STATE); } +#endif + +#if HAS_KILL + #ifndef KILL_PIN_STATE + #define KILL_PIN_STATE LOW + #endif + inline bool kill_state() { return READ(KILL_PIN) == KILL_PIN_STATE; } +#endif + +extern const char M112_KILL_STR[]; diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h new file mode 100644 index 0000000000..d98a1a1483 --- /dev/null +++ b/Marlin/src/core/boards.h @@ -0,0 +1,489 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "macros.h" + +#define BOARD_UNKNOWN -1 + +// +// RAMPS 1.3 / 1.4 - ATmega1280, ATmega2560 +// + +#define BOARD_RAMPS_OLD 1000 // MEGA/RAMPS up to 1.2 + +#define BOARD_RAMPS_13_EFB 1010 // RAMPS 1.3 (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_13_EEB 1011 // RAMPS 1.3 (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_13_EFF 1012 // RAMPS 1.3 (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_13_EEF 1013 // RAMPS 1.3 (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_13_SF 1014 // RAMPS 1.3 (Power outputs: Spindle, Controller Fan) + +#define BOARD_RAMPS_14_EFB 1020 // RAMPS 1.4 (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_14_EEB 1021 // RAMPS 1.4 (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_14_EFF 1022 // RAMPS 1.4 (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_14_EEF 1023 // RAMPS 1.4 (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_14_SF 1024 // RAMPS 1.4 (Power outputs: Spindle, Controller Fan) + +#define BOARD_RAMPS_PLUS_EFB 1030 // RAMPS Plus 3DYMY (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_PLUS_EEB 1031 // RAMPS Plus 3DYMY (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_PLUS_EFF 1032 // RAMPS Plus 3DYMY (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_PLUS_EEF 1033 // RAMPS Plus 3DYMY (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_PLUS_SF 1034 // RAMPS Plus 3DYMY (Power outputs: Spindle, Controller Fan) + +// +// RAMPS Derivatives - ATmega1280, ATmega2560 +// + +#define BOARD_3DRAG 1100 // 3Drag Controller +#define BOARD_K8200 1101 // Velleman K8200 Controller (derived from 3Drag Controller) +#define BOARD_K8400 1102 // Velleman K8400 Controller (derived from 3Drag Controller) +#define BOARD_K8600 1103 // Velleman K8600 Controller (Vertex Nano) +#define BOARD_K8800 1104 // Velleman K8800 Controller (Vertex Delta) +#define BOARD_BAM_DICE 1105 // 2PrintBeta BAM&DICE with STK drivers +#define BOARD_BAM_DICE_DUE 1106 // 2PrintBeta BAM&DICE Due with STK drivers +#define BOARD_MKS_BASE 1107 // MKS BASE v1.0 +#define BOARD_MKS_BASE_14 1108 // MKS BASE v1.4 with Allegro A4982 stepper drivers +#define BOARD_MKS_BASE_15 1109 // MKS BASE v1.5 with Allegro A4982 stepper drivers +#define BOARD_MKS_BASE_16 1110 // MKS BASE v1.6 with Allegro A4982 stepper drivers +#define BOARD_MKS_BASE_HEROIC 1111 // MKS BASE 1.0 with Heroic HR4982 stepper drivers +#define BOARD_MKS_GEN_13 1112 // MKS GEN v1.3 or 1.4 +#define BOARD_MKS_GEN_L 1113 // MKS GEN L +#define BOARD_KFB_2 1114 // BigTreeTech or BIQU KFB2.0 +#define BOARD_ZRIB_V20 1115 // zrib V2.0 (Chinese RAMPS replica) +#define BOARD_ZRIB_V52 1116 // zrib V5.2 (Chinese RAMPS replica) +#define BOARD_FELIX2 1117 // Felix 2.0+ Electronics Board (RAMPS like) +#define BOARD_RIGIDBOARD 1118 // Invent-A-Part RigidBoard +#define BOARD_RIGIDBOARD_V2 1119 // Invent-A-Part RigidBoard V2 +#define BOARD_SAINSMART_2IN1 1120 // Sainsmart 2-in-1 board +#define BOARD_ULTIMAKER 1121 // Ultimaker +#define BOARD_ULTIMAKER_OLD 1122 // Ultimaker (Older electronics. Pre 1.5.4. This is rare) +#define BOARD_AZTEEG_X3 1123 // Azteeg X3 +#define BOARD_AZTEEG_X3_PRO 1124 // Azteeg X3 Pro +#define BOARD_ULTIMAIN_2 1125 // Ultimainboard 2.x (Uses TEMP_SENSOR 20) +#define BOARD_RUMBA 1126 // Rumba +#define BOARD_RUMBA_RAISE3D 1127 // Raise3D N series Rumba derivative +#define BOARD_RL200 1128 // Rapide Lite 200 (v1, low-cost RUMBA clone with drv) +#define BOARD_FORMBOT_TREX2PLUS 1129 // Formbot T-Rex 2 Plus +#define BOARD_FORMBOT_TREX3 1130 // Formbot T-Rex 3 +#define BOARD_FORMBOT_RAPTOR 1131 // Formbot Raptor +#define BOARD_FORMBOT_RAPTOR2 1132 // Formbot Raptor 2 +#define BOARD_BQ_ZUM_MEGA_3D 1133 // bq ZUM Mega 3D +#define BOARD_MAKEBOARD_MINI 1134 // MakeBoard Mini v2.1.2 by MicroMake +#define BOARD_TRIGORILLA_13 1135 // TriGorilla Anycubic version 1.3-based on RAMPS EFB +#define BOARD_TRIGORILLA_14 1136 // ... Ver 1.4 +#define BOARD_TRIGORILLA_14_11 1137 // ... Rev 1.1 (new servo pin order) +#define BOARD_RAMPS_ENDER_4 1138 // Creality: Ender-4, CR-8 +#define BOARD_RAMPS_CREALITY 1139 // Creality: CR10S, CR20, CR-X +#define BOARD_DAGOMA_F5 1140 // Dagoma F5 +#define BOARD_FYSETC_F6_13 1141 // FYSETC F6 1.3 +#define BOARD_FYSETC_F6_14 1142 // FYSETC F6 1.4 +#define BOARD_DUPLICATOR_I3_PLUS 1143 // Wanhao Duplicator i3 Plus +#define BOARD_VORON 1144 // VORON Design +#define BOARD_TRONXY_V3_1_0 1145 // Tronxy TRONXY-V3-1.0 +#define BOARD_Z_BOLT_X_SERIES 1146 // Z-Bolt X Series +#define BOARD_TT_OSCAR 1147 // TT OSCAR +#define BOARD_OVERLORD 1148 // Overlord/Overlord Pro +#define BOARD_HJC2560C_REV1 1149 // ADIMLab Gantry v1 +#define BOARD_HJC2560C_REV2 1150 // ADIMLab Gantry v2 +#define BOARD_TANGO 1151 // BIQU Tango V1 +#define BOARD_MKS_GEN_L_V2 1152 // MKS GEN L V2 +#define BOARD_MKS_GEN_L_V21 1153 // MKS GEN L V2.1 +#define BOARD_COPYMASTER_3D 1154 // Copymaster 3D +#define BOARD_ORTUR_4 1155 // Ortur 4 +#define BOARD_TENLOG_D3_HERO 1156 // Tenlog D3 Hero IDEX printer +#define BOARD_TENLOG_MB1_V23 1157 // Tenlog D3, D5, D6 IDEX Printer +#define BOARD_RAMPS_S_12_EEFB 1158 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) +#define BOARD_RAMPS_S_12_EEEB 1159 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) +#define BOARD_RAMPS_S_12_EFFB 1160 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) +#define BOARD_LONGER3D_LK1_PRO 1161 // Longer LK1 PRO / Alfawise U20 Pro (PRO version) +#define BOARD_LONGER3D_LKx_PRO 1162 // Longer LKx PRO / Alfawise Uxx Pro (PRO version) +#define BOARD_ZRIB_V53 1163 // Zonestar zrib V5.3 (Chinese RAMPS replica) +#define BOARD_PXMALION_CORE_I3 1164 // Pxmalion Core I3 + +// +// RAMBo and derivatives +// + +#define BOARD_RAMBO 1200 // Rambo +#define BOARD_MINIRAMBO 1201 // Mini-Rambo +#define BOARD_MINIRAMBO_10A 1202 // Mini-Rambo 1.0a +#define BOARD_EINSY_RAMBO 1203 // Einsy Rambo +#define BOARD_EINSY_RETRO 1204 // Einsy Retro +#define BOARD_SCOOVO_X9H 1205 // abee Scoovo X9H +#define BOARD_RAMBO_THINKERV2 1206 // ThinkerV2 + +// +// Other ATmega1280, ATmega2560 +// + +#define BOARD_CNCONTROLS_11 1300 // Cartesio CN Controls V11 +#define BOARD_CNCONTROLS_12 1301 // Cartesio CN Controls V12 +#define BOARD_CNCONTROLS_15 1302 // Cartesio CN Controls V15 +#define BOARD_CHEAPTRONIC 1303 // Cheaptronic v1.0 +#define BOARD_CHEAPTRONIC_V2 1304 // Cheaptronic v2.0 +#define BOARD_MIGHTYBOARD_REVE 1305 // Makerbot Mightyboard Revision E +#define BOARD_MEGATRONICS 1306 // Megatronics +#define BOARD_MEGATRONICS_2 1307 // Megatronics v2.0 +#define BOARD_MEGATRONICS_3 1308 // Megatronics v3.0 +#define BOARD_MEGATRONICS_31 1309 // Megatronics v3.1 +#define BOARD_MEGATRONICS_32 1310 // Megatronics v3.2 +#define BOARD_ELEFU_3 1311 // Elefu Ra Board (v3) +#define BOARD_LEAPFROG 1312 // Leapfrog +#define BOARD_MEGACONTROLLER 1313 // Mega controller +#define BOARD_GT2560_REV_A 1314 // Geeetech GT2560 Rev A +#define BOARD_GT2560_REV_A_PLUS 1315 // Geeetech GT2560 Rev A+ (with auto level probe) +#define BOARD_GT2560_REV_B 1316 // Geeetech GT2560 Rev B +#define BOARD_GT2560_V3 1317 // Geeetech GT2560 Rev B for A10(M/T/D) +#define BOARD_GT2560_V4 1318 // Geeetech GT2560 Rev B for A10(M/T/D) +#define BOARD_GT2560_V3_MC2 1319 // Geeetech GT2560 Rev B for Mecreator2 +#define BOARD_GT2560_V3_A20 1320 // Geeetech GT2560 Rev B for A20(M/T/D) +#define BOARD_EINSTART_S 1321 // Einstart retrofit +#define BOARD_WANHAO_ONEPLUS 1322 // Wanhao 0ne+ i3 Mini +#define BOARD_LEAPFROG_XEED2015 1323 // Leapfrog Xeed 2015 +#define BOARD_PICA_REVB 1324 // PICA Shield (original version) +#define BOARD_PICA 1325 // PICA Shield (rev C or later) +#define BOARD_INTAMSYS40 1326 // Intamsys 4.0 (Funmat HT) +#define BOARD_MALYAN_M180 1327 // Malyan M180 Mainboard Version 2 (no display function, direct G-code only) +#define BOARD_GT2560_V4_A20 1328 // Geeetech GT2560 Rev B for A20(M/T/D) +#define BOARD_PROTONEER_CNC_SHIELD_V3 1329 // Mega controller & Protoneer CNC Shield V3.00 +#define BOARD_WEEDO_62A 1330 // WEEDO 62A board (TINA2, Monoprice Cadet, etc.) + +// +// ATmega1281, ATmega2561 +// + +#define BOARD_MINITRONICS 1400 // Minitronics v1.0/1.1 +#define BOARD_SILVER_GATE 1401 // Silvergate v1.0 + +// +// Sanguinololu and Derivatives - ATmega644P, ATmega1284P +// + +#define BOARD_SANGUINOLOLU_11 1500 // Sanguinololu < 1.2 +#define BOARD_SANGUINOLOLU_12 1501 // Sanguinololu 1.2 and above +#define BOARD_MELZI 1502 // Melzi +#define BOARD_MELZI_V2 1503 // Melzi V2 +#define BOARD_MELZI_MAKR3D 1504 // Melzi with ATmega1284 (MaKr3d version) +#define BOARD_MELZI_CREALITY 1505 // Melzi Creality3D (for CR-10 etc) +#define BOARD_MELZI_MALYAN 1506 // Melzi Malyan M150 +#define BOARD_MELZI_TRONXY 1507 // Tronxy X5S +#define BOARD_STB_11 1508 // STB V1.1 +#define BOARD_AZTEEG_X1 1509 // Azteeg X1 +#define BOARD_ANET_10 1510 // Anet 1.0 (Melzi clone) +#define BOARD_ZMIB_V2 1511 // ZoneStar ZMIB V2 + +// +// Other ATmega644P, ATmega644, ATmega1284P +// + +#define BOARD_GEN3_MONOLITHIC 1600 // Gen3 Monolithic Electronics +#define BOARD_GEN3_PLUS 1601 // Gen3+ +#define BOARD_GEN6 1602 // Gen6 +#define BOARD_GEN6_DELUXE 1603 // Gen6 deluxe +#define BOARD_GEN7_CUSTOM 1604 // Gen7 custom (Alfons3 Version) https://github.com/Alfons3/Generation_7_Electronics +#define BOARD_GEN7_12 1605 // Gen7 v1.1, v1.2 +#define BOARD_GEN7_13 1606 // Gen7 v1.3 +#define BOARD_GEN7_14 1607 // Gen7 v1.4 +#define BOARD_OMCA_A 1608 // Alpha OMCA +#define BOARD_OMCA 1609 // Final OMCA +#define BOARD_SETHI 1610 // Sethi 3D_1 + +// +// Teensyduino - AT90USB1286, AT90USB1286P +// + +#define BOARD_TEENSYLU 1700 // Teensylu +#define BOARD_PRINTRBOARD 1701 // Printrboard (AT90USB1286) +#define BOARD_PRINTRBOARD_REVF 1702 // Printrboard Revision F (AT90USB1286) +#define BOARD_BRAINWAVE 1703 // Brainwave (AT90USB646) +#define BOARD_BRAINWAVE_PRO 1704 // Brainwave Pro (AT90USB1286) +#define BOARD_SAV_MKI 1705 // SAV Mk-I (AT90USB1286) +#define BOARD_TEENSY2 1706 // Teensy++2.0 (AT90USB1286) +#define BOARD_5DPRINT 1707 // 5DPrint D8 Driver Board + +// +// LPC1768 ARM Cortex M3 +// + +#define BOARD_RAMPS_14_RE_ARM_EFB 2000 // Re-ARM with RAMPS 1.4 (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_14_RE_ARM_EEB 2001 // Re-ARM with RAMPS 1.4 (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_14_RE_ARM_EFF 2002 // Re-ARM with RAMPS 1.4 (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_14_RE_ARM_EEF 2003 // Re-ARM with RAMPS 1.4 (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_14_RE_ARM_SF 2004 // Re-ARM with RAMPS 1.4 (Power outputs: Spindle, Controller Fan) +#define BOARD_MKS_SBASE 2005 // MKS-Sbase +#define BOARD_AZSMZ_MINI 2006 // AZSMZ Mini +#define BOARD_BIQU_BQ111_A4 2007 // BIQU BQ111-A4 +#define BOARD_SELENA_COMPACT 2008 // Selena Compact +#define BOARD_BIQU_B300_V1_0 2009 // BIQU B300_V1.0 +#define BOARD_MKS_SGEN_L 2010 // MKS-SGen-L +#define BOARD_GMARSH_X6_REV1 2011 // GMARSH X6, revision 1 prototype +#define BOARD_BTT_SKR_V1_1 2012 // BigTreeTech SKR v1.1 +#define BOARD_BTT_SKR_V1_3 2013 // BigTreeTech SKR v1.3 +#define BOARD_BTT_SKR_V1_4 2014 // BigTreeTech SKR v1.4 +#define BOARD_EMOTRONIC 2015 // eMotion-Tech eMotronic + +// +// LPC1769 ARM Cortex M3 +// + +#define BOARD_MKS_SGEN 2500 // MKS-SGen +#define BOARD_AZTEEG_X5_GT 2501 // Azteeg X5 GT +#define BOARD_AZTEEG_X5_MINI 2502 // Azteeg X5 Mini +#define BOARD_AZTEEG_X5_MINI_WIFI 2503 // Azteeg X5 Mini Wifi +#define BOARD_COHESION3D_REMIX 2504 // Cohesion3D ReMix +#define BOARD_COHESION3D_MINI 2505 // Cohesion3D Mini +#define BOARD_SMOOTHIEBOARD 2506 // Smoothieboard +#define BOARD_TH3D_EZBOARD 2507 // TH3D EZBoard v1.0 +#define BOARD_BTT_SKR_V1_4_TURBO 2508 // BigTreeTech SKR v1.4 TURBO +#define BOARD_MKS_SGEN_L_V2 2509 // MKS SGEN_L V2 +#define BOARD_BTT_SKR_E3_TURBO 2510 // BigTreeTech SKR E3 Turbo +#define BOARD_FLY_CDY 2511 // FLYmaker FLY CDY + +// +// SAM3X8E ARM Cortex M3 +// + +#define BOARD_DUE3DOM 3000 // DUE3DOM for Arduino DUE +#define BOARD_DUE3DOM_MINI 3001 // DUE3DOM MINI for Arduino DUE +#define BOARD_RADDS 3002 // RADDS +#define BOARD_RAMPS_FD_V1 3003 // RAMPS-FD v1 +#define BOARD_RAMPS_FD_V2 3004 // RAMPS-FD v2 +#define BOARD_RAMPS_SMART_EFB 3005 // RAMPS-SMART (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_SMART_EEB 3006 // RAMPS-SMART (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_SMART_EFF 3007 // RAMPS-SMART (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_SMART_EEF 3008 // RAMPS-SMART (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_SMART_SF 3009 // RAMPS-SMART (Power outputs: Spindle, Controller Fan) +#define BOARD_RAMPS_DUO_EFB 3010 // RAMPS Duo (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS_DUO_EEB 3011 // RAMPS Duo (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS_DUO_EFF 3012 // RAMPS Duo (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS_DUO_EEF 3013 // RAMPS Duo (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS_DUO_SF 3014 // RAMPS Duo (Power outputs: Spindle, Controller Fan) +#define BOARD_RAMPS4DUE_EFB 3015 // RAMPS4DUE (Power outputs: Hotend, Fan, Bed) +#define BOARD_RAMPS4DUE_EEB 3016 // RAMPS4DUE (Power outputs: Hotend0, Hotend1, Bed) +#define BOARD_RAMPS4DUE_EFF 3017 // RAMPS4DUE (Power outputs: Hotend, Fan0, Fan1) +#define BOARD_RAMPS4DUE_EEF 3018 // RAMPS4DUE (Power outputs: Hotend0, Hotend1, Fan) +#define BOARD_RAMPS4DUE_SF 3019 // RAMPS4DUE (Power outputs: Spindle, Controller Fan) +#define BOARD_RURAMPS4D_11 3020 // RuRAMPS4Duo v1.1 +#define BOARD_RURAMPS4D_13 3021 // RuRAMPS4Duo v1.3 +#define BOARD_ULTRATRONICS_PRO 3022 // ReprapWorld Ultratronics Pro V1.0 +#define BOARD_ARCHIM1 3023 // UltiMachine Archim1 (with DRV8825 drivers) +#define BOARD_ARCHIM2 3024 // UltiMachine Archim2 (with TMC2130 drivers) +#define BOARD_ALLIGATOR 3025 // Alligator Board R2 +#define BOARD_CNCONTROLS_15D 3026 // Cartesio CN Controls V15 on DUE +#define BOARD_KRATOS32 3027 // K.3D Kratos32 (Arduino Due Shield) + +// +// SAM3X8C ARM Cortex M3 +// + +#define BOARD_PRINTRBOARD_G2 3100 // Printrboard G2 +#define BOARD_ADSK 3101 // Arduino DUE Shield Kit (ADSK) + +// +// STM32 ARM Cortex-M3 +// + +#define BOARD_MALYAN_M200_V2 4000 // STM32F070CB controller +#define BOARD_MALYAN_M300 4001 // STM32F070-based delta +#define BOARD_STM32F103RE 4002 // STM32F103RE Libmaple-based STM32F1 controller +#define BOARD_MALYAN_M200 4003 // STM32C8 Libmaple-based STM32F1 controller +#define BOARD_STM3R_MINI 4004 // STM32F103RE Libmaple-based STM32F1 controller +#define BOARD_GTM32_PRO_VB 4005 // STM32F103VE controller +#define BOARD_GTM32_MINI 4006 // STM32F103VE controller +#define BOARD_GTM32_MINI_A30 4007 // STM32F103VE controller +#define BOARD_GTM32_REV_B 4008 // STM32F103VE controller +#define BOARD_MORPHEUS 4009 // STM32F103C8 / STM32F103CB Libmaple-based STM32F1 controller +#define BOARD_CHITU3D 4010 // Chitu3D (STM32F103RE) +#define BOARD_MKS_ROBIN 4011 // MKS Robin (STM32F103ZE) +#define BOARD_MKS_ROBIN_MINI 4012 // MKS Robin Mini (STM32F103VE) +#define BOARD_MKS_ROBIN_NANO 4013 // MKS Robin Nano (STM32F103VE) +#define BOARD_MKS_ROBIN_NANO_V2 4014 // MKS Robin Nano V2 (STM32F103VE) +#define BOARD_MKS_ROBIN_LITE 4015 // MKS Robin Lite/Lite2 (STM32F103RC) +#define BOARD_MKS_ROBIN_LITE3 4016 // MKS Robin Lite3 (STM32F103RC) +#define BOARD_MKS_ROBIN_PRO 4017 // MKS Robin Pro (STM32F103ZE) +#define BOARD_MKS_ROBIN_E3 4018 // MKS Robin E3 (STM32F103RC) +#define BOARD_MKS_ROBIN_E3_V1_1 4019 // MKS Robin E3 V1.1 (STM32F103RC) +#define BOARD_MKS_ROBIN_E3D 4020 // MKS Robin E3D (STM32F103RC) +#define BOARD_MKS_ROBIN_E3D_V1_1 4021 // MKS Robin E3D V1.1 (STM32F103RC) +#define BOARD_MKS_ROBIN_E3P 4022 // MKS Robin E3p (STM32F103VE) +#define BOARD_BTT_EBB42_V1_1 4023 // BigTreeTech EBB42 V1.1 (STM32G0B1CB) +#define BOARD_BTT_SKR_MINI_V1_1 4024 // BigTreeTech SKR Mini v1.1 (STM32F103RC) +#define BOARD_BTT_SKR_MINI_E3_V1_0 4025 // BigTreeTech SKR Mini E3 (STM32F103RC) +#define BOARD_BTT_SKR_MINI_E3_V1_2 4026 // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC) +#define BOARD_BTT_SKR_MINI_E3_V2_0 4027 // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE) +#define BOARD_BTT_SKR_MINI_E3_V3_0 4028 // BigTreeTech SKR Mini E3 V3.0 (STM32G0B1RE) +#define BOARD_BTT_SKR_MINI_E3_V3_0_1 4029 // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC) +#define BOARD_BTT_SKR_MINI_MZ_V1_0 4030 // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC) +#define BOARD_BTT_SKR_E3_DIP 4031 // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE) +#define BOARD_BTT_SKR_CR6 4032 // BigTreeTech SKR CR6 v1.0 (STM32F103RE) +#define BOARD_JGAURORA_A5S_A1 4033 // JGAurora A5S A1 (STM32F103ZE) +#define BOARD_FYSETC_AIO_II 4034 // FYSETC AIO_II (STM32F103RC) +#define BOARD_FYSETC_CHEETAH 4035 // FYSETC Cheetah (STM32F103RC) +#define BOARD_FYSETC_CHEETAH_V12 4036 // FYSETC Cheetah V1.2 (STM32F103RC) +#define BOARD_LONGER3D_LK 4037 // Longer3D LK1/2 - Alfawise U20/U20+/U30 (STM32F103VE) +#define BOARD_CCROBOT_MEEB_3DP 4038 // ccrobot-online.com MEEB_3DP (STM32F103RC) +#define BOARD_CHITU3D_V5 4039 // Chitu3D TronXY X5SA V5 Board (STM32F103ZE) +#define BOARD_CHITU3D_V6 4040 // Chitu3D TronXY X5SA V6 Board (STM32F103ZE) +#define BOARD_CHITU3D_V9 4041 // Chitu3D TronXY X5SA V9 Board (STM32F103ZE) +#define BOARD_CREALITY_V4 4042 // Creality v4.x (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V422 4043 // Creality v4.2.2 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V423 4044 // Creality v4.2.3 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V425 4045 // Creality v4.2.5 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V427 4046 // Creality v4.2.7 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V4210 4047 // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30 +#define BOARD_CREALITY_V431 4048 // Creality v4.3.1 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_A 4049 // Creality v4.3.1a (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_B 4050 // Creality v4.3.1b (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_C 4051 // Creality v4.3.1c (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_D 4052 // Creality v4.3.1d (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V452 4053 // Creality v4.5.2 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V453 4054 // Creality v4.5.3 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V521 4055 // Creality v5.2.1 (STM32F103VE) as found in the SV04 +#define BOARD_CREALITY_V24S1 4056 // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7 +#define BOARD_CREALITY_V24S1_301 4057 // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1 +#define BOARD_CREALITY_V25S1 4058 // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro +#define BOARD_TRIGORILLA_PRO 4059 // Trigorilla Pro (STM32F103ZE) +#define BOARD_FLY_MINI 4060 // FLYmaker FLY MINI (STM32F103RC) +#define BOARD_FLSUN_HISPEED 4061 // FLSUN HiSpeedV1 (STM32F103VE) +#define BOARD_BEAST 4062 // STM32F103RE Libmaple-based controller +#define BOARD_MINGDA_MPX_ARM_MINI 4063 // STM32F103ZE Mingda MD-16 +#define BOARD_GTM32_PRO_VD 4064 // STM32F103VE controller +#define BOARD_ZONESTAR_ZM3E2 4065 // Zonestar ZM3E2 (STM32F103RC) +#define BOARD_ZONESTAR_ZM3E4 4066 // Zonestar ZM3E4 V1 (STM32F103VC) +#define BOARD_ZONESTAR_ZM3E4V2 4067 // Zonestar ZM3E4 V2 (STM32F103VC) +#define BOARD_ERYONE_ERY32_MINI 4068 // Eryone Ery32 mini (STM32F103VE) +#define BOARD_PANDA_PI_V29 4069 // Panda Pi V2.9 - Standalone (STM32F103RC) +#define BOARD_VOXELAB_AQUILA 4070 // Voxelab Aquila (GD32F103Rx) + +// +// ARM Cortex-M4F +// + +#define BOARD_TEENSY31_32 4100 // Teensy3.1 and Teensy3.2 +#define BOARD_TEENSY35_36 4101 // Teensy3.5 and Teensy3.6 + +// +// STM32 ARM Cortex-M4F +// + +#define BOARD_ARMED 4200 // Arm'ed STM32F4-based controller +#define BOARD_RUMBA32_V1_0 4201 // RUMBA32 STM32F446VE based controller from Aus3D +#define BOARD_RUMBA32_V1_1 4202 // RUMBA32 STM32F446VE based controller from Aus3D +#define BOARD_RUMBA32_MKS 4203 // RUMBA32 STM32F446VE based controller from Makerbase +#define BOARD_RUMBA32_BTT 4204 // RUMBA32 STM32F446VE based controller from BIGTREETECH +#define BOARD_BLACK_STM32F407VE 4205 // BLACK_STM32F407VE +#define BOARD_BLACK_STM32F407ZE 4206 // BLACK_STM32F407ZE +#define BOARD_BTT_SKR_PRO_V1_1 4207 // BigTreeTech SKR Pro v1.1 (STM32F407ZG) +#define BOARD_BTT_SKR_PRO_V1_2 4208 // BigTreeTech SKR Pro v1.2 (STM32F407ZG) +#define BOARD_BTT_BTT002_V1_0 4209 // BigTreeTech BTT002 v1.0 (STM32F407VG) +#define BOARD_BTT_E3_RRF 4210 // BigTreeTech E3 RRF (STM32F407VG) +#define BOARD_BTT_SKR_V2_0_REV_A 4211 // BigTreeTech SKR v2.0 Rev A (STM32F407VG) +#define BOARD_BTT_SKR_V2_0_REV_B 4212 // BigTreeTech SKR v2.0 Rev B (STM32F407VG/STM32F429VG) +#define BOARD_BTT_GTR_V1_0 4213 // BigTreeTech GTR v1.0 (STM32F407IGT) +#define BOARD_BTT_OCTOPUS_V1_0 4214 // BigTreeTech Octopus v1.0 (STM32F446ZE) +#define BOARD_BTT_OCTOPUS_V1_1 4215 // BigTreeTech Octopus v1.1 (STM32F446ZE) +#define BOARD_BTT_OCTOPUS_PRO_V1_0 4216 // BigTreeTech Octopus Pro v1.0 (STM32F446ZE / STM32F429ZG) +#define BOARD_LERDGE_K 4217 // Lerdge K (STM32F407ZG) +#define BOARD_LERDGE_S 4218 // Lerdge S (STM32F407VE) +#define BOARD_LERDGE_X 4219 // Lerdge X (STM32F407VE) +#define BOARD_VAKE403D 4220 // VAkE 403D (STM32F446VE) +#define BOARD_FYSETC_S6 4221 // FYSETC S6 (STM32F446VE) +#define BOARD_FYSETC_S6_V2_0 4222 // FYSETC S6 v2.0 (STM32F446VE) +#define BOARD_FYSETC_SPIDER 4223 // FYSETC Spider (STM32F446VE) +#define BOARD_FLYF407ZG 4224 // FLYmaker FLYF407ZG (STM32F407ZG) +#define BOARD_MKS_ROBIN2 4225 // MKS_ROBIN2 (STM32F407ZE) +#define BOARD_MKS_ROBIN_PRO_V2 4226 // MKS Robin Pro V2 (STM32F407VE) +#define BOARD_MKS_ROBIN_NANO_V3 4227 // MKS Robin Nano V3 (STM32F407VG) +#define BOARD_MKS_ROBIN_NANO_V3_1 4228 // MKS Robin Nano V3.1 (STM32F407VE) +#define BOARD_MKS_MONSTER8_V1 4229 // MKS Monster8 V1 (STM32F407VE) +#define BOARD_MKS_MONSTER8_V2 4230 // MKS Monster8 V2 (STM32F407VE) +#define BOARD_ANET_ET4 4231 // ANET ET4 V1.x (STM32F407VG) +#define BOARD_ANET_ET4P 4232 // ANET ET4P V1.x (STM32F407VG) +#define BOARD_FYSETC_CHEETAH_V20 4233 // FYSETC Cheetah V2.0 (STM32F401RC) +#define BOARD_TH3D_EZBOARD_V2 4234 // TH3D EZBoard v2.0 (STM32F405RG) +#define BOARD_OPULO_LUMEN_REV3 4235 // Opulo Lumen PnP Controller REV3 (STM32F407VE / STM32F407VG) +#define BOARD_MKS_ROBIN_NANO_V1_3_F4 4236 // MKS Robin Nano V1.3 and MKS Robin Nano-S V1.3 (STM32F407VE) +#define BOARD_MKS_EAGLE 4237 // MKS Eagle (STM32F407VE) +#define BOARD_ARTILLERY_RUBY 4238 // Artillery Ruby (STM32F401RC) +#define BOARD_FYSETC_SPIDER_V2_2 4239 // FYSETC Spider V2.2 (STM32F446VE) +#define BOARD_CREALITY_V24S1_301F4 4240 // Creality v2.4.S1_301F4 (STM32F401RC) as found in the Ender-3 S1 F4 +#define BOARD_OPULO_LUMEN_REV4 4241 // Opulo Lumen PnP Controller REV4 (STM32F407VE / STM32F407VG) +#define BOARD_FYSETC_SPIDER_KING407 4242 // FYSETC Spider King407 (STM32F407ZG) +#define BOARD_MKS_SKIPR_V1 4243 // MKS SKIPR v1.0 all-in-one board (STM32F407VE) +#define BOARD_TRONXY_V10 4244 // TRONXY V10 (STM32F446ZE) + +// +// ARM Cortex M7 +// + +#define BOARD_REMRAM_V1 5000 // RemRam v1 +#define BOARD_TEENSY41 5001 // Teensy 4.1 +#define BOARD_T41U5XBB 5002 // T41U5XBB Teensy 4.1 breakout board +#define BOARD_NUCLEO_F767ZI 5003 // ST NUCLEO-F767ZI Dev Board +#define BOARD_BTT_SKR_SE_BX_V2 5004 // BigTreeTech SKR SE BX V2.0 (STM32H743II) +#define BOARD_BTT_SKR_SE_BX_V3 5005 // BigTreeTech SKR SE BX V3.0 (STM32H743II) +#define BOARD_BTT_SKR_V3_0 5006 // BigTreeTech SKR V3.0 (STM32H743VG) +#define BOARD_BTT_SKR_V3_0_EZ 5007 // BigTreeTech SKR V3.0 EZ (STM32H743VG) + +// +// Espressif ESP32 WiFi +// + +#define BOARD_ESPRESSIF_ESP32 6000 // Generic ESP32 +#define BOARD_MRR_ESPA 6001 // MRR ESPA based on ESP32 (native pins only) +#define BOARD_MRR_ESPE 6002 // MRR ESPE based on ESP32 (with I2S stepper stream) +#define BOARD_E4D_BOX 6003 // E4d@BOX +#define BOARD_RESP32_CUSTOM 6004 // Rutilea ESP32 custom board +#define BOARD_FYSETC_E4 6005 // FYSETC E4 +#define BOARD_PANDA_ZHU 6006 // Panda_ZHU +#define BOARD_PANDA_M4 6007 // Panda_M4 +#define BOARD_MKS_TINYBEE 6008 // MKS TinyBee based on ESP32 (with I2S stepper stream) +#define BOARD_ENWI_ESPNP 6009 // enwi ESPNP based on ESP32 (with I2S stepper stream) + +// +// SAMD51 ARM Cortex M4 +// + +#define BOARD_AGCM4_RAMPS_144 6100 // RAMPS 1.4.4 +#define BOARD_BRICOLEMON_V1_0 6101 // Bricolemon +#define BOARD_BRICOLEMON_LITE_V1_0 6102 // Bricolemon Lite + +// +// SAMD21 ARM Cortex M4 +// + +#define BOARD_MINITRONICS20 6103 // Minitronics v2.0 + +// +// Custom board +// + +#define BOARD_CUSTOM 9998 // Custom pins definition for development and/or rare boards + +// +// Simulations +// + +#define BOARD_LINUX_RAMPS 9999 + +#define _MB_1(B) (defined(BOARD_##B) && MOTHERBOARD==BOARD_##B) +#define MB(V...) DO(MB,||,V) diff --git a/Marlin/src/core/bug_on.h b/Marlin/src/core/bug_on.h new file mode 100644 index 0000000000..7f1243ed40 --- /dev/null +++ b/Marlin/src/core/bug_on.h @@ -0,0 +1,39 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Copyright (c) 2021 X-Ryl669 [https://blog.cyril.by] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// We need SERIAL_ECHOPGM and macros.h +#include "serial.h" + +#if ENABLED(POSTMORTEM_DEBUGGING) + // Useful macro for stopping the CPU on an unexpected condition + // This is used like SERIAL_ECHOPGM, that is: a key-value call of the local variables you want + // to dump to the serial port before stopping the CPU. + // \/ Don't replace by SERIAL_ECHOPGM since ONLY_FILENAME cannot be transformed to a PGM string on Arduino and it breaks building + #define BUG_ON(V...) do { SERIAL_ECHO(ONLY_FILENAME); SERIAL_ECHO(__LINE__); SERIAL_ECHOLNPGM(": "); SERIAL_ECHOLNPGM(V); SERIAL_FLUSHTX(); *(char*)0 = 42; } while(0) +#elif ENABLED(MARLIN_DEV_MODE) + // Don't stop the CPU here, but at least dump the bug on the serial port + // \/ Don't replace by SERIAL_ECHOPGM since ONLY_FILENAME cannot be transformed to a PGM string on Arduino and it breaks building + #define BUG_ON(V...) do { SERIAL_ECHO(ONLY_FILENAME); SERIAL_ECHO(__LINE__); SERIAL_ECHOLNPGM(": BUG!"); SERIAL_ECHOLNPGM(V); SERIAL_FLUSHTX(); } while(0) +#else + // Release mode, let's ignore the bug + #define BUG_ON(V...) NOOP +#endif diff --git a/Marlin/src/core/debug_out.h b/Marlin/src/core/debug_out.h new file mode 100644 index 0000000000..eb1c91e507 --- /dev/null +++ b/Marlin/src/core/debug_out.h @@ -0,0 +1,120 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +// +// Serial aliases for debugging. +// Include this header after defining DEBUG_OUT +// (or not) in a given .cpp file +// + +#undef DEBUG_SECTION +#undef DEBUG_ECHO_START +#undef DEBUG_ERROR_START +#undef DEBUG_CHAR +#undef DEBUG_ECHO +#undef DEBUG_DECIMAL +#undef DEBUG_ECHO_F +#undef DEBUG_ECHOLN +#undef DEBUG_ECHOPGM +#undef DEBUG_ECHOLNPGM +#undef DEBUG_ECHOF +#undef DEBUG_ECHOLNF +#undef DEBUG_ECHOPGM_P +#undef DEBUG_ECHOLNPGM_P +#undef DEBUG_ECHOPAIR_F +#undef DEBUG_ECHOPAIR_F_P +#undef DEBUG_ECHOLNPAIR_F +#undef DEBUG_ECHOLNPAIR_F_P +#undef DEBUG_ECHO_MSG +#undef DEBUG_ERROR_MSG +#undef DEBUG_EOL +#undef DEBUG_FLUSH +#undef DEBUG_POS +#undef DEBUG_XYZ +#undef DEBUG_DELAY +#undef DEBUG_SYNCHRONIZE + +#if DEBUG_OUT + + #include "debug_section.h" + #define DEBUG_SECTION(N,S,D) SectionLog N(F(S),D) + + #define DEBUG_ECHO_START SERIAL_ECHO_START + #define DEBUG_ERROR_START SERIAL_ERROR_START + #define DEBUG_CHAR SERIAL_CHAR + #define DEBUG_ECHO SERIAL_ECHO + #define DEBUG_DECIMAL SERIAL_DECIMAL + #define DEBUG_ECHO_F SERIAL_ECHO_F + #define DEBUG_ECHOLN SERIAL_ECHOLN + #define DEBUG_ECHOPGM SERIAL_ECHOPGM + #define DEBUG_ECHOLNPGM SERIAL_ECHOLNPGM + #define DEBUG_ECHOF SERIAL_ECHOF + #define DEBUG_ECHOLNF SERIAL_ECHOLNF + #define DEBUG_ECHOPGM SERIAL_ECHOPGM + #define DEBUG_ECHOPGM_P SERIAL_ECHOPGM_P + #define DEBUG_ECHOPAIR_F SERIAL_ECHOPAIR_F + #define DEBUG_ECHOPAIR_F_P SERIAL_ECHOPAIR_F_P + #define DEBUG_ECHOLNPGM SERIAL_ECHOLNPGM + #define DEBUG_ECHOLNPGM_P SERIAL_ECHOLNPGM_P + #define DEBUG_ECHOLNPAIR_F SERIAL_ECHOLNPAIR_F + #define DEBUG_ECHOLNPAIR_F_P SERIAL_ECHOLNPAIR_F_P + #define DEBUG_ECHO_MSG SERIAL_ECHO_MSG + #define DEBUG_ERROR_MSG SERIAL_ERROR_MSG + #define DEBUG_EOL SERIAL_EOL + #define DEBUG_FLUSH SERIAL_FLUSH + #define DEBUG_POS SERIAL_POS + #define DEBUG_XYZ SERIAL_XYZ + #define DEBUG_DELAY(ms) serial_delay(ms) + #define DEBUG_SYNCHRONIZE() planner.synchronize() + +#else + + #define DEBUG_SECTION(...) NOOP + #define DEBUG_ECHO_START() NOOP + #define DEBUG_ERROR_START() NOOP + #define DEBUG_CHAR(...) NOOP + #define DEBUG_ECHO(...) NOOP + #define DEBUG_DECIMAL(...) NOOP + #define DEBUG_ECHO_F(...) NOOP + #define DEBUG_ECHOLN(...) NOOP + #define DEBUG_ECHOPGM(...) NOOP + #define DEBUG_ECHOLNPGM(...) NOOP + #define DEBUG_ECHOF(...) NOOP + #define DEBUG_ECHOLNF(...) NOOP + #define DEBUG_ECHOPGM_P(...) NOOP + #define DEBUG_ECHOLNPGM_P(...) NOOP + #define DEBUG_ECHOPAIR_F(...) NOOP + #define DEBUG_ECHOPAIR_F_P(...) NOOP + #define DEBUG_ECHOLNPAIR_F(...) NOOP + #define DEBUG_ECHOLNPAIR_F_P(...) NOOP + #define DEBUG_ECHO_MSG(...) NOOP + #define DEBUG_ERROR_MSG(...) NOOP + #define DEBUG_EOL() NOOP + #define DEBUG_FLUSH() NOOP + #define DEBUG_POS(...) NOOP + #define DEBUG_XYZ(...) NOOP + #define DEBUG_DELAY(...) NOOP + #define DEBUG_SYNCHRONIZE() NOOP + +#endif + +#undef DEBUG_OUT diff --git a/Marlin/src/core/debug_section.h b/Marlin/src/core/debug_section.h new file mode 100644 index 0000000000..6e23d9e4ed --- /dev/null +++ b/Marlin/src/core/debug_section.h @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "serial.h" +#include "../module/motion.h" + +class SectionLog { +public: + SectionLog(FSTR_P const fmsg=nullptr, bool inbug=true) { + the_msg = fmsg; + if ((debug = inbug)) echo_msg(F(">>>")); + } + + ~SectionLog() { if (debug) echo_msg(F("<<<")); } + +private: + FSTR_P the_msg; + bool debug; + + void echo_msg(FSTR_P const fpre) { + SERIAL_ECHOF(fpre); + if (the_msg) { + SERIAL_CHAR(' '); + SERIAL_ECHOF(the_msg); + } + SERIAL_CHAR(' '); + print_pos(current_position); + } +}; diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h new file mode 100644 index 0000000000..72a7d1f4b7 --- /dev/null +++ b/Marlin/src/core/drivers.h @@ -0,0 +1,193 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// +// Included by MarlinConfigPre.h ahead of Configuration_adv.h. +// Don't use #if in this file for anything not defined early! +// + +#define _A4988 0x4988 +#define _A5984 0x5984 +#define _DRV8825 0x8825 +#define _LV8729 0x8729 +#define _TB6560 0x6560 +#define _TB6600 0x6600 +#define _TMC2100 0x2100 +#define _TMC2130 0x2130A +#define _TMC2130_STANDALONE 0x2130B +#define _TMC2160 0x2160A +#define _TMC2160_STANDALONE 0x2160B +#define _TMC2208 0x2208A +#define _TMC2208_STANDALONE 0x2208B +#define _TMC2209 0x2209A +#define _TMC2209_STANDALONE 0x2209B +#define _TMC26X 0x2600A +#define _TMC26X_STANDALONE 0x2600B +#define _TMC2660 0x2660A +#define _TMC2660_STANDALONE 0x2660B +#define _TMC5130 0x5130A +#define _TMC5130_STANDALONE 0x5130B +#define _TMC5160 0x5160A +#define _TMC5160_STANDALONE 0x5160B + +#define _DRIVER_ID(V) _CAT(_, V) +#define _AXIS_DRIVER_TYPE(A,T) (_DRIVER_ID(A##_DRIVER_TYPE) == _DRIVER_ID(T)) + +#define AXIS_DRIVER_TYPE_X(T) _AXIS_DRIVER_TYPE(X,T) +#define AXIS_DRIVER_TYPE_Y(T) _AXIS_DRIVER_TYPE(Y,T) +#define AXIS_DRIVER_TYPE_Z(T) _AXIS_DRIVER_TYPE(Z,T) +#define AXIS_DRIVER_TYPE_I(T) _AXIS_DRIVER_TYPE(I,T) +#define AXIS_DRIVER_TYPE_J(T) _AXIS_DRIVER_TYPE(J,T) +#define AXIS_DRIVER_TYPE_K(T) _AXIS_DRIVER_TYPE(K,T) +#define AXIS_DRIVER_TYPE_U(T) _AXIS_DRIVER_TYPE(U,T) +#define AXIS_DRIVER_TYPE_V(T) _AXIS_DRIVER_TYPE(V,T) +#define AXIS_DRIVER_TYPE_W(T) _AXIS_DRIVER_TYPE(W,T) + +#define AXIS_DRIVER_TYPE_X2(T) (HAS_X2_STEPPER && _AXIS_DRIVER_TYPE(X2,T)) +#define AXIS_DRIVER_TYPE_Y2(T) (HAS_DUAL_Y_STEPPERS && _AXIS_DRIVER_TYPE(Y2,T)) +#define AXIS_DRIVER_TYPE_Z2(T) (NUM_Z_STEPPERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T)) +#define AXIS_DRIVER_TYPE_Z3(T) (NUM_Z_STEPPERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T)) +#define AXIS_DRIVER_TYPE_Z4(T) (NUM_Z_STEPPERS >= 4 && _AXIS_DRIVER_TYPE(Z4,T)) + +#define AXIS_DRIVER_TYPE_E(N,T) (E_STEPPERS > N && _AXIS_DRIVER_TYPE(E##N,T)) +#define AXIS_DRIVER_TYPE_E0(T) AXIS_DRIVER_TYPE_E(0,T) +#define AXIS_DRIVER_TYPE_E1(T) AXIS_DRIVER_TYPE_E(1,T) +#define AXIS_DRIVER_TYPE_E2(T) AXIS_DRIVER_TYPE_E(2,T) +#define AXIS_DRIVER_TYPE_E3(T) AXIS_DRIVER_TYPE_E(3,T) +#define AXIS_DRIVER_TYPE_E4(T) AXIS_DRIVER_TYPE_E(4,T) +#define AXIS_DRIVER_TYPE_E5(T) AXIS_DRIVER_TYPE_E(5,T) +#define AXIS_DRIVER_TYPE_E6(T) AXIS_DRIVER_TYPE_E(6,T) +#define AXIS_DRIVER_TYPE_E7(T) AXIS_DRIVER_TYPE_E(7,T) + +#define AXIS_DRIVER_TYPE(A,T) AXIS_DRIVER_TYPE_##A(T) + +#define _OR_ADTE(N,T) || AXIS_DRIVER_TYPE_E(N,T) +#define HAS_E_DRIVER(T) (0 RREPEAT2(E_STEPPERS, _OR_ADTE, T)) + +#define HAS_DRIVER(T) ( AXIS_DRIVER_TYPE_X(T) || AXIS_DRIVER_TYPE_Y(T) || AXIS_DRIVER_TYPE_Z(T) \ + || AXIS_DRIVER_TYPE_I(T) || AXIS_DRIVER_TYPE_J(T) || AXIS_DRIVER_TYPE_K(T) \ + || AXIS_DRIVER_TYPE_U(T) || AXIS_DRIVER_TYPE_V(T) || AXIS_DRIVER_TYPE_W(T) \ + || AXIS_DRIVER_TYPE_X2(T) || AXIS_DRIVER_TYPE_Y2(T) || AXIS_DRIVER_TYPE_Z2(T) \ + || AXIS_DRIVER_TYPE_Z3(T) || AXIS_DRIVER_TYPE_Z4(T) || HAS_E_DRIVER(T) ) + +// +// Trinamic Stepper Drivers +// + +// Test for supported TMC drivers that require advanced configuration +// Does not match standalone configurations +#if ( HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) \ + || HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209) \ + || HAS_DRIVER(TMC2660) \ + || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160) ) + #define HAS_TRINAMIC_CONFIG 1 +#endif + +#define HAS_TRINAMIC HAS_TRINAMIC_CONFIG + +#if ( HAS_DRIVER(TMC2130_STANDALONE) || HAS_DRIVER(TMC2160_STANDALONE) \ + || HAS_DRIVER(TMC2208_STANDALONE) || HAS_DRIVER(TMC2209_STANDALONE) \ + || HAS_DRIVER(TMC26X_STANDALONE) || HAS_DRIVER(TMC2660_STANDALONE) \ + || HAS_DRIVER(TMC5130_STANDALONE) || HAS_DRIVER(TMC5160_STANDALONE) ) + #define HAS_TRINAMIC_STANDALONE 1 +#endif + +#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5130) || HAS_DRIVER(TMC5160) + #define HAS_TMCX1X0 1 +#endif + +#if HAS_DRIVER(TMC2208) || HAS_DRIVER(TMC2209) + #define HAS_TMC220x 1 +#endif + +#define AXIS_IS_TMC(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \ + || AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) \ + || AXIS_DRIVER_TYPE(A,TMC2660) \ + || AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) ) + +#define AXIS_IS_TMC_CONFIG(A) ( AXIS_IS_TMC(A) || AXIS_DRIVER_TYPE(A,TMC26X) ) + +// Test for a driver that uses SPI - this allows checking whether a _CS_ pin +// is considered sensitive +#define AXIS_HAS_SPI(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \ + || AXIS_DRIVER_TYPE(A,TMC26X) || AXIS_DRIVER_TYPE(A,TMC2660) \ + || AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) ) + +#define AXIS_HAS_UART(A) ( AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) ) + +#define AXIS_HAS_RXTX AXIS_HAS_UART + +#define AXIS_HAS_HW_SERIAL(A) ( AXIS_HAS_UART(A) && defined(A##_HARDWARE_SERIAL) ) +#define AXIS_HAS_SW_SERIAL(A) ( AXIS_HAS_UART(A) && !defined(A##_HARDWARE_SERIAL) ) + +#define AXIS_HAS_STALLGUARD(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \ + || AXIS_DRIVER_TYPE(A,TMC2209) \ + || AXIS_DRIVER_TYPE(A,TMC2660) \ + || AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) ) + +#define AXIS_HAS_STEALTHCHOP(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \ + || AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) \ + || AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) ) + +#define AXIS_HAS_SG_RESULT(A) ( AXIS_DRIVER_TYPE(A,TMC2130) || AXIS_DRIVER_TYPE(A,TMC2160) \ + || AXIS_DRIVER_TYPE(A,TMC2208) || AXIS_DRIVER_TYPE(A,TMC2209) ) + +#define AXIS_HAS_COOLSTEP(A) ( AXIS_DRIVER_TYPE(A,TMC2130) \ + || AXIS_DRIVER_TYPE(A,TMC2209) \ + || AXIS_DRIVER_TYPE(A,TMC5130) || AXIS_DRIVER_TYPE(A,TMC5160) ) + +#define _OR_EAH(N,T) || AXIS_HAS_##T(E##N) +#define E_AXIS_HAS(T) (0 _OR_EAH(0,T) _OR_EAH(1,T) _OR_EAH(2,T) _OR_EAH(3,T) _OR_EAH(4,T) _OR_EAH(5,T) _OR_EAH(6,T) _OR_EAH(7,T)) + +#define ANY_AXIS_HAS(T) ( AXIS_HAS_##T(X) || AXIS_HAS_##T(X2) \ + || AXIS_HAS_##T(Y) || AXIS_HAS_##T(Y2) \ + || AXIS_HAS_##T(Z) || AXIS_HAS_##T(Z2) || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) \ + || AXIS_HAS_##T(I) || AXIS_HAS_##T(J) || AXIS_HAS_##T(K) \ + || AXIS_HAS_##T(U) || AXIS_HAS_##T(V) || AXIS_HAS_##T(W) \ + || E_AXIS_HAS(T) ) + +#if ANY_AXIS_HAS(STEALTHCHOP) + #define HAS_STEALTHCHOP 1 +#endif +#if ANY_AXIS_HAS(STALLGUARD) + #define HAS_STALLGUARD 1 +#endif +#if ANY_AXIS_HAS(SG_RESULT) + #define HAS_SG_RESULT 1 +#endif +#if ANY_AXIS_HAS(COOLSTEP) + #define HAS_COOLSTEP 1 +#endif +#if ANY_AXIS_HAS(RXTX) + #define HAS_TMC_UART 1 +#endif +#if ANY_AXIS_HAS(SPI) + #define HAS_TMC_SPI 1 +#endif + +// +// TMC26XX Stepper Drivers +// +#if HAS_DRIVER(TMC26X) + #define HAS_TMC26X 1 +#endif diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h new file mode 100644 index 0000000000..545f9df641 --- /dev/null +++ b/Marlin/src/core/language.h @@ -0,0 +1,613 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +#define _UxGT(a) a + +// Fallback if no language is set. DON'T CHANGE +#ifndef LCD_LANGUAGE + #define LCD_LANGUAGE en +#endif + +// For character-based LCD controllers (DISPLAY_CHARSET_HD44780) +#define JAPANESE 1 +#define WESTERN 2 +#define CYRILLIC 3 + +// NOTE: IF YOU CHANGE LANGUAGE FILES OR MERGE A FILE WITH CHANGES +// +// ==> ALWAYS TRY TO COMPILE MARLIN WITH/WITHOUT "ULTIPANEL" / "ULTRA_LCD" / "SDSUPPORT" #define IN "Configuration.h" +// ==> ALSO TRY ALL AVAILABLE LANGUAGE OPTIONS +// See also https://marlinfw.org/docs/development/lcd_language.html + +// Languages +// an Aragonese +// bg Bulgarian +// ca Catalan +// cz Czech +// da Danish +// de German +// el Greek (Greece) +// el_CY Greek (Cyprus) +// en English +// es Spanish +// eu Basque-Euskera +// fi Finnish +// fr French +// gl Galician +// hr Croatian +// hu Hungarian +// it Italian +// jp_kana Japanese +// ko_KR Korean (South Korea) +// nl Dutch +// pl Polish +// pt Portuguese +// pt_br Portuguese (Brazilian) +// ro Romanian +// ru Russian +// sk Slovak +// sv Swedish +// tr Turkish +// uk Ukrainian +// vi Vietnamese +// zh_CN Chinese (Simplified) +// zh_TW Chinese (Traditional) + +#ifdef DEFAULT_SOURCE_CODE_URL + #undef SOURCE_CODE_URL + #define SOURCE_CODE_URL DEFAULT_SOURCE_CODE_URL +#endif + +#ifdef CUSTOM_MACHINE_NAME + #undef MACHINE_NAME + #define MACHINE_NAME CUSTOM_MACHINE_NAME +#elif defined(DEFAULT_MACHINE_NAME) + #undef MACHINE_NAME + #define MACHINE_NAME DEFAULT_MACHINE_NAME +#endif + +#ifndef MACHINE_UUID + #define MACHINE_UUID DEFAULT_MACHINE_UUID +#endif + +#define MARLIN_WEBSITE_URL "marlinfw.org" + +//#if !defined(STRING_SPLASH_LINE3) && defined(WEBSITE_URL) +// #define STRING_SPLASH_LINE3 WEBSITE_URL +//#endif + +// +// Common Serial Console Messages +// Don't change these strings because serial hosts look for them. +// + +#define STR_ENQUEUEING "enqueueing \"" +#define STR_POWERUP "PowerUp" +#define STR_POWEROFF "PowerOff" +#define STR_EXTERNAL_RESET " External Reset" +#define STR_BROWNOUT_RESET " Brown out Reset" +#define STR_WATCHDOG_RESET " Watchdog Reset" +#define STR_SOFTWARE_RESET " Software Reset" +#define STR_FREE_MEMORY " Free Memory: " +#define STR_PLANNER_BUFFER_BYTES " PlannerBufferBytes: " +#define STR_OK "ok" +#define STR_WAIT "wait" +#define STR_STATS "Stats: " +#define STR_FILE_SAVED "Done saving file." +#define STR_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line: " +#define STR_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line: " +#define STR_ERR_NO_CHECKSUM "No Checksum with line number, Last Line: " +#define STR_FILE_PRINTED "Done printing file" +#define STR_NO_MEDIA "No media" +#define STR_BEGIN_FILE_LIST "Begin file list" +#define STR_END_FILE_LIST "End file list" +#define STR_INVALID_EXTRUDER "Invalid extruder" +#define STR_INVALID_E_STEPPER "Invalid E stepper" +#define STR_E_STEPPER_NOT_SPECIFIED "E stepper not specified" +#define STR_INVALID_SOLENOID "Invalid solenoid" +#define STR_COUNT_X " Count X:" +#define STR_COUNT_A " Count A:" +#define STR_WATCHDOG_FIRED "Watchdog timeout. Reset required." +#define STR_ERR_KILLED "Printer halted. kill() called!" +#define STR_FLOWMETER_FAULT "Coolant flow fault. Flowmeter safety is active. Attention required." +#define STR_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart. (Temperature is reset. Set it after restarting)" +#define STR_ERR_SERIAL_MISMATCH "Serial status mismatch" +#define STR_BUSY_PROCESSING "busy: processing" +#define STR_BUSY_PAUSED_FOR_USER "busy: paused for user" +#define STR_BUSY_PAUSED_FOR_INPUT "busy: paused for input" +#define STR_Z_MOVE_COMP "Z_move_comp" +#define STR_RESEND "Resend: " +#define STR_UNKNOWN_COMMAND "Unknown command: \"" +#define STR_ACTIVE_EXTRUDER "Active Extruder: " +#define STR_ERR_FANSPEED "Fan speed E" + +#define STR_PROBE_OFFSET "Probe Offset" +#define STR_SKEW_MIN "min_skew_factor: " +#define STR_SKEW_MAX "max_skew_factor: " +#define STR_ERR_MATERIAL_INDEX "M145 S out of range (0-1)" +#define STR_ERR_M421_PARAMETERS "M421 incorrect parameter usage" +#define STR_ERR_BAD_PLANE_MODE "G5 requires XY plane mode" +#define STR_ERR_MESH_XY "Mesh point out of range" +#define STR_ERR_ARC_ARGS "G2/G3 bad parameters" +#define STR_ERR_PROTECTED_PIN "Protected Pin" +#define STR_ERR_M420_FAILED "Failed to enable Bed Leveling" +#define STR_ERR_M428_TOO_FAR "Too far from reference point" +#define STR_ERR_M303_DISABLED "PIDTEMP disabled" +#define STR_M119_REPORT "Reporting endstop status" +#define STR_ON "ON" +#define STR_OFF "OFF" +#define STR_ENDSTOP_HIT "TRIGGERED" +#define STR_ENDSTOP_OPEN "open" +#define STR_DUPLICATION_MODE "Duplication mode: " +#define STR_SOFT_MIN " Min: " +#define STR_SOFT_MAX " Max: " + +#define STR_SAVED_POS "Position saved" +#define STR_RESTORING_POS "Restoring position" +#define STR_INVALID_POS_SLOT "Invalid slot. Total: " +#define STR_DONE "Done." + +#define STR_SD_CANT_OPEN_SUBDIR "Cannot open subdir " +#define STR_SD_INIT_FAIL "No SD card" +#define STR_SD_VOL_INIT_FAIL "volume.init failed" +#define STR_SD_OPENROOT_FAIL "openRoot failed" +#define STR_SD_CARD_OK "SD card ok" +#define STR_SD_CARD_RELEASED "SD card released" +#define STR_SD_WORKDIR_FAIL "workDir open failed" +#define STR_SD_OPEN_FILE_FAIL "open failed, File: " +#define STR_SD_FILE_OPENED "File opened: " +#define STR_SD_SIZE " Size: " +#define STR_SD_FILE_SELECTED "File selected" +#define STR_SD_WRITE_TO_FILE "Writing to file: " +#define STR_SD_PRINTING_BYTE "SD printing byte " +#define STR_SD_NOT_PRINTING "Not SD printing" +#define STR_SD_ERR_WRITE_TO_FILE "error writing to file" +#define STR_SD_ERR_READ "SD read error" +#define STR_SD_CANT_ENTER_SUBDIR "Cannot enter subdir: " + +#define STR_ENDSTOPS_HIT "endstops hit: " +#define STR_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented" +#define STR_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented" +#define STR_ERR_HOTEND_TOO_COLD "Hotend too cold" +#define STR_ERR_EEPROM_WRITE "Error writing to EEPROM!" + +#define STR_FILAMENT_CHANGE_HEAT_LCD "Press button to heat nozzle" +#define STR_FILAMENT_CHANGE_INSERT_LCD "Insert filament and press button" +#define STR_FILAMENT_CHANGE_WAIT_LCD "Press button to resume" +#define STR_FILAMENT_CHANGE_HEAT_M108 "Send M108 to heat nozzle" +#define STR_FILAMENT_CHANGE_INSERT_M108 "Insert filament and send M108" +#define STR_FILAMENT_CHANGE_WAIT_M108 "Send M108 to resume" + +#define STR_STOP_PRE "!! STOP called because of " +#define STR_STOP_POST " error - restart with M999" +#define STR_STOP_BLTOUCH "BLTouch" +#define STR_STOP_UNHOMED "unhomed" +#define STR_KILL_PRE "!! KILL caused by " +#define STR_KILL_INACTIVE_TIME "too much inactive time - current command: " +#define STR_KILL_BUTTON "KILL button/pin" + +// temperature.cpp strings +#define STR_PID_AUTOTUNE "PID Autotune" +#define STR_PID_AUTOTUNE_START " start" +#define STR_PID_BAD_HEATER_ID " failed! Bad heater id" +#define STR_PID_TEMP_TOO_HIGH " failed! Temperature too high" +#define STR_PID_TIMEOUT " failed! timeout" +#define STR_BIAS " bias: " +#define STR_D_COLON " d: " +#define STR_T_MIN " min: " +#define STR_T_MAX " max: " +#define STR_KU " Ku: " +#define STR_TU " Tu: " +#define STR_CLASSIC_PID " Classic PID " +#define STR_KP " Kp: " +#define STR_KI " Ki: " +#define STR_KD " Kd: " +#define STR_PID_AUTOTUNE_FINISHED " finished! Put the last Kp, Ki and Kd constants from below into Configuration.h" +#define STR_PID_DEBUG " PID_DEBUG " +#define STR_PID_DEBUG_INPUT ": Input " +#define STR_PID_DEBUG_OUTPUT " Output " +#define STR_INVALID_EXTRUDER_NUM " - Invalid extruder number !" +#define STR_MPC_AUTOTUNE "MPC Autotune" +#define STR_MPC_AUTOTUNE_START " start for " STR_E +#define STR_MPC_AUTOTUNE_INTERRUPTED " interrupted!" +#define STR_MPC_AUTOTUNE_FINISHED " finished! Put the constants below into Configuration.h" +#define STR_MPC_COOLING_TO_AMBIENT "Cooling to ambient" +#define STR_MPC_HEATING_PAST_200 "Heating to over 200C" +#define STR_MPC_MEASURING_AMBIENT "Measuring ambient heatloss at " +#define STR_MPC_TEMPERATURE_ERROR "Temperature error" + +#define STR_HEATER_BED "bed" +#define STR_HEATER_CHAMBER "chamber" +#define STR_COOLER "cooler" +#define STR_MOTHERBOARD "motherboard" +#define STR_PROBE "probe" +#define STR_REDUNDANT "redundant " +#define STR_LASER_TEMP "laser temperature" + +#define STR_STOPPED_HEATER ", system stopped! Heater_ID: " +#define STR_REDUNDANCY "Heater switched off. Temperature difference between temp sensors is too high !" +#define STR_T_HEATING_FAILED "Heating failed" +#define STR_T_THERMAL_RUNAWAY "Thermal Runaway" +#define STR_T_MALFUNCTION "Thermal Malfunction" +#define STR_T_MAXTEMP "MAXTEMP triggered" +#define STR_T_MINTEMP "MINTEMP triggered" +#define STR_ERR_PROBING_FAILED "Probing Failed" +#define STR_ZPROBE_OUT_SER "Z Probe Past Bed" + +// Debug +#define STR_DEBUG_PREFIX "DEBUG:" +#define STR_DEBUG_OFF "off" +#define STR_DEBUG_ECHO "ECHO" +#define STR_DEBUG_INFO "INFO" +#define STR_DEBUG_ERRORS "ERRORS" +#define STR_DEBUG_DRYRUN "DRYRUN" +#define STR_DEBUG_COMMUNICATION "COMMUNICATION" +#define STR_DEBUG_DETAIL "DETAIL" + +#define STR_PRINTER_LOCKED "Printer locked! (Unlock with M511 or LCD)" +#define STR_WRONG_PASSWORD "Incorrect Password" +#define STR_PASSWORD_TOO_LONG "Password too long" +#define STR_PASSWORD_REMOVED "Password removed" +#define STR_REMINDER_SAVE_SETTINGS "Remember to save!" +#define STR_PASSWORD_SET "Password is " + +// Settings Report Strings +#define STR_Z_AUTO_ALIGN "Z Auto-Align" +#define STR_BACKLASH_COMPENSATION "Backlash compensation" +#define STR_S_SEG_PER_SEC "S" +#define STR_DELTA_SETTINGS "Delta (L R H S XYZ ABC)" +#define STR_SCARA_SETTINGS "SCARA" +#define STR_POLARGRAPH_SETTINGS "Polargraph" +#define STR_SCARA_P_T_Z "P T Z" +#define STR_ENDSTOP_ADJUSTMENT "Endstop adjustment" +#define STR_SKEW_FACTOR "Skew Factor" +#define STR_FILAMENT_SETTINGS "Filament settings" +#define STR_MAX_ACCELERATION "Max Acceleration (units/s2)" +#define STR_MAX_FEEDRATES "Max feedrates (units/s)" +#define STR_ACCELERATION_P_R_T "Acceleration (units/s2) (P R T)" +#define STR_TOOL_CHANGING "Tool-changing" +#define STR_HOTEND_OFFSETS "Hotend offsets" +#define STR_SERVO_ANGLES "Servo Angles" +#define STR_HOTEND_PID "Hotend PID" +#define STR_BED_PID "Bed PID" +#define STR_CHAMBER_PID "Chamber PID" +#define STR_STEPS_PER_UNIT "Steps per unit" +#define STR_LINEAR_ADVANCE "Linear Advance" +#define STR_CONTROLLER_FAN "Controller Fan" +#define STR_STEPPER_MOTOR_CURRENTS "Stepper motor currents" +#define STR_RETRACT_S_F_Z "Retract (S F Z)" +#define STR_RECOVER_S_F "Recover (S F)" +#define STR_AUTO_RETRACT_S "Auto-Retract (S)" +#define STR_FILAMENT_LOAD_UNLOAD "Filament load/unload" +#define STR_POWER_LOSS_RECOVERY "Power-loss recovery" +#define STR_FILAMENT_RUNOUT_SENSOR "Filament runout sensor" +#define STR_DRIVER_STEPPING_MODE "Driver stepping mode" +#define STR_STEPPER_DRIVER_CURRENT "Stepper driver current" +#define STR_HYBRID_THRESHOLD "Hybrid Threshold" +#define STR_STALLGUARD_THRESHOLD "StallGuard threshold" +#define STR_HOME_OFFSET "Home offset" +#define STR_SOFT_ENDSTOPS "Soft endstops" +#define STR_MATERIAL_HEATUP "Material heatup parameters" +#define STR_LCD_CONTRAST "LCD Contrast" +#define STR_LCD_BRIGHTNESS "LCD Brightness" +#define STR_DISPLAY_SLEEP "Display Sleep" +#define STR_UI_LANGUAGE "UI Language" +#define STR_Z_PROBE_OFFSET "Z-Probe Offset" +#define STR_TEMPERATURE_UNITS "Temperature Units" +#define STR_USER_THERMISTORS "User thermistors" +#define STR_DELAYED_POWEROFF "Delayed poweroff" + +// +// Endstop Names used by Endstops::report_states +// +#define STR_X_MIN "x_min" +#define STR_X_MAX "x_max" +#define STR_X2_MIN "x2_min" +#define STR_X2_MAX "x2_max" + +#if HAS_Y_AXIS + #define STR_Y_MIN "y_min" + #define STR_Y_MAX "y_max" + #define STR_Y2_MIN "y2_min" + #define STR_Y2_MAX "y2_max" +#endif + +#if HAS_Z_AXIS + #define STR_Z_MIN "z_min" + #define STR_Z_MAX "z_max" + #define STR_Z2_MIN "z2_min" + #define STR_Z2_MAX "z2_max" + #define STR_Z3_MIN "z3_min" + #define STR_Z3_MAX "z3_max" + #define STR_Z4_MIN "z4_min" + #define STR_Z4_MAX "z4_max" +#endif + +#define STR_Z_PROBE "z_probe" +#define STR_PROBE_EN "probe_en" +#define STR_FILAMENT "filament" + +// General axis names +#define STR_X "X" +#define STR_Y "Y" +#define STR_Z "Z" +#define STR_E "E" +#if IS_KINEMATIC + #define STR_A "A" + #define STR_B "B" + #define STR_C "C" +#else + #define STR_A "X" + #define STR_B "Y" + #define STR_C "Z" +#endif +#define STR_X2 "X2" +#define STR_Y2 "Y2" +#define STR_Z2 "Z2" +#define STR_Z3 "Z3" +#define STR_Z4 "Z4" + +// Extra Axis and Endstop Names +#if HAS_I_AXIS + #if AXIS4_NAME == 'A' + #define STR_I "A" + #define STR_I_MIN "a_min" + #define STR_I_MAX "a_max" + #elif AXIS4_NAME == 'B' + #define STR_I "B" + #define STR_I_MIN "b_min" + #define STR_I_MAX "b_max" + #elif AXIS4_NAME == 'C' + #define STR_I "C" + #define STR_I_MIN "c_min" + #define STR_I_MAX "c_max" + #elif AXIS4_NAME == 'U' + #define STR_I "U" + #define STR_I_MIN "u_min" + #define STR_I_MAX "u_max" + #elif AXIS4_NAME == 'V' + #define STR_I "V" + #define STR_I_MIN "v_min" + #define STR_I_MAX "v_max" + #elif AXIS4_NAME == 'W' + #define STR_I "W" + #define STR_I_MIN "w_min" + #define STR_I_MAX "w_max" + #else + #error "AXIS4_NAME can only be one of 'A', 'B', 'C', 'U', 'V', or 'W'." + #endif +#else + #define STR_I "" +#endif + +#if HAS_J_AXIS + #if AXIS5_NAME == 'B' + #define STR_J "B" + #define STR_J_MIN "b_min" + #define STR_J_MAX "b_max" + #elif AXIS5_NAME == 'C' + #define STR_J "C" + #define STR_J_MIN "c_min" + #define STR_J_MAX "c_max" + #elif AXIS5_NAME == 'U' + #define STR_J "U" + #define STR_J_MIN "u_min" + #define STR_J_MAX "u_max" + #elif AXIS5_NAME == 'V' + #define STR_J "V" + #define STR_J_MIN "v_min" + #define STR_J_MAX "v_max" + #elif AXIS5_NAME == 'W' + #define STR_J "W" + #define STR_J_MIN "w_min" + #define STR_J_MAX "w_max" + #else + #error "AXIS5_NAME can only be one of 'B', 'C', 'U', 'V', or 'W'." + #endif +#else + #define STR_J "" +#endif + +#if HAS_K_AXIS + #if AXIS6_NAME == 'C' + #define STR_K "C" + #define STR_K_MIN "c_min" + #define STR_K_MAX "c_max" + #elif AXIS6_NAME == 'U' + #define STR_K "U" + #define STR_K_MIN "u_min" + #define STR_K_MAX "u_max" + #elif AXIS6_NAME == 'V' + #define STR_K "V" + #define STR_K_MIN "v_min" + #define STR_K_MAX "v_max" + #elif AXIS6_NAME == 'W' + #define STR_K "W" + #define STR_K_MIN "w_min" + #define STR_K_MAX "w_max" + #else + #error "AXIS6_NAME can only be one of 'C', 'U', 'V', or 'W'." + #endif +#else + #define STR_K "" +#endif + +#if HAS_U_AXIS + #if AXIS7_NAME == 'U' + #define STR_U "U" + #define STR_U_MIN "u_min" + #define STR_U_MAX "u_max" + #elif AXIS7_NAME == 'V' + #define STR_U "V" + #define STR_U_MIN "v_min" + #define STR_U_MAX "v_max" + #elif AXIS7_NAME == 'W' + #define STR_U "W" + #define STR_U_MIN "w_min" + #define STR_U_MAX "w_max" + #else + #error "AXIS7_NAME can only be one of 'U', 'V', or 'W'." + #endif +#else + #define STR_U "" +#endif + +#if HAS_V_AXIS + #if AXIS8_NAME == 'V' + #define STR_V "V" + #define STR_V_MIN "v_min" + #define STR_V_MAX "v_max" + #elif AXIS8_NAME == 'W' + #define STR_V "W" + #define STR_V_MIN "w_min" + #define STR_V_MAX "w_max" + #else + #error "AXIS8_NAME can only be one of 'V', or 'W'." + #endif +#else + #define STR_V "" +#endif + +#if HAS_W_AXIS + #if AXIS9_NAME == 'W' + #define STR_W "W" + #define STR_W_MIN "w_min" + #define STR_W_MAX "w_max" + #else + #error "AXIS9_NAME can only be 'W'." + #endif +#else + #define STR_W "" +#endif + +#if EITHER(HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL) + + // Custom characters defined in the first 8 characters of the LCD + #define LCD_STR_BEDTEMP "\x00" // Print only as a char. This will have 'unexpected' results when used in a string! + #define LCD_STR_DEGREE "\x01" + #define LCD_STR_THERMOMETER "\x02" // Still used with string concatenation + #define LCD_STR_UPLEVEL "\x03" + #define LCD_STR_REFRESH "\x04" + #define LCD_STR_FOLDER "\x05" + #define LCD_STR_FEEDRATE "\x06" + #define LCD_STR_CLOCK "\x07" + #define LCD_STR_ARROW_RIGHT ">" /* from the default character set */ + +#else + // + // Custom characters from Marlin_symbols.fon which was merged into ISO10646-0-3.bdf + // \x00 intentionally skipped to avoid problems in strings + // + #define LCD_STR_REFRESH "\x01" + #define LCD_STR_FOLDER "\x02" + #define LCD_STR_ARROW_RIGHT "\x03" + #define LCD_STR_UPLEVEL "\x04" + #define LCD_STR_CLOCK "\x05" + #define LCD_STR_FEEDRATE "\x06" + #define LCD_STR_BEDTEMP "\x07" + #define LCD_STR_THERMOMETER "\x08" + #define LCD_STR_DEGREE "\x09" + + #define LCD_STR_SPECIAL_MAX '\x09' + // Maximum here is 0x1F because 0x20 is ' ' (space) and the normal charsets begin. + // Better stay below 0x10 because DISPLAY_CHARSET_HD44780_WESTERN begins here. + + // Symbol characters + #define LCD_STR_FILAM_DIA "\xF8" + #define LCD_STR_FILAM_MUL "\xA4" + +#endif + +/** + * Tool indexes for LCD display only + * + * By convention the LCD shows "E1" for the first extruder. + * However, internal to Marlin E0/T0 is the first tool, and + * most board silkscreens say "E0." Zero-based labels will + * make these indexes consistent but this defies expectation. + */ +#if ENABLED(NUMBER_TOOLS_FROM_0) + #define LCD_FIRST_TOOL 0 + #define STR_N0 "0" + #define STR_N1 "1" + #define STR_N2 "2" + #define STR_N3 "3" + #define STR_N4 "4" + #define STR_N5 "5" + #define STR_N6 "6" + #define STR_N7 "7" +#else + #define LCD_FIRST_TOOL 1 + #define STR_N0 "1" + #define STR_N1 "2" + #define STR_N2 "3" + #define STR_N3 "4" + #define STR_N4 "5" + #define STR_N5 "6" + #define STR_N6 "7" + #define STR_N7 "8" +#endif + +#define STR_E0 STR_E STR_N0 +#define STR_E1 STR_E STR_N1 +#define STR_E2 STR_E STR_N2 +#define STR_E3 STR_E STR_N3 +#define STR_E4 STR_E STR_N4 +#define STR_E5 STR_E STR_N5 +#define STR_E6 STR_E STR_N6 +#define STR_E7 STR_E STR_N7 + +// Include localized LCD Menu Messages + +#define LANGUAGE_DATA_INCL_(M) STRINGIFY_(fontdata/langdata_##M.h) +#define LANGUAGE_DATA_INCL(M) LANGUAGE_DATA_INCL_(M) + +#define LANGUAGE_INCL_(M) STRINGIFY_(../lcd/language/language_##M.h) +#define LANGUAGE_INCL(M) LANGUAGE_INCL_(M) + +// Use superscripts, if possible. Evaluated at point of use. +#define SUPERSCRIPT_TWO TERN(NOT_EXTENDED_ISO10646_1_5X7, "^2", "²") +#define SUPERSCRIPT_THREE TERN(NOT_EXTENDED_ISO10646_1_5X7, "^3", "³") + +#include "multi_language.h" // Allow multiple languages + +#include "../lcd/language/language_en.h" +#include LANGUAGE_INCL(LCD_LANGUAGE) +#include LANGUAGE_INCL(LCD_LANGUAGE_2) +#include LANGUAGE_INCL(LCD_LANGUAGE_3) +#include LANGUAGE_INCL(LCD_LANGUAGE_4) +#include LANGUAGE_INCL(LCD_LANGUAGE_5) + +#if NONE(DISPLAY_CHARSET_ISO10646_1, \ + DISPLAY_CHARSET_ISO10646_5, \ + DISPLAY_CHARSET_ISO10646_KANA, \ + DISPLAY_CHARSET_ISO10646_GREEK, \ + DISPLAY_CHARSET_ISO10646_CN, \ + DISPLAY_CHARSET_ISO10646_TR, \ + DISPLAY_CHARSET_ISO10646_PL, \ + DISPLAY_CHARSET_ISO10646_CZ, \ + DISPLAY_CHARSET_ISO10646_SK) + #define DISPLAY_CHARSET_ISO10646_1 // use the better font on full graphic displays. +#endif diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h new file mode 100644 index 0000000000..fec390b64b --- /dev/null +++ b/Marlin/src/core/macros.h @@ -0,0 +1,770 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifndef __has_include + #define __has_include(...) 1 +#endif + +#define ABCE 4 +#define XYZE 4 +#define ABC 3 +#define XYZ 3 +#define XY 2 + +#define _AXIS(A) (A##_AXIS) + +#define _XSTOP_ 0x01 +#define _YSTOP_ 0x02 +#define _ZSTOP_ 0x03 +#define _ISTOP_ 0x04 +#define _JSTOP_ 0x05 +#define _KSTOP_ 0x06 +#define _USTOP_ 0x07 +#define _VSTOP_ 0x08 +#define _WSTOP_ 0x09 +#define _XMIN_ 0x11 +#define _YMIN_ 0x12 +#define _ZMIN_ 0x13 +#define _IMIN_ 0x14 +#define _JMIN_ 0x15 +#define _KMIN_ 0x16 +#define _UMIN_ 0x17 +#define _VMIN_ 0x18 +#define _WMIN_ 0x19 +#define _XMAX_ 0x21 +#define _YMAX_ 0x22 +#define _ZMAX_ 0x23 +#define _IMAX_ 0x24 +#define _JMAX_ 0x25 +#define _KMAX_ 0x26 +#define _UMAX_ 0x27 +#define _VMAX_ 0x28 +#define _WMAX_ 0x29 +#define _XDIAG_ 0x31 +#define _YDIAG_ 0x32 +#define _ZDIAG_ 0x33 +#define _IDIAG_ 0x34 +#define _JDIAG_ 0x35 +#define _KDIAG_ 0x36 +#define _UDIAG_ 0x37 +#define _VDIAG_ 0x38 +#define _WDIAG_ 0x39 +#define _E0DIAG_ 0xE0 +#define _E1DIAG_ 0xE1 +#define _E2DIAG_ 0xE2 +#define _E3DIAG_ 0xE3 +#define _E4DIAG_ 0xE4 +#define _E5DIAG_ 0xE5 +#define _E6DIAG_ 0xE6 +#define _E7DIAG_ 0xE7 + +#define _FORCE_INLINE_ __attribute__((__always_inline__)) __inline__ +#define FORCE_INLINE __attribute__((always_inline)) inline +#define NO_INLINE __attribute__((noinline)) +#define _UNUSED __attribute__((unused)) +#define __O0 __attribute__((optimize("O0"))) +#define __Os __attribute__((optimize("Os"))) +#define __O1 __attribute__((optimize("O1"))) +#define __O2 __attribute__((optimize("O2"))) +#define __O3 __attribute__((optimize("O3"))) + +#define IS_CONSTEXPR(...) __builtin_constant_p(__VA_ARGS__) // Only valid solution with C++14. Should use std::is_constant_evaluated() in C++20 instead + +#ifndef UNUSED + #define UNUSED(x) ((void)(x)) +#endif + +// Clock speed factors +#if !defined(CYCLES_PER_MICROSECOND) && !defined(__STM32F1__) + #define CYCLES_PER_MICROSECOND (F_CPU / 1000000UL) // 16 or 20 on AVR +#endif + +// Nanoseconds per cycle +#define NANOSECONDS_PER_CYCLE (1000000000.0 / F_CPU) + +// Macros to make a string from a macro +#define STRINGIFY_(M) #M +#define STRINGIFY(M) STRINGIFY_(M) + +#define A(CODE) " " CODE "\n\t" +#define L(CODE) CODE ":\n\t" + +// Macros for bit masks +#undef _BV +#define _BV(n) (1<<(n)) +#define TEST(n,b) (!!((n)&_BV(b))) +#define SET_BIT_TO(N,B,TF) do{ if (TF) SBI(N,B); else CBI(N,B); }while(0) +#ifndef SBI + #define SBI(A,B) (A |= _BV(B)) +#endif +#ifndef CBI + #define CBI(A,B) (A &= ~_BV(B)) +#endif +#define TBI(N,B) (N ^= _BV(B)) +#define _BV32(b) (1UL << (b)) +#define TEST32(n,b) !!((n)&_BV32(b)) +#define SBI32(n,b) (n |= _BV32(b)) +#define CBI32(n,b) (n &= ~_BV32(b)) +#define TBI32(N,B) (N ^= _BV32(B)) + +#define cu(x) ({__typeof__(x) _x = (x); (_x)*(_x)*(_x);}) +#define RADIANS(d) ((d)*float(M_PI)/180.0f) +#define DEGREES(r) ((r)*180.0f/float(M_PI)) +#define HYPOT2(x,y) (sq(x)+sq(y)) +#define NORMSQ(x,y,z) (sq(x)+sq(y)+sq(z)) + +#define CIRCLE_AREA(R) (float(M_PI) * sq(float(R))) +#define CIRCLE_CIRC(R) (2 * float(M_PI) * float(R)) + +#define SIGN(a) ({__typeof__(a) _a = (a); (_a>0)-(_a<0);}) +#define IS_POWER_OF_2(x) ((x) && !((x) & ((x) - 1))) + +// Macros to constrain values +#ifdef __cplusplus + + // C++11 solution that is standards compliant. + template static constexpr void NOLESS(V& v, const N n) { + if (n > v) v = n; + } + template static constexpr void NOMORE(V& v, const N n) { + if (n < v) v = n; + } + template static constexpr void LIMIT(V& v, const N1 n1, const N2 n2) { + if (n1 > v) v = n1; + else if (n2 < v) v = n2; + } + +#else + + #define NOLESS(v, n) \ + do{ \ + __typeof__(v) _n = (n); \ + if (_n > v) v = _n; \ + }while(0) + + #define NOMORE(v, n) \ + do{ \ + __typeof__(v) _n = (n); \ + if (_n < v) v = _n; \ + }while(0) + + #define LIMIT(v, n1, n2) \ + do{ \ + __typeof__(v) _n1 = (n1); \ + __typeof__(v) _n2 = (n2); \ + if (_n1 > v) v = _n1; \ + else if (_n2 < v) v = _n2; \ + }while(0) + +#endif + +// Macros to chain up to 40 conditions +#define _DO_1(W,C,A) (_##W##_1(A)) +#define _DO_2(W,C,A,B) (_##W##_1(A) C _##W##_1(B)) +#define _DO_3(W,C,A,V...) (_##W##_1(A) C _DO_2(W,C,V)) +#define _DO_4(W,C,A,V...) (_##W##_1(A) C _DO_3(W,C,V)) +#define _DO_5(W,C,A,V...) (_##W##_1(A) C _DO_4(W,C,V)) +#define _DO_6(W,C,A,V...) (_##W##_1(A) C _DO_5(W,C,V)) +#define _DO_7(W,C,A,V...) (_##W##_1(A) C _DO_6(W,C,V)) +#define _DO_8(W,C,A,V...) (_##W##_1(A) C _DO_7(W,C,V)) +#define _DO_9(W,C,A,V...) (_##W##_1(A) C _DO_8(W,C,V)) +#define _DO_10(W,C,A,V...) (_##W##_1(A) C _DO_9(W,C,V)) +#define _DO_11(W,C,A,V...) (_##W##_1(A) C _DO_10(W,C,V)) +#define _DO_12(W,C,A,V...) (_##W##_1(A) C _DO_11(W,C,V)) +#define _DO_13(W,C,A,V...) (_##W##_1(A) C _DO_12(W,C,V)) +#define _DO_14(W,C,A,V...) (_##W##_1(A) C _DO_13(W,C,V)) +#define _DO_15(W,C,A,V...) (_##W##_1(A) C _DO_14(W,C,V)) +#define _DO_16(W,C,A,V...) (_##W##_1(A) C _DO_15(W,C,V)) +#define _DO_17(W,C,A,V...) (_##W##_1(A) C _DO_16(W,C,V)) +#define _DO_18(W,C,A,V...) (_##W##_1(A) C _DO_17(W,C,V)) +#define _DO_19(W,C,A,V...) (_##W##_1(A) C _DO_18(W,C,V)) +#define _DO_20(W,C,A,V...) (_##W##_1(A) C _DO_19(W,C,V)) +#define _DO_21(W,C,A,V...) (_##W##_1(A) C _DO_20(W,C,V)) +#define _DO_22(W,C,A,V...) (_##W##_1(A) C _DO_21(W,C,V)) +#define _DO_23(W,C,A,V...) (_##W##_1(A) C _DO_22(W,C,V)) +#define _DO_24(W,C,A,V...) (_##W##_1(A) C _DO_23(W,C,V)) +#define _DO_25(W,C,A,V...) (_##W##_1(A) C _DO_24(W,C,V)) +#define _DO_26(W,C,A,V...) (_##W##_1(A) C _DO_25(W,C,V)) +#define _DO_27(W,C,A,V...) (_##W##_1(A) C _DO_26(W,C,V)) +#define _DO_28(W,C,A,V...) (_##W##_1(A) C _DO_27(W,C,V)) +#define _DO_29(W,C,A,V...) (_##W##_1(A) C _DO_28(W,C,V)) +#define _DO_30(W,C,A,V...) (_##W##_1(A) C _DO_29(W,C,V)) +#define _DO_31(W,C,A,V...) (_##W##_1(A) C _DO_30(W,C,V)) +#define _DO_32(W,C,A,V...) (_##W##_1(A) C _DO_31(W,C,V)) +#define _DO_33(W,C,A,V...) (_##W##_1(A) C _DO_32(W,C,V)) +#define _DO_34(W,C,A,V...) (_##W##_1(A) C _DO_33(W,C,V)) +#define _DO_35(W,C,A,V...) (_##W##_1(A) C _DO_34(W,C,V)) +#define _DO_36(W,C,A,V...) (_##W##_1(A) C _DO_35(W,C,V)) +#define _DO_37(W,C,A,V...) (_##W##_1(A) C _DO_36(W,C,V)) +#define _DO_38(W,C,A,V...) (_##W##_1(A) C _DO_37(W,C,V)) +#define _DO_39(W,C,A,V...) (_##W##_1(A) C _DO_38(W,C,V)) +#define _DO_40(W,C,A,V...) (_##W##_1(A) C _DO_39(W,C,V)) +#define __DO_N(W,C,N,V...) _DO_##N(W,C,V) +#define _DO_N(W,C,N,V...) __DO_N(W,C,N,V) +#define DO(W,C,V...) (_DO_N(W,C,NUM_ARGS(V),V)) + +// Macros to support option testing +#define _CAT(a,V...) a##V +#define CAT(a,V...) _CAT(a,V) + +#define _ISENA_ ~,1 +#define _ISENA_1 ~,1 +#define _ISENA_0x1 ~,1 +#define _ISENA_true ~,1 +#define _ISENA(V...) IS_PROBE(V) + +#define _ENA_1(O) _ISENA(CAT(_IS,CAT(ENA_, O))) +#define _DIS_1(O) NOT(_ENA_1(O)) +#define ENABLED(V...) DO(ENA,&&,V) +#define DISABLED(V...) DO(DIS,&&,V) +#define COUNT_ENABLED(V...) DO(ENA,+,V) + +#define TERN(O,A,B) _TERN(_ENA_1(O),B,A) // OPTION ? 'A' : 'B' +#define TERN0(O,A) _TERN(_ENA_1(O),0,A) // OPTION ? 'A' : '0' +#define TERN1(O,A) _TERN(_ENA_1(O),1,A) // OPTION ? 'A' : '1' +#define TERN_(O,A) _TERN(_ENA_1(O),,A) // OPTION ? 'A' : '' +#define _TERN(E,V...) __TERN(_CAT(T_,E),V) // Prepend 'T_' to get 'T_0' or 'T_1' +#define __TERN(T,V...) ___TERN(_CAT(_NO,T),V) // Prepend '_NO' to get '_NOT_0' or '_NOT_1' +#define ___TERN(P,V...) THIRD(P,V) // If first argument has a comma, A. Else B. + +#define _OPTITEM(A...) A, +#define OPTITEM(O,A...) TERN_(O,DEFER4(_OPTITEM)(A)) +#define _OPTARG(A...) , A +#define OPTARG(O,A...) TERN_(O,DEFER4(_OPTARG)(A)) +#define _OPTCODE(A) A; +#define OPTCODE(O,A) TERN_(O,DEFER4(_OPTCODE)(A)) + +// Macros to avoid 'f + 0.0' which is not always optimized away. Minus included for symmetry. +// Compiler flags -fno-signed-zeros -ffinite-math-only also cover 'f * 1.0', 'f - f', etc. +#define PLUS_TERN0(O,A) _TERN(_ENA_1(O),,+ (A)) // OPTION ? '+ (A)' : '' +#define MINUS_TERN0(O,A) _TERN(_ENA_1(O),,- (A)) // OPTION ? '- (A)' : '' +#define SUM_TERN(O,B,A) ((B) PLUS_TERN0(O,A)) // ((B) (OPTION ? '+ (A)' : '')) +#define DIFF_TERN(O,B,A) ((B) MINUS_TERN0(O,A)) // ((B) (OPTION ? '- (A)' : '')) + +#define IF_ENABLED TERN_ +#define IF_DISABLED(O,A) TERN(O,,A) + +#define ANY(V...) !DISABLED(V) +#define NONE(V...) DISABLED(V) +#define ALL(V...) ENABLED(V) +#define BOTH(V1,V2) ALL(V1,V2) +#define EITHER(V1,V2) ANY(V1,V2) +#define MANY(V...) (COUNT_ENABLED(V) > 1) + +// Macros to support pins/buttons exist testing +#define PIN_EXISTS(PN) (defined(PN##_PIN) && PN##_PIN >= 0) +#define _PINEX_1 PIN_EXISTS +#define PINS_EXIST(V...) DO(PINEX,&&,V) +#define ANY_PIN(V...) DO(PINEX,||,V) + +#define BUTTON_EXISTS(BN) (defined(BTN_##BN) && BTN_##BN >= 0) +#define _BTNEX_1 BUTTON_EXISTS +#define BUTTONS_EXIST(V...) DO(BTNEX,&&,V) +#define ANY_BUTTON(V...) DO(BTNEX,||,V) + +#define WITHIN(N,L,H) ((N) >= (L) && (N) <= (H)) +#define ISEOL(C) ((C) == '\n' || (C) == '\r') +#define NUMERIC(a) WITHIN(a, '0', '9') +#define DECIMAL(a) (NUMERIC(a) || a == '.') +#define HEXCHR(a) (NUMERIC(a) ? (a) - '0' : WITHIN(a, 'a', 'f') ? ((a) - 'a' + 10) : WITHIN(a, 'A', 'F') ? ((a) - 'A' + 10) : -1) +#define NUMERIC_SIGNED(a) (NUMERIC(a) || (a) == '-' || (a) == '+') +#define DECIMAL_SIGNED(a) (DECIMAL(a) || (a) == '-' || (a) == '+') +#define COUNT(a) (sizeof(a)/sizeof(*a)) +#define ZERO(a) memset((void*)a,0,sizeof(a)) +#define COPY(a,b) do{ \ + static_assert(sizeof(a[0]) == sizeof(b[0]), "COPY: '" STRINGIFY(a) "' and '" STRINGIFY(b) "' types (sizes) don't match!"); \ + memcpy(&a[0],&b[0],_MIN(sizeof(a),sizeof(b))); \ + }while(0) + +#define CODE_16( A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A; B; C; D; E; F; G; H; I; J; K; L; M; N; O; P +#define CODE_15( A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A; B; C; D; E; F; G; H; I; J; K; L; M; N; O +#define CODE_14( A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A; B; C; D; E; F; G; H; I; J; K; L; M; N +#define CODE_13( A,B,C,D,E,F,G,H,I,J,K,L,M,...) A; B; C; D; E; F; G; H; I; J; K; L; M +#define CODE_12( A,B,C,D,E,F,G,H,I,J,K,L,...) A; B; C; D; E; F; G; H; I; J; K; L +#define CODE_11( A,B,C,D,E,F,G,H,I,J,K,...) A; B; C; D; E; F; G; H; I; J; K +#define CODE_10( A,B,C,D,E,F,G,H,I,J,...) A; B; C; D; E; F; G; H; I; J +#define CODE_9( A,B,C,D,E,F,G,H,I,...) A; B; C; D; E; F; G; H; I +#define CODE_8( A,B,C,D,E,F,G,H,...) A; B; C; D; E; F; G; H +#define CODE_7( A,B,C,D,E,F,G,...) A; B; C; D; E; F; G +#define CODE_6( A,B,C,D,E,F,...) A; B; C; D; E; F +#define CODE_5( A,B,C,D,E,...) A; B; C; D; E +#define CODE_4( A,B,C,D,...) A; B; C; D +#define CODE_3( A,B,C,...) A; B; C +#define CODE_2( A,B,...) A; B +#define CODE_1( A,...) A +#define CODE_0(...) +#define _CODE_N(N,V...) CODE_##N(V) +#define CODE_N(N,V...) _CODE_N(N,V) + +#define GANG_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A B C D E F G H I J K L M N O P +#define GANG_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A B C D E F G H I J K L M N O +#define GANG_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A B C D E F G H I J K L M N +#define GANG_13(A,B,C,D,E,F,G,H,I,J,K,L,M...) A B C D E F G H I J K L M +#define GANG_12(A,B,C,D,E,F,G,H,I,J,K,L...) A B C D E F G H I J K L +#define GANG_11(A,B,C,D,E,F,G,H,I,J,K,...) A B C D E F G H I J K +#define GANG_10(A,B,C,D,E,F,G,H,I,J,...) A B C D E F G H I J +#define GANG_9( A,B,C,D,E,F,G,H,I,...) A B C D E F G H I +#define GANG_8( A,B,C,D,E,F,G,H,...) A B C D E F G H +#define GANG_7( A,B,C,D,E,F,G,...) A B C D E F G +#define GANG_6( A,B,C,D,E,F,...) A B C D E F +#define GANG_5( A,B,C,D,E,...) A B C D E +#define GANG_4( A,B,C,D,...) A B C D +#define GANG_3( A,B,C,...) A B C +#define GANG_2( A,B,...) A B +#define GANG_1( A,...) A +#define GANG_0(...) +#define _GANG_N(N,V...) GANG_##N(V) +#define GANG_N(N,V...) _GANG_N(N,V) +#define GANG_N_1(N,K) _GANG_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K) + +// Macros for initializing arrays +#define LIST_26(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,Z +#define LIST_25(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,Y +#define LIST_24(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,X +#define LIST_23(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,W +#define LIST_22(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,V +#define LIST_21(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,U +#define LIST_20(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,T +#define LIST_19(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,S +#define LIST_18(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,R +#define LIST_17(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,Q +#define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P +#define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O +#define LIST_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N +#define LIST_13(A,B,C,D,E,F,G,H,I,J,K,L,M,...) A,B,C,D,E,F,G,H,I,J,K,L,M +#define LIST_12(A,B,C,D,E,F,G,H,I,J,K,L,...) A,B,C,D,E,F,G,H,I,J,K,L +#define LIST_11(A,B,C,D,E,F,G,H,I,J,K,...) A,B,C,D,E,F,G,H,I,J,K +#define LIST_10(A,B,C,D,E,F,G,H,I,J,...) A,B,C,D,E,F,G,H,I,J +#define LIST_9( A,B,C,D,E,F,G,H,I,...) A,B,C,D,E,F,G,H,I +#define LIST_8( A,B,C,D,E,F,G,H,...) A,B,C,D,E,F,G,H +#define LIST_7( A,B,C,D,E,F,G,...) A,B,C,D,E,F,G +#define LIST_6( A,B,C,D,E,F,...) A,B,C,D,E,F +#define LIST_5( A,B,C,D,E,...) A,B,C,D,E +#define LIST_4( A,B,C,D,...) A,B,C,D +#define LIST_3( A,B,C,...) A,B,C +#define LIST_2( A,B,...) A,B +#define LIST_1( A,...) A +#define LIST_0(...) + +#define _LIST_N(N,V...) LIST_##N(V) +#define LIST_N(N,V...) _LIST_N(N,V) +#define LIST_N_1(N,K) _LIST_N(N,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K,K) +#define ARRAY_N(N,V...) { _LIST_N(N,V) } +#define ARRAY_N_1(N,K) { LIST_N_1(N,K) } + +#define _JOIN_1(O) (O) +#define JOIN_N(N,C,V...) (DO(JOIN,C,LIST_N(N,V))) + +#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++) +#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++) +#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N) +#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N) + +#define NOOP (void(0)) + +#define CEILING(x,y) (((x) + (y) - 1) / (y)) + +#undef ABS +#ifdef __cplusplus + template static constexpr const T ABS(const T v) { return v >= 0 ? v : -v; } +#else + #define ABS(a) ({__typeof__(a) _a = (a); _a >= 0 ? _a : -_a;}) +#endif + +#define UNEAR_ZERO(x) ((x) < 0.000001f) +#define NEAR_ZERO(x) WITHIN(x, -0.000001f, 0.000001f) +#define NEAR(x,y) NEAR_ZERO((x)-(y)) + +#define RECIPROCAL(x) (NEAR_ZERO(x) ? 0 : (1 / float(x))) +#define FIXFLOAT(f) ({__typeof__(f) _f = (f); _f + (_f < 0 ? -0.0000005f : 0.0000005f);}) + +// +// Maths macros that can be overridden by HAL +// +#define ACOS(x) acosf(x) +#define ATAN2(y, x) atan2f(y, x) +#define POW(x, y) powf(x, y) +#define SQRT(x) sqrtf(x) +#define RSQRT(x) (1.0f / sqrtf(x)) +#define CEIL(x) ceilf(x) +#define FLOOR(x) floorf(x) +#define TRUNC(x) truncf(x) +#define LROUND(x) lroundf(x) +#define FMOD(x, y) fmodf(x, y) +#define HYPOT(x,y) SQRT(HYPOT2(x,y)) + +// Use NUM_ARGS(__VA_ARGS__) to get the number of variadic arguments +#define _NUM_ARGS(_,n,m,l,k,j,i,h,g,f,e,d,c,b,a,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT +#define NUM_ARGS(V...) _NUM_ARGS(0,V,40,39,38,37,36,35,34,33,32,31,30,29,28,27,26,25,24,23,22,21,20,19,18,17,16,15,14,13,12,11,10,9,8,7,6,5,4,3,2,1,0) + +// Use TWO_ARGS(__VA_ARGS__) to get whether there are 1, 2, or >2 arguments +#define _TWO_ARGS(_,n,m,l,k,j,i,h,g,f,e,d,c,b,a,Z,Y,X,W,V,U,T,S,R,Q,P,O,N,M,L,K,J,I,H,G,F,E,D,C,B,A,OUT,...) OUT +#define TWO_ARGS(V...) _TWO_ARGS(0,V,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,2,1,0) + +#ifdef __cplusplus + + #ifndef _MINMAX_H_ + #define _MINMAX_H_ + + extern "C++" { + + // C++11 solution that is standards compliant. Return type is deduced automatically + template static constexpr auto _MIN(const L lhs, const R rhs) -> decltype(lhs + rhs) { + return lhs < rhs ? lhs : rhs; + } + template static constexpr auto _MAX(const L lhs, const R rhs) -> decltype(lhs + rhs) { + return lhs > rhs ? lhs : rhs; + } + template static constexpr const T _MIN(T V, Ts... Vs) { return _MIN(V, _MIN(Vs...)); } + template static constexpr const T _MAX(T V, Ts... Vs) { return _MAX(V, _MAX(Vs...)); } + + } + + #endif + + // Allow manipulating enumeration value like flags without ugly cast everywhere + #define ENUM_FLAGS(T) \ + FORCE_INLINE constexpr T operator&(T x, T y) { return static_cast(static_cast(x) & static_cast(y)); } \ + FORCE_INLINE constexpr T operator|(T x, T y) { return static_cast(static_cast(x) | static_cast(y)); } \ + FORCE_INLINE constexpr T operator^(T x, T y) { return static_cast(static_cast(x) ^ static_cast(y)); } \ + FORCE_INLINE constexpr T operator~(T x) { return static_cast(~static_cast(x)); } \ + FORCE_INLINE T & operator&=(T &x, T y) { return x &= y; } \ + FORCE_INLINE T & operator|=(T &x, T y) { return x |= y; } \ + FORCE_INLINE T & operator^=(T &x, T y) { return x ^= y; } + + // C++11 solution that is standard compliant. is not available on all platform + namespace Private { + template struct enable_if { }; + template struct enable_if { typedef _Tp type; }; + + template struct is_same { enum { value = false }; }; + template struct is_same { enum { value = true }; }; + + template struct first_type_of { typedef T type; }; + template struct first_type_of { typedef T type; }; + } + // C++11 solution using SFINAE to detect the existence of a member in a class at compile time. + // It creates a HasMember structure containing 'value' set to true if the member exists + #define HAS_MEMBER_IMPL(Member) \ + namespace Private { \ + template struct HasMember_ ## Member { \ + template static Yes& test( decltype(&C::Member) ) ; \ + template static No& test(...); \ + enum { value = sizeof(test(0)) == sizeof(Yes) }; }; \ + } + + // Call the method if it exists, but do nothing if it does not. The method is detected at compile time. + // If the method exists, this is inlined and does not cost anything. Else, an "empty" wrapper is created, returning a default value + #define CALL_IF_EXISTS_IMPL(Return, Method, ...) \ + HAS_MEMBER_IMPL(Method) \ + namespace Private { \ + template FORCE_INLINE typename enable_if::value, Return>::type Call_ ## Method(T * t, Args... a) { return static_cast(t->Method(a...)); } \ + _UNUSED static Return Call_ ## Method(...) { return __VA_ARGS__; } \ + } + #define CALL_IF_EXISTS(Return, That, Method, ...) \ + static_cast(Private::Call_ ## Method(That, ##__VA_ARGS__)) + + // Compile-time string manipulation + namespace CompileTimeString { + // Simple compile-time parser to find the position of the end of a string + constexpr const char* findStringEnd(const char *str) { + return *str ? findStringEnd(str + 1) : str; + } + + // Check whether a string contains a specific character + constexpr bool contains(const char *str, const char ch) { + return *str == ch ? true : (*str ? contains(str + 1, ch) : false); + } + // Find the last position of the specific character (should be called with findStringEnd) + constexpr const char* findLastPos(const char *str, const char ch) { + return *str == ch ? (str + 1) : findLastPos(str - 1, ch); + } + // Compile-time evaluation of the last part of a file path + // Typically used to shorten the path to file in compiled strings + // CompileTimeString::baseName(__FILE__) returns "macros.h" and not /path/to/Marlin/src/core/macros.h + constexpr const char* baseName(const char *str) { + return contains(str, '/') ? findLastPos(findStringEnd(str), '/') : str; + } + + // Find the first occurrence of a character in a string (or return the last position in the string) + constexpr const char* findFirst(const char *str, const char ch) { + return *str == ch || *str == 0 ? (str + 1) : findFirst(str + 1, ch); + } + // Compute the string length at compile time + constexpr unsigned stringLen(const char *str) { + return *str == 0 ? 0 : 1 + stringLen(str + 1); + } + } + + #define ONLY_FILENAME CompileTimeString::baseName(__FILE__) + /** Get the templated type name. This does not depends on RTTI, but on the preprocessor, so it should be quite safe to use even on old compilers. + WARNING: DO NOT RENAME THIS FUNCTION (or change the text inside the function to match what the preprocessor will generate) + The name is chosen very short since the binary will store "const char* gtn(T*) [with T = YourTypeHere]" so avoid long function name here */ + template + inline const char* gtn(T*) { + // It works on GCC by instantiating __PRETTY_FUNCTION__ and parsing the result. So the syntax here is very limited to GCC output + constexpr unsigned verboseChatLen = sizeof("const char* gtn(T*) [with T = ") - 1; + static char templateType[sizeof(__PRETTY_FUNCTION__) - verboseChatLen] = {}; + __builtin_memcpy(templateType, __PRETTY_FUNCTION__ + verboseChatLen, sizeof(__PRETTY_FUNCTION__) - verboseChatLen - 2); + return templateType; + } + +#else + + #define __MIN_N(N,V...) MIN_##N(V) + #define _MIN_N(N,V...) __MIN_N(N,V) + #define _MIN_N_REF() _MIN_N + #define _MIN(V...) EVAL(_MIN_N(TWO_ARGS(V),V)) + #define MIN_2(a,b) ((a)<(b)?(a):(b)) + #define MIN_3(a,V...) MIN_2(a,DEFER2(_MIN_N_REF)()(TWO_ARGS(V),V)) + + #define __MAX_N(N,V...) MAX_##N(V) + #define _MAX_N(N,V...) __MAX_N(N,V) + #define _MAX_N_REF() _MAX_N + #define _MAX(V...) EVAL(_MAX_N(TWO_ARGS(V),V)) + #define MAX_2(a,b) ((a)>(b)?(a):(b)) + #define MAX_3(a,V...) MAX_2(a,DEFER2(_MAX_N_REF)()(TWO_ARGS(V),V)) + +#endif + +// Macros for adding +#define INC_0 1 +#define INC_1 2 +#define INC_2 3 +#define INC_3 4 +#define INC_4 5 +#define INC_5 6 +#define INC_6 7 +#define INC_7 8 +#define INC_8 9 +#define INC_9 10 +#define INC_10 11 +#define INC_11 12 +#define INC_12 13 +#define INC_13 14 +#define INC_14 15 +#define INC_15 16 +#define INC_16 17 +#define INC_17 18 +#define INC_18 19 +#define INC_19 20 +#define INC_20 21 +#define INCREMENT_(n) INC_##n +#define INCREMENT(n) INCREMENT_(n) + +#define ADD0(N) N +#define ADD1(N) INCREMENT_(N) +#define ADD2(N) ADD1(ADD1(N)) +#define ADD3(N) ADD1(ADD2(N)) +#define ADD4(N) ADD2(ADD2(N)) +#define ADD5(N) ADD2(ADD3(N)) +#define ADD6(N) ADD3(ADD3(N)) +#define ADD7(N) ADD3(ADD4(N)) +#define ADD8(N) ADD4(ADD4(N)) +#define ADD9(N) ADD4(ADD5(N)) +#define ADD10(N) ADD5(ADD5(N)) +#define SUM(A,B) _CAT(ADD,A)(B) +#define DOUBLE_(n) ADD##n(n) +#define DOUBLE(n) DOUBLE_(n) + +// Macros for subtracting +#define DEC_0 0 +#define DEC_1 0 +#define DEC_2 1 +#define DEC_3 2 +#define DEC_4 3 +#define DEC_5 4 +#define DEC_6 5 +#define DEC_7 6 +#define DEC_8 7 +#define DEC_9 8 +#define DEC_10 9 +#define DEC_11 10 +#define DEC_12 11 +#define DEC_13 12 +#define DEC_14 13 +#define DEC_15 14 +#define DECREMENT_(n) DEC_##n +#define DECREMENT(n) DECREMENT_(n) + +#define SUB0(N) N +#define SUB1(N) DECREMENT_(N) +#define SUB2(N) SUB1(SUB1(N)) +#define SUB3(N) SUB1(SUB2(N)) +#define SUB4(N) SUB2(SUB2(N)) +#define SUB5(N) SUB2(SUB3(N)) +#define SUB6(N) SUB3(SUB3(N)) +#define SUB7(N) SUB3(SUB4(N)) +#define SUB8(N) SUB4(SUB4(N)) +#define SUB9(N) SUB4(SUB5(N)) +#define SUB10(N) SUB5(SUB5(N)) + +// +// Primitives supporting precompiler REPEAT +// +#define FIRST(a,...) a +#define SECOND(a,b,...) b +#define THIRD(a,b,c,...) c + +// Defer expansion +#define EMPTY() +#define DEFER(M) M EMPTY() +#define DEFER2(M) M EMPTY EMPTY()() +#define DEFER3(M) M EMPTY EMPTY EMPTY()()() +#define DEFER4(M) M EMPTY EMPTY EMPTY EMPTY()()()() + +// Force define expansion +#define EVAL EVAL16 +#define EVAL4096(V...) EVAL2048(EVAL2048(V)) +#define EVAL2048(V...) EVAL1024(EVAL1024(V)) +#define EVAL1024(V...) EVAL512(EVAL512(V)) +#define EVAL512(V...) EVAL256(EVAL256(V)) +#define EVAL256(V...) EVAL128(EVAL128(V)) +#define EVAL128(V...) EVAL64(EVAL64(V)) +#define EVAL64(V...) EVAL32(EVAL32(V)) +#define EVAL32(V...) EVAL16(EVAL16(V)) +#define EVAL16(V...) EVAL8(EVAL8(V)) +#define EVAL8(V...) EVAL4(EVAL4(V)) +#define EVAL4(V...) EVAL2(EVAL2(V)) +#define EVAL2(V...) EVAL1(EVAL1(V)) +#define EVAL1(V...) V + +#define IS_PROBE(V...) SECOND(V, 0) // Get the second item passed, or 0 +#define PROBE() ~, 1 // Second item will be 1 if this is passed +#define _NOT_0 PROBE() +#define NOT(x) IS_PROBE(_CAT(_NOT_, x)) // NOT('0') gets '1'. Anything else gets '0'. +#define _BOOL(x) NOT(NOT(x)) // _BOOL('0') gets '0'. Anything else gets '1'. + +#define IF_ELSE(TF) _IF_ELSE(_BOOL(TF)) +#define _IF_ELSE(TF) _CAT(_IF_, TF) + +#define _IF_1(V...) V _IF_1_ELSE +#define _IF_0(...) _IF_0_ELSE + +#define _IF_1_ELSE(...) +#define _IF_0_ELSE(V...) V + +#define HAS_ARGS(V...) _BOOL(FIRST(_END_OF_ARGUMENTS_ V)()) +#define _END_OF_ARGUMENTS_() 0 + +// Simple Inline IF Macros, friendly to use in other macro definitions +#define IF(O, A, B) ((O) ? (A) : (B)) +#define IF_0(O, A) IF(O, A, 0) +#define IF_1(O, A) IF(O, A, 1) + +// +// REPEAT core macros. Recurse N times with ascending I. +// + +// Call OP(I) N times with ascending counter. +#define _REPEAT(_RPT_I,_RPT_N,_RPT_OP) \ + _RPT_OP(_RPT_I) \ + IF_ELSE(SUB1(_RPT_N)) \ + ( DEFER2(__REPEAT)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP) ) \ + ( /* Do nothing */ ) +#define __REPEAT() _REPEAT + +// Call OP(I, ...) N times with ascending counter. +#define _REPEAT2(_RPT_I,_RPT_N,_RPT_OP,V...) \ + _RPT_OP(_RPT_I,V) \ + IF_ELSE(SUB1(_RPT_N)) \ + ( DEFER2(__REPEAT2)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP,V) ) \ + ( /* Do nothing */ ) +#define __REPEAT2() _REPEAT2 + +// Repeat a macro passing S...N-1. +#define REPEAT_S(S,N,OP) EVAL(_REPEAT(S,SUB##S(N),OP)) +#define REPEAT(N,OP) REPEAT_S(0,N,OP) +#define REPEAT_1(N,OP) REPEAT_S(1,INCREMENT(N),OP) + +// Repeat a macro passing 0...N-1 plus additional arguments. +#define REPEAT2_S(S,N,OP,V...) EVAL(_REPEAT2(S,SUB##S(N),OP,V)) +#define REPEAT2(N,OP,V...) REPEAT2_S(0,N,OP,V) + +// Use RREPEAT macros with REPEAT macros for nesting +#define _RREPEAT(_RPT_I,_RPT_N,_RPT_OP) \ + _RPT_OP(_RPT_I) \ + IF_ELSE(SUB1(_RPT_N)) \ + ( DEFER2(__RREPEAT)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP) ) \ + ( /* Do nothing */ ) +#define __RREPEAT() _RREPEAT +#define _RREPEAT2(_RPT_I,_RPT_N,_RPT_OP,V...) \ + _RPT_OP(_RPT_I,V) \ + IF_ELSE(SUB1(_RPT_N)) \ + ( DEFER2(__RREPEAT2)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP,V) ) \ + ( /* Do nothing */ ) +#define __RREPEAT2() _RREPEAT2 +#define RREPEAT_S(S,N,OP) EVAL1024(_RREPEAT(S,SUB##S(N),OP)) +#define RREPEAT(N,OP) RREPEAT_S(0,N,OP) +#define RREPEAT_1(N,OP) RREPEAT_S(1,INCREMENT(N),OP) +#define RREPEAT2_S(S,N,OP,V...) EVAL1024(_RREPEAT2(S,SUB##S(N),OP,V)) +#define RREPEAT2(N,OP,V...) RREPEAT2_S(0,N,OP,V) + +// Emit a list of N OP(I) items with ascending counter. +#define _REPLIST(_RPT_I,_RPT_N,_RPT_OP) \ + _RPT_OP(_RPT_I) \ + IF_ELSE(SUB1(_RPT_N)) \ + ( , DEFER2(__REPLIST)()(ADD1(_RPT_I),SUB1(_RPT_N),_RPT_OP) ) \ + ( /* Do nothing */ ) +#define __REPLIST() _REPLIST + +// Repeat a macro, comma-separated, passing S...N-1. +#define REPLIST_S(S,N,OP) EVAL(_REPLIST(S,SUB##S(N),OP)) +#define REPLIST(N,OP) REPLIST_S(0,N,OP) +#define REPLIST_1(N,OP) REPLIST_S(1,INCREMENT(N),OP) + +// Call OP(A) with each item as an argument +#define _MAP(_MAP_OP,A,V...) \ + _MAP_OP(A) \ + IF_ELSE(HAS_ARGS(V)) \ + ( DEFER2(__MAP)()(_MAP_OP,V) ) \ + ( /* Do nothing */ ) +#define __MAP() _MAP + +#define MAP(OP,V...) EVAL(_MAP(OP,V)) + +// Emit a list of OP(A) with the given items +#define _MAPLIST(_MAP_OP,A,V...) \ + _MAP_OP(A) \ + IF_ELSE(HAS_ARGS(V)) \ + ( , DEFER2(__MAPLIST)()(_MAP_OP,V) ) \ + ( /* Do nothing */ ) +#define __MAPLIST() _MAPLIST + +#define MAPLIST(OP,V...) EVAL(_MAPLIST(OP,V)) + +// Temperature Sensor Config +#define TEMP_SENSOR(N) TEMP_SENSOR_##N +#define _HAS_E_TEMP(N) || TEMP_SENSOR(N) +#define HAS_E_TEMP_SENSOR (0 REPEAT(EXTRUDERS, _HAS_E_TEMP)) +#define TEMP_SENSOR_IS_MAX_TC(T) (TEMP_SENSOR(T) == -5 || TEMP_SENSOR(T) == -3 || TEMP_SENSOR(T) == -2) + +#define _UI_NONE 0 +#define _UI_ORIGIN 101 +#define _UI_FYSETC 102 +#define _UI_HIPRECY 103 +#define _UI_MKS 104 +#define _UI_RELOADED 105 +#define _UI_IA_CREALITY 106 +#define _DGUS_UI_IS(N) || (CAT(_UI_, DGUS_LCD_UI) == CAT(_UI_, N)) +#define DGUS_UI_IS(V...) (0 MAP(_DGUS_UI_IS, V)) diff --git a/Marlin/src/core/millis_t.h b/Marlin/src/core/millis_t.h new file mode 100644 index 0000000000..95bc40e1ec --- /dev/null +++ b/Marlin/src/core/millis_t.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +typedef uint32_t millis_t; + +#define SEC_TO_MS(N) millis_t((N)*1000UL) +#define MIN_TO_MS(N) SEC_TO_MS((N)*60UL) +#define MS_TO_SEC(N) millis_t((N)/1000UL) + +#define PENDING(NOW,SOON) ((int32_t)(NOW-(SOON))<0) +#define ELAPSED(NOW,SOON) (!PENDING(NOW,SOON)) diff --git a/Marlin/src/core/multi_language.h b/Marlin/src/core/multi_language.h new file mode 100644 index 0000000000..05a713e435 --- /dev/null +++ b/Marlin/src/core/multi_language.h @@ -0,0 +1,93 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/******************************************************* + * multi_language.h * + * By Marcio Teixeira 2019 for Aleph Objects * + *******************************************************/ + +#include "../inc/MarlinConfigPre.h" + +typedef const char Language_Str[]; +#define LSTR PROGMEM Language_Str + +#ifdef LCD_LANGUAGE_5 + #define NUM_LANGUAGES 5 +#elif defined(LCD_LANGUAGE_4) + #define NUM_LANGUAGES 4 +#elif defined(LCD_LANGUAGE_3) + #define NUM_LANGUAGES 3 +#elif defined(LCD_LANGUAGE_2) + #define NUM_LANGUAGES 2 +#else + #define NUM_LANGUAGES 1 +#endif + +// Set unused languages equal to each other so the +// compiler can optimize away the conditionals. +#define LCD_LANGUAGE_1 LCD_LANGUAGE +#ifndef LCD_LANGUAGE_2 + #define LCD_LANGUAGE_2 LCD_LANGUAGE +#endif +#ifndef LCD_LANGUAGE_3 + #define LCD_LANGUAGE_3 LCD_LANGUAGE_2 +#endif +#ifndef LCD_LANGUAGE_4 + #define LCD_LANGUAGE_4 LCD_LANGUAGE_3 +#endif +#ifndef LCD_LANGUAGE_5 + #define LCD_LANGUAGE_5 LCD_LANGUAGE_4 +#endif + +#define _GET_LANG(LANG) Language_##LANG +#define GET_LANG(LANG) _GET_LANG(LANG) + +#if NUM_LANGUAGES > 1 + #define HAS_MULTI_LANGUAGE 1 + #define GET_TEXT(MSG) ( \ + ui.language == 4 ? GET_LANG(LCD_LANGUAGE_5)::MSG : \ + ui.language == 3 ? GET_LANG(LCD_LANGUAGE_4)::MSG : \ + ui.language == 2 ? GET_LANG(LCD_LANGUAGE_3)::MSG : \ + ui.language == 1 ? GET_LANG(LCD_LANGUAGE_2)::MSG : \ + GET_LANG(LCD_LANGUAGE )::MSG ) + #define MAX_LANG_CHARSIZE _MAX(GET_LANG(LCD_LANGUAGE )::CHARSIZE, \ + GET_LANG(LCD_LANGUAGE_2)::CHARSIZE, \ + GET_LANG(LCD_LANGUAGE_3)::CHARSIZE, \ + GET_LANG(LCD_LANGUAGE_4)::CHARSIZE, \ + GET_LANG(LCD_LANGUAGE_5)::CHARSIZE ) +#else + #define GET_TEXT(MSG) GET_LANG(LCD_LANGUAGE)::MSG + #define MAX_LANG_CHARSIZE LANG_CHARSIZE +#endif +#define GET_TEXT_F(MSG) FPSTR(GET_TEXT(MSG)) + +#define GET_EN_TEXT(MSG) GET_LANG(en)::MSG +#define GET_EN_TEXT_F(MSG) FPSTR(GET_EN_TEXT(MSG)) + +#define GET_LANGUAGE_NAME(INDEX) GET_LANG(LCD_LANGUAGE_##INDEX)::LANGUAGE +#define LANG_CHARSIZE GET_TEXT(CHARSIZE) +#define USE_WIDE_GLYPH (LANG_CHARSIZE > 2) + +#define MSG_1_LINE(A) A "\0" "\0" +#define MSG_2_LINE(A,B) A "\0" B "\0" +#define MSG_3_LINE(A,B,C) A "\0" B "\0" C diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp new file mode 100644 index 0000000000..727b191d04 --- /dev/null +++ b/Marlin/src/core/serial.cpp @@ -0,0 +1,110 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "serial.h" +#include "../inc/MarlinConfig.h" + +#if HAS_ETHERNET + #include "../feature/ethernet.h" +#endif + +uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE; + +// Commonly-used strings in serial output +PGMSTR(SP_A_STR, " A"); PGMSTR(SP_B_STR, " B"); PGMSTR(SP_C_STR, " C"); +PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T"); PGMSTR(NUL_STR, ""); + +#define _N_STR(N) PGMSTR(N##_STR, STR_##N); +#define _N_LBL(N) PGMSTR(N##_LBL, STR_##N ":"); +#define _SP_N_STR(N) PGMSTR(SP_##N##_STR, " " STR_##N); +#define _SP_N_LBL(N) PGMSTR(SP_##N##_LBL, " " STR_##N ":"); +MAP(_N_STR, LOGICAL_AXIS_NAMES); MAP(_SP_N_STR, LOGICAL_AXIS_NAMES); +MAP(_N_LBL, LOGICAL_AXIS_NAMES); MAP(_SP_N_LBL, LOGICAL_AXIS_NAMES); + +// Hook Meatpack if it's enabled on the first leaf +#if ENABLED(MEATPACK_ON_SERIAL_PORT_1) + SerialLeafT1 mpSerial1(false, _SERIAL_LEAF_1); +#endif +#if ENABLED(MEATPACK_ON_SERIAL_PORT_2) + SerialLeafT2 mpSerial2(false, _SERIAL_LEAF_2); +#endif +#if ENABLED(MEATPACK_ON_SERIAL_PORT_3) + SerialLeafT3 mpSerial3(false, _SERIAL_LEAF_3); +#endif + +// Step 2: For multiserial, handle the second serial port as well +#if HAS_MULTI_SERIAL + #if HAS_ETHERNET + // We need a definition here + SerialLeafT2 msSerial2(ethernet.have_telnet_client, MYSERIAL2, false); + #endif + + #define __S_LEAF(N) ,SERIAL_LEAF_##N + #define _S_LEAF(N) __S_LEAF(N) + + SerialOutputT multiSerial( SERIAL_LEAF_1 REPEAT_S(2, INCREMENT(NUM_SERIAL), _S_LEAF) ); + + #undef __S_LEAF + #undef _S_LEAF + +#endif + +void serial_print_P(PGM_P str) { + while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c); +} + +void serial_echo_start() { serial_print(F("echo:")); } +void serial_error_start() { serial_print(F("Error:")); } + +void serial_spaces(uint8_t count) { count *= (PROPORTIONAL_FONT_RATIO); while (count--) SERIAL_CHAR(' '); } + +void serial_offset(const_float_t v, const uint8_t sp/*=0*/) { + if (v == 0 && sp == 1) + SERIAL_CHAR(' '); + else if (v > 0 || (v == 0 && sp == 2)) + SERIAL_CHAR('+'); + SERIAL_DECIMAL(v); +} + +void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post/*=nullptr*/) { + if (pre) serial_print(pre); + serial_print(onoff ? on : off); + if (post) serial_print(post); +} +void serialprint_onoff(const bool onoff) { serial_print(onoff ? F(STR_ON) : F(STR_OFF)); } +void serialprintln_onoff(const bool onoff) { serialprint_onoff(onoff); SERIAL_EOL(); } +void serialprint_truefalse(const bool tf) { serial_print(tf ? F("true") : F("false")); } + +void print_bin(uint16_t val) { + for (uint8_t i = 16; i--;) { + SERIAL_CHAR('0' + TEST(val, i)); + if (!(i & 0x3) && i) SERIAL_CHAR(' '); + } +} + +void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix/*=nullptr*/, FSTR_P const suffix/*=nullptr*/) { + if (prefix) serial_print(prefix); + SERIAL_ECHOPGM_P( + LIST_N(DOUBLE(NUM_AXES), SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z, SP_I_STR, i, SP_J_STR, j, SP_K_STR, k, SP_U_STR, u, SP_V_STR, v, SP_W_STR, w) + ); + if (suffix) serial_print(suffix); else SERIAL_EOL(); +} diff --git a/Marlin/src/core/serial.h b/Marlin/src/core/serial.h new file mode 100644 index 0000000000..a1126d7461 --- /dev/null +++ b/Marlin/src/core/serial.h @@ -0,0 +1,374 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" +#include "serial_hook.h" + +#if HAS_MEATPACK + #include "../feature/meatpack.h" +#endif + +// +// Debugging flags for use by M111 +// +enum MarlinDebugFlags : uint8_t { + MARLIN_DEBUG_NONE = 0, + MARLIN_DEBUG_ECHO = _BV(0), ///< Echo commands in order as they are processed + MARLIN_DEBUG_INFO = _BV(1), ///< Print messages for code that has debug output + MARLIN_DEBUG_ERRORS = _BV(2), ///< Not implemented + MARLIN_DEBUG_DRYRUN = _BV(3), ///< Ignore temperature setting and E movement commands + MARLIN_DEBUG_COMMUNICATION = _BV(4), ///< Not implemented + #if ENABLED(DEBUG_LEVELING_FEATURE) + MARLIN_DEBUG_LEVELING = _BV(5), ///< Print detailed output for homing and leveling + MARLIN_DEBUG_MESH_ADJUST = _BV(6), ///< UBL bed leveling + #else + MARLIN_DEBUG_LEVELING = 0, + MARLIN_DEBUG_MESH_ADJUST = 0, + #endif + MARLIN_DEBUG_ALL = 0xFF +}; + +extern uint8_t marlin_debug_flags; +#define DEBUGGING(F) (marlin_debug_flags & (MARLIN_DEBUG_## F)) + +// +// Serial redirection +// +// Step 1: Find out what the first serial leaf is +#if HAS_MULTI_SERIAL && defined(SERIAL_CATCHALL) + #define _SERIAL_LEAF_1 MYSERIAL +#else + #define _SERIAL_LEAF_1 MYSERIAL1 +#endif + +// Hook Meatpack if it's enabled on the first leaf +#if ENABLED(MEATPACK_ON_SERIAL_PORT_1) + typedef MeatpackSerial SerialLeafT1; + extern SerialLeafT1 mpSerial1; + #define SERIAL_LEAF_1 mpSerial1 +#else + #define SERIAL_LEAF_1 _SERIAL_LEAF_1 +#endif + +// Step 2: For multiserial wrap all serial ports in a single +// interface with the ability to output to multiple serial ports. +#if HAS_MULTI_SERIAL + #define _PORT_REDIRECT(n,p) REMEMBER(n,multiSerial.portMask,p) + #define _PORT_RESTORE(n) RESTORE(n) + #define SERIAL_ASSERT(P) if (multiSerial.portMask!=(P)) { debugger(); } + // If we have a catchall, use that directly + #ifdef SERIAL_CATCHALL + #define _SERIAL_LEAF_2 SERIAL_CATCHALL + #elif HAS_ETHERNET + typedef ConditionalSerial SerialLeafT2; // We need to create an instance here + extern SerialLeafT2 msSerial2; + #define _SERIAL_LEAF_2 msSerial2 + #else + #define _SERIAL_LEAF_2 MYSERIAL2 // Don't create a useless instance here, directly use the existing instance + #endif + + // Nothing complicated here + #define _SERIAL_LEAF_3 MYSERIAL3 + + // Hook Meatpack if it's enabled on the second leaf + #if ENABLED(MEATPACK_ON_SERIAL_PORT_2) + typedef MeatpackSerial SerialLeafT2; + extern SerialLeafT2 mpSerial2; + #define SERIAL_LEAF_2 mpSerial2 + #else + #define SERIAL_LEAF_2 _SERIAL_LEAF_2 + #endif + + // Hook Meatpack if it's enabled on the third leaf + #if ENABLED(MEATPACK_ON_SERIAL_PORT_3) + typedef MeatpackSerial SerialLeafT3; + extern SerialLeafT3 mpSerial3; + #define SERIAL_LEAF_3 mpSerial3 + #else + #define SERIAL_LEAF_3 _SERIAL_LEAF_3 + #endif + + #define __S_MULTI(N) decltype(SERIAL_LEAF_##N), + #define _S_MULTI(N) __S_MULTI(N) + + typedef MultiSerial< REPEAT_1(NUM_SERIAL, _S_MULTI) 0> SerialOutputT; + + #undef __S_MULTI + #undef _S_MULTI + + extern SerialOutputT multiSerial; + #define SERIAL_IMPL multiSerial +#else + #define _PORT_REDIRECT(n,p) NOOP + #define _PORT_RESTORE(n) NOOP + #define SERIAL_ASSERT(P) NOOP + #define SERIAL_IMPL SERIAL_LEAF_1 +#endif + +#define SERIAL_OUT(WHAT, V...) (void)SERIAL_IMPL.WHAT(V) + +#define PORT_REDIRECT(p) _PORT_REDIRECT(1,p) +#define PORT_RESTORE() _PORT_RESTORE(1) +#define SERIAL_PORTMASK(P) SerialMask::from(P) + +// +// SERIAL_CHAR - Print one or more individual chars +// +inline void SERIAL_CHAR(char a) { SERIAL_IMPL.write(a); } +template +void SERIAL_CHAR(char a, Args ... args) { SERIAL_IMPL.write(a); SERIAL_CHAR(args ...); } + +/** + * SERIAL_ECHO - Print a single string or value. + * Any numeric parameter (including char) is printed as a base-10 number. + * A string pointer or literal will be output as a string. + * + * NOTE: Use SERIAL_CHAR to print char as a single character. + */ +template +void SERIAL_ECHO(T x) { SERIAL_IMPL.print(x); } + +// Wrapper for ECHO commands to interpret a char +typedef struct SerialChar { char c; SerialChar(char n) : c(n) { } } serial_char_t; +inline void SERIAL_ECHO(serial_char_t x) { SERIAL_IMPL.write(x.c); } +#define AS_CHAR(C) serial_char_t(C) +#define AS_DIGIT(C) AS_CHAR('0' + (C)) + +template +void SERIAL_ECHOLN(T x) { SERIAL_IMPL.println(x); } + +// SERIAL_PRINT works like SERIAL_ECHO but also takes the numeric base +template +void SERIAL_PRINT(T x, U y) { SERIAL_IMPL.print(x, y); } + +template +void SERIAL_PRINTLN(T x, PrintBase y) { SERIAL_IMPL.println(x, y); } + +// Flush the serial port +inline void SERIAL_FLUSH() { SERIAL_IMPL.flush(); } +inline void SERIAL_FLUSHTX() { SERIAL_IMPL.flushTX(); } + +// Serial echo and error prefixes +#define SERIAL_ECHO_START() serial_echo_start() +#define SERIAL_ERROR_START() serial_error_start() + +// Serial end-of-line +#define SERIAL_EOL() SERIAL_CHAR('\n') + +// Print a single PROGMEM, PGM_P, or PSTR() string. +void serial_print_P(PGM_P str); +inline void serial_println_P(PGM_P str) { serial_print_P(str); SERIAL_EOL(); } + +// Print a single FSTR_P, F(), or FPSTR() string. +inline void serial_print(FSTR_P const fstr) { serial_print_P(FTOP(fstr)); } +inline void serial_println(FSTR_P const fstr) { serial_println_P(FTOP(fstr)); } + +// +// SERIAL_ECHOPGM... macros are used to output string-value pairs. +// + +// Print up to 20 pairs of values. Odd elements must be literal strings. +#define __SEP_N(N,V...) _SEP_##N(V) +#define _SEP_N(N,V...) __SEP_N(N,V) +#define _SEP_N_REF() _SEP_N +#define _SEP_1(s) serial_print(F(s)); +#define _SEP_2(s,v) serial_echopair(F(s),v); +#define _SEP_3(s,v,V...) _SEP_2(s,v); DEFER2(_SEP_N_REF)()(TWO_ARGS(V),V); +#define SERIAL_ECHOPGM(V...) do{ EVAL(_SEP_N(TWO_ARGS(V),V)); }while(0) + +// Print up to 20 pairs of values followed by newline. Odd elements must be literal strings. +#define __SELP_N(N,V...) _SELP_##N(V) +#define _SELP_N(N,V...) __SELP_N(N,V) +#define _SELP_N_REF() _SELP_N +#define _SELP_1(s) serial_print(F(s "\n")); +#define _SELP_2(s,v) serial_echolnpair(F(s),v); +#define _SELP_3(s,v,V...) _SEP_2(s,v); DEFER2(_SELP_N_REF)()(TWO_ARGS(V),V); +#define SERIAL_ECHOLNPGM(V...) do{ EVAL(_SELP_N(TWO_ARGS(V),V)); }while(0) + +// Print up to 20 pairs of values. Odd elements must be PSTR pointers. +#define __SEP_N_P(N,V...) _SEP_##N##_P(V) +#define _SEP_N_P(N,V...) __SEP_N_P(N,V) +#define _SEP_N_P_REF() _SEP_N_P +#define _SEP_1_P(p) serial_print_P(p); +#define _SEP_2_P(p,v) serial_echopair_P(p,v); +#define _SEP_3_P(p,v,V...) _SEP_2_P(p,v); DEFER2(_SEP_N_P_REF)()(TWO_ARGS(V),V); +#define SERIAL_ECHOPGM_P(V...) do{ EVAL(_SEP_N_P(TWO_ARGS(V),V)); }while(0) + +// Print up to 20 pairs of values followed by newline. Odd elements must be PSTR pointers. +#define __SELP_N_P(N,V...) _SELP_##N##_P(V) +#define _SELP_N_P(N,V...) __SELP_N_P(N,V) +#define _SELP_N_P_REF() _SELP_N_P +#define _SELP_1_P(p) serial_println_P(p) +#define _SELP_2_P(p,v) serial_echolnpair_P(p,v) +#define _SELP_3_P(p,v,V...) { _SEP_2_P(p,v); DEFER2(_SELP_N_P_REF)()(TWO_ARGS(V),V); } +#define SERIAL_ECHOLNPGM_P(V...) do{ EVAL(_SELP_N_P(TWO_ARGS(V),V)); }while(0) + +// Print up to 20 pairs of values. Odd elements must be FSTR_P, F(), or FPSTR(). +#define __SEP_N_F(N,V...) _SEP_##N##_F(V) +#define _SEP_N_F(N,V...) __SEP_N_F(N,V) +#define _SEP_N_F_REF() _SEP_N_F +#define _SEP_1_F(p) serial_print(p); +#define _SEP_2_F(p,v) serial_echopair(p,v); +#define _SEP_3_F(p,v,V...) _SEP_2_F(p,v); DEFER2(_SEP_N_F_REF)()(TWO_ARGS(V),V); +#define SERIAL_ECHOF(V...) do{ EVAL(_SEP_N_F(TWO_ARGS(V),V)); }while(0) + +// Print up to 20 pairs of values followed by newline. Odd elements must be FSTR_P, F(), or FPSTR(). +#define __SELP_N_F(N,V...) _SELP_##N##_F(V) +#define _SELP_N_F(N,V...) __SELP_N_F(N,V) +#define _SELP_N_F_REF() _SELP_N_F +#define _SELP_1_F(p) serial_println(p) +#define _SELP_2_F(p,v) serial_echolnpair(p,v) +#define _SELP_3_F(p,v,V...) { _SEP_2_F(p,v); DEFER2(_SELP_N_F_REF)()(TWO_ARGS(V),V); } +#define SERIAL_ECHOLNF(V...) do{ EVAL(_SELP_N_F(TWO_ARGS(V),V)); }while(0) + +#ifdef AllowDifferentTypeInList + + inline void SERIAL_ECHOLIST_IMPL() {} + template + void SERIAL_ECHOLIST_IMPL(T && t) { SERIAL_IMPL.print(t); } + + template + void SERIAL_ECHOLIST_IMPL(T && t, Args && ... args) { + SERIAL_IMPL.print(t); + serial_print(F(", ")); + SERIAL_ECHOLIST_IMPL(args...); + } + + template + void SERIAL_ECHOLIST(FSTR_P const str, Args && ... args) { + SERIAL_IMPL.print(FTOP(str)); + SERIAL_ECHOLIST_IMPL(args...); + } + +#else // Optimization if the listed type are all the same (seems to be the case in the codebase so use that instead) + + template + void SERIAL_ECHOLIST(FSTR_P const fstr, Args && ... args) { + serial_print(fstr); + typename Private::first_type_of::type values[] = { args... }; + constexpr size_t argsSize = sizeof...(args); + for (size_t i = 0; i < argsSize; i++) { + if (i) serial_print(F(", ")); + SERIAL_IMPL.print(values[i]); + } + } + +#endif + +// SERIAL_ECHO_F prints a floating point value with optional precision +inline void SERIAL_ECHO_F(EnsureDouble x, int digit=2) { SERIAL_IMPL.print(x, digit); } + +#define SERIAL_ECHOPAIR_F_P(P,V...) do{ serial_print_P(P); SERIAL_ECHO_F(V); }while(0) +#define SERIAL_ECHOLNPAIR_F_P(P,V...) do{ SERIAL_ECHOPAIR_F_P(P,V); SERIAL_EOL(); }while(0) + +#define SERIAL_ECHOPAIR_F_F(S,V...) do{ serial_print(S); SERIAL_ECHO_F(V); }while(0) +#define SERIAL_ECHOLNPAIR_F_F(S,V...) do{ SERIAL_ECHOPAIR_F_F(S,V); SERIAL_EOL(); }while(0) + +#define SERIAL_ECHOPAIR_F(S,V...) SERIAL_ECHOPAIR_F_F(F(S),V) +#define SERIAL_ECHOLNPAIR_F(V...) do{ SERIAL_ECHOPAIR_F(V); SERIAL_EOL(); }while(0) + +#define SERIAL_ECHO_MSG(V...) do{ SERIAL_ECHO_START(); SERIAL_ECHOLNPGM(V); }while(0) +#define SERIAL_ERROR_MSG(V...) do{ SERIAL_ERROR_START(); SERIAL_ECHOLNPGM(V); }while(0) + +#define SERIAL_ECHO_SP(C) serial_spaces(C) + +#define SERIAL_ECHO_TERNARY(TF, PRE, ON, OFF, POST) serial_ternary(TF, F(PRE), F(ON), F(OFF), F(POST)) + +#if SERIAL_FLOAT_PRECISION + #define SERIAL_DECIMAL(V) SERIAL_PRINT(V, SERIAL_FLOAT_PRECISION) +#else + #define SERIAL_DECIMAL(V) SERIAL_ECHO(V) +#endif + +// +// Functions for serial printing from PROGMEM. (Saves loads of SRAM.) +// +inline void serial_echopair_P(PGM_P const pstr, serial_char_t v) { serial_print_P(pstr); SERIAL_CHAR(v.c); } +inline void serial_echopair_P(PGM_P const pstr, float v) { serial_print_P(pstr); SERIAL_DECIMAL(v); } +inline void serial_echopair_P(PGM_P const pstr, double v) { serial_print_P(pstr); SERIAL_DECIMAL(v); } +//inline void serial_echopair_P(PGM_P const pstr, const char *v) { serial_print_P(pstr); SERIAL_ECHO(v); } +inline void serial_echopair_P(PGM_P const pstr, FSTR_P v) { serial_print_P(pstr); SERIAL_ECHOF(v); } + +// Default implementation for types without a specialization. Handles integers. +template +inline void serial_echopair_P(PGM_P const pstr, T v) { serial_print_P(pstr); SERIAL_ECHO(v); } + +// Add a newline. +template +inline void serial_echolnpair_P(PGM_P const pstr, T v) { serial_echopair_P(pstr, v); SERIAL_EOL(); } + +// Catch-all for __FlashStringHelper * +template +inline void serial_echopair(FSTR_P const fstr, T v) { serial_echopair_P(FTOP(fstr), v); } + +// Add a newline to the serial output +template +inline void serial_echolnpair(FSTR_P const fstr, T v) { serial_echolnpair_P(FTOP(fstr), v); } + +void serial_echo_start(); +void serial_error_start(); +void serial_ternary(const bool onoff, FSTR_P const pre, FSTR_P const on, FSTR_P const off, FSTR_P const post=nullptr); +void serialprint_onoff(const bool onoff); +void serialprintln_onoff(const bool onoff); +void serialprint_truefalse(const bool tf); +void serial_spaces(uint8_t count); +void serial_offset(const_float_t v, const uint8_t sp=0); // For v==0 draw space (sp==1) or plus (sp==2) + +void print_bin(const uint16_t val); +void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr); + +inline void print_pos(const xyze_pos_t &xyze, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) { + print_pos(NUM_AXIS_ELEM(xyze), prefix, suffix); +} + +#define SERIAL_POS(SUFFIX,VAR) do { print_pos(VAR, F(" " STRINGIFY(VAR) "="), F(" : " SUFFIX "\n")); }while(0) +#define SERIAL_XYZ(PREFIX,V...) do { print_pos(V, F(PREFIX)); }while(0) + +// +// Commonly-used strings in serial output +// + +#define _N_STR(N) N##_STR +#define _N_LBL(N) N##_LBL +#define _N_STR_A(N) _N_STR(N)[] +#define _N_LBL_A(N) _N_LBL(N)[] +#define _SP_N_STR(N) SP_##N##_STR +#define _SP_N_LBL(N) SP_##N##_LBL +#define _SP_N_STR_A(N) _SP_N_STR(N)[] +#define _SP_N_LBL_A(N) _SP_N_LBL(N)[] + +extern const char SP_A_STR[], SP_B_STR[], SP_C_STR[], SP_P_STR[], SP_T_STR[], NUL_STR[], + MAPLIST(_N_STR_A, LOGICAL_AXIS_NAMES), MAPLIST(_SP_N_STR_A, LOGICAL_AXIS_NAMES), + MAPLIST(_N_LBL_A, LOGICAL_AXIS_NAMES), MAPLIST(_SP_N_LBL_A, LOGICAL_AXIS_NAMES); + +PGM_P const SP_AXIS_LBL[] PROGMEM = { MAPLIST(_SP_N_LBL, LOGICAL_AXIS_NAMES) }; +PGM_P const SP_AXIS_STR[] PROGMEM = { MAPLIST(_SP_N_STR, LOGICAL_AXIS_NAMES) }; + +#undef _N_STR +#undef _N_LBL +#undef _N_STR_A +#undef _N_LBL_A +#undef _SP_N_STR +#undef _SP_N_LBL +#undef _SP_N_STR_A +#undef _SP_N_LBL_A diff --git a/Marlin/src/core/serial_base.h b/Marlin/src/core/serial_base.h new file mode 100644 index 0000000000..a5abd67d87 --- /dev/null +++ b/Marlin/src/core/serial_base.h @@ -0,0 +1,258 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(EMERGENCY_PARSER) + #include "../feature/e_parser.h" +#endif + +// Used in multiple places +// You can build it but not manipulate it. +// There are only few places where it's required to access the underlying member: GCodeQueue, SerialMask and MultiSerial +struct serial_index_t { + // A signed index, where -1 is a special case meaning no action (neither output or input) + int8_t index; + + // Check if the index is within the range [a ... b] + constexpr inline bool within(const int8_t a, const int8_t b) const { return WITHIN(index, a, b); } + constexpr inline bool valid() const { return WITHIN(index, 0, 7); } // At most, 8 bits + + // Construction is either from an index + constexpr serial_index_t(const int8_t index) : index(index) {} + + // Default to "no index" + constexpr serial_index_t() : index(-1) {} +}; + +// In order to catch usage errors in code, we make the base to encode number explicit +// If given a number (and not this enum), the compiler will reject the overload, falling back to the (double, digit) version +// We don't want hidden conversion of the first parameter to double, so it has to be as hard to do for the compiler as creating this enum +enum class PrintBase { + Dec = 10, + Hex = 16, + Oct = 8, + Bin = 2 +}; + +// A simple feature list enumeration +enum class SerialFeature { + None = 0x00, + MeatPack = 0x01, //!< Enabled when Meatpack is present + BinaryFileTransfer = 0x02, //!< Enabled for BinaryFile transfer support (in the future) + Virtual = 0x04, //!< Enabled for virtual serial port (like Telnet / Websocket / ...) + Hookable = 0x08, //!< Enabled if the serial class supports a setHook method +}; +ENUM_FLAGS(SerialFeature); + +// flushTX is not implemented in all HAL, so use SFINAE to call the method where it is. +CALL_IF_EXISTS_IMPL(void, flushTX); +CALL_IF_EXISTS_IMPL(bool, connected, true); +CALL_IF_EXISTS_IMPL(SerialFeature, features, SerialFeature::None); + +// A simple forward struct to prevent the compiler from selecting print(double, int) as a default overload +// for any type other than double/float. For double/float, a conversion exists so the call will be invisible. +struct EnsureDouble { + double a; + operator double() { return a; } + // If the compiler breaks on ambiguity here, it's likely because print(X, base) is called with X not a double/float, and + // a base that's not a PrintBase value. This code is made to detect the error. You MUST set a base explicitly like this: + // SERIAL_PRINT(v, PrintBase::Hex) + EnsureDouble(double a) : a(a) {} + EnsureDouble(float a) : a(a) {} +}; + +// Using Curiously-Recurring Template Pattern here to avoid virtual table cost when compiling. +// Since the real serial class is known at compile time, this results in the compiler writing +// a completely efficient code. +template +struct SerialBase { + #if ENABLED(EMERGENCY_PARSER) + const bool ep_enabled; + EmergencyParser::State emergency_state; + inline bool emergency_parser_enabled() { return ep_enabled; } + SerialBase(bool ep_capable) : ep_enabled(ep_capable), emergency_state(EmergencyParser::State::EP_RESET) {} + #else + SerialBase(const bool) {} + #endif + + #define SerialChild static_cast(this) + + // Static dispatch methods below: + // The most important method here is where it all ends to: + void write(uint8_t c) { SerialChild->write(c); } + + // Called when the parser finished processing an instruction, usually build to nothing + void msgDone() const { SerialChild->msgDone(); } + + // Called on initialization + void begin(const long baudRate) { SerialChild->begin(baudRate); } + + // Called on destruction + void end() { SerialChild->end(); } + + /** Check for available data from the port + @param index The port index, usually 0 */ + int available(serial_index_t index=0) const { return SerialChild->available(index); } + + /** Read a value from the port + @param index The port index, usually 0 */ + int read(serial_index_t index=0) { return SerialChild->read(index); } + + /** Combine the features of this serial instance and return it + @param index The port index, usually 0 */ + SerialFeature features(serial_index_t index=0) const { return static_cast(this)->features(index); } + + // Check if the serial port has a feature + bool has_feature(serial_index_t index, SerialFeature flag) const { return (features(index) & flag) != SerialFeature::None; } + + // Check if the serial port is connected (usually bypassed) + bool connected() const { return SerialChild->connected(); } + + // Redirect flush + void flush() { SerialChild->flush(); } + + // Not all implementation have a flushTX, so let's call them only if the child has the implementation + void flushTX() { CALL_IF_EXISTS(void, SerialChild, flushTX); } + + // Glue code here + void write(const char *str) { while (*str) write(*str++); } + void write(const uint8_t *buffer, size_t size) { while (size--) write(*buffer++); } + void print(char *str) { write(str); } + void print(const char *str) { write(str); } + // No default argument to avoid ambiguity + + // Define print for every fundamental integer type, to ensure that all redirect properly + // to the correct underlying implementation. + + // Prints are performed with a single size, to avoid needing multiple print functions. + // The fixed integer size used for prints will be the larger of long or a pointer. + #if __LONG_WIDTH__ >= __INTPTR_WIDTH__ + typedef long int_fixed_print_t; + typedef unsigned long uint_fixed_print_t; + #else + typedef intptr_t int_fixed_print_t; + typedef uintptr_t uint_fixed_print_t; + + FORCE_INLINE void print(intptr_t c, PrintBase base) { printNumber_signed(c, base); } + FORCE_INLINE void print(uintptr_t c, PrintBase base) { printNumber_unsigned(c, base); } + #endif + + FORCE_INLINE void print(char c, PrintBase base) { printNumber_signed(c, base); } + FORCE_INLINE void print(short c, PrintBase base) { printNumber_signed(c, base); } + FORCE_INLINE void print(int c, PrintBase base) { printNumber_signed(c, base); } + FORCE_INLINE void print(long c, PrintBase base) { printNumber_signed(c, base); } + FORCE_INLINE void print(unsigned char c, PrintBase base) { printNumber_unsigned(c, base); } + FORCE_INLINE void print(unsigned short c, PrintBase base) { printNumber_unsigned(c, base); } + FORCE_INLINE void print(unsigned int c, PrintBase base) { printNumber_unsigned(c, base); } + FORCE_INLINE void print(unsigned long c, PrintBase base) { printNumber_unsigned(c, base); } + + + void print(EnsureDouble c, int digits) { printFloat(c, digits); } + + // Forward the call to the former's method + + // Default implementation for anything without a specialization + // This handles integers since they are the most common + template + void print(T c) { print(c, PrintBase::Dec); } + + void print(float c) { print(c, 2); } + void print(double c) { print(c, 2); } + + void println(char *s) { print(s); println(); } + void println(const char *s) { print(s); println(); } + void println(float c, int digits) { print(c, digits); println(); } + void println(double c, int digits) { print(c, digits); println(); } + void println() { write('\r'); write('\n'); } + + // Default implementations for types without a specialization. Handles integers. + template + void println(T c, PrintBase base) { print(c, base); println(); } + + template + void println(T c) { println(c, PrintBase::Dec); } + + // Forward the call to the former's method + void println(float c) { println(c, 2); } + void println(double c) { println(c, 2); } + + // Print a number with the given base + NO_INLINE void printNumber_unsigned(uint_fixed_print_t n, PrintBase base) { + if (n) { + unsigned char buf[8 * sizeof(long)]; // Enough space for base 2 + int8_t i = 0; + while (n) { + buf[i++] = n % (uint_fixed_print_t)base; + n /= (uint_fixed_print_t)base; + } + while (i--) write((char)(buf[i] + (buf[i] < 10 ? '0' : 'A' - 10))); + } + else write('0'); + } + + NO_INLINE void printNumber_signed(int_fixed_print_t n, PrintBase base) { + if (base == PrintBase::Dec && n < 0) { + n = -n; // This works because all platforms Marlin's builds on are using 2-complement encoding for negative number + // On such CPU, changing the sign of a number is done by inverting the bits and adding one, so if n = 0x80000000 = -2147483648 then + // -n = 0x7FFFFFFF + 1 => 0x80000000 = 2147483648 (if interpreted as unsigned) or -2147483648 if interpreted as signed. + // On non 2-complement CPU, there would be no possible representation for 2147483648. + write('-'); + } + printNumber_unsigned((uint_fixed_print_t)n , base); + } + + // Print a decimal number + NO_INLINE void printFloat(double number, uint8_t digits) { + // Handle negative numbers + if (number < 0.0) { + write('-'); + number = -number; + } + + // Round correctly so that print(1.999, 2) prints as "2.00" + double rounding = 0.5; + LOOP_L_N(i, digits) rounding *= 0.1; + number += rounding; + + // Extract the integer part of the number and print it + unsigned long int_part = (unsigned long)number; + double remainder = number - (double)int_part; + printNumber_unsigned(int_part, PrintBase::Dec); + + // Print the decimal point, but only if there are digits beyond + if (digits) { + write('.'); + // Extract digits from the remainder one at a time + while (digits--) { + remainder *= 10.0; + unsigned long toPrint = (unsigned long)remainder; + printNumber_unsigned(toPrint, PrintBase::Dec); + remainder -= toPrint; + } + } + } +}; + +// All serial instances will be built by chaining the features required +// for the function in the form of a template type definition. diff --git a/Marlin/src/core/serial_hook.h b/Marlin/src/core/serial_hook.h new file mode 100644 index 0000000000..65c553c702 --- /dev/null +++ b/Marlin/src/core/serial_hook.h @@ -0,0 +1,308 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "serial_base.h" + +// A mask containing a bitmap of the serial port to act upon +// This is written to ensure a serial index is never used as a serial mask +class SerialMask { + uint8_t mask; + + // This constructor is private to ensure you can't convert an index to a mask + // The compiler will stop here if you are mixing index and mask in your code. + // If you need to, you'll have to use the explicit static "from" method here + SerialMask(const serial_index_t); + +public: + inline constexpr bool enabled(const SerialMask PortMask) const { return mask & PortMask.mask; } + inline constexpr SerialMask combine(const SerialMask other) const { return SerialMask(mask | other.mask); } + inline constexpr SerialMask operator<< (const int offset) const { return SerialMask(mask << offset); } + static SerialMask from(const serial_index_t index) { + if (index.valid()) return SerialMask(_BV(index.index)); + return SerialMask(0); // A invalid index mean no output + } + + constexpr SerialMask(const uint8_t mask) : mask(mask) {} + constexpr SerialMask(const SerialMask &rs) : mask(rs.mask) {} // Can't use = default here since not all frameworks support this + + SerialMask& operator=(const SerialMask &rs) { mask = rs.mask; return *this; } + + static constexpr uint8_t All = 0xFF; +}; + +// The most basic serial class: it dispatch to the base serial class with no hook whatsoever. This will compile to nothing but the base serial class +template +struct BaseSerial : public SerialBase< BaseSerial >, public SerialT { + typedef SerialBase< BaseSerial > BaseClassT; + + // It's required to implement a write method here to help compiler disambiguate what method to call + using SerialT::write; + using SerialT::flush; + + void msgDone() {} + + // We don't care about indices here, since if one can call us, it's the right index anyway + int available(serial_index_t) { return (int)SerialT::available(); } + int read(serial_index_t) { return (int)SerialT::read(); } + bool connected() { return CALL_IF_EXISTS(bool, static_cast(this), connected);; } + void flushTX() { CALL_IF_EXISTS(void, static_cast(this), flushTX); } + + SerialFeature features(serial_index_t index) const { return CALL_IF_EXISTS(SerialFeature, static_cast(this), features, index); } + + // Two implementations of the same method exist in both base classes so indicate the right one + using SerialT::available; + using SerialT::read; + using SerialT::begin; + using SerialT::end; + + using BaseClassT::print; + using BaseClassT::println; + + BaseSerial(const bool e) : BaseClassT(e) {} + + // Forward constructor + template + BaseSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...) {} +}; + +// A serial with a condition checked at runtime for its output +// A bit less efficient than static dispatching but since it's only used for ethernet's serial output right now, it's ok. +template +struct ConditionalSerial : public SerialBase< ConditionalSerial > { + typedef SerialBase< ConditionalSerial > BaseClassT; + + bool & condition; + SerialT & out; + NO_INLINE size_t write(uint8_t c) { if (condition) return out.write(c); return 0; } + void flush() { if (condition) out.flush(); } + void begin(long br) { out.begin(br); } + void end() { out.end(); } + + void msgDone() {} + bool connected() { return CALL_IF_EXISTS(bool, &out, connected); } + void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); } + + int available(serial_index_t) { return (int)out.available(); } + int read(serial_index_t) { return (int)out.read(); } + int available() { return (int)out.available(); } + int read() { return (int)out.read(); } + SerialFeature features(serial_index_t index) const { return CALL_IF_EXISTS(SerialFeature, &out, features, index); } + + ConditionalSerial(bool & conditionVariable, SerialT & out, const bool e) : BaseClassT(e), condition(conditionVariable), out(out) {} +}; + +// A simple forward class that taking a reference to an existing serial instance (likely created in their respective framework) +template +struct ForwardSerial : public SerialBase< ForwardSerial > { + typedef SerialBase< ForwardSerial > BaseClassT; + + SerialT & out; + NO_INLINE size_t write(uint8_t c) { return out.write(c); } + void flush() { out.flush(); } + void begin(long br) { out.begin(br); } + void end() { out.end(); } + + void msgDone() {} + // Existing instances implement Arduino's operator bool, so use that if it's available + bool connected() { return Private::HasMember_connected::value ? CALL_IF_EXISTS(bool, &out, connected) : (bool)out; } + void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); } + + int available(serial_index_t) { return (int)out.available(); } + int read(serial_index_t) { return (int)out.read(); } + int available() { return (int)out.available(); } + int read() { return (int)out.read(); } + SerialFeature features(serial_index_t index) const { return CALL_IF_EXISTS(SerialFeature, &out, features, index); } + + ForwardSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {} +}; + +// A class that can be hooked and unhooked at runtime, useful to capture the output of the serial interface +template +struct RuntimeSerial : public SerialBase< RuntimeSerial >, public SerialT { + typedef SerialBase< RuntimeSerial > BaseClassT; + typedef void (*WriteHook)(void * userPointer, uint8_t c); + typedef void (*EndOfMessageHook)(void * userPointer); + + WriteHook writeHook; + EndOfMessageHook eofHook; + void * userPointer; + + NO_INLINE size_t write(uint8_t c) { + if (writeHook) writeHook(userPointer, c); + return SerialT::write(c); + } + + NO_INLINE void msgDone() { + if (eofHook) eofHook(userPointer); + } + + int available(serial_index_t) { return (int)SerialT::available(); } + int read(serial_index_t) { return (int)SerialT::read(); } + using SerialT::available; + using SerialT::read; + using SerialT::flush; + using SerialT::begin; + using SerialT::end; + + using BaseClassT::print; + using BaseClassT::println; + + // Underlying implementation might use Arduino's bool operator + bool connected() { + return Private::HasMember_connected::value + ? CALL_IF_EXISTS(bool, static_cast(this), connected) + : static_cast(this)->operator bool(); + } + + void flushTX() { CALL_IF_EXISTS(void, static_cast(this), flushTX); } + + // Append Hookable for this class + SerialFeature features(serial_index_t index) const { return SerialFeature::Hookable | CALL_IF_EXISTS(SerialFeature, static_cast(this), features, index); } + + void setHook(WriteHook writeHook = 0, EndOfMessageHook eofHook = 0, void * userPointer = 0) { + // Order is important here as serial code can be called inside interrupts + // When setting a hook, the user pointer must be set first so if writeHook is called as soon as it's set, it'll be valid + if (userPointer) this->userPointer = userPointer; + this->writeHook = writeHook; + this->eofHook = eofHook; + // Order is important here because of asynchronous access here + // When unsetting a hook, the user pointer must be unset last so that any pending writeHook is still using the old pointer + if (!userPointer) this->userPointer = 0; + } + + RuntimeSerial(const bool e) : BaseClassT(e), writeHook(0), eofHook(0), userPointer(0) {} + + // Forward constructor + template + RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...), writeHook(0), eofHook(0), userPointer(0) {} +}; + +#define _S_CLASS(N) class Serial##N##T, +#define _S_NAME(N) Serial##N##T, + +template < REPEAT(NUM_SERIAL, _S_CLASS) const uint8_t offset=0, const uint8_t step=1 > +struct MultiSerial : public SerialBase< MultiSerial< REPEAT(NUM_SERIAL, _S_NAME) offset, step > > { + typedef SerialBase< MultiSerial< REPEAT(NUM_SERIAL, _S_NAME) offset, step > > BaseClassT; + + #undef _S_CLASS + #undef _S_NAME + + SerialMask portMask; + + #define _S_DECLARE(N) Serial##N##T & serial##N; + REPEAT(NUM_SERIAL, _S_DECLARE); + #undef _S_DECLARE + + static constexpr uint8_t Usage = _BV(step) - 1; // A bit mask containing 'step' bits + + #define _OUT_PORT(N) (Usage << (offset + (step * N))), + static constexpr uint8_t output[] = { REPEAT(NUM_SERIAL, _OUT_PORT) }; + #undef _OUT_PORT + + #define _OUT_MASK(N) | output[N] + static constexpr uint8_t ALL = 0 REPEAT(NUM_SERIAL, _OUT_MASK); + #undef _OUT_MASK + + NO_INLINE void write(uint8_t c) { + #define _S_WRITE(N) if (portMask.enabled(output[N])) serial##N.write(c); + REPEAT(NUM_SERIAL, _S_WRITE); + #undef _S_WRITE + } + NO_INLINE void msgDone() { + #define _S_DONE(N) if (portMask.enabled(output[N])) serial##N.msgDone(); + REPEAT(NUM_SERIAL, _S_DONE); + #undef _S_DONE + } + int available(serial_index_t index) { + uint8_t pos = offset; + #define _S_AVAILABLE(N) if (index.within(pos, pos + step - 1)) return serial##N.available(index); else pos += step; + REPEAT(NUM_SERIAL, _S_AVAILABLE); + #undef _S_AVAILABLE + return false; + } + int read(serial_index_t index) { + uint8_t pos = offset; + #define _S_READ(N) if (index.within(pos, pos + step - 1)) return serial##N.read(index); else pos += step; + REPEAT(NUM_SERIAL, _S_READ); + #undef _S_READ + return -1; + } + void begin(const long br) { + #define _S_BEGIN(N) if (portMask.enabled(output[N])) serial##N.begin(br); + REPEAT(NUM_SERIAL, _S_BEGIN); + #undef _S_BEGIN + } + void end() { + #define _S_END(N) if (portMask.enabled(output[N])) serial##N.end(); + REPEAT(NUM_SERIAL, _S_END); + #undef _S_END + } + bool connected() { + bool ret = true; + #define _S_CONNECTED(N) if (portMask.enabled(output[N]) && !CALL_IF_EXISTS(bool, &serial##N, connected)) ret = false; + REPEAT(NUM_SERIAL, _S_CONNECTED); + #undef _S_CONNECTED + return ret; + } + + using BaseClassT::available; + using BaseClassT::read; + + // Redirect flush + NO_INLINE void flush() { + #define _S_FLUSH(N) if (portMask.enabled(output[N])) serial##N.flush(); + REPEAT(NUM_SERIAL, _S_FLUSH); + #undef _S_FLUSH + } + NO_INLINE void flushTX() { + #define _S_FLUSHTX(N) if (portMask.enabled(output[N])) CALL_IF_EXISTS(void, &serial0, flushTX); + REPEAT(NUM_SERIAL, _S_FLUSHTX); + #undef _S_FLUSHTX + } + + // Forward feature queries + SerialFeature features(serial_index_t index) const { + uint8_t pos = offset; + #define _S_FEATURES(N) if (index.within(pos, pos + step - 1)) return serial##N.features(index); else pos += step; + REPEAT(NUM_SERIAL, _S_FEATURES); + #undef _S_FEATURES + return SerialFeature::None; + } + + #define _S_REFS(N) Serial##N##T & serial##N, + #define _S_INIT(N) ,serial##N (serial##N) + + MultiSerial(REPEAT(NUM_SERIAL, _S_REFS) const SerialMask mask = ALL, const bool e = false) + : BaseClassT(e), portMask(mask) REPEAT(NUM_SERIAL, _S_INIT) {} + +}; + +// Build the actual serial object depending on current configuration +#define Serial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, BaseSerial) +#define ForwardSerial1Class TERN(SERIAL_RUNTIME_HOOK, RuntimeSerial, ForwardSerial) +#if HAS_MULTI_SERIAL + #define Serial2Class ConditionalSerial + #if NUM_SERIAL >= 3 + #define Serial3Class ConditionalSerial + #endif +#endif diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h new file mode 100644 index 0000000000..4e3d7f0782 --- /dev/null +++ b/Marlin/src/core/types.h @@ -0,0 +1,791 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include +#include + +#include "../inc/MarlinConfigPre.h" + +// +// Conditional type assignment magic. For example... +// +// typename IF<(MYOPT==12), int, float>::type myvar; +// +template struct IF { typedef R type; }; +template struct IF { typedef L type; }; + +#define ALL_AXIS_NAMES X, X2, Y, Y2, Z, Z2, Z3, Z4, I, J, K, U, V, W, E0, E1, E2, E3, E4, E5, E6, E7 + +#define NUM_AXIS_GANG(V...) GANG_N(NUM_AXES, V) +#define NUM_AXIS_CODE(V...) CODE_N(NUM_AXES, V) +#define NUM_AXIS_LIST(V...) LIST_N(NUM_AXES, V) +#define NUM_AXIS_LIST_1(V) LIST_N_1(NUM_AXES, V) +#define NUM_AXIS_ARRAY(V...) { NUM_AXIS_LIST(V) } +#define NUM_AXIS_ARRAY_1(V) { NUM_AXIS_LIST_1(V) } +#define NUM_AXIS_ARGS(T) NUM_AXIS_LIST(T x, T y, T z, T i, T j, T k, T u, T v, T w) +#define NUM_AXIS_ELEM(O) NUM_AXIS_LIST(O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w) +#define NUM_AXIS_DEFS(T,V) NUM_AXIS_LIST(T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V) +#define MAIN_AXIS_NAMES NUM_AXIS_LIST(X, Y, Z, I, J, K, U, V, W) +#define MAIN_AXIS_MAP(F) MAP(F, MAIN_AXIS_NAMES) +#define STR_AXES_MAIN NUM_AXIS_GANG("X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W) + +#define LOGICAL_AXIS_GANG(E,V...) NUM_AXIS_GANG(V) GANG_ITEM_E(E) +#define LOGICAL_AXIS_CODE(E,V...) NUM_AXIS_CODE(V) CODE_ITEM_E(E) +#define LOGICAL_AXIS_LIST(E,V...) NUM_AXIS_LIST(V) LIST_ITEM_E(E) +#define LOGICAL_AXIS_LIST_1(V) NUM_AXIS_LIST_1(V) LIST_ITEM_E(V) +#define LOGICAL_AXIS_ARRAY(E,V...) { LOGICAL_AXIS_LIST(E,V) } +#define LOGICAL_AXIS_ARRAY_1(V) { LOGICAL_AXIS_LIST_1(V) } +#define LOGICAL_AXIS_ARGS(T) LOGICAL_AXIS_LIST(T e, T x, T y, T z, T i, T j, T k, T u, T v, T w) +#define LOGICAL_AXIS_ELEM(O) LOGICAL_AXIS_LIST(O.e, O.x, O.y, O.z, O.i, O.j, O.k, O.u, O.v, O.w) +#define LOGICAL_AXIS_DECL(T,V) LOGICAL_AXIS_LIST(T e=V, T x=V, T y=V, T z=V, T i=V, T j=V, T k=V, T u=V, T v=V, T w=V) +#define LOGICAL_AXIS_NAMES LOGICAL_AXIS_LIST(E, X, Y, Z, I, J, K, U, V, W) +#define LOGICAL_AXIS_MAP(F) MAP(F, LOGICAL_AXIS_NAMES) +#define STR_AXES_LOGICAL LOGICAL_AXIS_GANG("E", "X", "Y", "Z", STR_I, STR_J, STR_K, STR_U, STR_V, STR_W) + +#define XYZ_GANG(V...) GANG_N(PRIMARY_LINEAR_AXES, V) +#define XYZ_CODE(V...) CODE_N(PRIMARY_LINEAR_AXES, V) + +#define SECONDARY_AXIS_GANG(V...) GANG_N(SECONDARY_AXES, V) +#define SECONDARY_AXIS_CODE(V...) CODE_N(SECONDARY_AXES, V) + +#if HAS_ROTATIONAL_AXES + #define ROTATIONAL_AXIS_GANG(V...) GANG_N(ROTATIONAL_AXES, V) +#endif + +#if HAS_EXTRUDERS + #define LIST_ITEM_E(N) , N + #define CODE_ITEM_E(N) ; N + #define GANG_ITEM_E(N) N +#else + #define LIST_ITEM_E(N) + #define CODE_ITEM_E(N) + #define GANG_ITEM_E(N) +#endif + +#define AXIS_COLLISION(L) (AXIS4_NAME == L || AXIS5_NAME == L || AXIS6_NAME == L || AXIS7_NAME == L || AXIS8_NAME == L || AXIS9_NAME == L) + +// Define types based on largest bit width stored value required +#define bits_t(W) typename IF<((W)> 16), uint32_t, typename IF<((W)> 8), uint16_t, uint8_t>::type>::type +#define uvalue_t(V) typename IF<((V)>65535), uint32_t, typename IF<((V)>255), uint16_t, uint8_t>::type>::type +#define value_t(V) typename IF<((V)>32767), int32_t, typename IF<((V)>127), int16_t, int8_t>::type>::type + +// General Flags for some number of states +template +struct Flags { + typedef value_t(N) flagbits_t; + typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1; } N8; + typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1, b8:1, b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1; } N16; + typedef struct { bool b0:1, b1:1, b2:1, b3:1, b4:1, b5:1, b6:1, b7:1, b8:1, b9:1, b10:1, b11:1, b12:1, b13:1, b14:1, b15:1, + b16:1, b17:1, b18:1, b19:1, b20:1, b21:1, b22:1, b23:1, b24:1, b25:1, b26:1, b27:1, b28:1, b29:1, b30:1, b31:1; } N32; + union { + flagbits_t b; + typename IF<(N>16), N32, typename IF<(N>8), N16, N8>::type>::type flag; + }; + void reset() { b = 0; } + void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); } + void set(const int n) { b |= (flagbits_t)_BV(n); } + void clear(const int n) { b &= ~(flagbits_t)_BV(n); } + bool test(const int n) const { return TEST(b, n); } + bool operator[](const int n) { return test(n); } + bool operator[](const int n) const { return test(n); } + int size() const { return sizeof(b); } +}; + +// Specialization for a single bool flag +template<> +struct Flags<1> { + bool b; + void reset() { b = false; } + void set(const int n, const bool onoff) { onoff ? set(n) : clear(n); } + void set(const int) { b = true; } + void clear(const int) { b = false; } + bool test(const int) const { return b; } + bool& operator[](const int) { return b; } + bool operator[](const int) const { return b; } + int size() const { return sizeof(b); } +}; + +typedef Flags<8> flags_8_t; +typedef Flags<16> flags_16_t; + +// Flags for some axis states, with per-axis aliases xyzijkuvwe +typedef struct AxisFlags { + union { + struct Flags flags; + struct { bool LOGICAL_AXIS_LIST(e:1, x:1, y:1, z:1, i:1, j:1, k:1, u:1, v:1, w:1); }; + }; + void reset() { flags.reset(); } + void set(const int n) { flags.set(n); } + void set(const int n, const bool onoff) { flags.set(n, onoff); } + void clear(const int n) { flags.clear(n); } + bool test(const int n) const { return flags.test(n); } + bool operator[](const int n) { return flags[n]; } + bool operator[](const int n) const { return flags[n]; } + int size() const { return sizeof(flags); } +} axis_flags_t; + +// +// Enumerated axis indices +// +// - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space +// - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians +// - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics +// +enum AxisEnum : uint8_t { + + // Linear axes may be controlled directly or indirectly + NUM_AXIS_LIST(X_AXIS, Y_AXIS, Z_AXIS, I_AXIS, J_AXIS, K_AXIS, U_AXIS, V_AXIS, W_AXIS) + + // Extruder axes may be considered distinctly + #define _EN_ITEM(N) , E##N##_AXIS + REPEAT(EXTRUDERS, _EN_ITEM) + #undef _EN_ITEM + + // Core also keeps toolhead directions + #if ANY(IS_CORE, MARKFORGED_XY, MARKFORGED_YX) + , X_HEAD, Y_HEAD, Z_HEAD + #endif + + // Distinct axes, including all E and Core + , NUM_AXIS_ENUMS + + // Most of the time we refer only to the single E_AXIS + #if HAS_EXTRUDERS + , E_AXIS = E0_AXIS + #endif + + // A, B, and C are for DELTA, SCARA, etc. + , A_AXIS = X_AXIS + #if HAS_Y_AXIS + , B_AXIS = Y_AXIS + #endif + #if HAS_Z_AXIS + , C_AXIS = Z_AXIS + #endif + + // To refer to all or none + , ALL_AXES_ENUM = 0xFE, NO_AXIS_ENUM = 0xFF +}; + +typedef bits_t(NUM_AXIS_ENUMS) axis_bits_t; + +// +// Loop over axes +// +#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS) +#define LOOP_NUM_AXES(VAR) LOOP_S_L_N(VAR, 0, NUM_AXES) +#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, 0, LOGICAL_AXES) +#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, 0, DISTINCT_AXES) +#define LOOP_DISTINCT_E(VAR) LOOP_L_N(VAR, DISTINCT_E) + +// +// feedRate_t is just a humble float +// +typedef float feedRate_t; + +// +// celsius_t is the native unit of temperature. Signed to handle a disconnected thermistor value (-14). +// For more resolition (e.g., for a chocolate printer) this may later be changed to Celsius x 100 +// +typedef uint16_t raw_adc_t; +typedef int16_t celsius_t; +typedef float celsius_float_t; + +// +// On AVR pointers are only 2 bytes so use 'const float &' for 'const float' +// +#ifdef __AVR__ + typedef const float & const_float_t; +#else + typedef const float const_float_t; +#endif +typedef const_float_t const_feedRate_t; +typedef const_float_t const_celsius_float_t; + +// Conversion macros +#define MMM_TO_MMS(MM_M) feedRate_t(static_cast(MM_M) / 60.0f) +#define MMS_TO_MMM(MM_S) (static_cast(MM_S) * 60.0f) + +// +// Coordinates structures for XY, XYZ, XYZE... +// + +// Helpers +#define _RECIP(N) ((N) ? 1.0f / static_cast(N) : 0.0f) +#define _ABS(N) ((N) < 0 ? -(N) : (N)) +#define _LS(N) (N = (T)(uint32_t(N) << p)) +#define _RS(N) (N = (T)(uint32_t(N) >> p)) +#define FI FORCE_INLINE + +// Forward declarations +template struct XYval; +template struct XYZval; +template struct XYZEval; + +typedef struct XYval xy_bool_t; +typedef struct XYZval xyz_bool_t; +typedef struct XYZEval xyze_bool_t; + +typedef struct XYval xy_char_t; +typedef struct XYZval xyz_char_t; +typedef struct XYZEval xyze_char_t; + +typedef struct XYval xy_uchar_t; +typedef struct XYZval xyz_uchar_t; +typedef struct XYZEval xyze_uchar_t; + +typedef struct XYval xy_int8_t; +typedef struct XYZval xyz_int8_t; +typedef struct XYZEval xyze_int8_t; + +typedef struct XYval xy_uint8_t; +typedef struct XYZval xyz_uint8_t; +typedef struct XYZEval xyze_uint8_t; + +typedef struct XYval xy_int_t; +typedef struct XYZval xyz_int_t; +typedef struct XYZEval xyze_int_t; + +typedef struct XYval xy_uint_t; +typedef struct XYZval xyz_uint_t; +typedef struct XYZEval xyze_uint_t; + +typedef struct XYval xy_long_t; +typedef struct XYZval xyz_long_t; +typedef struct XYZEval xyze_long_t; + +typedef struct XYval xy_ulong_t; +typedef struct XYZval xyz_ulong_t; +typedef struct XYZEval xyze_ulong_t; + +typedef struct XYZval xyz_vlong_t; +typedef struct XYZEval xyze_vlong_t; + +typedef struct XYval xy_float_t; +typedef struct XYZval xyz_float_t; +typedef struct XYZEval xyze_float_t; + +typedef struct XYval xy_feedrate_t; +typedef struct XYZval xyz_feedrate_t; +typedef struct XYZEval xyze_feedrate_t; + +typedef xy_uint8_t xy_byte_t; +typedef xyz_uint8_t xyz_byte_t; +typedef xyze_uint8_t xyze_byte_t; + +typedef xyz_long_t abc_long_t; +typedef xyze_long_t abce_long_t; +typedef xyz_ulong_t abc_ulong_t; +typedef xyze_ulong_t abce_ulong_t; + +typedef xy_float_t xy_pos_t; +typedef xyz_float_t xyz_pos_t; +typedef xyze_float_t xyze_pos_t; + +typedef xy_float_t ab_float_t; +typedef xyz_float_t abc_float_t; +typedef xyze_float_t abce_float_t; + +typedef ab_float_t ab_pos_t; +typedef abc_float_t abc_pos_t; +typedef abce_float_t abce_pos_t; + +// External conversion methods +void toLogical(xy_pos_t &raw); +void toLogical(xyz_pos_t &raw); +void toLogical(xyze_pos_t &raw); +void toNative(xy_pos_t &lpos); +void toNative(xyz_pos_t &lpos); +void toNative(xyze_pos_t &lpos); + +// +// Paired XY coordinates, counters, flags, etc. +// +template +struct XYval { + union { + struct { T x, y; }; + struct { T a, b; }; + T pos[2]; + }; + + // Set all to 0 + FI void reset() { x = y = 0; } + + // Setters taking struct types and arrays + FI void set(const T px) { x = px; } + #if HAS_Y_AXIS + FI void set(const T px, const T py) { x = px; y = py; } + FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } + #endif + #if NUM_AXES > XY + FI void set(const T (&arr)[NUM_AXES]) { x = arr[0]; y = arr[1]; } + #endif + #if LOGICAL_AXES > NUM_AXES + FI void set(const T (&arr)[LOGICAL_AXES]) { x = arr[0]; y = arr[1]; } + #if DISTINCT_AXES > LOGICAL_AXES + FI void set(const T (&arr)[DISTINCT_AXES]) { x = arr[0]; y = arr[1]; } + #endif + #endif + + // Length reduced to one dimension + FI T magnitude() const { return (T)sqrtf(x*x + y*y); } + // Pointer to the data as a simple array + FI operator T* () { return pos; } + // If any element is true then it's true + FI operator bool() { return x || y; } + // Smallest element + FI T small() const { return _MIN(x, y); } + // Largest element + FI T large() const { return _MAX(x, y); } + + // Explicit copy and copies with conversion + FI XYval copy() const { return *this; } + FI XYval ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; } + FI XYval asInt() { return { int16_t(x), int16_t(y) }; } + FI XYval asInt() const { return { int16_t(x), int16_t(y) }; } + FI XYval asLong() { return { int32_t(x), int32_t(y) }; } + FI XYval asLong() const { return { int32_t(x), int32_t(y) }; } + FI XYval ROUNDL() { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; } + FI XYval ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)) }; } + FI XYval asFloat() { return { static_cast(x), static_cast(y) }; } + FI XYval asFloat() const { return { static_cast(x), static_cast(y) }; } + FI XYval reciprocal() const { return { _RECIP(x), _RECIP(y) }; } + + // Marlin workspace shifting is done with G92 and M206 + FI XYval asLogical() const { XYval o = asFloat(); toLogical(o); return o; } + FI XYval asNative() const { XYval o = asFloat(); toNative(o); return o; } + + // Cast to a type with more fields by making a new object + FI operator XYZval() { return { x, y }; } + FI operator XYZval() const { return { x, y }; } + FI operator XYZEval() { return { x, y }; } + FI operator XYZEval() const { return { x, y }; } + + // Accessor via an AxisEnum (or any integer) [index] + FI T& operator[](const int n) { return pos[n]; } + FI const T& operator[](const int n) const { return pos[n]; } + + // Assignment operator overrides do the expected thing + FI XYval& operator= (const T v) { set(v, v ); return *this; } + FI XYval& operator= (const XYZval &rs) { set(rs.x, rs.y); return *this; } + FI XYval& operator= (const XYZEval &rs) { set(rs.x, rs.y); return *this; } + + // Override other operators to get intuitive behaviors + FI XYval operator+ (const XYval &rs) const { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYval operator+ (const XYval &rs) { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYval operator- (const XYval &rs) const { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYval operator- (const XYval &rs) { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYval operator* (const XYval &rs) const { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYval operator* (const XYval &rs) { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYval operator/ (const XYval &rs) const { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYval operator/ (const XYval &rs) { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYval operator+ (const XYZval &rs) const { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYval operator+ (const XYZval &rs) { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYval operator- (const XYZval &rs) const { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYval operator- (const XYZval &rs) { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYval operator* (const XYZval &rs) const { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYval operator* (const XYZval &rs) { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYval operator/ (const XYZval &rs) const { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYval operator/ (const XYZval &rs) { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYval operator+ (const XYZEval &rs) const { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYval operator+ (const XYZEval &rs) { XYval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYval operator- (const XYZEval &rs) const { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYval operator- (const XYZEval &rs) { XYval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYval operator* (const XYZEval &rs) const { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYval operator* (const XYZEval &rs) { XYval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYval operator/ (const XYZEval &rs) const { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYval operator/ (const XYZEval &rs) { XYval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYval operator* (const float &p) const { XYval ls = *this; ls.x *= p; ls.y *= p; return ls; } + FI XYval operator* (const float &p) { XYval ls = *this; ls.x *= p; ls.y *= p; return ls; } + FI XYval operator* (const int &p) const { XYval ls = *this; ls.x *= p; ls.y *= p; return ls; } + FI XYval operator* (const int &p) { XYval ls = *this; ls.x *= p; ls.y *= p; return ls; } + FI XYval operator/ (const float &p) const { XYval ls = *this; ls.x /= p; ls.y /= p; return ls; } + FI XYval operator/ (const float &p) { XYval ls = *this; ls.x /= p; ls.y /= p; return ls; } + FI XYval operator/ (const int &p) const { XYval ls = *this; ls.x /= p; ls.y /= p; return ls; } + FI XYval operator/ (const int &p) { XYval ls = *this; ls.x /= p; ls.y /= p; return ls; } + FI XYval operator>>(const int &p) const { XYval ls = *this; _RS(ls.x); _RS(ls.y); return ls; } + FI XYval operator>>(const int &p) { XYval ls = *this; _RS(ls.x); _RS(ls.y); return ls; } + FI XYval operator<<(const int &p) const { XYval ls = *this; _LS(ls.x); _LS(ls.y); return ls; } + FI XYval operator<<(const int &p) { XYval ls = *this; _LS(ls.x); _LS(ls.y); return ls; } + FI const XYval operator-() const { XYval o = *this; o.x = -x; o.y = -y; return o; } + FI XYval operator-() { XYval o = *this; o.x = -x; o.y = -y; return o; } + + // Modifier operators + FI XYval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } + FI XYval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } + FI XYval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } + FI XYval& operator/=(const XYval &rs) { x /= rs.x; y /= rs.y; return *this; } + FI XYval& operator+=(const XYZval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; } + FI XYval& operator-=(const XYZval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; } + FI XYval& operator*=(const XYZval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; } + FI XYval& operator/=(const XYZval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; } + FI XYval& operator+=(const XYZEval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; } + FI XYval& operator-=(const XYZEval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; } + FI XYval& operator*=(const XYZEval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; } + FI XYval& operator/=(const XYZEval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; } + FI XYval& operator*=(const float &p) { x *= p; y *= p; return *this; } + FI XYval& operator*=(const int &p) { x *= p; y *= p; return *this; } + FI XYval& operator>>=(const int &p) { _RS(x); _RS(y); return *this; } + FI XYval& operator<<=(const int &p) { _LS(x); _LS(y); return *this; } + + // Exact comparisons. For floats a "NEAR" operation may be better. + FI bool operator==(const XYval &rs) const { return NUM_AXIS_GANG(x == rs.x, && y == rs.y,,,,,,, ); } + FI bool operator==(const XYZval &rs) const { return NUM_AXIS_GANG(x == rs.x, && y == rs.y,,,,,,, ); } + FI bool operator==(const XYZEval &rs) const { return NUM_AXIS_GANG(x == rs.x, && y == rs.y,,,,,,, ); } + FI bool operator!=(const XYval &rs) const { return !operator==(rs); } + FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } + FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } +}; + +// +// Linear Axes coordinates, counters, flags, etc. +// +template +struct XYZval { + union { + struct { T NUM_AXIS_ARGS(); }; + struct { T NUM_AXIS_LIST(a, b, c, _i, _j, _k, _u, _v, _w); }; + T pos[NUM_AXES]; + }; + + // Set all to 0 + FI void reset() { NUM_AXIS_GANG(x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; } + + // Setters taking struct types and arrays + FI void set(const XYval pxy) { NUM_AXIS_CODE(x = pxy.x, y = pxy.y,,,,,,,); } + FI void set(const XYval pxy, const T pz) { NUM_AXIS_CODE(x = pxy.x, y = pxy.y, z = pz,,,,,,); } + FI void set(const T (&arr)[NUM_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + #if LOGICAL_AXES > NUM_AXES + FI void set(const T (&arr)[LOGICAL_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + FI void set(LOGICAL_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w ); } + #if DISTINCT_AXES > LOGICAL_AXES + FI void set(const T (&arr)[DISTINCT_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + #endif + #endif + + // Setter for all individual args + FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } + + // Setters with fewer elements leave the rest untouched + #if HAS_Y_AXIS + FI void set(const T px) { x = px; } + #endif + #if HAS_Z_AXIS + FI void set(const T px, const T py) { x = px; y = py; } + #endif + #if HAS_I_AXIS + FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } + #endif + #if HAS_J_AXIS + FI void set(const T px, const T py, const T pz, const T pi) { x = px; y = py; z = pz; i = pi; } + #endif + #if HAS_K_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; } + #endif + #if HAS_U_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; } + #endif + #if HAS_V_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; } + #endif + #if HAS_W_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; } + #endif + + // Length reduced to one dimension + FI T magnitude() const { return (T)sqrtf(NUM_AXIS_GANG(x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); } + // Pointer to the data as a simple array + FI operator T* () { return pos; } + // If any element is true then it's true + FI operator bool() { return NUM_AXIS_GANG(x, || y, || z, || i, || j, || k, || u, || v, || w); } + // Smallest element + FI T small() const { return _MIN(NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)); } + // Largest element + FI T large() const { return _MAX(NUM_AXIS_LIST(x, y, z, i, j, k, u, v, w)); } + + // Explicit copy and copies with conversion + FI XYZval copy() const { XYZval o = *this; return o; } + FI XYZval ABS() const { return NUM_AXIS_ARRAY(T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } + FI XYZval asInt() { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI XYZval asInt() const { return NUM_AXIS_ARRAY(int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI XYZval asLong() { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI XYZval asLong() const { return NUM_AXIS_ARRAY(int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI XYZval ROUNDL() { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } + FI XYZval ROUNDL() const { return NUM_AXIS_ARRAY(int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } + FI XYZval asFloat() { return NUM_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } + FI XYZval asFloat() const { return NUM_AXIS_ARRAY(static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } + FI XYZval reciprocal() const { return NUM_AXIS_ARRAY(_RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } + + // Marlin workspace shifting is done with G92 and M206 + FI XYZval asLogical() const { XYZval o = asFloat(); toLogical(o); return o; } + FI XYZval asNative() const { XYZval o = asFloat(); toNative(o); return o; } + + // In-place cast to types having fewer fields + FI operator XYval&() { return *(XYval*)this; } + FI operator const XYval&() const { return *(const XYval*)this; } + + // Cast to a type with more fields by making a new object + FI operator XYZEval() const { return NUM_AXIS_ARRAY(x, y, z, i, j, k, u, v, w); } + + // Accessor via an AxisEnum (or any integer) [index] + FI T& operator[](const int n) { return pos[n]; } + FI const T& operator[](const int n) const { return pos[n]; } + + // Assignment operator overrides do the expected thing + FI XYZval& operator= (const T v) { set(ARRAY_N_1(NUM_AXES, v)); return *this; } + FI XYZval& operator= (const XYval &rs) { set(rs.x, rs.y ); return *this; } + FI XYZval& operator= (const XYZEval &rs) { set(NUM_AXIS_ELEM(rs)); return *this; } + + // Override other operators to get intuitive behaviors + FI XYZval operator+ (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y,,,,,,, ); return ls; } + FI XYZval operator+ (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y,,,,,,, ); return ls; } + FI XYZval operator- (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y,,,,,,, ); return ls; } + FI XYZval operator- (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y,,,,,,, ); return ls; } + FI XYZval operator* (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y,,,,,,, ); return ls; } + FI XYZval operator* (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y,,,,,,, ); return ls; } + FI XYZval operator/ (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y,,,,,,, ); return ls; } + FI XYZval operator/ (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y,,,,,,, ); return ls; } + FI XYZval operator+ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZval operator+ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZval operator- (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZval operator- (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZval operator* (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZval operator* (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZval operator/ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZval operator/ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZval operator+ (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZval operator+ (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZval operator- (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZval operator- (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZval operator* (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZval operator* (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZval operator/ (const XYZEval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZval operator/ (const XYZEval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZval operator* (const float &p) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZval operator* (const float &p) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZval operator* (const int &p) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZval operator* (const int &p) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZval operator/ (const float &p) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZval operator/ (const float &p) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZval operator/ (const int &p) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZval operator/ (const int &p) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZval operator>>(const int &p) const { XYZval ls = *this; NUM_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } + FI XYZval operator>>(const int &p) { XYZval ls = *this; NUM_AXIS_CODE(_RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } + FI XYZval operator<<(const int &p) const { XYZval ls = *this; NUM_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } + FI XYZval operator<<(const int &p) { XYZval ls = *this; NUM_AXIS_CODE(_LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } + FI const XYZval operator-() const { XYZval o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; } + FI XYZval operator-() { XYZval o = *this; NUM_AXIS_CODE(o.x = -x, o.y = -y, o.z = -z, o.i = -i, o.j = -j, o.k = -k, o.u = -u, o.v = -v, o.w = -w); return o; } + + // Modifier operators + FI XYZval& operator+=(const XYval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; } + FI XYZval& operator-=(const XYval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; } + FI XYZval& operator*=(const XYval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; } + FI XYZval& operator/=(const XYval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; } + FI XYZval& operator+=(const XYZval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZval& operator-=(const XYZval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZval& operator*=(const XYZval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZval& operator/=(const XYZval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZval& operator+=(const XYZEval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZval& operator-=(const XYZEval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZval& operator*=(const XYZEval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZval& operator/=(const XYZEval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZval& operator*=(const float &p) { NUM_AXIS_CODE(x *= p, y *= p, z *= p, i *= p, j *= p, k *= p, u *= p, v *= p, w *= p); return *this; } + FI XYZval& operator*=(const int &p) { NUM_AXIS_CODE(x *= p, y *= p, z *= p, i *= p, j *= p, k *= p, u *= p, v *= p, w *= p); return *this; } + FI XYZval& operator>>=(const int &p) { NUM_AXIS_CODE(_RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k), _RS(u), _RS(v), _RS(w)); return *this; } + FI XYZval& operator<<=(const int &p) { NUM_AXIS_CODE(_LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k), _LS(u), _LS(v), _LS(w)); return *this; } + + // Exact comparisons. For floats a "NEAR" operation may be better. + FI bool operator==(const XYZEval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } +}; + +// +// Logical Axes coordinates, counters, etc. +// +template +struct XYZEval { + union { + struct { T LOGICAL_AXIS_ARGS(); }; + struct { T LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); }; + T pos[LOGICAL_AXES]; + }; + // Reset all to 0 + FI void reset() { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; } + + // Setters taking struct types and arrays + FI void set(const XYval pxy) { x = pxy.x; OPTCODE(HAS_Y_AXIS, y = pxy.y) } + FI void set(const XYZval pxyz) { set(NUM_AXIS_ELEM(pxyz)); } + FI void set(const XYval pxy, const T pz) { set(pxy); TERN_(HAS_Z_AXIS, z = pz); } + FI void set(const T (&arr)[NUM_AXES]) { NUM_AXIS_CODE(x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + #if LOGICAL_AXES > NUM_AXES + FI void set(const T (&arr)[LOGICAL_AXES]) { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + FI void set(const XYval pxy, const T pz, const T pe) { set(pxy, pz); e = pe; } + FI void set(const XYZval pxyz, const T pe) { set(pxyz); e = pe; } + FI void set(LOGICAL_AXIS_ARGS(const T)) { LOGICAL_AXIS_CODE(_e = e, a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } + #if DISTINCT_AXES > LOGICAL_AXES + FI void set(const T (&arr)[DISTINCT_AXES]) { LOGICAL_AXIS_CODE(e = arr[LOGICAL_AXES-1], x = arr[0], y = arr[1], z = arr[2], i = arr[3], j = arr[4], k = arr[5], u = arr[6], v = arr[7], w = arr[8]); } + #endif + #endif + + // Setter for all individual args + FI void set(NUM_AXIS_ARGS(const T)) { NUM_AXIS_CODE(a = x, b = y, c = z, _i = i, _j = j, _k = k, _u = u, _v = v, _w = w); } + + // Setters with fewer elements leave the rest untouched + #if HAS_Y_AXIS + FI void set(const T px) { x = px; } + #endif + #if HAS_Z_AXIS + FI void set(const T px, const T py) { x = px; y = py; } + #endif + #if HAS_I_AXIS + FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } + #endif + #if HAS_J_AXIS + FI void set(const T px, const T py, const T pz, const T pi) { x = px; y = py; z = pz; i = pi; } + #endif + #if HAS_K_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj) { x = px; y = py; z = pz; i = pi; j = pj; } + #endif + #if HAS_U_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; } + #endif + #if HAS_V_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; } + #endif + #if HAS_W_AXIS + FI void set(const T px, const T py, const T pz, const T pi, const T pj, const T pk, const T pu, const T pv) { x = px; y = py; z = pz; i = pi; j = pj; k = pk; u = pu; v = pv; } + #endif + + // Length reduced to one dimension + FI T magnitude() const { return (T)sqrtf(LOGICAL_AXIS_GANG(+ e*e, + x*x, + y*y, + z*z, + i*i, + j*j, + k*k, + u*u, + v*v, + w*w)); } + // Pointer to the data as a simple array + FI operator T* () { return pos; } + // If any element is true then it's true + FI operator bool() { return 0 LOGICAL_AXIS_GANG(|| e, || x, || y, || z, || i, || j, || k, || u, || v, || w); } + // Smallest element + FI T small() const { return _MIN(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); } + // Largest element + FI T large() const { return _MAX(LOGICAL_AXIS_LIST(e, x, y, z, i, j, k, u, v, w)); } + + // Explicit copy and copies with conversion + FI XYZEval copy() const { XYZEval v = *this; return v; } + FI XYZEval ABS() const { return LOGICAL_AXIS_ARRAY(T(_ABS(e)), T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(i)), T(_ABS(j)), T(_ABS(k)), T(_ABS(u)), T(_ABS(v)), T(_ABS(w))); } + FI XYZEval asInt() { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI XYZEval asInt() const { return LOGICAL_AXIS_ARRAY(int16_t(e), int16_t(x), int16_t(y), int16_t(z), int16_t(i), int16_t(j), int16_t(k), int16_t(u), int16_t(v), int16_t(w)); } + FI XYZEval asLong() { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI XYZEval asLong() const { return LOGICAL_AXIS_ARRAY(int32_t(e), int32_t(x), int32_t(y), int32_t(z), int32_t(i), int32_t(j), int32_t(k), int32_t(u), int32_t(v), int32_t(w)); } + FI XYZEval ROUNDL() { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } + FI XYZEval ROUNDL() const { return LOGICAL_AXIS_ARRAY(int32_t(LROUND(e)), int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(i)), int32_t(LROUND(j)), int32_t(LROUND(k)), int32_t(LROUND(u)), int32_t(LROUND(v)), int32_t(LROUND(w))); } + FI XYZEval asFloat() { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } + FI XYZEval asFloat() const { return LOGICAL_AXIS_ARRAY(static_cast(e), static_cast(x), static_cast(y), static_cast(z), static_cast(i), static_cast(j), static_cast(k), static_cast(u), static_cast(v), static_cast(w)); } + FI XYZEval reciprocal() const { return LOGICAL_AXIS_ARRAY(_RECIP(e), _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(i), _RECIP(j), _RECIP(k), _RECIP(u), _RECIP(v), _RECIP(w)); } + + // Marlin workspace shifting is done with G92 and M206 + FI XYZEval asLogical() const { XYZEval o = asFloat(); toLogical(o); return o; } + FI XYZEval asNative() const { XYZEval o = asFloat(); toNative(o); return o; } + + // In-place cast to types having fewer fields + FI operator XYval&() { return *(XYval*)this; } + FI operator const XYval&() const { return *(const XYval*)this; } + FI operator XYZval&() { return *(XYZval*)this; } + FI operator const XYZval&() const { return *(const XYZval*)this; } + + // Accessor via an AxisEnum (or any integer) [index] + FI T& operator[](const int n) { return pos[n]; } + FI const T& operator[](const int n) const { return pos[n]; } + + // Assignment operator overrides do the expected thing + FI XYZEval& operator= (const T v) { set(LOGICAL_AXIS_LIST_1(v)); return *this; } + FI XYZEval& operator= (const XYval &rs) { set(rs.x, rs.y); return *this; } + FI XYZEval& operator= (const XYZval &rs) { set(NUM_AXIS_ELEM(rs)); return *this; } + + // Override other operators to get intuitive behaviors + FI XYZEval operator+ (const XYval &rs) const { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYZEval operator+ (const XYval &rs) { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } + FI XYZEval operator- (const XYval &rs) const { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYZEval operator- (const XYval &rs) { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } + FI XYZEval operator* (const XYval &rs) const { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYZEval operator* (const XYval &rs) { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } + FI XYZEval operator/ (const XYval &rs) const { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYZEval operator/ (const XYval &rs) { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } + FI XYZEval operator+ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZEval operator+ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZEval operator- (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZEval operator- (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZEval operator* (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZEval operator* (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZEval operator/ (const XYZval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZEval operator/ (const XYZval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZEval operator+ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZEval operator+ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e += rs.e, ls.x += rs.x, ls.y += rs.y, ls.z += rs.z, ls.i += rs.i, ls.j += rs.j, ls.k += rs.k, ls.u += rs.u, ls.v += rs.v, ls.w += rs.w); return ls; } + FI XYZEval operator- (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZEval operator- (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e -= rs.e, ls.x -= rs.x, ls.y -= rs.y, ls.z -= rs.z, ls.i -= rs.i, ls.j -= rs.j, ls.k -= rs.k, ls.u -= rs.u, ls.v -= rs.v, ls.w -= rs.w); return ls; } + FI XYZEval operator* (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZEval operator* (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= rs.e, ls.x *= rs.x, ls.y *= rs.y, ls.z *= rs.z, ls.i *= rs.i, ls.j *= rs.j, ls.k *= rs.k, ls.u *= rs.u, ls.v *= rs.v, ls.w *= rs.w); return ls; } + FI XYZEval operator/ (const XYZEval &rs) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZEval operator/ (const XYZEval &rs) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= rs.e, ls.x /= rs.x, ls.y /= rs.y, ls.z /= rs.z, ls.i /= rs.i, ls.j /= rs.j, ls.k /= rs.k, ls.u /= rs.u, ls.v /= rs.v, ls.w /= rs.w); return ls; } + FI XYZEval operator* (const float &p) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= p, ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZEval operator* (const float &p) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= p, ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZEval operator* (const int &p) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= p, ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZEval operator* (const int &p) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e *= p, ls.x *= p, ls.y *= p, ls.z *= p, ls.i *= p, ls.j *= p, ls.k *= p, ls.u *= p, ls.v *= p, ls.w *= p ); return ls; } + FI XYZEval operator/ (const float &p) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= p, ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZEval operator/ (const float &p) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= p, ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZEval operator/ (const int &p) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= p, ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZEval operator/ (const int &p) { XYZEval ls = *this; LOGICAL_AXIS_CODE(ls.e /= p, ls.x /= p, ls.y /= p, ls.z /= p, ls.i /= p, ls.j /= p, ls.k /= p, ls.u /= p, ls.v /= p, ls.w /= p ); return ls; } + FI XYZEval operator>>(const int &p) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } + FI XYZEval operator>>(const int &p) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_RS(ls.e), _RS(ls.x), _RS(ls.y), _RS(ls.z), _RS(ls.i), _RS(ls.j), _RS(ls.k), _RS(ls.u), _RS(ls.v), _RS(ls.w) ); return ls; } + FI XYZEval operator<<(const int &p) const { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } + FI XYZEval operator<<(const int &p) { XYZEval ls = *this; LOGICAL_AXIS_CODE(_LS(ls.e), _LS(ls.x), _LS(ls.y), _LS(ls.z), _LS(ls.i), _LS(ls.j), _LS(ls.k), _LS(ls.u), _LS(ls.v), _LS(ls.w) ); return ls; } + FI const XYZEval operator-() const { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); } + FI XYZEval operator-() { return LOGICAL_AXIS_ARRAY(-e, -x, -y, -z, -i, -j, -k, -u, -v, -w); } + + // Modifier operators + FI XYZEval& operator+=(const XYval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y,,,,,,, ); return *this; } + FI XYZEval& operator-=(const XYval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y,,,,,,, ); return *this; } + FI XYZEval& operator*=(const XYval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y,,,,,,, ); return *this; } + FI XYZEval& operator/=(const XYval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y,,,,,,, ); return *this; } + FI XYZEval& operator+=(const XYZval &rs) { NUM_AXIS_CODE(x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZEval& operator-=(const XYZval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZEval& operator*=(const XYZval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZEval& operator/=(const XYZval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZEval& operator+=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e += rs.e, x += rs.x, y += rs.y, z += rs.z, i += rs.i, j += rs.j, k += rs.k, u += rs.u, v += rs.v, w += rs.w); return *this; } + FI XYZEval& operator-=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e -= rs.e, x -= rs.x, y -= rs.y, z -= rs.z, i -= rs.i, j -= rs.j, k -= rs.k, u -= rs.u, v -= rs.v, w -= rs.w); return *this; } + FI XYZEval& operator*=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e *= rs.e, x *= rs.x, y *= rs.y, z *= rs.z, i *= rs.i, j *= rs.j, k *= rs.k, u *= rs.u, v *= rs.v, w *= rs.w); return *this; } + FI XYZEval& operator/=(const XYZEval &rs) { LOGICAL_AXIS_CODE(e /= rs.e, x /= rs.x, y /= rs.y, z /= rs.z, i /= rs.i, j /= rs.j, k /= rs.k, u /= rs.u, v /= rs.v, w /= rs.w); return *this; } + FI XYZEval& operator*=(const T &p) { LOGICAL_AXIS_CODE(e *= p, x *= p, y *= p, z *= p, i *= p, j *= p, k *= p, u *= p, v *= p, w *= p); return *this; } + FI XYZEval& operator>>=(const int &p) { LOGICAL_AXIS_CODE(_RS(e), _RS(x), _RS(y), _RS(z), _RS(i), _RS(j), _RS(k), _RS(u), _RS(v), _RS(w)); return *this; } + FI XYZEval& operator<<=(const int &p) { LOGICAL_AXIS_CODE(_LS(e), _LS(x), _LS(y), _LS(z), _LS(i), _LS(j), _LS(k), _LS(u), _LS(v), _LS(w)); return *this; } + + // Exact comparisons. For floats a "NEAR" operation may be better. + FI bool operator==(const XYZval &rs) const { return true NUM_AXIS_GANG(&& x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator==(const XYZEval &rs) const { return true LOGICAL_AXIS_GANG(&& e == rs.e, && x == rs.x, && y == rs.y, && z == rs.z, && i == rs.i, && j == rs.j, && k == rs.k, && u == rs.u, && v == rs.v, && w == rs.w); } + FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } + FI bool operator!=(const XYZEval &rs) const { return !operator==(rs); } +}; + +#undef _RECIP +#undef _ABS +#undef _LS +#undef _RS +#undef FI diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp new file mode 100644 index 0000000000..64f083e197 --- /dev/null +++ b/Marlin/src/core/utility.cpp @@ -0,0 +1,179 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "utility.h" + +#include "../MarlinCore.h" +#include "../module/temperature.h" + +void safe_delay(millis_t ms) { + while (ms > 50) { + ms -= 50; + delay(50); + thermalManager.task(); + } + delay(ms); + thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made +} + +// A delay to provide brittle hosts time to receive bytes +#if ENABLED(SERIAL_OVERRUN_PROTECTION) + + #include "../gcode/gcode.h" // for set_autoreport_paused + + void serial_delay(const millis_t ms) { + const bool was = gcode.set_autoreport_paused(true); + safe_delay(ms); + gcode.set_autoreport_paused(was); + } +#endif + +#if ENABLED(DEBUG_LEVELING_FEATURE) + + #include "../module/probe.h" + #include "../module/motion.h" + #include "../module/planner.h" + #include "../libs/numtostr.h" + #include "../feature/bedlevel/bedlevel.h" + + void log_machine_info() { + SERIAL_ECHOLNPGM("Machine Type: " + TERN_(DELTA, "Delta") + TERN_(IS_SCARA, "SCARA") + TERN_(IS_CORE, "Core") + TERN_(MARKFORGED_XY, "MarkForgedXY") + TERN_(MARKFORGED_YX, "MarkForgedYX") + TERN_(IS_CARTESIAN, "Cartesian") + ); + + SERIAL_ECHOLNPGM("Probe: " + TERN_(PROBE_MANUALLY, "PROBE_MANUALLY") + TERN_(NOZZLE_AS_PROBE, "NOZZLE_AS_PROBE") + TERN_(FIX_MOUNTED_PROBE, "FIX_MOUNTED_PROBE") + TERN_(HAS_Z_SERVO_PROBE, TERN(BLTOUCH, "BLTOUCH", "SERVO PROBE")) + TERN_(BD_SENSOR, "BD_SENSOR") + TERN_(TOUCH_MI_PROBE, "TOUCH_MI_PROBE") + TERN_(Z_PROBE_SLED, "Z_PROBE_SLED") + TERN_(Z_PROBE_ALLEN_KEY, "Z_PROBE_ALLEN_KEY") + TERN_(SOLENOID_PROBE, "SOLENOID_PROBE") + TERN_(MAGLEV4, "MAGLEV4") + IF_DISABLED(PROBE_SELECTED, "NONE") + ); + + #if HAS_BED_PROBE + + #if !HAS_PROBE_XY_OFFSET + SERIAL_ECHOPGM("Probe Offset X0 Y0 Z", probe.offset.z, " ("); + #else + SERIAL_ECHOPGM_P(PSTR("Probe Offset X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR, probe.offset.z); + if (probe.offset_xy.x > 0) + SERIAL_ECHOPGM(" (Right"); + else if (probe.offset_xy.x < 0) + SERIAL_ECHOPGM(" (Left"); + else if (probe.offset_xy.y != 0) + SERIAL_ECHOPGM(" (Middle"); + else + SERIAL_ECHOPGM(" (Aligned With"); + + if (probe.offset_xy.y > 0) + SERIAL_ECHOF(F(TERN(IS_SCARA, "-Distal", "-Back"))); + else if (probe.offset_xy.y < 0) + SERIAL_ECHOF(F(TERN(IS_SCARA, "-Proximal", "-Front"))); + else if (probe.offset_xy.x != 0) + SERIAL_ECHOPGM("-Center"); + + SERIAL_ECHOPGM(" & "); + + #endif + + SERIAL_ECHOF(probe.offset.z < 0 ? F("Below") : probe.offset.z > 0 ? F("Above") : F("Same Z as")); + SERIAL_ECHOLNPGM(" Nozzle)"); + + #endif + + #if HAS_ABL_OR_UBL + SERIAL_ECHOPGM("Auto Bed Leveling: " + TERN_(AUTO_BED_LEVELING_LINEAR, "LINEAR") + TERN_(AUTO_BED_LEVELING_BILINEAR, "BILINEAR") + TERN_(AUTO_BED_LEVELING_3POINT, "3POINT") + TERN_(AUTO_BED_LEVELING_UBL, "UBL") + ); + + if (planner.leveling_active) { + SERIAL_ECHOLNPGM(" (enabled)"); + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (planner.z_fade_height) + SERIAL_ECHOLNPGM("Z Fade: ", planner.z_fade_height); + #endif + #if ABL_PLANAR + SERIAL_ECHOPGM("ABL Adjustment"); + LOOP_NUM_AXES(a) { + SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a])); + serial_offset(planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]); + } + #else + #if ENABLED(AUTO_BED_LEVELING_UBL) + SERIAL_ECHOPGM("UBL Adjustment Z"); + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + SERIAL_ECHOPGM("ABL Adjustment Z"); + #endif + const float rz = bedlevel.get_z_correction(current_position); + SERIAL_ECHO(ftostr43sign(rz, '+')); + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (planner.z_fade_height) { + SERIAL_ECHOPGM(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position.z), '+')); + SERIAL_CHAR(')'); + } + #endif + #endif + } + else + SERIAL_ECHOLNPGM(" (disabled)"); + + SERIAL_EOL(); + + #elif ENABLED(MESH_BED_LEVELING) + + SERIAL_ECHOPGM("Mesh Bed Leveling"); + if (planner.leveling_active) { + SERIAL_ECHOLNPGM(" (enabled)"); + const float z_offset = bedlevel.get_z_offset(), + z_correction = bedlevel.get_z_correction(current_position); + SERIAL_ECHOPGM("MBL Adjustment Z", ftostr43sign(z_offset + z_correction, '+')); + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (planner.z_fade_height) { + SERIAL_ECHOPGM(" (", ftostr43sign( + z_offset + z_correction * planner.fade_scaling_factor_for_z(current_position.z), '+' + )); + SERIAL_CHAR(')'); + } + #endif + } + else + SERIAL_ECHOPGM(" (disabled)"); + + SERIAL_EOL(); + + #endif // MESH_BED_LEVELING + } + +#endif // DEBUG_LEVELING_FEATURE diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h new file mode 100644 index 0000000000..2a2b7571b0 --- /dev/null +++ b/Marlin/src/core/utility.h @@ -0,0 +1,98 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" +#include "../core/types.h" +#include "../core/millis_t.h" + +void safe_delay(millis_t ms); // Delay ensuring that temperatures are updated and the watchdog is kept alive. + +#if ENABLED(SERIAL_OVERRUN_PROTECTION) + void serial_delay(const millis_t ms); +#else + inline void serial_delay(const millis_t) {} +#endif + +#if TERN(ProUIex, HAS_MESH, (GRID_MAX_POINTS_X) && (GRID_MAX_POINTS_Y)) + + // 16x16 bit arrays + template + struct FlagBits { + bits_t(W) flags[H]; + void fill() { memset(flags, 0xFF, sizeof(flags)); } + void reset() { memset(flags, 0x00, sizeof(flags)); } + void unmark(const uint8_t x, const uint8_t y) { CBI(flags[y], x); } + void mark(const uint8_t x, const uint8_t y) { SBI(flags[y], x); } + bool marked(const uint8_t x, const uint8_t y) { return TEST(flags[y], x); } + inline void unmark(const xy_int8_t &xy) { unmark(xy.x, xy.y); } + inline void mark(const xy_int8_t &xy) { mark(xy.x, xy.y); } + inline bool marked(const xy_int8_t &xy) { return marked(xy.x, xy.y); } + }; + + #if ProUIex + typedef FlagBits MeshFlags; + #else + typedef FlagBits MeshFlags; + #endif + +#endif + +#if ENABLED(DEBUG_LEVELING_FEATURE) + void log_machine_info(); +#else + #define log_machine_info() NOOP +#endif + +/** + * A restorer instance remembers a variable's value before setting a + * new value, then restores the old value when it goes out of scope. + * Put operator= on your type to get extended behavior on value change. + */ +template +class restorer { + T& ref_; + T val_; +public: + restorer(T& perm) : ref_(perm), val_(perm) {} + restorer(T& perm, T temp_val) : ref_(perm), val_(perm) { perm = temp_val; } + ~restorer() { restore(); } + inline void restore() { ref_ = val_; } +}; + +#define REMEMBER(N,X,V...) restorer<__typeof__(X)> restorer_##N(X, ##V) +#define RESTORE(N) restorer_##N.restore() + +// Converts from an uint8_t in the range of 0-255 to an uint8_t +// in the range 0-100 while avoiding rounding artifacts +constexpr uint8_t ui8_to_percent(const uint8_t i) { return (int(i) * 100 + 127) / 255; } + +// Axis names for G-code parsing, reports, etc. +const xyze_char_t axis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', AXIS4_NAME, AXIS5_NAME, AXIS6_NAME, AXIS7_NAME, AXIS8_NAME, AXIS9_NAME); +#if NUM_AXES <= XYZ && !HAS_EXTRUDERS + #define AXIS_CHAR(A) ((char)('X' + A)) + #define IAXIS_CHAR AXIS_CHAR +#else + const xyze_char_t iaxis_codes LOGICAL_AXIS_ARRAY('E', 'X', 'Y', 'Z', 'I', 'J', 'K', 'U', 'V', 'W'); + #define AXIS_CHAR(A) axis_codes[A] + #define IAXIS_CHAR(A) iaxis_codes[A] +#endif diff --git a/Marlin/src/feature/adc/adc_mcp3426.cpp b/Marlin/src/feature/adc/adc_mcp3426.cpp new file mode 100644 index 0000000000..49bb67ef6d --- /dev/null +++ b/Marlin/src/feature/adc/adc_mcp3426.cpp @@ -0,0 +1,104 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 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 . + * + */ + +/** + * adc_mcp3426.cpp - library for MicroChip MCP3426 I2C A/D converter + * + * For implementation details, please take a look at the datasheet: + * https://www.microchip.com/en-us/product/MCP3426 + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(HAS_MCP3426_ADC) + +#include "adc_mcp3426.h" + +// Read the ADC value from MCP342X on a specific channel +int16_t MCP3426::ReadValue(uint8_t channel, uint8_t gain, uint8_t address) { + Error = false; + + #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM) + Wire.setSDA(pin_t(I2C_SDA_PIN)); + Wire.setSCL(pin_t(I2C_SCL_PIN)); + #endif + + Wire.begin(); // No address joins the BUS as the master + + Wire.beginTransmission(I2C_ADDRESS(address)); + + // Continuous Conversion Mode, 16 bit, Channel 1, Gain x4 + // 26 = 0b00011000 + // RXXCSSGG + // R = Ready Bit + // XX = Channel (00=1, 01=2, 10=3 (MCP3428), 11=4 (MCP3428)) + // C = Conversion Mode Bit (1= Continuous Conversion Mode (Default)) + // SS = Sample rate, 10=15 samples per second @ 16 bits + // GG = Gain 00 =x1 + uint8_t controlRegister = 0b00011000; + + if (channel == 2) controlRegister |= 0b00100000; // Select channel 2 + + if (gain == 2) + controlRegister |= 0b00000001; + else if (gain == 4) + controlRegister |= 0b00000010; + else if (gain == 8) + controlRegister |= 0b00000011; + + Wire.write(controlRegister); + if (Wire.endTransmission() != 0) { + Error = true; + return 0; + } + + const uint8_t len = 3; + uint8_t buffer[len] = {}; + + do { + Wire.requestFrom(I2C_ADDRESS(address), len); + if (Wire.available() != len) { + Error = true; + return 0; + } + + for (uint8_t i = 0; i < len; ++i) + buffer[i] = Wire.read(); + + // Is conversion ready, if not loop around again + } while ((buffer[2] & 0x80) != 0); + + union TwoBytesToInt16 { + uint8_t bytes[2]; + int16_t integervalue; + }; + TwoBytesToInt16 ConversionUnion; + + ConversionUnion.bytes[1] = buffer[0]; + ConversionUnion.bytes[0] = buffer[1]; + + return ConversionUnion.integervalue; +} + +MCP3426 mcp3426; + +#endif // HAS_MCP3426_ADC diff --git a/Marlin/src/feature/adc/adc_mcp3426.h b/Marlin/src/feature/adc/adc_mcp3426.h new file mode 100644 index 0000000000..af48593369 --- /dev/null +++ b/Marlin/src/feature/adc/adc_mcp3426.h @@ -0,0 +1,38 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Arduino library for MicroChip MCP3426 I2C A/D converter. + * https://www.microchip.com/en-us/product/MCP3426 + */ + +#include +#include + +class MCP3426 { + public: + int16_t ReadValue(uint8_t channel, uint8_t gain, uint8_t address); + bool Error; +}; + +extern MCP3426 mcp3426; diff --git a/Marlin/src/feature/ammeter.cpp b/Marlin/src/feature/ammeter.cpp new file mode 100644 index 0000000000..71b84f1121 --- /dev/null +++ b/Marlin/src/feature/ammeter.cpp @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(I2C_AMMETER) + +#include "ammeter.h" + +#ifndef I2C_AMMETER_IMAX + #define I2C_AMMETER_IMAX 0.500 // Calibration range 500 Milliamps +#endif + +INA226 ina; + +Ammeter ammeter; + +float Ammeter::scale; +float Ammeter::current; + +void Ammeter::init() { + ina.begin(); + ina.configure(INA226_AVERAGES_16, INA226_BUS_CONV_TIME_1100US, INA226_SHUNT_CONV_TIME_1100US, INA226_MODE_SHUNT_BUS_CONT); + ina.calibrate(I2C_AMMETER_SHUNT_RESISTOR, I2C_AMMETER_IMAX); +} + +float Ammeter::read() { + scale = 1; + current = ina.readShuntCurrent(); + if (current <= 0.0001f) current = 0; // Clean up least-significant-bit amplification errors + if (current < 0.1f) scale = 1000; + return current * scale; +} + +#endif // I2C_AMMETER diff --git a/Marlin/src/feature/ammeter.h b/Marlin/src/feature/ammeter.h new file mode 100644 index 0000000000..86f09bb9a1 --- /dev/null +++ b/Marlin/src/feature/ammeter.h @@ -0,0 +1,39 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" + +#include +#include + +class Ammeter { +private: + static float scale; + +public: + static float current; + static void init(); + static float read(); +}; + +extern Ammeter ammeter; diff --git a/Marlin/src/feature/babystep.cpp b/Marlin/src/feature/babystep.cpp new file mode 100644 index 0000000000..2e3d6a9fd2 --- /dev/null +++ b/Marlin/src/feature/babystep.cpp @@ -0,0 +1,79 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(BABYSTEPPING) + +#include "babystep.h" +#include "../MarlinCore.h" +#include "../module/motion.h" // for axes_should_home() +#include "../module/planner.h" // for axis_steps_per_mm[] +#include "../module/stepper.h" + +#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE) + #include "../gcode/gcode.h" +#endif + +Babystep babystep; + +volatile int16_t Babystep::steps[BS_AXIS_IND(Z_AXIS) + 1]; +#if ENABLED(BABYSTEP_DISPLAY_TOTAL) + int16_t Babystep::axis_total[BS_TOTAL_IND(Z_AXIS) + 1]; +#endif +int16_t Babystep::accum; + +void Babystep::step_axis(const AxisEnum axis) { + const int16_t curTodo = steps[BS_AXIS_IND(axis)]; // get rid of volatile for performance + if (curTodo) { + stepper.do_babystep((AxisEnum)axis, curTodo > 0); + if (curTodo > 0) steps[BS_AXIS_IND(axis)]--; else steps[BS_AXIS_IND(axis)]++; + } +} + +void Babystep::add_mm(const AxisEnum axis, const_float_t mm) { + add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]); +} + +#if ENABLED(BD_SENSOR) + void Babystep::set_mm(const AxisEnum axis, const_float_t mm) { + //if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return; + const int16_t distance = mm * planner.settings.axis_steps_per_mm[axis]; + accum = distance; // Count up babysteps for the UI + steps[BS_AXIS_IND(axis)] = distance; + TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] = distance); + TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout()); + TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping()); + } +#endif + +void Babystep::add_steps(const AxisEnum axis, const int16_t distance) { + if (DISABLED(BABYSTEP_WITHOUT_HOMING) && axes_should_home(_BV(axis))) return; + + accum += distance; // Count up babysteps for the UI + steps[BS_AXIS_IND(axis)] += distance; + TERN_(BABYSTEP_DISPLAY_TOTAL, axis_total[BS_TOTAL_IND(axis)] += distance); + TERN_(BABYSTEP_ALWAYS_AVAILABLE, gcode.reset_stepper_timeout()); + TERN_(INTEGRATED_BABYSTEPPING, if (has_steps()) stepper.initiateBabystepping()); +} + +#endif // BABYSTEPPING diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h new file mode 100644 index 0000000000..bbf0c5a260 --- /dev/null +++ b/Marlin/src/feature/babystep.h @@ -0,0 +1,86 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(INTEGRATED_BABYSTEPPING) + #define BABYSTEPS_PER_SEC 1000UL + #define BABYSTEP_TICKS ((STEPPER_TIMER_RATE) / (BABYSTEPS_PER_SEC)) +#else + #define BABYSTEPS_PER_SEC 976UL + #define BABYSTEP_TICKS ((TEMP_TIMER_RATE) / (BABYSTEPS_PER_SEC)) +#endif + +#if IS_CORE || EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS) + #define BS_AXIS_IND(A) A + #define BS_AXIS(I) AxisEnum(I) +#else + #define BS_AXIS_IND(A) 0 + #define BS_AXIS(I) Z_AXIS +#endif + +#if ENABLED(BABYSTEP_DISPLAY_TOTAL) + #if ENABLED(BABYSTEP_XY) + #define BS_TOTAL_IND(A) A + #else + #define BS_TOTAL_IND(A) 0 + #endif +#endif + +class Babystep { +public: + static volatile int16_t steps[BS_AXIS_IND(Z_AXIS) + 1]; + static int16_t accum; // Total babysteps in current edit + + #if ENABLED(BABYSTEP_DISPLAY_TOTAL) + static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1]; // Total babysteps since G28 + static void reset_total(const AxisEnum axis) { + if (TERN1(BABYSTEP_XY, axis == Z_AXIS)) + axis_total[BS_TOTAL_IND(axis)] = 0; + } + #endif + + static void add_steps(const AxisEnum axis, const int16_t distance); + static void add_mm(const AxisEnum axis, const_float_t mm); + + #if ENABLED(BD_SENSOR) + static void set_mm(const AxisEnum axis, const_float_t mm); + #endif + + static bool has_steps() { + return steps[BS_AXIS_IND(X_AXIS)] || steps[BS_AXIS_IND(Y_AXIS)] || steps[BS_AXIS_IND(Z_AXIS)]; + } + + // + // Called by the Temperature or Stepper ISR to + // apply accumulated babysteps to the axes. + // + static void task() { + LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i)); + } + +private: + static void step_axis(const AxisEnum axis); +}; + +extern Babystep babystep; diff --git a/Marlin/src/feature/backlash.cpp b/Marlin/src/feature/backlash.cpp new file mode 100644 index 0000000000..13e2cd99ec --- /dev/null +++ b/Marlin/src/feature/backlash.cpp @@ -0,0 +1,217 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(BACKLASH_COMPENSATION) + +#include "backlash.h" + +#include "../module/motion.h" +#include "../module/planner.h" + +axis_bits_t Backlash::last_direction_bits; +xyz_long_t Backlash::residual_error{0}; + +#ifdef BACKLASH_DISTANCE_MM + #if ENABLED(BACKLASH_GCODE) + xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM; + #else + const xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM; + #endif +#endif + +#if ENABLED(BACKLASH_GCODE) + uint8_t Backlash::correction = (BACKLASH_CORRECTION) * all_on; + #ifdef BACKLASH_SMOOTHING_MM + float Backlash::smoothing_mm = BACKLASH_SMOOTHING_MM; + #endif +#endif + +#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + xyz_float_t Backlash::measured_mm{0}; + xyz_uint8_t Backlash::measured_count{0}; +#endif + +Backlash backlash; + +/** + * To minimize seams in the printed part, backlash correction only adds + * steps to the current segment (instead of creating a new segment, which + * causes discontinuities and print artifacts). + * + * With a non-zero BACKLASH_SMOOTHING_MM value the backlash correction is + * spread over multiple segments, smoothing out artifacts even more. + */ + +void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block) { + axis_bits_t changed_dir = last_direction_bits ^ dm; + // Ignore direction change unless steps are taken in that direction + #if DISABLED(CORE_BACKLASH) || EITHER(MARKFORGED_XY, MARKFORGED_YX) + if (!da) CBI(changed_dir, X_AXIS); + if (!db) CBI(changed_dir, Y_AXIS); + if (!dc) CBI(changed_dir, Z_AXIS); + #elif CORE_IS_XY + if (!(da + db)) CBI(changed_dir, X_AXIS); + if (!(da - db)) CBI(changed_dir, Y_AXIS); + if (!dc) CBI(changed_dir, Z_AXIS); + #elif CORE_IS_XZ + if (!(da + dc)) CBI(changed_dir, X_AXIS); + if (!(da - dc)) CBI(changed_dir, Z_AXIS); + if (!db) CBI(changed_dir, Y_AXIS); + #elif CORE_IS_YZ + if (!(db + dc)) CBI(changed_dir, Y_AXIS); + if (!(db - dc)) CBI(changed_dir, Z_AXIS); + if (!da) CBI(changed_dir, X_AXIS); + #endif + last_direction_bits ^= changed_dir; + + if (!correction && !residual_error) return; + + #ifdef BACKLASH_SMOOTHING_MM + // The segment proportion is a value greater than 0.0 indicating how much residual_error + // is corrected for in this segment. The contribution is based on segment length and the + // smoothing distance. Since the computation of this proportion involves a floating point + // division, defer computation until needed. + float segment_proportion = 0; + #endif + + const float f_corr = float(correction) / all_on; + + LOOP_NUM_AXES(axis) { + if (distance_mm[axis]) { + const bool reverse = TEST(dm, axis); + + // When an axis changes direction, add axis backlash to the residual error + if (TEST(changed_dir, axis)) + residual_error[axis] += (reverse ? -f_corr : f_corr) * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis]; + + // Decide how much of the residual error to correct in this segment + int32_t error_correction = residual_error[axis]; + if (reverse != (error_correction < 0)) + error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps + + #ifdef BACKLASH_SMOOTHING_MM + if (error_correction && smoothing_mm != 0) { + // Take up a portion of the residual_error in this segment + if (segment_proportion == 0) segment_proportion = _MIN(1.0f, block->millimeters / smoothing_mm); + error_correction = CEIL(segment_proportion * error_correction); + } + #endif + + // This correction reduces the residual error and adds block steps + if (error_correction) { + block->steps[axis] += ABS(error_correction); + #if ENABLED(CORE_BACKLASH) + switch (axis) { + case CORE_AXIS_1: + //block->steps[CORE_AXIS_2] += influence_distance_mm[axis] * planner.settings.axis_steps_per_mm[CORE_AXIS_2]; + //SERIAL_ECHOLNPGM("CORE_AXIS_1 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis], + // " da=", da, " db=", db, " block->steps[axis]=", block->steps[axis], " err_corr=", error_correction); + break; + case CORE_AXIS_2: + //block->steps[CORE_AXIS_1] += influence_distance_mm[axis] * planner.settings.axis_steps_per_mm[CORE_AXIS_1];; + //SERIAL_ECHOLNPGM("CORE_AXIS_2 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis], + // " da=", da, " db=", db, " block->steps[axis]=", block->steps[axis], " err_corr=", error_correction); + break; + case NORMAL_AXIS: break; + } + residual_error[axis] = 0; // No residual_error needed for next CORE block, I think... + #else + residual_error[axis] -= error_correction; + #endif + } + } + } +} + +int32_t Backlash::get_applied_steps(const AxisEnum axis) { + if (axis >= NUM_AXES) return 0; + + const bool reverse = TEST(last_direction_bits, axis); + + const int32_t residual_error_axis = residual_error[axis]; + + // At startup it is assumed the last move was forwards. So the applied + // steps will always be a non-positive number. + + if (!reverse) return -residual_error_axis; + + const float f_corr = float(correction) / all_on; + const int32_t full_error_axis = -f_corr * distance_mm[axis] * planner.settings.axis_steps_per_mm[axis]; + return full_error_axis - residual_error_axis; +} + +class Backlash::StepAdjuster { + private: + xyz_long_t applied_steps; + public: + StepAdjuster() { + LOOP_NUM_AXES(axis) applied_steps[axis] = backlash.get_applied_steps((AxisEnum)axis); + } + ~StepAdjuster() { + // after backlash compensation parameter changes, ensure applied step count does not change + LOOP_NUM_AXES(axis) residual_error[axis] += backlash.get_applied_steps((AxisEnum)axis) - applied_steps[axis]; + } +}; + +#if ENABLED(BACKLASH_GCODE) + + void Backlash::set_correction_uint8(const uint8_t v) { + StepAdjuster adjuster; + correction = v; + } + + void Backlash::set_distance_mm(const AxisEnum axis, const float v) { + StepAdjuster adjuster; + distance_mm[axis] = v; + } + + #ifdef BACKLASH_SMOOTHING_MM + void Backlash::set_smoothing_mm(const float v) { + StepAdjuster adjuster; + smoothing_mm = v; + } + #endif + +#endif + +#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + + #include "../module/probe.h" + + // Measure Z backlash by raising nozzle in increments until probe deactivates + void Backlash::measure_with_probe() { + if (measured_count.z == 255) return; + + const float start_height = current_position.z; + while (current_position.z < (start_height + BACKLASH_MEASUREMENT_LIMIT) && PROBE_TRIGGERED()) + do_blocking_move_to_z(current_position.z + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE)); + + // The backlash from all probe points is averaged, so count the number of measurements + measured_mm.z += current_position.z - start_height; + measured_count.z++; + } + +#endif + +#endif // BACKLASH_COMPENSATION diff --git a/Marlin/src/feature/backlash.h b/Marlin/src/feature/backlash.h new file mode 100644 index 0000000000..0bace526e5 --- /dev/null +++ b/Marlin/src/feature/backlash.h @@ -0,0 +1,96 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" +#include "../module/planner.h" + +class Backlash { +public: + static constexpr uint8_t all_on = 0xFF, all_off = 0x00; + +private: + static axis_bits_t last_direction_bits; + static xyz_long_t residual_error; + + #if ENABLED(BACKLASH_GCODE) + static uint8_t correction; + static xyz_float_t distance_mm; + #ifdef BACKLASH_SMOOTHING_MM + static float smoothing_mm; + #endif + #else + static constexpr uint8_t correction = (BACKLASH_CORRECTION) * all_on; + static const xyz_float_t distance_mm; + #ifdef BACKLASH_SMOOTHING_MM + static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM; + #endif + #endif + + #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + static xyz_float_t measured_mm; + static xyz_uint8_t measured_count; + #endif + + class StepAdjuster; + +public: + static float get_measurement(const AxisEnum a) { + UNUSED(a); + // Return the measurement averaged over all readings + return TERN(MEASURE_BACKLASH_WHEN_PROBING + , measured_count[a] > 0 ? measured_mm[a] / measured_count[a] : 0 + , 0 + ); + } + + static bool has_measurement(const AxisEnum a) { + UNUSED(a); + return TERN0(MEASURE_BACKLASH_WHEN_PROBING, measured_count[a] > 0); + } + + static bool has_any_measurement() { + return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS); + } + + static void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const axis_bits_t dm, block_t * const block); + static int32_t get_applied_steps(const AxisEnum axis); + + #if ENABLED(BACKLASH_GCODE) + static void set_correction_uint8(const uint8_t v); + static uint8_t get_correction_uint8() { return correction; } + static void set_correction(const float v) { set_correction_uint8(_MAX(0, _MIN(1.0, v)) * all_on + 0.5f); } + static float get_correction() { return float(get_correction_uint8()) / all_on; } + static void set_distance_mm(const AxisEnum axis, const float v); + static float get_distance_mm(const AxisEnum axis) {return distance_mm[axis];} + #ifdef BACKLASH_SMOOTHING_MM + static void set_smoothing_mm(const float v); + static float get_smoothing_mm() {return smoothing_mm;} + #endif + #endif + + #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + static void measure_with_probe(); + #endif +}; + +extern Backlash backlash; diff --git a/Marlin/src/feature/baricuda.cpp b/Marlin/src/feature/baricuda.cpp new file mode 100644 index 0000000000..596891707e --- /dev/null +++ b/Marlin/src/feature/baricuda.cpp @@ -0,0 +1,32 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(BARICUDA) + +#include "baricuda.h" + +uint8_t baricuda_valve_pressure = 0, + baricuda_e_to_p_pressure = 0; + +#endif // BARICUDA diff --git a/Marlin/src/feature/baricuda.h b/Marlin/src/feature/baricuda.h new file mode 100644 index 0000000000..f28d07d642 --- /dev/null +++ b/Marlin/src/feature/baricuda.h @@ -0,0 +1,25 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +extern uint8_t baricuda_valve_pressure, + baricuda_e_to_p_pressure; diff --git a/Marlin/src/feature/bedlevel/abl/bbl.cpp b/Marlin/src/feature/bedlevel/abl/bbl.cpp new file mode 100644 index 0000000000..926083d92a --- /dev/null +++ b/Marlin/src/feature/bedlevel/abl/bbl.cpp @@ -0,0 +1,441 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_BILINEAR) + +#include "../bedlevel.h" + +#include "../../../module/motion.h" + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../../core/debug_out.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#endif + +LevelingBilinear bedlevel; + +xy_pos_t LevelingBilinear::grid_spacing, + LevelingBilinear::grid_start; +xy_float_t LevelingBilinear::grid_factor; +bed_mesh_t LevelingBilinear::z_values; +xy_pos_t LevelingBilinear::cached_rel; +xy_int8_t LevelingBilinear::cached_g; + +/** + * Extrapolate a single point from its neighbors + */ +void LevelingBilinear::extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { + if (!isnan(z_values[x][y])) return; + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOPGM("Extrapolate ["); + if (x < 10) DEBUG_CHAR(' '); + DEBUG_ECHO(x); + DEBUG_CHAR(xdir ? (xdir > 0 ? '+' : '-') : ' '); + DEBUG_CHAR(' '); + if (y < 10) DEBUG_CHAR(' '); + DEBUG_ECHO(y); + DEBUG_CHAR(ydir ? (ydir > 0 ? '+' : '-') : ' '); + DEBUG_ECHOLNPGM("]"); + } + + // Get X neighbors, Y neighbors, and XY neighbors + const uint8_t x1 = x + xdir, y1 = y + ydir, x2 = x1 + xdir, y2 = y1 + ydir; + float a1 = z_values[x1][y ], a2 = z_values[x2][y ], + b1 = z_values[x ][y1], b2 = z_values[x ][y2], + c1 = z_values[x1][y1], c2 = z_values[x2][y2]; + + // Treat far unprobed points as zero, near as equal to far + if (isnan(a2)) a2 = 0.0; + if (isnan(a1)) a1 = a2; + if (isnan(b2)) b2 = 0.0; + if (isnan(b1)) b1 = b2; + if (isnan(c2)) c2 = 0.0; + if (isnan(c1)) c1 = c2; + + const float a = 2 * a1 - a2, b = 2 * b1 - b2, c = 2 * c1 - c2; + + // Take the average instead of the median + z_values[x][y] = (a + b + c) / 3.0; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + + // Median is robust (ignores outliers). + // z_values[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c) + // : ((c < b) ? b : (a < c) ? a : c); +} + +//Enable this if your SCARA uses 180° of total area +//#define EXTRAPOLATE_FROM_EDGE + +#if ENABLED(EXTRAPOLATE_FROM_EDGE) + #if (GRID_MAX_POINTS_X) < (GRID_MAX_POINTS_Y) + #define HALF_IN_X + #elif (GRID_MAX_POINTS_Y) < (GRID_MAX_POINTS_X) + #define HALF_IN_Y + #endif +#endif + +void LevelingBilinear::reset() { + grid_start.reset(); + grid_spacing.reset(); + GRID_LOOP(x, y) { + z_values[x][y] = NAN; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, 0)); + } +} + +void LevelingBilinear::set_grid(const xy_pos_t& _grid_spacing, const xy_pos_t& _grid_start) { + grid_spacing = _grid_spacing; + grid_start = _grid_start; + grid_factor = grid_spacing.reciprocal(); +} + +#if !ProUIex +/** + * Fill in the unprobed points (corners of circular print surface) + * using linear extrapolation, away from the center. + */ +void LevelingBilinear::extrapolate_unprobed_bed_level() { + #ifdef HALF_IN_X + constexpr uint8_t ctrx2 = 0, xend = GRID_MAX_POINTS_X - 1; + #else + constexpr uint8_t ctrx1 = (GRID_MAX_CELLS_X) / 2, // left-of-center + ctrx2 = (GRID_MAX_POINTS_X) / 2, // right-of-center + xend = ctrx1; + #endif + + #ifdef HALF_IN_Y + constexpr uint8_t ctry2 = 0, yend = GRID_MAX_POINTS_Y - 1; + #else + constexpr uint8_t ctry1 = (GRID_MAX_CELLS_Y) / 2, // top-of-center + ctry2 = (GRID_MAX_POINTS_Y) / 2, // bottom-of-center + yend = ctry1; + #endif + + LOOP_LE_N(xo, xend) + LOOP_LE_N(yo, yend) { + uint8_t x2 = ctrx2 + xo, y2 = ctry2 + yo; + #ifndef HALF_IN_X + const uint8_t x1 = ctrx1 - xo; + #endif + #ifndef HALF_IN_Y + const uint8_t y1 = ctry1 - yo; + #ifndef HALF_IN_X + extrapolate_one_point(x1, y1, +1, +1); // left-below + + + #endif + extrapolate_one_point(x2, y1, -1, +1); // right-below - + + #endif + #ifndef HALF_IN_X + extrapolate_one_point(x1, y2, +1, -1); // left-above + - + #endif + extrapolate_one_point(x2, y2, -1, -1); // right-above - - + } +} +#endif + +void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values/*=nullptr*/) { + // print internal grid(s) or just the one passed as a parameter + SERIAL_ECHOLNPGM("Bilinear Leveling Grid:"); + print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 3, _z_values ? *_z_values[0] : z_values[0]); + + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + if (!_z_values) { + SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:"); + print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5, z_values_virt[0]); + } + #endif +} + +#if ENABLED(ABL_BILINEAR_SUBDIVISION) + + #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2) + #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2) + float LevelingBilinear::z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y]; + xy_pos_t LevelingBilinear::grid_spacing_virt; + xy_float_t LevelingBilinear::grid_factor_virt; + + #define LINEAR_EXTRAPOLATION(E, I) ((E) * 2 - (I)) + float LevelingBilinear::bed_level_virt_coord(const uint8_t x, const uint8_t y) { + uint8_t ep = 0, ip = 1; + if (x > (GRID_MAX_POINTS_X) + 1 || y > (GRID_MAX_POINTS_Y) + 1) { + // The requested point requires extrapolating two points beyond the mesh. + // These values are only requested for the edges of the mesh, which are always an actual mesh point, + // and do not require interpolation. When interpolation is not needed, this "Mesh + 2" point is + // cancelled out in bed_level_virt_cmr and does not impact the result. Return 0.0 rather than + // making this function more complex by extrapolating two points. + return 0.0; + } + if (!x || x == ABL_TEMP_POINTS_X - 1) { + if (x) { + ep = (GRID_MAX_POINTS_X) - 1; + ip = GRID_MAX_CELLS_X - 1; + } + if (WITHIN(y, 1, ABL_TEMP_POINTS_Y - 2)) + return LINEAR_EXTRAPOLATION( + z_values[ep][y - 1], + z_values[ip][y - 1] + ); + else + return LINEAR_EXTRAPOLATION( + bed_level_virt_coord(ep + 1, y), + bed_level_virt_coord(ip + 1, y) + ); + } + if (!y || y == ABL_TEMP_POINTS_Y - 1) { + if (y) { + ep = (GRID_MAX_POINTS_Y) - 1; + ip = GRID_MAX_CELLS_Y - 1; + } + if (WITHIN(x, 1, ABL_TEMP_POINTS_X - 2)) + return LINEAR_EXTRAPOLATION( + z_values[x - 1][ep], + z_values[x - 1][ip] + ); + else + return LINEAR_EXTRAPOLATION( + bed_level_virt_coord(x, ep + 1), + bed_level_virt_coord(x, ip + 1) + ); + } + return z_values[x - 1][y - 1]; + } + + float LevelingBilinear::bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) { + return ( + p[i-1] * -t * sq(1 - t) + + p[i] * (2 - 5 * sq(t) + 3 * t * sq(t)) + + p[i+1] * t * (1 + 4 * t - 3 * sq(t)) + - p[i+2] * sq(t) * (1 - t) + ) * 0.5f; + } + + float LevelingBilinear::bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty) { + float row[4], column[4]; + LOOP_L_N(i, 4) { + LOOP_L_N(j, 4) { + column[j] = bed_level_virt_coord(i + x - 1, j + y - 1); + } + row[i] = bed_level_virt_cmr(column, 1, ty); + } + return bed_level_virt_cmr(row, 1, tx); + } + + void LevelingBilinear::bed_level_virt_interpolate() { + grid_spacing_virt = grid_spacing / (BILINEAR_SUBDIVISIONS); + grid_factor_virt = grid_spacing_virt.reciprocal(); + LOOP_L_N(y, GRID_MAX_POINTS_Y) + LOOP_L_N(x, GRID_MAX_POINTS_X) + LOOP_L_N(ty, BILINEAR_SUBDIVISIONS) + LOOP_L_N(tx, BILINEAR_SUBDIVISIONS) { + if ((ty && y == (GRID_MAX_POINTS_Y) - 1) || (tx && x == (GRID_MAX_POINTS_X) - 1)) + continue; + z_values_virt[x * (BILINEAR_SUBDIVISIONS) + tx][y * (BILINEAR_SUBDIVISIONS) + ty] = + bed_level_virt_2cmr( + x + 1, + y + 1, + (float)tx / (BILINEAR_SUBDIVISIONS), + (float)ty / (BILINEAR_SUBDIVISIONS) + ); + } + } + +#endif // ABL_BILINEAR_SUBDIVISION + +// Refresh after other values have been updated +void LevelingBilinear::refresh_bed_level() { + TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate()); + cached_rel.x = cached_rel.y = -999.999; + cached_g.x = cached_g.y = -99; +} + +#if ENABLED(ABL_BILINEAR_SUBDIVISION) + #define ABL_BG_SPACING(A) grid_spacing_virt.A + #define ABL_BG_FACTOR(A) grid_factor_virt.A + #define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X + #define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y + #define ABL_BG_GRID(X,Y) z_values_virt[X][Y] +#else + #define ABL_BG_SPACING(A) grid_spacing.A + #define ABL_BG_FACTOR(A) grid_factor.A + #define ABL_BG_POINTS_X GRID_MAX_POINTS_X + #define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y + #define ABL_BG_GRID(X,Y) z_values[X][Y] +#endif + +// Get the Z adjustment for non-linear bed leveling +float LevelingBilinear::get_z_correction(const xy_pos_t &raw) { + + static float z1, d2, z3, d4, L, D; + + static xy_pos_t ratio; + + // Whole units for the grid line indices. Constrained within bounds. + static xy_int8_t thisg, nextg; + + // XY relative to the probed area + xy_pos_t rel = raw - grid_start.asFloat(); + + #if ENABLED(EXTRAPOLATE_BEYOND_GRID) + #define FAR_EDGE_OR_BOX 2 // Keep using the last grid box + #else + #define FAR_EDGE_OR_BOX 1 // Just use the grid far edge + #endif + + if (cached_rel.x != rel.x) { + cached_rel.x = rel.x; + ratio.x = rel.x * ABL_BG_FACTOR(x); + const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX)); + ratio.x -= gx; // Subtract whole to get the ratio within the grid box + + #if DISABLED(EXTRAPOLATE_BEYOND_GRID) + // Beyond the grid maintain height at grid edges + NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x) + #endif + + thisg.x = gx; + nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1); + } + + if (cached_rel.y != rel.y || cached_g.x != thisg.x) { + + if (cached_rel.y != rel.y) { + cached_rel.y = rel.y; + ratio.y = rel.y * ABL_BG_FACTOR(y); + const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX)); + ratio.y -= gy; + + #if DISABLED(EXTRAPOLATE_BEYOND_GRID) + // Beyond the grid maintain height at grid edges + NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.) + #endif + + thisg.y = gy; + nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1); + } + + if (cached_g != thisg) { + cached_g = thisg; + // Z at the box corners + z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front + d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta) + z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front + d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta) + } + + // Bilinear interpolate. Needed since rel.y or thisg.x has changed. + L = z1 + d2 * ratio.y; // Linear interp. LF -> LB + const float R = z3 + d4 * ratio.y; // Linear interp. RF -> RB + + D = R - L; + } + + const float offset = L + ratio.x * D; // the offset almost always changes + + /* + static float last_offset = 0; + if (ABS(last_offset - offset) > 0.2) { + SERIAL_ECHOLNPGM("Sudden Shift at x=", rel.x, " / ", grid_spacing.x, " -> thisg.x=", thisg.x); + SERIAL_ECHOLNPGM(" y=", rel.y, " / ", grid_spacing.y, " -> thisg.y=", thisg.y); + SERIAL_ECHOLNPGM(" ratio.x=", ratio.x, " ratio.y=", ratio.y); + SERIAL_ECHOLNPGM(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4); + SERIAL_ECHOLNPGM(" L=", L, " R=", R, " offset=", offset); + } + last_offset = offset; + //*/ + + return offset; +} + +#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) + + #define CELL_INDEX(A,V) ((V - grid_start.A) * ABL_BG_FACTOR(A)) + + /** + * Prepare a bilinear-leveled linear move on Cartesian, + * splitting the move where it crosses grid borders. + */ + void LevelingBilinear::line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) { + // Get current and destination cells for this line + xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) }, + c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) }; + LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2); + LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2); + LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2); + LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2); + + // Start and end in the same cell? No split needed. + if (c1 == c2) { + current_position = destination; + line_to_current_position(scaled_fr_mm_s); + return; + } + + #define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist) + + float normalized_dist; + xyze_pos_t end; + const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) }; + + // Crosses on the X and not already split on this X? + // The x_splits flags are insurance against rounding errors. + if (c2.x != c1.x && TEST(x_splits, gc.x)) { + // Split on the X grid line + CBI(x_splits, gc.x); + end = destination; + destination.x = grid_start.x + ABL_BG_SPACING(x) * gc.x; + normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x); + destination.y = LINE_SEGMENT_END(y); + } + // Crosses on the Y and not already split on this Y? + else if (c2.y != c1.y && TEST(y_splits, gc.y)) { + // Split on the Y grid line + CBI(y_splits, gc.y); + end = destination; + destination.y = grid_start.y + ABL_BG_SPACING(y) * gc.y; + normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y); + destination.x = LINE_SEGMENT_END(x); + } + else { + // Must already have been split on these border(s) + // This should be a rare case. + current_position = destination; + line_to_current_position(scaled_fr_mm_s); + return; + } + + destination.z = LINE_SEGMENT_END(z); + destination.e = LINE_SEGMENT_END(e); + + // Do the split and look for more borders + line_to_destination(scaled_fr_mm_s, x_splits, y_splits); + + // Restore destination from stack + destination = end; + line_to_destination(scaled_fr_mm_s, x_splits, y_splits); + } + +#endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES + +#endif // AUTO_BED_LEVELING_BILINEAR diff --git a/Marlin/src/feature/bedlevel/abl/bbl.h b/Marlin/src/feature/bedlevel/abl/bbl.h new file mode 100644 index 0000000000..c3d6513181 --- /dev/null +++ b/Marlin/src/feature/bedlevel/abl/bbl.h @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../../inc/MarlinConfigPre.h" + +class LevelingBilinear { +public: + static bed_mesh_t z_values; + static xy_pos_t grid_spacing, grid_start; + +private: + static xy_float_t grid_factor; + static xy_pos_t cached_rel; + static xy_int8_t cached_g; + + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + + #if ProUIex + #define ABL_GRID_POINTS_VIRT_N (GRID_LIMIT - 1) * (BILINEAR_SUBDIVISIONS) + 1 + #define ABL_GRID_POINTS_VIRT_X ABL_GRID_POINTS_VIRT_N + #define ABL_GRID_POINTS_VIRT_Y ABL_GRID_POINTS_VIRT_N + #else + #define ABL_GRID_POINTS_VIRT_X (GRID_MAX_CELLS_X * (BILINEAR_SUBDIVISIONS) + 1) + #define ABL_GRID_POINTS_VIRT_Y (GRID_MAX_CELLS_Y * (BILINEAR_SUBDIVISIONS) + 1) + #endif + + static float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y]; + static xy_pos_t grid_spacing_virt; + static xy_float_t grid_factor_virt; + + static float bed_level_virt_coord(const uint8_t x, const uint8_t y); + static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t); + static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty); + static void bed_level_virt_interpolate(); + #endif + +public: + static void reset(); + static void set_grid(const xy_pos_t& _grid_spacing, const xy_pos_t& _grid_start); + static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); + static void extrapolate_unprobed_bed_level(); + static void print_leveling_grid(const bed_mesh_t *_z_values=nullptr); + static void refresh_bed_level(); + static bool has_mesh() { return !!grid_spacing.x; } + static bool mesh_is_valid() { return has_mesh(); } + static float get_mesh_x(const uint8_t i) { return grid_start.x + i * grid_spacing.x; } + static float get_mesh_y(const uint8_t j) { return grid_start.y + j * grid_spacing.y; } + static float get_z_correction(const xy_pos_t &raw); + static constexpr float get_z_offset() { return 0.0f; } + + #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) + static void line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF); + #endif +}; + +extern LevelingBilinear bedlevel; diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.cpp b/Marlin/src/feature/bedlevel/bdl/bdl.cpp new file mode 100644 index 0000000000..1a27011a4b --- /dev/null +++ b/Marlin/src/feature/bedlevel/bdl/bdl.cpp @@ -0,0 +1,196 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(BD_SENSOR) + +#include "../../../MarlinCore.h" +#include "../../../gcode/gcode.h" +#include "../../../module/settings.h" +#include "../../../module/motion.h" +#include "../../../module/planner.h" +#include "../../../module/stepper.h" +#include "../../../module/probe.h" +#include "../../../module/temperature.h" +#include "../../../module/endstops.h" +#include "../../babystep.h" + +// I2C software Master library for segment bed heating and bed distance sensor +#include + +#include "bdl.h" +BDS_Leveling bdl; + +//#define DEBUG_OUT_BD + +// M102 S-5 Read raw Calibrate data +// M102 S-6 Start Calibrate +// M102 S4 Set the adjustable Z height value (e.g., 'M102 S4' means it will do adjusting while the Z height <= 0.4mm , disable with 'M102 S0'.) +// M102 S-1 Read sensor information + +#define MAX_BD_HEIGHT 4.0f +#define CMD_START_READ_CALIBRATE_DATA 1017 +#define CMD_END_READ_CALIBRATE_DATA 1018 +#define CMD_START_CALIBRATE 1019 +#define CMD_END_CALIBRATE 1021 +#define CMD_READ_VERSION 1016 + +I2C_SegmentBED BD_I2C_SENSOR; + +#define BD_SENSOR_I2C_ADDR 0x3C + +int8_t BDS_Leveling::config_state; +uint8_t BDS_Leveling::homing; + +void BDS_Leveling::echo_name() { SERIAL_ECHOPGM("Bed Distance Leveling"); } + +void BDS_Leveling::init(uint8_t _sda, uint8_t _scl, uint16_t delay_s) { + int ret = BD_I2C_SENSOR.i2c_init(_sda, _scl, BD_SENSOR_I2C_ADDR, delay_s); + if (ret != 1) SERIAL_ECHOLNPGM("BD_I2C_SENSOR Init Fail return code:", ret); + config_state = 0; +} + +float BDS_Leveling::read() { + const uint16_t tmp = BD_I2C_SENSOR.BD_i2c_read(); + float BD_z = NAN; + if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) + BD_z = (tmp & 0x3FF) / 100.0f; + return BD_z; +} + +void BDS_Leveling::process() { + //if (config_state == 0) return; + static millis_t next_check_ms = 0; // starting at T=0 + static float z_pose = 0.0f; + const millis_t ms = millis(); + if (ELAPSED(ms, next_check_ms)) { // timed out (or first run) + next_check_ms = ms + (config_state < 0 ? 1000 : 100); // check at 1Hz or 10Hz + + unsigned short tmp = 0; + const float cur_z = planner.get_axis_position_mm(Z_AXIS); //current_position.z + static float old_cur_z = cur_z, + old_buf_z = current_position.z; + + tmp = BD_I2C_SENSOR.BD_i2c_read(); + if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) && (tmp & 0x3FF) < 1020) { + const float z_sensor = (tmp & 0x3FF) / 100.0f; + if (cur_z < 0) config_state = 0; + //float abs_z = current_position.z > cur_z ? (current_position.z - cur_z) : (cur_z - current_position.z); + #if ENABLED(BABYSTEPPING) + if (cur_z < config_state * 0.1f + && config_state > 0 + && old_cur_z == cur_z + && old_buf_z == current_position.z + && z_sensor < (MAX_BD_HEIGHT) + ) { + babystep.set_mm(Z_AXIS, cur_z - z_sensor); + #if ENABLED(DEBUG_OUT_BD) + SERIAL_ECHOLNPGM("BD:", z_sensor, ", Z:", cur_z, "|", current_position.z); + #endif + } + else { + babystep.set_mm(Z_AXIS, 0); //if (old_cur_z <= cur_z) Z_DIR_WRITE(!INVERT_Z_DIR); + stepper.set_directions(); + } + #endif + old_cur_z = cur_z; + old_buf_z = current_position.z; + endstops.bdp_state_update(z_sensor <= 0.01f); + //endstops.update(); + } + else + stepper.set_directions(); + + #if ENABLED(DEBUG_OUT_BD) + SERIAL_ECHOLNPGM("BD:", tmp & 0x3FF, ", Z:", cur_z, "|", current_position.z); + if (BD_I2C_SENSOR.BD_Check_OddEven(tmp) == 0) SERIAL_ECHOLNPGM("errorCRC"); + #endif + + if ((tmp & 0x3FF) > 1020) { + BD_I2C_SENSOR.BD_i2c_stop(); + safe_delay(10); + } + + // read raw calibrate data + if (config_state == -5) { + BD_I2C_SENSOR.BD_i2c_write(CMD_START_READ_CALIBRATE_DATA); + safe_delay(1000); + + for (int i = 0; i < MAX_BD_HEIGHT * 10; i++) { + tmp = BD_I2C_SENSOR.BD_i2c_read(); + SERIAL_ECHOLNPGM("Calibrate data:", i, ",", tmp & 0x3FF, ", check:", BD_I2C_SENSOR.BD_Check_OddEven(tmp)); + safe_delay(500); + } + config_state = 0; + BD_I2C_SENSOR.BD_i2c_write(CMD_END_READ_CALIBRATE_DATA); + safe_delay(500); + } + else if (config_state <= -6) { // Start Calibrate + safe_delay(100); + if (config_state == -6) { + //BD_I2C_SENSOR.BD_i2c_write(1019); // begin calibrate + //delay(1000); + gcode.stepper_inactive_time = SEC_TO_MS(60 * 5); + gcode.process_subcommands_now(F("M17 Z")); + gcode.process_subcommands_now(F("G1 Z0.0")); + z_pose = 0; + safe_delay(1000); + BD_I2C_SENSOR.BD_i2c_write(CMD_START_CALIBRATE); // Begin calibrate + SERIAL_ECHOLNPGM("Begin calibrate"); + safe_delay(2000); + config_state = -7; + } + else if (planner.get_axis_position_mm(Z_AXIS) < 10.0f) { + if (z_pose >= MAX_BD_HEIGHT) { + BD_I2C_SENSOR.BD_i2c_write(CMD_END_CALIBRATE); // End calibrate + SERIAL_ECHOLNPGM("End calibrate data"); + z_pose = 7; + config_state = 0; + safe_delay(1000); + } + else { + float tmp_k = 0; + char tmp_1[30]; + sprintf_P(tmp_1, PSTR("G1 Z%d.%d"), int(z_pose), int(int(z_pose * 10) % 10)); + gcode.process_subcommands_now(tmp_1); + + SERIAL_ECHO(tmp_1); + SERIAL_ECHOLNPGM(" ,Z:", current_position.z); + + while (tmp_k < (z_pose - 0.1f)) { + tmp_k = planner.get_axis_position_mm(Z_AXIS); + safe_delay(1); + } + safe_delay(800); + tmp = (z_pose + 0.0001f) * 10; + BD_I2C_SENSOR.BD_i2c_write(tmp); + SERIAL_ECHOLNPGM("w:", tmp, ",Zpose:", z_pose); + z_pose += 0.1001f; + //queue.enqueue_now_P(PSTR("G90")); + } + } + } + } +} + +#endif // BD_SENSOR diff --git a/Marlin/src/feature/bedlevel/bdl/bdl.h b/Marlin/src/feature/bedlevel/bdl/bdl.h new file mode 100644 index 0000000000..6307b1ab28 --- /dev/null +++ b/Marlin/src/feature/bedlevel/bdl/bdl.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +class BDS_Leveling { +public: + static int8_t config_state; + static uint8_t homing; + static void echo_name(); + static void init(uint8_t _sda, uint8_t _scl, uint16_t delay_s); + static void process(); + static float read(); +}; + +extern BDS_Leveling bdl; diff --git a/Marlin/src/feature/bedlevel/bedlevel.cpp b/Marlin/src/feature/bedlevel/bedlevel.cpp new file mode 100644 index 0000000000..4bd8bf6c84 --- /dev/null +++ b/Marlin/src/feature/bedlevel/bedlevel.cpp @@ -0,0 +1,222 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_LEVELING + +#include "bedlevel.h" +#include "../../module/planner.h" + +#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) + #include "../../module/motion.h" +#endif + +#if ENABLED(PROBE_MANUALLY) + bool g29_in_progress = false; +#endif + +#if ENABLED(LCD_BED_LEVELING) + #include "../../lcd/marlinui.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../lcd/extui/ui_api.h" +#endif + +bool leveling_is_valid() { + return TERN1(HAS_MESH, bedlevel.mesh_is_valid()); +} + +/** + * Turn bed leveling on or off, correcting the current position. + * + * Disable: Current position = physical position + * Enable: Current position = "unleveled" physical position + */ +void set_bed_leveling_enabled(const bool enable/*=true*/) { + DEBUG_SECTION(log_sble, "set_bed_leveling_enabled", DEBUGGING(LEVELING)); + + const bool can_change = TERN1(AUTO_BED_LEVELING_BILINEAR, !enable || leveling_is_valid()); + + if (can_change && enable != planner.leveling_active) { + + auto _report_leveling = []{ + if (DEBUGGING(LEVELING)) { + if (planner.leveling_active) + DEBUG_POS("Leveling ON", current_position); + else + DEBUG_POS("Leveling OFF", current_position); + } + }; + + _report_leveling(); + planner.synchronize(); + + // Get the corrected leveled / unleveled position + planner.apply_modifiers(current_position, true); // Physical position with all modifiers + planner.leveling_active ^= true; // Toggle leveling between apply and unapply + planner.unapply_modifiers(current_position, true); // Logical position with modifiers removed + + sync_plan_position(); + _report_leveling(); + } +} + +TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(planner.leveling_active) { + set_bed_leveling_enabled(enable); +} + +#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + + void set_z_fade_height(const_float_t zfh, const bool do_report/*=true*/) { + + if (planner.z_fade_height == zfh) return; + + const bool leveling_was_active = planner.leveling_active; + set_bed_leveling_enabled(false); + + planner.set_z_fade_height(zfh); + + if (leveling_was_active) { + const xyz_pos_t oldpos = current_position; + set_bed_leveling_enabled(true); + if (do_report && oldpos != current_position) + report_current_position(); + } + } + +#endif // ENABLE_LEVELING_FADE_HEIGHT + +/** + * Reset calibration results to zero. + */ +void reset_bed_level() { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level"); + IF_DISABLED(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(false)); + TERN_(HAS_MESH, bedlevel.reset()); + TERN_(ABL_PLANAR, planner.bed_level_matrix.set_to_identity()); +} + +#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING) + + /** + * Enable to produce output in JSON format suitable + * for SCAD or JavaScript mesh visualizers. + * + * Visualize meshes in OpenSCAD using the included script. + * + * buildroot/shared/scripts/MarlinMesh.scad + */ + //#define SCAD_MESH_OUTPUT + + /** + * Print calibration results for plotting or manual frame adjustment. + */ + void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values) { + #ifndef SCAD_MESH_OUTPUT + LOOP_L_N(x, sx) { + serial_spaces(precision + (x < 10 ? 3 : 2)); + SERIAL_ECHO(x); + } + SERIAL_EOL(); + #endif + #ifdef SCAD_MESH_OUTPUT + SERIAL_ECHOLNPGM("measured_z = ["); // open 2D array + #endif + LOOP_L_N(y, sy) { + #ifdef SCAD_MESH_OUTPUT + SERIAL_ECHOPGM(" ["); // open sub-array + #else + if (y < 10) SERIAL_CHAR(' '); + SERIAL_ECHO(y); + #endif + LOOP_L_N(x, sx) { + SERIAL_CHAR(' '); + #if ProUIex + const float offset = ProEx.getZvalues(sy, x, y, values); + #else + const float offset = values[x * sy + y]; + #endif + if (!isnan(offset)) { + if (offset >= 0) SERIAL_CHAR('+'); + SERIAL_ECHO_F(offset, int(precision)); + } + else { + #ifdef SCAD_MESH_OUTPUT + for (uint8_t i = 3; i < precision + 3; i++) + SERIAL_CHAR(' '); + SERIAL_ECHOPGM("NAN"); + #else + LOOP_L_N(i, precision + 3) + SERIAL_CHAR(i ? '=' : ' '); + #endif + } + #ifdef SCAD_MESH_OUTPUT + if (x < sx - 1) SERIAL_CHAR(','); + #endif + } + #ifdef SCAD_MESH_OUTPUT + SERIAL_ECHOPGM(" ]"); // close sub-array + if (y < sy - 1) SERIAL_CHAR(','); + #endif + SERIAL_EOL(); + } + #ifdef SCAD_MESH_OUTPUT + SERIAL_ECHOPGM("];"); // close 2D array + #endif + SERIAL_EOL(); + } + +#endif // AUTO_BED_LEVELING_BILINEAR || MESH_BED_LEVELING + +#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) + + void _manual_goto_xy(const xy_pos_t &pos) { + + // Get the resting Z position for after the XY move + #ifdef MANUAL_PROBE_START_Z + constexpr float finalz = _MAX(0, MANUAL_PROBE_START_Z); // If a MANUAL_PROBE_START_Z value is set, always respect it + #else + #warning "It's recommended to set some MANUAL_PROBE_START_Z value for manual leveling." + #endif + #if Z_CLEARANCE_BETWEEN_MANUAL_PROBES > 0 // A probe/obstacle clearance exists so there is a raise: + #ifndef MANUAL_PROBE_START_Z + const float finalz = current_position.z; // - Use the current Z for starting-Z if no MANUAL_PROBE_START_Z was provided + #endif + do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_MANUAL_PROBES); // - Raise Z, then move to the new XY + do_blocking_move_to_z(finalz); // - Lower down to the starting Z height, ready for adjustment! + #elif defined(MANUAL_PROBE_START_Z) // A starting-Z was provided, but there's no raise: + do_blocking_move_to_xy_z(pos, finalz); // - Move in XY then down to the starting Z height, ready for adjustment! + #else // Zero raise and no starting Z height either: + do_blocking_move_to_xy(pos); // - Move over with no raise, ready for adjustment! + #endif + + TERN_(LCD_BED_LEVELING, ui.wait_for_move = false); + } + +#endif // MESH_BED_LEVELING || PROBE_MANUALLY + +#endif // HAS_LEVELING diff --git a/Marlin/src/feature/bedlevel/bedlevel.h b/Marlin/src/feature/bedlevel/bedlevel.h new file mode 100644 index 0000000000..445fa5f81a --- /dev/null +++ b/Marlin/src/feature/bedlevel/bedlevel.h @@ -0,0 +1,103 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../inc/MarlinConfigPre.h" + +#if EITHER(RESTORE_LEVELING_AFTER_G28, ENABLE_LEVELING_AFTER_G28) + #define CAN_SET_LEVELING_AFTER_G28 1 +#endif + +#if ENABLED(PROBE_MANUALLY) + extern bool g29_in_progress; +#else + constexpr bool g29_in_progress = false; +#endif + +bool leveling_is_valid(); +void set_bed_leveling_enabled(const bool enable=true); +void reset_bed_level(); + +#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + void set_z_fade_height(const_float_t zfh, const bool do_report=true); +#endif + +#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY) + void _manual_goto_xy(const xy_pos_t &pos); +#endif + +/** + * A class to save and change the bed leveling state, + * then restore it when it goes out of scope. + */ +class TemporaryBedLevelingState { + bool saved; + public: + TemporaryBedLevelingState(const bool enable); + ~TemporaryBedLevelingState() { set_bed_leveling_enabled(saved); } +}; +#define TEMPORARY_BED_LEVELING_STATE(enable) const TemporaryBedLevelingState tbls(enable) + +#if HAS_MESH + + #if ProUIex + typedef float bed_mesh_t[GRID_LIMIT][GRID_LIMIT]; + #else + typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + #endif + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + #include "abl/bbl.h" + #elif ENABLED(AUTO_BED_LEVELING_UBL) + #include "ubl/ubl.h" + #elif ENABLED(MESH_BED_LEVELING) + #include "mbl/mesh_bed_leveling.h" + #endif + + #if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING) + + #include + + typedef float (*element_2d_fn)(const uint8_t, const uint8_t); + + /** + * Print calibration results for plotting or manual frame adjustment. + */ + void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values); + + #endif + + struct mesh_index_pair { + xy_int8_t pos; + float distance; // When populated, the distance from the search location + void invalidate() { pos = -1; } + bool valid() const { return pos.x >= 0 && pos.y >= 0; } + #if ENABLED(AUTO_BED_LEVELING_UBL) + xy_pos_t meshpos() { + return { bedlevel.get_mesh_x(pos.x), bedlevel.get_mesh_y(pos.y) }; + } + #endif + operator xy_int8_t&() { return pos; } + operator const xy_int8_t&() const { return pos; } + }; + +#endif diff --git a/Marlin/src/feature/bedlevel/hilbert_curve.cpp b/Marlin/src/feature/bedlevel/hilbert_curve.cpp new file mode 100644 index 0000000000..02fb8c9017 --- /dev/null +++ b/Marlin/src/feature/bedlevel/hilbert_curve.cpp @@ -0,0 +1,119 @@ +/********************* + * hilbert_curve.cpp * + *********************/ + +/**************************************************************************** + * Written By Marcio Teixeira 2021 - SynDaver Labs, Inc. * + * * + * This program is free software: you can redistribute it and/or modify * + * it under the terms of the GNU General Public License as published by * + * the Free Software Foundation, either version 3 of the License, or * + * (at your option) any later version. * + * * + * This program is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * + * GNU General Public License for more details. * + * * + * To view a copy of the GNU General Public License, go to the following * + * location: . * + ****************************************************************************/ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(UBL_HILBERT_CURVE) + +#include "bedlevel.h" +#include "hilbert_curve.h" + +#if ProUIex + int8_t to_fix(int8_t v) { return v * 2; } + int8_t to_int(int8_t v) { return v / 2; } + uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; } + uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; } + #define ord order(GRID_MAX_POINTS_X) + #define dim _BV(ord) +#else + constexpr int8_t to_fix(int8_t v) { return v * 2; } + constexpr int8_t to_int(int8_t v) { return v / 2; } + constexpr uint8_t log2(uint8_t n) { return (n > 1) ? 1 + log2(n >> 1) : 0; } + constexpr uint8_t order(uint8_t n) { return uint8_t(log2(n - 1)) + 1; } + constexpr uint8_t ord = order(_MAX(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y)); + constexpr uint8_t dim = _BV(ord); +#endif + +static inline bool eval_candidate(int8_t x, int8_t y, hilbert_curve::callback_ptr func, void *data) { + // The print bed likely has fewer points than the full Hilbert + // curve, so cull unnecessary points + return x < (GRID_MAX_POINTS_X) && y < (GRID_MAX_POINTS_Y) ? func(x, y, data) : false; +} + +bool hilbert_curve::hilbert(int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n, hilbert_curve::callback_ptr func, void *data) { + /** + * Hilbert space-filling curve implementation + * + * x and y : coordinates of the bottom left corner + * xi and xj : i and j components of the unit x vector of the frame + * yi and yj : i and j components of the unit y vector of the frame + * + * From: http://www.fundza.com/algorithmic/space_filling/hilbert/basics/index.html + */ + if (n) + return hilbert(x, y, yi/2, yj/2, xi/2, xj/2, n-1, func, data) || + hilbert(x+xi/2, y+xj/2, xi/2, xj/2, yi/2, yj/2, n-1, func, data) || + hilbert(x+xi/2+yi/2, y+xj/2+yj/2, xi/2, xj/2, yi/2, yj/2, n-1, func, data) || + hilbert(x+xi/2+yi, y+xj/2+yj, -yi/2, -yj/2, -xi/2, -xj/2, n-1, func, data); + else + return eval_candidate(to_int(x+(xi+yi)/2), to_int(y+(xj+yj)/2), func, data); +} + +/** + * Calls func(x, y, data) for all points in the Hilbert curve. + * If that function returns true, the search is terminated. + */ +bool hilbert_curve::search(hilbert_curve::callback_ptr func, void *data) { + return hilbert(to_fix(0), to_fix(0),to_fix(dim), to_fix(0), to_fix(0), to_fix(dim), ord, func, data); +} + +/* Helper function for starting the search at a particular point */ + +typedef struct { + uint8_t x, y; + bool found_1st; + hilbert_curve::callback_ptr func; + void *data; +} search_from_t; + +static bool search_from_helper(uint8_t x, uint8_t y, void *data) { + search_from_t *d = (search_from_t *) data; + if (d->x == x && d->y == y) + d->found_1st = true; + return d->found_1st ? d->func(x, y, d->data) : false; +} + +/** + * Same as search, except start at a specific grid intersection point. + */ +bool hilbert_curve::search_from(uint8_t x, uint8_t y, hilbert_curve::callback_ptr func, void *data) { + search_from_t d; + d.x = x; + d.y = y; + d.found_1st = false; + d.func = func; + d.data = data; + // Call twice to allow search to wrap back to the beginning and picked up points prior to the start. + return search(search_from_helper, &d) || search(search_from_helper, &d); +} + +/** + * Like search_from, but takes a bed position and starts from the nearest + * point on the Hilbert curve. + */ +bool hilbert_curve::search_from_closest(const xy_pos_t &pos, hilbert_curve::callback_ptr func, void *data) { + // Find closest grid intersection + const uint8_t grid_x = LROUND(constrain(float(pos.x - (MESH_MIN_X)) / (MESH_X_DIST), 0, (GRID_MAX_POINTS_X) - 1)); + const uint8_t grid_y = LROUND(constrain(float(pos.y - (MESH_MIN_Y)) / (MESH_Y_DIST), 0, (GRID_MAX_POINTS_Y) - 1)); + return search_from(grid_x, grid_y, func, data); +} + +#endif // UBL_HILBERT_CURVE diff --git a/Marlin/src/feature/bedlevel/hilbert_curve.h b/Marlin/src/feature/bedlevel/hilbert_curve.h new file mode 100644 index 0000000000..a5dce8a22d --- /dev/null +++ b/Marlin/src/feature/bedlevel/hilbert_curve.h @@ -0,0 +1,32 @@ +/******************* + * hilbert_curve.h * + *******************/ + +/**************************************************************************** + * Written By Marcio Teixeira 2021 - SynDaver Labs, Inc. * + * * + * This program is free software: you can redistribute it and/or modify * + * it under the terms of the GNU General Public License as published by * + * the Free Software Foundation, either version 3 of the License, or * + * (at your option) any later version. * + * * + * This program is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * + * GNU General Public License for more details. * + * * + * To view a copy of the GNU General Public License, go to the following * + * location: . * + ****************************************************************************/ + +#pragma once + +class hilbert_curve { + public: + typedef bool (*callback_ptr)(uint8_t x, uint8_t y, void *data); + static bool search(callback_ptr func, void *data); + static bool search_from(uint8_t x, uint8_t y, callback_ptr func, void *data); + static bool search_from_closest(const xy_pos_t &pos, callback_ptr func, void *data); + private: + static bool hilbert(int8_t x, int8_t y, int8_t xi, int8_t xj, int8_t yi, int8_t yj, uint8_t n, callback_ptr func, void *data); +}; diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp new file mode 100644 index 0000000000..d89798aa99 --- /dev/null +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp @@ -0,0 +1,137 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(MESH_BED_LEVELING) + + #include "../bedlevel.h" + + #include "../../../module/motion.h" + + #if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" + #endif + + mesh_bed_leveling bedlevel; + + float mesh_bed_leveling::z_offset, + #if ProUIex + mesh_bed_leveling::z_values[GRID_LIMIT][GRID_LIMIT], + mesh_bed_leveling::index_to_xpos[GRID_LIMIT], + mesh_bed_leveling::index_to_ypos[GRID_LIMIT]; + #else + 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]; + #endif + + mesh_bed_leveling::mesh_bed_leveling() { + LOOP_L_N(i, GRID_MAX_POINTS_X) + index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST); + LOOP_L_N(i, GRID_MAX_POINTS_Y) + index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST); + reset(); + } + + void mesh_bed_leveling::reset() { + z_offset = 0; + ZERO(z_values); + #if ENABLED(EXTENSIBLE_UI) + GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0); + #endif + } + + #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) + + /** + * Prepare a mesh-leveled linear move in a Cartesian setup, + * splitting the move where it crosses mesh borders. + */ + void mesh_bed_leveling::line_to_destination(const_feedRate_t scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) { + // Get current and destination cells for this line + xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination); + NOMORE(scel.x, GRID_MAX_CELLS_X - 1); + NOMORE(scel.y, GRID_MAX_CELLS_Y - 1); + NOMORE(ecel.x, GRID_MAX_CELLS_X - 1); + NOMORE(ecel.y, GRID_MAX_CELLS_Y - 1); + + // Start and end in the same cell? No split needed. + if (scel == ecel) { + current_position = destination; + line_to_current_position(scaled_fr_mm_s); + return; + } + + #define MBL_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist) + + float normalized_dist; + xyze_pos_t dest; + const int8_t gcx = _MAX(scel.x, ecel.x), gcy = _MAX(scel.y, ecel.y); + + // Crosses on the X and not already split on this X? + // The x_splits flags are insurance against rounding errors. + if (ecel.x != scel.x && TEST(x_splits, gcx)) { + // Split on the X grid line + CBI(x_splits, gcx); + dest = destination; + destination.x = index_to_xpos[gcx]; + normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x); + destination.y = MBL_SEGMENT_END(y); + } + // Crosses on the Y and not already split on this Y? + else if (ecel.y != scel.y && TEST(y_splits, gcy)) { + // Split on the Y grid line + CBI(y_splits, gcy); + dest = destination; + destination.y = index_to_ypos[gcy]; + normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y); + destination.x = MBL_SEGMENT_END(x); + } + else { + // Must already have been split on these border(s) + // This should be a rare case. + current_position = destination; + line_to_current_position(scaled_fr_mm_s); + return; + } + + destination.z = MBL_SEGMENT_END(z); + destination.e = MBL_SEGMENT_END(e); + + // Do the split and look for more borders + line_to_destination(scaled_fr_mm_s, x_splits, y_splits); + + // Restore destination from stack + destination = dest; + line_to_destination(scaled_fr_mm_s, x_splits, y_splits); + } + + #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES + + void mesh_bed_leveling::report_mesh() { + SERIAL_ECHOPAIR_F(STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh. Z offset: ", z_offset, 5); + SERIAL_ECHOLNPGM("\nMeasured points:"); + print_2d_array(GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y, 5, z_values[0]); + } + +#endif // MESH_BED_LEVELING diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h new file mode 100644 index 0000000000..706a08b4f1 --- /dev/null +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h @@ -0,0 +1,131 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../../inc/MarlinConfig.h" + +enum MeshLevelingState : char { + MeshReport, // G29 S0 + MeshStart, // G29 S1 + MeshNext, // G29 S2 + MeshSet, // G29 S3 + MeshSetZOffset, // G29 S4 + MeshReset // G29 S5 +}; + +#define MESH_X_DIST (float((MESH_MAX_X) - (MESH_MIN_X)) / (GRID_MAX_CELLS_X)) +#define MESH_Y_DIST (float((MESH_MAX_Y) - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y)) + +class mesh_bed_leveling { +public: + static float z_offset, + #if ProUIex + z_values[GRID_LIMIT][GRID_LIMIT], + index_to_xpos[GRID_LIMIT], + index_to_ypos[GRID_LIMIT]; + #else + z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], + index_to_xpos[GRID_MAX_POINTS_X], + index_to_ypos[GRID_MAX_POINTS_Y]; + #endif + + mesh_bed_leveling(); + + static void report_mesh(); + + static void reset(); + + FORCE_INLINE static bool has_mesh() { + GRID_LOOP(x, y) if (z_values[x][y]) return true; + return false; + } + + static bool mesh_is_valid() { return has_mesh(); } + + static void set_z(const int8_t px, const int8_t py, const_float_t z) { z_values[px][py] = z; } + + static 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_t z) { + int8_t px, py; + zigzag(index, px, py); + set_z(px, py, z); + } + + static float get_mesh_x(const uint8_t i) { return index_to_xpos[i]; } + static float get_mesh_y(const uint8_t i) { return index_to_ypos[i]; } + + static int8_t cell_index_x(const_float_t x) { + int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST); + return constrain(cx, 0, GRID_MAX_CELLS_X - 1); + } + static int8_t cell_index_y(const_float_t y) { + int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST); + return constrain(cy, 0, GRID_MAX_CELLS_Y - 1); + } + static xy_int8_t cell_indexes(const_float_t x, const_float_t y) { + return { cell_index_x(x), cell_index_y(y) }; + } + static xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } + + static int8_t probe_index_x(const_float_t x) { + int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST); + return WITHIN(px, 0, (GRID_MAX_POINTS_X) - 1) ? px : -1; + } + static int8_t probe_index_y(const_float_t y) { + int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST); + return WITHIN(py, 0, (GRID_MAX_POINTS_Y) - 1) ? py : -1; + } + static xy_int8_t probe_indexes(const_float_t x, const_float_t y) { + return { probe_index_x(x), probe_index_y(y) }; + } + static xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); } + + static float calc_z0(const_float_t a0, const_float_t a1, const_float_t z1, const_float_t a2, const_float_t z2) { + const float delta_z = (z2 - z1) / (a2 - a1), + delta_a = a0 - a1; + return z1 + delta_a * delta_z; + } + + static float get_z_offset() { return z_offset; } + + static float get_z_correction(const xy_pos_t &pos) { + const xy_int8_t ind = cell_indexes(pos); + const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1], + y1 = index_to_ypos[ind.y], y2 = index_to_ypos[ind.y+1], + z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y ], x2, z_values[ind.x+1][ind.y ]), + z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]), + zf = calc_z0(pos.y, y1, z1, y2, z2); + + return zf; + } + + #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) + static void line_to_destination(const_feedRate_t scaled_fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF); + #endif +}; + +extern mesh_bed_leveling bedlevel; diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp new file mode 100644 index 0000000000..c3e67d7523 --- /dev/null +++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp @@ -0,0 +1,307 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) + +#include "../bedlevel.h" + +unified_bed_leveling bedlevel; + +#include "../../../MarlinCore.h" +#include "../../../gcode/gcode.h" + +#include "../../../module/settings.h" +#include "../../../module/planner.h" +#include "../../../module/motion.h" +#include "../../../module/probe.h" +#include "../../../module/temperature.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#endif + +#include "math.h" + +void unified_bed_leveling::echo_name() { SERIAL_ECHOPGM("Unified Bed Leveling"); } + +void unified_bed_leveling::report_current_mesh() { + if (!leveling_is_valid()) return; + SERIAL_ECHO_MSG(" G29 I999"); + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(" M421 I", x, " J", y); + SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, z_values[x][y], 4); + serial_delay(75); // Prevent Printrun from exploding + } +} + +void unified_bed_leveling::report_state() { + echo_name(); + SERIAL_ECHO_TERNARY(planner.leveling_active, " System v" UBL_VERSION " ", "", "in", "active\n"); + serial_delay(50); +} + +int8_t unified_bed_leveling::storage_slot; + +#if ProUIex + float unified_bed_leveling::z_values[GRID_LIMIT][GRID_LIMIT]; +#else + float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; +#endif + + +#if DISABLED(ProUIex) + #define _GRIDPOS(A,N) (MESH_MIN_##A + N * (MESH_##A##_DIST)) + + const float + unified_bed_leveling::_mesh_index_to_xpos[GRID_MAX_POINTS_X] PROGMEM = ARRAY_N(GRID_MAX_POINTS_X, + _GRIDPOS(X, 0), _GRIDPOS(X, 1), _GRIDPOS(X, 2), _GRIDPOS(X, 3), + _GRIDPOS(X, 4), _GRIDPOS(X, 5), _GRIDPOS(X, 6), _GRIDPOS(X, 7), + _GRIDPOS(X, 8), _GRIDPOS(X, 9), _GRIDPOS(X, 10), _GRIDPOS(X, 11), + _GRIDPOS(X, 12), _GRIDPOS(X, 13), _GRIDPOS(X, 14), _GRIDPOS(X, 15) + ), + unified_bed_leveling::_mesh_index_to_ypos[GRID_MAX_POINTS_Y] PROGMEM = ARRAY_N(GRID_MAX_POINTS_Y, + _GRIDPOS(Y, 0), _GRIDPOS(Y, 1), _GRIDPOS(Y, 2), _GRIDPOS(Y, 3), + _GRIDPOS(Y, 4), _GRIDPOS(Y, 5), _GRIDPOS(Y, 6), _GRIDPOS(Y, 7), + _GRIDPOS(Y, 8), _GRIDPOS(Y, 9), _GRIDPOS(Y, 10), _GRIDPOS(Y, 11), + _GRIDPOS(Y, 12), _GRIDPOS(Y, 13), _GRIDPOS(Y, 14), _GRIDPOS(Y, 15) + ); +#endif + +volatile int16_t unified_bed_leveling::encoder_diff; + +unified_bed_leveling::unified_bed_leveling() { reset(); } + +void unified_bed_leveling::reset() { + const bool was_enabled = planner.leveling_active; + set_bed_leveling_enabled(false); + storage_slot = -1; + ZERO(z_values); + #if ENABLED(EXTENSIBLE_UI) + GRID_LOOP(x, y) ExtUI::onMeshUpdate(x, y, 0); + #endif + if (was_enabled) report_current_position(); +} + +void unified_bed_leveling::invalidate() { + set_bed_leveling_enabled(false); + set_all_mesh_points_to_value(NAN); +} + +void unified_bed_leveling::set_all_mesh_points_to_value(const_float_t value) { + GRID_LOOP(x, y) { + z_values[x][y] = value; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, value)); + } +} + +#if ENABLED(OPTIMIZED_MESH_STORAGE) + + constexpr float mesh_store_scaling = 1000; + constexpr int16_t Z_STEPS_NAN = INT16_MAX; + + void unified_bed_leveling::set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values) { + auto z_to_store = [](const_float_t z) { + if (isnan(z)) return Z_STEPS_NAN; + const int32_t z_scaled = TRUNC(z * mesh_store_scaling); + if (z_scaled == Z_STEPS_NAN || !WITHIN(z_scaled, INT16_MIN, INT16_MAX)) + return Z_STEPS_NAN; // If Z is out of range, return our custom 'NaN' + return int16_t(z_scaled); + }; + GRID_LOOP(x, y) stored_values[x][y] = z_to_store(in_values[x][y]); + } + + void unified_bed_leveling::set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values) { + auto store_to_z = [](const int16_t z_scaled) { + return z_scaled == Z_STEPS_NAN ? NAN : z_scaled / mesh_store_scaling; + }; + GRID_LOOP(x, y) out_values[x][y] = store_to_z(stored_values[x][y]); + } + +#endif // OPTIMIZED_MESH_STORAGE + +static void serial_echo_xy(const uint8_t sp, const int16_t x, const int16_t y) { + SERIAL_ECHO_SP(sp); + SERIAL_CHAR('('); + if (x < 100) { SERIAL_CHAR(' '); if (x < 10) SERIAL_CHAR(' '); } + SERIAL_ECHO(x); + SERIAL_CHAR(','); + if (y < 100) { SERIAL_CHAR(' '); if (y < 10) SERIAL_CHAR(' '); } + SERIAL_ECHO(y); + SERIAL_CHAR(')'); + serial_delay(5); +} + +static void serial_echo_column_labels(const uint8_t sp) { + SERIAL_ECHO_SP(7); + LOOP_L_N(i, GRID_MAX_POINTS_X) { + if (i < 10) SERIAL_CHAR(' '); + SERIAL_ECHO(i); + SERIAL_ECHO_SP(sp); + } + serial_delay(10); +} + +/** + * Produce one of these mesh maps: + * 0: Human-readable + * 1: CSV format for spreadsheet import + * 2: TODO: Display on Graphical LCD + * 4: Compact Human-Readable + */ +void unified_bed_leveling::display_map(const uint8_t map_type) { + const bool was = gcode.set_autoreport_paused(true); + + IF_DISABLED(ProUIex, constexpr) uint8_t eachsp = 1 + 6 + 1, // [-3.567] + twixt = eachsp * (GRID_MAX_POINTS_X) - 9 * 2; // Leading 4sp, Coordinates 9sp each + + const bool human = !(map_type & 0x3), csv = map_type == 1, lcd = map_type == 2, comp = map_type & 0x4; + + SERIAL_ECHOPGM("\nBed Topography Report"); + if (human) { + SERIAL_ECHOLNPGM(":\n"); + serial_echo_xy(4, MESH_MIN_X, MESH_MAX_Y); + serial_echo_xy(twixt, MESH_MAX_X, MESH_MAX_Y); + SERIAL_EOL(); + serial_echo_column_labels(eachsp - 2); + } + else + SERIAL_ECHOPGM(" for ", csv ? F("CSV:\n") : F("LCD:\n")); + + // Add XY probe offset from extruder because probe.probe_at_point() subtracts them when + // moving to the XY position to be measured. This ensures better agreement between + // the current Z position after G28 and the mesh values. + const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + probe.offset_xy); + + if (!lcd) SERIAL_EOL(); + for (int8_t j = (GRID_MAX_POINTS_Y) - 1; j >= 0; j--) { + + // Row Label (J index) + if (human) { + if (j < 10) SERIAL_CHAR(' '); + SERIAL_ECHO(j); + SERIAL_ECHOPGM(" |"); + } + + // Row Values (I indexes) + LOOP_L_N(i, GRID_MAX_POINTS_X) { + + // Opening Brace or Space + const bool is_current = i == curr.x && j == curr.y; + if (human) SERIAL_CHAR(is_current ? '[' : ' '); + + // Z Value at current I, J + const float f = z_values[i][j]; + if (lcd) { + // TODO: Display on Graphical LCD + } + else if (isnan(f)) + SERIAL_ECHOF(human ? F(" . ") : F("NAN")); + else if (human || csv) { + if (human && f >= 0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0) + SERIAL_DECIMAL(f); // Positive: 5 digits, Negative: 6 digits + } + if (csv && i < (GRID_MAX_POINTS_X) - 1) SERIAL_CHAR('\t'); + + // Closing Brace or Space + if (human) SERIAL_CHAR(is_current ? ']' : ' '); + + SERIAL_FLUSHTX(); + idle_no_sleep(); + } + if (!lcd) SERIAL_EOL(); + + // A blank line between rows (unless compact) + if (j && human && !comp) SERIAL_ECHOLNPGM(" |"); + } + + if (human) { + serial_echo_column_labels(eachsp - 2); + SERIAL_EOL(); + serial_echo_xy(4, MESH_MIN_X, MESH_MIN_Y); + serial_echo_xy(twixt, MESH_MAX_X, MESH_MIN_Y); + SERIAL_EOL(); + SERIAL_EOL(); + } + + gcode.set_autoreport_paused(was); +} + +bool unified_bed_leveling::sanity_check() { + uint8_t error_flag = 0; + + if (settings.calc_num_meshes() < 1) { + SERIAL_ECHOLNPGM("?Mesh too big for EEPROM."); + error_flag++; + } + + return !!error_flag; +} + +#if ENABLED(UBL_MESH_WIZARD) + + /** + * M1004: UBL Mesh Wizard - One-click mesh creation with or without a probe + */ + void GcodeSuite::M1004() { + + #define ALIGN_GCODE TERN(Z_STEPPER_AUTO_ALIGN, "G34\n", "") + #define PROBE_GCODE TERN(HAS_BED_PROBE, "G29P1\nG29P3", "G29P4R") + + #if HAS_HOTEND + if (parser.seenval('H')) { // Handle H# parameter to set Hotend temp + const celsius_t hotend_temp = parser.value_int(); // Marlin never sends itself F or K, always C + thermalManager.setTargetHotend(hotend_temp, 0); + thermalManager.wait_for_hotend(false); + } + #endif + + #if HAS_HEATED_BED + if (parser.seenval('B')) { // Handle B# parameter to set Bed temp + const celsius_t bed_temp = parser.value_int(); // Marlin never sends itself F or K, always C + thermalManager.setTargetBed(bed_temp); + thermalManager.wait_for_bed(false); + } + #endif + + process_subcommands_now(FPSTR(G28_STR)); // Home + process_subcommands_now(F(ALIGN_GCODE // Align multi z axis if available + PROBE_GCODE "\n" // Build mesh with available hardware + "G29P3\nG29P3")); // Ensure mesh is complete by running smart fill twice + + if (parser.seenval('S')) { + char umw_gcode[32]; + sprintf_P(umw_gcode, PSTR("G29S%i"), parser.value_int()); + queue.inject(umw_gcode); + } + + process_subcommands_now(F("G29A\nG29F10\n" // Set UBL Active & Fade 10 + "M140S0\nM104S0\n" // Turn off heaters + "M500")); // Store settings + } + +#endif // UBL_MESH_WIZARD + +#endif // AUTO_BED_LEVELING_UBL diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.h b/Marlin/src/feature/bedlevel/ubl/ubl.h new file mode 100644 index 0000000000..6c0dfa6d54 --- /dev/null +++ b/Marlin/src/feature/bedlevel/ubl/ubl.h @@ -0,0 +1,327 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +//#define UBL_DEVEL_DEBUGGING + +#include "../../../module/motion.h" + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../../core/debug_out.h" + +#define UBL_VERSION "1.01" +#define UBL_OK false +#define UBL_ERR true + +enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST }; + +// External references + +struct mesh_index_pair; + +#define MESH_X_DIST (float((MESH_MAX_X) - (MESH_MIN_X)) / (GRID_MAX_CELLS_X)) +#define MESH_Y_DIST (float((MESH_MAX_Y) - (MESH_MIN_Y)) / (GRID_MAX_CELLS_Y)) + +#if ENABLED(OPTIMIZED_MESH_STORAGE) + #if ProUIex + typedef int16_t mesh_store_t[GRID_LIMIT][GRID_LIMIT]; + #else + typedef int16_t mesh_store_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + #endif +#endif + +typedef struct { + bool C_seen; + int8_t KLS_storage_slot; + uint8_t R_repetition, + V_verbosity, + P_phase, + T_map_type; + float B_shim_thickness, + C_constant; + xy_pos_t XY_pos; + xy_bool_t XY_seen; + #if HAS_BED_PROBE + uint8_t J_grid_size; + #endif +} G29_parameters_t; + +class unified_bed_leveling { +private: + + static G29_parameters_t param; + + #if IS_NEWPANEL + static void move_z_with_encoder(const_float_t multiplier); + static float measure_point_with_encoder(); + static float measure_business_card_thickness(); + static void manually_probe_remaining_mesh(const xy_pos_t&, const_float_t , const_float_t , const bool) __O0; + static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) __O0; + #endif + + static bool G29_parse_parameters() __O0; + static void shift_mesh_height(); + static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) __O0; + static void tilt_mesh_based_on_3pts(const_float_t z1, const_float_t z2, const_float_t z3); + static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map); + static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); + static bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) { + return smart_fill_one(pos.x, pos.y, dir.x, dir.y); + } + + #if ENABLED(UBL_DEVEL_DEBUGGING) + static void g29_what_command(); + static void g29_eeprom_dump(); + static void g29_compare_current_mesh_to_stored_mesh(); + #endif + +public: + + static void echo_name(); + static void report_current_mesh(); + 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 uint8_t) __O0; + static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) __O0; + static mesh_index_pair find_furthest_invalid_mesh_point() __O0; + static void reset(); + static void invalidate(); + static void set_all_mesh_points_to_value(const_float_t value); + static void adjust_mesh_to_mean(const bool cflag, const_float_t value); + static bool sanity_check(); + static void smart_fill_mesh(); + + static void G29() __O0; // O0 for no optimization + static void smart_fill_wlsf(const_float_t ) __O2; // O2 gives smaller code than Os on A2560 + + static int8_t storage_slot; + + static bed_mesh_t z_values; + #if ENABLED(OPTIMIZED_MESH_STORAGE) + static void set_store_from_mesh(const bed_mesh_t &in_values, mesh_store_t &stored_values); + static void set_mesh_from_store(const mesh_store_t &stored_values, bed_mesh_t &out_values); + #endif + #if DISABLED(ProUIex) + static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X], + _mesh_index_to_ypos[GRID_MAX_POINTS_Y]; + #endif + + #if HAS_MARLINUI_MENU + static bool lcd_map_control; + static void steppers_were_disabled(); + #else + static void steppers_were_disabled() {} + #endif + + static volatile int16_t encoder_diff; // Volatile because buttons may change it at interrupt time + + unified_bed_leveling(); + + FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const_float_t z) { z_values[px][py] = z; } + + static int8_t cell_index_x_raw(const_float_t x) { + return FLOOR((x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)); + } + + static int8_t cell_index_y_raw(const_float_t y) { + return FLOOR((y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST)); + } + + static int8_t cell_index_x_valid(const_float_t x) { + return WITHIN(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1); + } + + static int8_t cell_index_y_valid(const_float_t y) { + return WITHIN(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1); + } + + static int8_t cell_index_x(const_float_t x) { + return constrain(cell_index_x_raw(x), 0, GRID_MAX_CELLS_X - 1); + } + + static int8_t cell_index_y(const_float_t y) { + return constrain(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1); + } + + static xy_int8_t cell_indexes(const_float_t x, const_float_t y) { + return { cell_index_x(x), cell_index_y(y) }; + } + static xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); } + + static int8_t closest_x_index(const_float_t x) { + const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST); + return WITHIN(px, 0, (GRID_MAX_POINTS_X) - 1) ? px : -1; + } + static int8_t closest_y_index(const_float_t y) { + const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST); + return WITHIN(py, 0, (GRID_MAX_POINTS_Y) - 1) ? py : -1; + } + static xy_int8_t closest_indexes(const xy_pos_t &xy) { + return { closest_x_index(xy.x), closest_y_index(xy.y) }; + } + + /** + * 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_t a0, const_float_t a1, const_float_t z1, const_float_t a2, const_float_t z2) { + return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1); + } + + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + #define _UBL_OUTER_Z_RAISE UBL_Z_RAISE_WHEN_OFF_MESH + #else + #define _UBL_OUTER_Z_RAISE NAN + #endif + + /** + * 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. + */ + static float z_correction_for_x_on_horizontal_mesh_line(const_float_t rx0, const int x1_i, const int yi) { + if (!WITHIN(x1_i, 0, (GRID_MAX_POINTS_X) - 1) || !WITHIN(yi, 0, (GRID_MAX_POINTS_Y) - 1)) { + + if (DEBUGGING(LEVELING)) { + if (WITHIN(x1_i, 0, (GRID_MAX_POINTS_X) - 1)) DEBUG_ECHOPGM("yi"); else DEBUG_ECHOPGM("x1_i"); + DEBUG_ECHOLNPGM(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")"); + } + + // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. + return _UBL_OUTER_Z_RAISE; + } + + const float xratio = (rx0 - get_mesh_x(x1_i)) * RECIPROCAL(MESH_X_DIST), + z1 = z_values[x1_i][yi]; + + return z1 + xratio * (z_values[_MIN(x1_i, (GRID_MAX_POINTS_X) - 2) + 1][yi] - z1); // Don't allow x1_i+1 to be past the end of the array + // If it is, it is clamped to the last element of the + // z_values[][] array and no correction is applied. + } + + // + // See comments above for z_correction_for_x_on_horizontal_mesh_line + // + static float z_correction_for_y_on_vertical_mesh_line(const_float_t ry0, const int xi, const int y1_i) { + if (!WITHIN(xi, 0, (GRID_MAX_POINTS_X) - 1) || !WITHIN(y1_i, 0, (GRID_MAX_POINTS_Y) - 1)) { + + if (DEBUGGING(LEVELING)) { + if (WITHIN(xi, 0, (GRID_MAX_POINTS_X) - 1)) DEBUG_ECHOPGM("y1_i"); else DEBUG_ECHOPGM("xi"); + DEBUG_ECHOLNPGM(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")"); + } + + // The requested location is off the mesh. Return UBL_Z_RAISE_WHEN_OFF_MESH or NAN. + return _UBL_OUTER_Z_RAISE; + } + + const float yratio = (ry0 - get_mesh_y(y1_i)) * RECIPROCAL(MESH_Y_DIST), + z1 = z_values[xi][y1_i]; + + return z1 + yratio * (z_values[xi][_MIN(y1_i, (GRID_MAX_POINTS_Y) - 2) + 1] - z1); // Don't allow y1_i+1 to be past the end of the array + // If it is, it is clamped to the last element of the + // z_values[][] array and no correction is applied. + } + + /** + * 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_t rx0, const_float_t ry0) { + const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped + + /** + * Check if the requested location is off the mesh. If so, and + * UBL_Z_RAISE_WHEN_OFF_MESH is specified, that value is returned. + */ + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + if (!WITHIN(rx0, MESH_MIN_X, MESH_MAX_X) || !WITHIN(ry0, MESH_MIN_Y, MESH_MAX_Y)) + return UBL_Z_RAISE_WHEN_OFF_MESH; + #endif + + const uint8_t mx = _MIN(cx, (GRID_MAX_POINTS_X) - 2) + 1, my = _MIN(cy, (GRID_MAX_POINTS_Y) - 2) + 1; + const float x0 = get_mesh_x(cx), x1 = get_mesh_x(cx + 1), + z1 = calc_z0(rx0, x0, z_values[cx][cy], x1, z_values[mx][cy]), + z2 = calc_z0(rx0, x0, z_values[cx][my], x1, z_values[mx][my]); + float z0 = calc_z0(ry0, get_mesh_y(cy), z1, get_mesh_y(cy + 1), z2); + + if (isnan(z0)) { // If part of the Mesh is undefined, it will show up as NAN + z0 = 0.0; // 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 + // needed to complete the height correction. + + if (DEBUGGING(MESH_ADJUST)) DEBUG_ECHOLNPGM("??? Yikes! NAN in "); + } + + if (DEBUGGING(MESH_ADJUST)) { + DEBUG_ECHOPGM("get_z_correction(", rx0, ", ", ry0); + DEBUG_ECHOLNPAIR_F(") => ", z0, 6); + } + + return z0; + } + static float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } + + static constexpr float get_z_offset() { return 0.0f; } + + #if ProUIex + static float get_mesh_x(const uint8_t i); + static float get_mesh_y(const uint8_t i); + #else + static float get_mesh_x(const uint8_t i) { + return i < (GRID_MAX_POINTS_X) ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST); + } + static float get_mesh_y(const uint8_t i) { + return i < (GRID_MAX_POINTS_Y) ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST); + } + #endif + + #if UBL_SEGMENTED + static bool line_to_destination_segmented(const_feedRate_t scaled_fr_mm_s); + #else + static void line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t e); + #endif + + static bool mesh_is_valid() { + GRID_LOOP(x, y) if (isnan(z_values[x][y])) return false; + return true; + } + +}; // class unified_bed_leveling + +extern unified_bed_leveling bedlevel; + +// Prevent debugging propagating to other files +#include "../../../core/debug_out.h" diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp new file mode 100644 index 0000000000..5dd6ada3a4 --- /dev/null +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -0,0 +1,1926 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) + +#include "../bedlevel.h" + +#include "../../../MarlinCore.h" +#include "../../../HAL/shared/eeprom_api.h" +#include "../../../libs/hex_print.h" +#include "../../../module/settings.h" +#include "../../../lcd/marlinui.h" +#include "../../../module/planner.h" +#include "../../../module/motion.h" +#include "../../../module/probe.h" +#include "../../../gcode/gcode.h" +#include "../../../libs/least_squares_fit.h" + +#if HAS_MULTI_HOTEND + #include "../../../module/tool_change.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../../core/debug_out.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#endif + +#if ENABLED(UBL_HILBERT_CURVE) + #include "../hilbert_curve.h" +#endif + +#include + +#define UBL_G29_P31 + +#if HAS_MARLINUI_MENU + + bool unified_bed_leveling::lcd_map_control = false; + + void unified_bed_leveling::steppers_were_disabled() { + if (lcd_map_control) { + lcd_map_control = false; + ui.defer_status_screen(false); + } + } + + void ubl_map_screen(); + +#endif + +#define SIZE_OF_LITTLE_RAISE 1 +#define BIG_RAISE_NOT_NEEDED 0 + +/** + * G29: Unified Bed Leveling by Roxy + * + * Parameters understood by this leveling system: + * + * A Activate Activate the Unified Bed Leveling system. + * + * B # Business Use the 'Business Card' mode of the Manual Probe subsystem with P2. + * Note: A non-compressible Spark Gap feeler gauge is recommended over a business card. + * In this mode of G29 P2, a business or index card is used as a shim that the nozzle can + * grab onto as it is lowered. In principle, the nozzle-bed distance is the same when the + * same resistance is felt in the shim. You can omit the numerical value on first invocation + * of G29 P2 B to measure shim thickness. Subsequent use of 'B' will apply the previously- + * measured thickness by default. + * + * C Continue G29 P1 C continues the generation of a partially-constructed Mesh without invalidating + * previous measurements. + * + * C G29 P2 C tells the Manual Probe subsystem to not use the current nozzle + * location in its search for the closest unmeasured Mesh Point. Instead, attempt to + * start at one end of the uprobed points and Continue sequentially. + * + * G29 P3 C specifies the Constant for the fill. Otherwise, uses a "reasonable" value. + * + * C Current G29 Z C uses the Current location (instead of bed center or nearest edge). + * + * D Disable Disable the Unified Bed Leveling system. + * + * E Stow_probe Stow the probe after each sampled point. + * + * F # Fade Fade the amount of Mesh Based Compensation over a specified height. At the + * specified height, no correction is applied and natural printer kenimatics take over. If no + * number is specified for the command, 10mm is assumed to be reasonable. + * + * H # Height With P2, 'H' specifies the Height to raise the nozzle after each manual probe of the bed. + * If omitted, the nozzle will raise by Z_CLEARANCE_BETWEEN_PROBES. + * + * H # Offset With P4, 'H' specifies the Offset above the mesh height to place the nozzle. + * If omitted, Z_CLEARANCE_BETWEEN_PROBES will be used. + * + * I # Invalidate Invalidate the specified number of Mesh Points near the given 'X' 'Y'. If X or Y are omitted, + * the nozzle location is used. If no 'I' value is given, only the point nearest to the location + * is invalidated. Use 'T' to produce a map afterward. This command is useful to invalidate a + * portion of the Mesh so it can be adjusted using other UBL tools. When attempting to invalidate + * an isolated bad mesh point, the 'T' option shows the nozzle position in the Mesh with (#). You + * can move the nozzle around and use this feature to select the center of the area (or cell) to + * invalidate. + * + * J # Grid Perform a Grid Based Leveling of the current Mesh using a grid with n points on a side. + * Not specifying a grid size will invoke the 3-Point leveling function. + * + * L Load Load Mesh from the previously activated location in the EEPROM. + * + * L # Load Load Mesh from the specified location in the EEPROM. Set this location as activated + * for subsequent Load and Store operations. + * + * The P or Phase commands are used for the bulk of the work to setup a Mesh. In general, your Mesh will + * start off being initialized with a G29 P0 or a G29 P1. Further refinement of the Mesh happens with + * each additional Phase that processes it. + * + * P0 Phase 0 Zero Mesh Data and turn off the Mesh Compensation System. This reverts the + * 3D Printer to the same state it was in before the Unified Bed Leveling Compensation + * was turned on. Setting the entire Mesh to Zero is a special case that allows + * a subsequent G or T leveling operation for backward compatibility. + * + * P1 Phase 1 Invalidate entire Mesh and continue with automatic generation of the Mesh data using + * the Z-Probe. Usually the probe can't reach all areas that the nozzle can reach. For delta + * printers only the areas where the probe and nozzle can both reach will be automatically probed. + * + * Unreachable points will be handled in Phase 2 and Phase 3. + * + * Use 'C' to leave the previous mesh intact and automatically probe needed points. This allows you + * to invalidate parts of the Mesh but still use Automatic Probing. + * + * The 'X' and 'Y' parameters prioritize where to try and measure points. If omitted, the current + * probe position is used. + * + * Use 'T' (Topology) to generate a report of mesh generation. + * + * P1 will suspend Mesh generation if the controller button is held down. Note that you may need + * to press and hold the switch for several seconds if moves are underway. + * + * P2 Phase 2 Probe unreachable points. + * + * Use 'H' to set the height between Mesh points. If omitted, Z_CLEARANCE_BETWEEN_PROBES is used. + * Smaller values will be quicker. Move the nozzle down till it barely touches the bed. Make sure the + * nozzle is clean and unobstructed. Use caution and move slowly. This can damage your printer! + * (Uses SIZE_OF_LITTLE_RAISE mm if the nozzle is moving less than BIG_RAISE_NOT_NEEDED mm.) + * + * The 'H' value can be negative if the Mesh dips in a large area. Press and hold the + * controller button to terminate the current Phase 2 command. You can then re-issue "G29 P 2" + * with an 'H' parameter more suitable for the area you're manually probing. Note that the command + * tries to start in a corner of the bed where movement will be predictable. Override the distance + * calculation location with the X and Y parameters. You can print a Mesh Map (G29 T) to see where + * the mesh is invalidated and where the nozzle needs to move to complete the command. Use 'C' to + * indicate that the search should be based on the current position. + * + * The 'B' parameter for this command is described above. It places the manual probe subsystem into + * Business Card mode where the thickness of a business card is measured and then used to accurately + * set the nozzle height in all manual probing for the duration of the command. A Business card can + * be used, but you'll get better results with a flexible Shim that doesn't compress. This makes it + * easier to produce similar amounts of force and get more accurate measurements. Google if you're + * not sure how to use a shim. + * + * The 'T' (Map) parameter helps track Mesh building progress. + * + * NOTE: P2 requires an LCD controller! + * + * P3 Phase 3 Fill the unpopulated regions of the Mesh with a fixed value. There are two different paths to + * go down: + * + * - If a 'C' constant is specified, the closest invalid mesh points to the nozzle will be filled, + * and a repeat count can then also be specified with 'R'. + * + * - Leaving out 'C' invokes Smart Fill, which scans the mesh from the edges inward looking for + * invalid mesh points. Adjacent points are used to determine the bed slope. If the bed is sloped + * upward from the invalid point, it takes the value of the nearest point. If sloped downward, it's + * replaced by a value that puts all three points in a line. This version of G29 P3 is a quick, easy + * and (usually) safe way to populate unprobed mesh regions before continuing to G26 Mesh Validation + * Pattern. Note that this populates the mesh with unverified values. Pay attention and use caution. + * + * P4 Phase 4 Fine tune the Mesh. The Delta Mesh Compensation System assumes the existence of + * an LCD Panel. It is possible to fine tune the mesh without an LCD Panel using + * G42 and M421. See the UBL documentation for further details. + * + * Phase 4 is meant to be used with G26 Mesh Validation to fine tune the mesh by direct editing + * of Mesh Points. Raise and lower points to fine tune the mesh until it gives consistently reliable + * adhesion. + * + * P4 moves to the closest Mesh Point (and/or the given X Y), raises the nozzle above the mesh height + * by the given 'H' offset (or default 0), and waits while the controller is used to adjust the nozzle + * height. On click the displayed height is saved in the mesh. + * + * Start Phase 4 at a specific location with X and Y. Adjust a specific number of Mesh Points with + * the 'R' (Repeat) parameter. (If 'R' is left out, the whole matrix is assumed.) This command can be + * terminated early (e.g., after editing the area of interest) by pressing and holding the encoder button. + * + * The general form is G29 P4 [R points] [X position] [Y position] + * + * The H [offset] parameter is useful if a shim is used to fine-tune the mesh. For a 0.4mm shim the + * command would be G29 P4 H0.4. The nozzle is moved to the shim height, you adjust height to the shim, + * and on click the height minus the shim thickness will be saved in the mesh. + * + * !!Use with caution, as a very poor mesh could cause the nozzle to crash into the bed!! + * + * NOTE: P4 is not available unless you have LCD support enabled! + * + * P5 Phase 5 Find Mean Mesh Height and Standard Deviation. Typically, it is easier to use and + * work with the Mesh if it is Mean Adjusted. You can specify a C parameter to + * Correct the Mesh to a 0.00 Mean Height. Adding a C parameter will automatically + * execute a G29 P6 C . + * + * P6 Phase 6 Shift Mesh height. The entire Mesh's height is adjusted by the height specified + * with the C parameter. Being able to adjust the height of a Mesh is useful tool. It + * can be used to compensate for poorly calibrated Z-Probes and other errors. Ideally, + * you should have the Mesh adjusted for a Mean Height of 0.00 and the Z-Probe measuring + * 0.000 at the Z Home location. + * + * Q Test Load specified Test Pattern to assist in checking correct operation of system. This + * command is not anticipated to be of much value to the typical user. It is intended + * for developers to help them verify correct operation of the Unified Bed Leveling System. + * + * R # Repeat Repeat this command the specified number of times. If no number is specified the + * command will be repeated GRID_MAX_POINTS_X * GRID_MAX_POINTS_Y times. + * + * S Store Store the current Mesh in the Activated area of the EEPROM. It will also store the + * current state of the Unified Bed Leveling system in the EEPROM. + * + * S # Store Store the current Mesh at the specified location in EEPROM. Activate this location + * for subsequent Load and Store operations. Valid storage slot numbers begin at 0 and + * extend to a limit related to the available EEPROM storage. + * + * S -1 Store Print the current Mesh as G-code that can be used to restore the mesh anytime. + * + * T Topology Display the Mesh Map Topology. + * 'T' can be used alone (e.g., G29 T) or in combination with most of the other commands. + * This option works with all Phase commands (e.g., G29 P4 R 5 T X 50 Y100 C -.1 O) + * This parameter can also specify a Map Type. T0 (the default) is user-readable. T1 + * is suitable to paste into a spreadsheet for a 3D graph of the mesh. + * + * U Unlevel Perform a probe of the outer perimeter to assist in physically leveling unlevel beds. + * Only used for G29 P1 T U. This speeds up the probing of the edge of the bed. Useful + * when the entire bed doesn't need to be probed because it will be adjusted. + * + * V # Verbosity Set the verbosity level (0-4) for extra details. (Default 0) + * + * X # X Location for this command + * + * Y # Y Location for this command + * + * With UBL_DEVEL_DEBUGGING: + * + * K # Kompare Kompare current Mesh with stored Mesh #, replacing current Mesh with the result. + * This command literally performs a diff between two Meshes. + * + * Q-1 Dump EEPROM Dump the UBL contents stored in EEPROM as HEX format. Useful for developers to help + * verify correct operation of the UBL. + * + * W What? Display valuable UBL data. + * + * + * Release Notes: + * You MUST do M502, M500 to initialize the storage. Failure to do this will cause all + * kinds of problems. Enabling EEPROM Storage is required. + * + * When you do a G28 and G29 P1 to automatically build your first mesh, you are going to notice that + * UBL probes points increasingly further from the starting location. (The starting location defaults + * to the center of the bed.) In contrast, ABL and MBL follow a zigzag pattern. The spiral pattern is + * especially better for Delta printers, since it populates the center of the mesh first, allowing for + * a quicker test print to verify settings. You don't need to populate the entire mesh to use it. + * After all, you don't want to spend a lot of time generating a mesh only to realize the resolution + * or probe offsets are incorrect. Mesh-generation gathers points starting closest to the nozzle unless + * an (X,Y) coordinate pair is given. + * + * Unified Bed Leveling uses a lot of EEPROM storage to hold its data, and it takes some effort to get + * the mesh just right. To prevent this valuable data from being destroyed as the EEPROM structure + * evolves, UBL stores all mesh data at the end of EEPROM. + * + * UBL is founded on Edward Patel's Mesh Bed Leveling code. A big 'Thanks!' to him and the creators of + * 3-Point and Grid Based leveling. Combining their contributions we now have the functionality and + * features of all three systems combined. + */ + +G29_parameters_t unified_bed_leveling::param; + +void unified_bed_leveling::G29() { + + bool probe_deployed = false; + if (G29_parse_parameters()) return; // Abort on parameter error + + const uint8_t p_val = parser.byteval('P'); + const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen_test('J'); + #if HAS_MULTI_HOTEND + const uint8_t old_tool_index = active_extruder; + #endif + + // Check for commands that require the printer to be homed + if (may_move) { + planner.synchronize(); + // Send 'N' to force homing before G29 (internal only) + if (axes_should_home() || parser.seen_test('N')) gcode.home_all_axes(); + TERN_(HAS_MULTI_HOTEND, if (active_extruder != 0) tool_change(0, true)); + + // Position bed horizontally and Z probe vertically. + #if HAS_SAFE_BED_LEVELING + xyze_pos_t safe_position = current_position; + #ifdef SAFE_BED_LEVELING_START_X + safe_position.x = SAFE_BED_LEVELING_START_X; + #endif + #ifdef SAFE_BED_LEVELING_START_Y + safe_position.y = SAFE_BED_LEVELING_START_Y; + #endif + #ifdef SAFE_BED_LEVELING_START_Z + safe_position.z = SAFE_BED_LEVELING_START_Z; + #endif + #ifdef SAFE_BED_LEVELING_START_I + safe_position.i = SAFE_BED_LEVELING_START_I; + #endif + #ifdef SAFE_BED_LEVELING_START_J + safe_position.j = SAFE_BED_LEVELING_START_J; + #endif + #ifdef SAFE_BED_LEVELING_START_K + safe_position.k = SAFE_BED_LEVELING_START_K; + #endif + #ifdef SAFE_BED_LEVELING_START_U + safe_position.u = SAFE_BED_LEVELING_START_U; + #endif + #ifdef SAFE_BED_LEVELING_START_V + safe_position.v = SAFE_BED_LEVELING_START_V; + #endif + #ifdef SAFE_BED_LEVELING_START_W + safe_position.w = SAFE_BED_LEVELING_START_W; + #endif + + do_blocking_move_to(safe_position); + #endif // HAS_SAFE_BED_LEVELING + } + + // Invalidate one or more nearby mesh points, possibly all. + if (parser.seen('I')) { + uint8_t count = parser.has_value() ? parser.value_byte() : 1; + bool invalidate_all = count >= GRID_MAX_POINTS; + if (!invalidate_all) { + while (count--) { + if ((count & 0x0F) == 0x0F) idle(); + const mesh_index_pair closest = find_closest_mesh_point_of_type(REAL, param.XY_pos); + // No more REAL mesh points to invalidate? Assume the user meant + // to invalidate the ENTIRE mesh, which can't be done with + // find_closest_mesh_point (which only returns REAL points). + if (closest.pos.x < 0) { invalidate_all = true; break; } + z_values[closest.pos.x][closest.pos.y] = NAN; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(closest.pos, 0.0f)); + } + } + if (invalidate_all) { + invalidate(); + SERIAL_ECHOPGM("Entire Mesh"); + } + else + SERIAL_ECHOPGM("Locations"); + SERIAL_ECHOLNPGM(" invalidated.\n"); + } + + if (parser.seen('Q')) { + const int16_t test_pattern = parser.has_value() ? parser.value_int() : -99; + if (!WITHIN(test_pattern, TERN0(UBL_DEVEL_DEBUGGING, -1), 2)) { + SERIAL_ECHOLNPGM("?Invalid (Q) test pattern. (" TERN(UBL_DEVEL_DEBUGGING, "-1", "0") " to 2)\n"); + return; + } + SERIAL_ECHOLNPGM("Applying test pattern.\n"); + switch (test_pattern) { + + default: + case -1: TERN_(UBL_DEVEL_DEBUGGING, g29_eeprom_dump()); break; + + case 0: + GRID_LOOP(x, y) { // Create a bowl shape similar to a poorly-calibrated Delta + const float p1 = 0.5f * (GRID_MAX_POINTS_X) - x, + p2 = 0.5f * (GRID_MAX_POINTS_Y) - y; + z_values[x][y] += 2.0f * HYPOT(p1, p2); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } + break; + + case 1: + LOOP_L_N(x, GRID_MAX_POINTS_X) { // Create a diagonal line several Mesh cells thick that is raised + const uint8_t x2 = x + (x < (GRID_MAX_POINTS_Y) - 1 ? 1 : -1); + z_values[x][x] += 9.999f; + z_values[x][x2] += 9.999f; // We want the altered line several mesh points thick + #if ENABLED(EXTENSIBLE_UI) + ExtUI::onMeshUpdate(x, x, z_values[x][x]); + ExtUI::onMeshUpdate(x, x2, z_values[x][x2]); + #endif + } + break; + + case 2: + // Allow the user to specify the height because 10mm is a little extreme in some cases. + for (uint8_t x = (GRID_MAX_POINTS_X) / 3; x < 2 * (GRID_MAX_POINTS_X) / 3; x++) // Create a rectangular raised area in + for (uint8_t y = (GRID_MAX_POINTS_Y) / 3; y < 2 * (GRID_MAX_POINTS_Y) / 3; y++) { // the center of the bed + z_values[x][y] += parser.seen_test('C') ? param.C_constant : 9.99f; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } + break; + } + } + + #if HAS_BED_PROBE + + if (parser.seen_test('J')) { + save_ubl_active_state_and_disable(); + tilt_mesh_based_on_probed_grid(param.J_grid_size == 0); // Zero size does 3-Point + restore_ubl_active_state_and_leave(); + #if ENABLED(UBL_G29_J_RECENTER) + do_blocking_move_to_xy(0.5f * ((MESH_MIN_X) + (MESH_MAX_X)), 0.5f * ((MESH_MIN_Y) + (MESH_MAX_Y))); + #endif + report_current_position(); + probe_deployed = true; + } + + #endif // HAS_BED_PROBE + + if (parser.seen_test('P')) { + if (WITHIN(param.P_phase, 0, 1) && storage_slot == -1) { + storage_slot = 0; + SERIAL_ECHOLNPGM("Default storage slot 0 selected."); + } + + switch (param.P_phase) { + case 0: + // + // Zero Mesh Data + // + reset(); + SERIAL_ECHOLNPGM("Mesh zeroed."); + break; + + #if HAS_BED_PROBE + + case 1: { + // + // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe + // + if (!parser.seen_test('C')) { + invalidate(); + SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh."); + } + if (param.V_verbosity > 1) { + SERIAL_ECHOPGM("Probing around (", param.XY_pos.x); + SERIAL_CHAR(','); + SERIAL_DECIMAL(param.XY_pos.y); + SERIAL_ECHOLNPGM(").\n"); + } + probe_entire_mesh(param.XY_pos, parser.seen_test('T'), parser.seen_test('E'), parser.seen_test('U')); + + report_current_position(); + probe_deployed = true; + } break; + + #endif // HAS_BED_PROBE + + case 2: { + #if HAS_MARLINUI_MENU + // + // Manually Probe Mesh in areas that can't be reached by the probe + // + SERIAL_ECHOLNPGM("Manually probing unreachable points."); + do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); + + if (parser.seen_test('C') && !param.XY_seen) { + + /** + * Use a good default location for the path. + * The flipped > and < operators in these comparisons is intentional. + * It should cause the probed points to follow a nice path on Cartesian printers. + * It may make sense to have Delta printers default to the center of the bed. + * Until that is decided, this can be forced with the X and Y parameters. + */ + param.XY_pos.set( + #if IS_KINEMATIC + X_HOME_POS, Y_HOME_POS + #else + probe.offset_xy.x > 0 ? X_BED_SIZE : 0, + probe.offset_xy.y < 0 ? Y_BED_SIZE : 0 + #endif + ); + } + + if (parser.seen('B')) { + param.B_shim_thickness = parser.has_value() ? parser.value_float() : measure_business_card_thickness(); + if (ABS(param.B_shim_thickness) > 1.5f) { + SERIAL_ECHOLNPGM("?Error in Business Card measurement."); + return; + } + probe_deployed = true; + } + + if (!position_is_reachable(param.XY_pos)) { + SERIAL_ECHOLNPGM("XY outside printable radius."); + return; + } + + const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES); + manually_probe_remaining_mesh(param.XY_pos, height, param.B_shim_thickness, parser.seen_test('T')); + + SERIAL_ECHOLNPGM("G29 P2 finished."); + + report_current_position(); + + #else + + SERIAL_ECHOLNPGM("?P2 is only available when an LCD is present."); + return; + + #endif + } break; + + case 3: { + /** + * Populate invalid mesh areas. Proceed with caution. + * Two choices are available: + * - Specify a constant with the 'C' parameter. + * - Allow 'G29 P3' to choose a 'reasonable' constant. + */ + + if (param.C_seen) { + if (param.R_repetition >= GRID_MAX_POINTS) { + set_all_mesh_points_to_value(param.C_constant); + } + else { + while (param.R_repetition--) { // this only populates reachable mesh points near + const mesh_index_pair closest = find_closest_mesh_point_of_type(INVALID, param.XY_pos); + const xy_int8_t &cpos = closest.pos; + if (cpos.x < 0) { + // No more REAL INVALID mesh points to populate, so we ASSUME + // user meant to populate ALL INVALID mesh points to value + GRID_LOOP(x, y) if (isnan(z_values[x][y])) z_values[x][y] = param.C_constant; + break; // No more invalid Mesh Points to populate + } + else { + z_values[cpos.x][cpos.y] = param.C_constant; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(cpos, param.C_constant)); + } + } + } + } + else { + const float cvf = parser.value_float(); + switch ((int)TRUNC(cvf * 10.0f) - 30) { // 3.1 -> 1 + #if ENABLED(UBL_G29_P31) + case 1: { + + // P3.1 use least squares fit to fill missing mesh values + // P3.10 zero weighting for distance, all grid points equal, best fit tilted plane + // P3.11 10X weighting for nearest grid points versus farthest grid points + // P3.12 100X distance weighting + // P3.13 1000X distance weighting, approaches simple average of nearest points + + const float weight_power = (cvf - 3.10f) * 100.0f, // 3.12345 -> 2.345 + weight_factor = weight_power ? POW(10.0f, weight_power) : 0; + smart_fill_wlsf(weight_factor); + } + break; + #endif + case 0: // P3 or P3.0 + default: // and anything P3.x that's not P3.1 + smart_fill_mesh(); // Do a 'Smart' fill using nearby known values + break; + } + } + break; + } + + case 4: // Fine Tune (i.e., Edit) the Mesh + #if HAS_MARLINUI_MENU + fine_tune_mesh(param.XY_pos, parser.seen_test('T')); + #else + SERIAL_ECHOLNPGM("?P4 is only available when an LCD is present."); + return; + #endif + break; + + case 5: adjust_mesh_to_mean(param.C_seen, param.C_constant); break; + + case 6: shift_mesh_height(); break; + } + } + + #if ENABLED(UBL_DEVEL_DEBUGGING) + + // + // Much of the 'What?' command can be eliminated. But until we are fully debugged, it is + // good to have the extra information. Soon... we prune this to just a few items + // + if (parser.seen_test('W')) g29_what_command(); + + // + // When we are fully debugged, this may go away. But there are some valid + // use cases for the users. So we can wait and see what to do with it. + // + + if (parser.seen('K')) // Kompare Current Mesh Data to Specified Stored Mesh + g29_compare_current_mesh_to_stored_mesh(); + + #endif // UBL_DEVEL_DEBUGGING + + + // + // Load a Mesh from the EEPROM + // + + if (parser.seen('L')) { // Load Current Mesh Data + param.KLS_storage_slot = parser.has_value() ? (int8_t)parser.value_int() : storage_slot; + + int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + return; + } + + if (!WITHIN(param.KLS_storage_slot, 0, a - 1)) { + SERIAL_ECHOLNPGM("?Invalid storage slot.\n?Use 0 to ", a - 1); + return; + } + + settings.load_mesh(param.KLS_storage_slot); + storage_slot = param.KLS_storage_slot; + + SERIAL_ECHOLNPGM(STR_DONE); + } + + // + // Store a Mesh in the EEPROM + // + + if (parser.seen('S')) { // Store (or Save) Current Mesh Data + param.KLS_storage_slot = parser.has_value() ? (int8_t)parser.value_int() : storage_slot; + + if (param.KLS_storage_slot == -1) // Special case: 'Export' the mesh to the + return report_current_mesh(); // host so it can be saved in a file. + + int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + goto LEAVE; + } + + if (!WITHIN(param.KLS_storage_slot, 0, a - 1)) { + SERIAL_ECHOLNPGM("?Invalid storage slot.\n?Use 0 to ", a - 1); + goto LEAVE; + } + + settings.store_mesh(param.KLS_storage_slot); + storage_slot = param.KLS_storage_slot; + + SERIAL_ECHOLNPGM(STR_DONE); + } + + if (parser.seen_test('T')) + display_map(param.T_map_type); + + LEAVE: + + #if HAS_MARLINUI_MENU + ui.reset_alert_level(); + ui.quick_feedback(); + ui.reset_status(); + ui.release(); + #endif + + #ifdef Z_PROBE_END_SCRIPT + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Probe End Script: ", Z_PROBE_END_SCRIPT); + if (probe_deployed) { + planner.synchronize(); + gcode.process_subcommands_now(F(Z_PROBE_END_SCRIPT)); + } + #else + UNUSED(probe_deployed); + #endif + + TERN_(HAS_MULTI_HOTEND, if (old_tool_index != 0) tool_change(old_tool_index)); + return; +} + +/** + * M420 C + * G29 P5 C : Adjust Mesh To Mean (and subtract the given offset). + * Find the mean average and shift the mesh to center on that value. + */ +void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const_float_t offset) { + float sum = 0; + uint8_t n = 0; + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + sum += z_values[x][y]; + n++; + } + + const float mean = sum / n; + + // + // Sum the squares of difference from mean + // + float sum_of_diff_squared = 0; + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) + sum_of_diff_squared += sq(z_values[x][y] - mean); + + SERIAL_ECHOLNPGM("# of samples: ", n); + SERIAL_ECHOLNPAIR_F("Mean Mesh Height: ", mean, 6); + + const float sigma = SQRT(sum_of_diff_squared / (n + 1)); + SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); + + if (cflag) + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + z_values[x][y] -= mean + offset; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } +} + +/** + * G29 P6 C : Shift Mesh Height by a uniform constant. + */ +void unified_bed_leveling::shift_mesh_height() { + GRID_LOOP(x, y) + if (!isnan(z_values[x][y])) { + z_values[x][y] += param.C_constant; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } +} + +#if HAS_BED_PROBE + /** + * G29 P1 T V : Probe Entire Mesh + * Probe all invalidated locations of the mesh that can be reached by the probe. + * This attempts to fill in locations closest to the nozzle's start location first. + */ + void unified_bed_leveling::probe_entire_mesh(const xy_pos_t &nearby, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) { + probe.deploy(); // Deploy before ui.capture() to allow for PAUSE_BEFORE_DEPLOY_STOW + + TERN_(HAS_MARLINUI_MENU, ui.capture()); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); + TERN_(DWIN_LCD_PROUI, DWIN_LevelingStart()); + + save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained + uint8_t count = GRID_MAX_POINTS; + + mesh_index_pair best; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::G29_START)); + do { + if (do_ubl_mesh_map) display_map(param.T_map_type); + + const uint8_t point_num = (GRID_MAX_POINTS - count) + 1; + SERIAL_ECHOLNPGM("Probing mesh point ", point_num, "/", GRID_MAX_POINTS, "."); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), point_num, int(GRID_MAX_POINTS))); + + #if HAS_MARLINUI_MENU + if (ui.button_pressed()) { + ui.quick_feedback(false); // Preserve button state for click-and-hold + SERIAL_ECHOLNPGM("\nMesh only partially populated.\n"); + ui.wait_for_release(); + ui.quick_feedback(); + ui.release(); + probe.stow(); // Release UI before stow to allow for PAUSE_BEFORE_DEPLOY_STOW + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + return restore_ubl_active_state_and_leave(); + } + #endif + + TERN_(ProUIex, if (ProEx.QuitLeveling()) return DWIN_LevelingDone();); + + best = do_furthest + ? find_furthest_invalid_mesh_point() + : find_closest_mesh_point_of_type(INVALID, nearby, true); + + if (best.pos.x >= 0) { // mesh point found and is reachable by probe + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::G29_POINT_START)); + const float measured_z = probe.probe_at_point( + best.meshpos(), + stow_probe ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity + ); + z_values[best.pos.x][best.pos.y] = measured_z; + #if ENABLED(EXTENSIBLE_UI) + ExtUI::onMeshUpdate(best.pos, ExtUI::G29_POINT_FINISH); + ExtUI::onMeshUpdate(best.pos, measured_z); + #endif + TERN_(ProUIex, ProEx.MeshUpdate(best.pos.x, best.pos.y, measured_z)); + } + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + + } while (best.pos.x >= 0 && --count); + + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::G29_FINISH)); + + // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW + TERN_(HAS_MARLINUI_MENU, ui.release()); + probe.stow(); + TERN_(HAS_MARLINUI_MENU, ui.capture()); + + probe.move_z_after_probing(); + + restore_ubl_active_state_and_leave(); + + #if ProUIex + if (count) ui.status_printf(0, F("Found %i unreachable points"), count); + safe_delay(500); + LOOP_L_N(x, GRID_LIMIT) bedlevel.smart_fill_mesh(); + #else + do_blocking_move_to_xy( + constrain(nearby.x - probe.offset_xy.x, MESH_MIN_X, MESH_MAX_X), + constrain(nearby.y - probe.offset_xy.y, MESH_MIN_Y, MESH_MAX_Y) + ); + #endif + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + TERN_(DWIN_LCD_PROUI, DWIN_LevelingDone()); + } + +#endif // HAS_BED_PROBE + +void set_message_with_feedback(FSTR_P const fstr) { + #if HAS_MARLINUI_MENU + ui.set_status(fstr); + ui.quick_feedback(); + #else + UNUSED(fstr); + #endif +} + +#if HAS_MARLINUI_MENU + + typedef void (*clickFunc_t)(); + + bool _click_and_hold(const clickFunc_t func=nullptr) { + if (ui.button_pressed()) { + ui.quick_feedback(false); // Preserve button state for click-and-hold + const millis_t nxt = millis() + 1500UL; + while (ui.button_pressed()) { // Loop while the encoder is pressed. Uses hardware flag! + idle(); // idle, of course + if (ELAPSED(millis(), nxt)) { // After 1.5 seconds + ui.quick_feedback(); + if (func) (*func)(); + ui.wait_for_release(); + return true; + } + } + } + serial_delay(15); + return false; + } + + void unified_bed_leveling::move_z_with_encoder(const_float_t multiplier) { + ui.wait_for_release(); + while (!ui.button_pressed()) { + idle(); + gcode.reset_stepper_timeout(); // Keep steppers powered + if (encoder_diff) { + do_blocking_move_to_z(current_position.z + float(encoder_diff) * multiplier); + encoder_diff = 0; + } + } + } + + float unified_bed_leveling::measure_point_with_encoder() { + KEEPALIVE_STATE(PAUSED_FOR_USER); + const float z_step = 0.01f; + move_z_with_encoder(z_step); + return current_position.z; + } + + static void echo_and_take_a_measurement() { SERIAL_ECHOLNPGM(" and take a measurement."); } + + float unified_bed_leveling::measure_business_card_thickness() { + ui.capture(); + save_ubl_active_state_and_disable(); // Disable bed level correction for probing + + do_blocking_move_to( + NUM_AXIS_LIST( + 0.5f * ((MESH_MAX_X) - (MESH_MIN_X)), + 0.5f * ((MESH_MAX_Y) - (MESH_MIN_Y)), + MANUAL_PROBE_START_Z + #ifdef SAFE_BED_LEVELING_START_I + , SAFE_BED_LEVELING_START_I + #endif + #ifdef SAFE_BED_LEVELING_START_J + , SAFE_BED_LEVELING_START_J + #endif + #ifdef SAFE_BED_LEVELING_START_K + , SAFE_BED_LEVELING_START_K + #endif + #ifdef SAFE_BED_LEVELING_START_U + , SAFE_BED_LEVELING_START_U + #endif + #ifdef SAFE_BED_LEVELING_START_V + , SAFE_BED_LEVELING_START_V + #endif + #ifdef SAFE_BED_LEVELING_START_W + , SAFE_BED_LEVELING_START_W + #endif + ) + //, _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) * 0.5f + ); + planner.synchronize(); + + SERIAL_ECHOPGM("Place shim under nozzle"); + LCD_MESSAGE(MSG_UBL_BC_INSERT); + ui.return_to_status(); + echo_and_take_a_measurement(); + + const float z1 = measure_point_with_encoder(); + do_blocking_move_to_z(current_position.z + SIZE_OF_LITTLE_RAISE); + planner.synchronize(); + + SERIAL_ECHOPGM("Remove shim"); + LCD_MESSAGE(MSG_UBL_BC_REMOVE); + echo_and_take_a_measurement(); + + const float z2 = measure_point_with_encoder(); + do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES); + + const float thickness = ABS(z1 - z2); + + if (param.V_verbosity > 1) { + SERIAL_ECHOPAIR_F("Business Card is ", thickness, 4); + SERIAL_ECHOLNPGM("mm thick."); + } + + restore_ubl_active_state_and_leave(); + + return thickness; + } + + /** + * G29 P2 : Manually Probe Remaining Mesh Points. + * Move to INVALID points and + * NOTE: Blocks the G-code queue and captures Marlin UI during use. + */ + void unified_bed_leveling::manually_probe_remaining_mesh(const xy_pos_t &pos, const_float_t z_clearance, const_float_t thick, const bool do_ubl_mesh_map) { + ui.capture(); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); + + save_ubl_active_state_and_disable(); // No bed level correction so only raw data is obtained + do_blocking_move_to_xy_z(current_position, z_clearance); + + ui.return_to_status(); + + mesh_index_pair location; + const xy_int8_t &lpos = location.pos; + do { + location = find_closest_mesh_point_of_type(INVALID, pos); + // It doesn't matter if the probe can't reach the NAN location. This is a manual probe. + if (!location.valid()) continue; + + const xyz_pos_t ppos = { get_mesh_x(lpos.x), get_mesh_y(lpos.y), z_clearance }; + + if (!position_is_reachable(ppos)) break; // SHOULD NOT OCCUR (find_closest_mesh_point only returns reachable points) + + LCD_MESSAGE(MSG_UBL_MOVING_TO_NEXT); + + do_blocking_move_to(ppos); + do_z_clearance(z_clearance); + + KEEPALIVE_STATE(PAUSED_FOR_USER); + ui.capture(); + + if (do_ubl_mesh_map) display_map(param.T_map_type); // Show user where we're probing + + if (parser.seen_test('B')) { + SERIAL_ECHOPGM("Place Shim & Measure"); + LCD_MESSAGE(MSG_UBL_BC_INSERT); + } + else { + SERIAL_ECHOPGM("Measure"); + LCD_MESSAGE(MSG_UBL_BC_INSERT2); + } + + const float z_step = 0.01f; // 0.01mm per encoder tick, occasionally step + move_z_with_encoder(z_step); + + if (_click_and_hold([]{ + SERIAL_ECHOLNPGM("\nMesh only partially populated."); + do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE); + })) return restore_ubl_active_state_and_leave(); + + // Store the Z position minus the shim height + z_values[lpos.x][lpos.y] = current_position.z - thick; + + // Tell the external UI to update + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, z_values[lpos.x][lpos.y])); + + if (param.V_verbosity > 2) + SERIAL_ECHOLNPAIR_F("Mesh Point Measured at: ", z_values[lpos.x][lpos.y], 6); + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + } while (location.valid()); + + if (do_ubl_mesh_map) display_map(param.T_map_type); // show user where we're probing + + restore_ubl_active_state_and_leave(); + do_blocking_move_to_xy_z(pos, Z_CLEARANCE_DEPLOY_PROBE); + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + } + + /** + * G29 P4 : Mesh Fine-Tuning. Go to point(s) and adjust values with the LCD. + * NOTE: Blocks the G-code queue and captures Marlin UI during use. + */ + void unified_bed_leveling::fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) { + if (!parser.seen_test('R')) // fine_tune_mesh() is special. If no repetition count flag is specified + param.R_repetition = 1; // do exactly one mesh location. Otherwise use what the parser decided. + + #if ENABLED(UBL_MESH_EDIT_MOVES_Z) + const float h_offset = parser.seenval('H') ? parser.value_linear_units() : MANUAL_PROBE_START_Z; + if (!WITHIN(h_offset, 0, 10)) { + SERIAL_ECHOLNPGM("Offset out of bounds. (0 to 10mm)\n"); + return; + } + #endif + + mesh_index_pair location; + + if (!position_is_reachable(pos)) { + SERIAL_ECHOLNPGM("(X,Y) outside printable radius."); + return; + } + + save_ubl_active_state_and_disable(); + + LCD_MESSAGE(MSG_UBL_FINE_TUNE_MESH); + ui.capture(); // Take over control of the LCD encoder + + do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); // Move to the given XY with probe clearance + + MeshFlags done_flags{0}; + const xy_int8_t &lpos = location.pos; + + #if IS_TFTGLCD_PANEL + ui.ubl_mesh_edit_start(0); // Change current screen before calling ui.ubl_plot + safe_delay(50); + #endif + + do { + location = find_closest_mesh_point_of_type(SET_IN_BITMAP, pos, false, &done_flags); + + if (lpos.x < 0) break; // Stop when there are no more reachable points + + done_flags.mark(lpos); // Mark this location as 'adjusted' so a new + // location is used on the next loop + const xyz_pos_t raw = { get_mesh_x(lpos.x), get_mesh_y(lpos.y), Z_CLEARANCE_BETWEEN_PROBES }; + + if (!position_is_reachable(raw)) break; // SHOULD NOT OCCUR (find_closest_mesh_point_of_type only returns reachable) + + do_blocking_move_to(raw); // Move the nozzle to the edit point with probe clearance + + TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset)); // Move Z to the given 'H' offset before editing + + KEEPALIVE_STATE(PAUSED_FOR_USER); + + if (do_ubl_mesh_map) display_map(param.T_map_type); // Display the current point + + #if IS_TFTGLCD_PANEL + ui.ubl_plot(lpos.x, lpos.y); // update plot screen + #endif + + ui.refresh(); + + float new_z = z_values[lpos.x][lpos.y]; + if (isnan(new_z)) new_z = 0; // Invalid points begin at 0 + new_z = FLOOR(new_z * 1000) * 0.001f; // Chop off digits after the 1000ths place + + ui.ubl_mesh_edit_start(new_z); + + SET_SOFT_ENDSTOP_LOOSE(true); + + do { + idle_no_sleep(); + new_z = ui.ubl_mesh_value(); + TERN_(UBL_MESH_EDIT_MOVES_Z, do_blocking_move_to_z(h_offset + new_z)); // Move the nozzle as the point is edited + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + } while (!ui.button_pressed()); + + SET_SOFT_ENDSTOP_LOOSE(false); + + if (!lcd_map_control) ui.return_to_status(); // Just editing a single point? Return to status + + // Button held down? Abort editing + if (_click_and_hold([]{ + ui.return_to_status(); + do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); + set_message_with_feedback(GET_TEXT_F(MSG_EDITING_STOPPED)); + })) break; + + // TODO: Disable leveling here so the Z value becomes the 'native' Z value. + + z_values[lpos.x][lpos.y] = new_z; // Save the updated Z value + + // TODO: Re-enable leveling here so Z is correctly based on the updated mesh. + + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, new_z)); + + serial_delay(20); // No switch noise + ui.refresh(); + + } while (lpos.x >= 0 && --param.R_repetition > 0); + + if (do_ubl_mesh_map) display_map(param.T_map_type); + restore_ubl_active_state_and_leave(); + + do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); + + LCD_MESSAGE(MSG_UBL_DONE_EDITING_MESH); + SERIAL_ECHOLNPGM("Done Editing Mesh"); + + if (lcd_map_control) + ui.goto_screen(ubl_map_screen); + else + ui.return_to_status(); + } + +#endif // HAS_MARLINUI_MENU + +/** + * Parse and validate most G29 parameters, store for use by G29 functions. + */ +bool unified_bed_leveling::G29_parse_parameters() { + bool err_flag = false; + + set_message_with_feedback(GET_TEXT_F(MSG_UBL_DOING_G29)); + + param.C_constant = 0; + param.R_repetition = 0; + + if (parser.seen('R')) { + param.R_repetition = parser.has_value() ? parser.value_byte() : GRID_MAX_POINTS; + NOMORE(param.R_repetition, GRID_MAX_POINTS); + if (param.R_repetition < 1) { + SERIAL_ECHOLNPGM("?(R)epetition count invalid (1+).\n"); + return UBL_ERR; + } + } + + param.V_verbosity = parser.byteval('V'); + if (!WITHIN(param.V_verbosity, 0, 4)) { + SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4).\n"); + err_flag = true; + } + + if (parser.seen('P')) { + const uint8_t pv = parser.value_byte(); + #if !HAS_BED_PROBE + if (pv == 1) { + SERIAL_ECHOLNPGM("G29 P1 requires a probe.\n"); + err_flag = true; + } + else + #endif + { + param.P_phase = pv; + if (!WITHIN(param.P_phase, 0, 6)) { + SERIAL_ECHOLNPGM("?(P)hase value invalid (0-6).\n"); + err_flag = true; + } + } + } + + if (parser.seen('J')) { + #if HAS_BED_PROBE + param.J_grid_size = parser.value_byte(); + if (param.J_grid_size && !WITHIN(param.J_grid_size, 2, 9)) { + SERIAL_ECHOLNPGM("?Invalid grid size (J) specified (2-9).\n"); + err_flag = true; + } + #else + SERIAL_ECHOLNPGM("G29 J action requires a probe.\n"); + err_flag = true; + #endif + } + + param.XY_seen.x = parser.seenval('X'); + float sx = param.XY_seen.x ? parser.value_float() : current_position.x; + param.XY_seen.y = parser.seenval('Y'); + float sy = param.XY_seen.y ? parser.value_float() : current_position.y; + + if (param.XY_seen.x != param.XY_seen.y) { + SERIAL_ECHOLNPGM("Both X & Y locations must be specified.\n"); + err_flag = true; + } + + // If X or Y are not valid, use center of the bed values + // (for UBL_HILBERT_CURVE default to lower-left corner instead) + if (!COORDINATE_OKAY(sx, X_MIN_BED, X_MAX_BED)) sx = TERN(UBL_HILBERT_CURVE, 0, X_CENTER); + if (!COORDINATE_OKAY(sy, Y_MIN_BED, Y_MAX_BED)) sy = TERN(UBL_HILBERT_CURVE, 0, Y_CENTER); + + if (err_flag) return UBL_ERR; + + param.XY_pos.set(sx, sy); + + /** + * Activate or deactivate UBL + * Note: UBL's G29 restores the state set here when done. + * Leveling is being enabled here with old data, possibly + * none. Error handling should disable for safety... + */ + if (parser.seen_test('A')) { + if (parser.seen_test('D')) { + SERIAL_ECHOLNPGM("?Can't activate and deactivate at the same time.\n"); + return UBL_ERR; + } + set_bed_leveling_enabled(true); + report_state(); + } + else if (parser.seen_test('D')) { + set_bed_leveling_enabled(false); + report_state(); + } + + // Set global 'C' flag and its value + if ((param.C_seen = parser.seen('C'))) + param.C_constant = parser.value_float(); + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (parser.seenval('F')) { + const float fh = parser.value_float(); + if (!WITHIN(fh, 0, 100)) { + SERIAL_ECHOLNPGM("?(F)ade height for Bed Level Correction not plausible.\n"); + return UBL_ERR; + } + set_z_fade_height(fh); + } + #endif + + param.T_map_type = parser.byteval('T'); + if (!WITHIN(param.T_map_type, 0, 2)) { + SERIAL_ECHOLNPGM("Invalid map type.\n"); + return UBL_ERR; + } + return UBL_OK; +} + +static uint8_t ubl_state_at_invocation = 0; + +#if ENABLED(UBL_DEVEL_DEBUGGING) + static uint8_t ubl_state_recursion_chk = 0; +#endif + +void unified_bed_leveling::save_ubl_active_state_and_disable() { + #if ENABLED(UBL_DEVEL_DEBUGGING) + ubl_state_recursion_chk++; + if (ubl_state_recursion_chk != 1) { + SERIAL_ECHOLNPGM("save_ubl_active_state_and_disabled() called multiple times in a row."); + set_message_with_feedback(GET_TEXT_F(MSG_UBL_SAVE_ERROR)); + return; + } + #endif + ubl_state_at_invocation = planner.leveling_active; + set_bed_leveling_enabled(false); +} + +void unified_bed_leveling::restore_ubl_active_state_and_leave() { + TERN_(HAS_MARLINUI_MENU, ui.release()); + #if ENABLED(UBL_DEVEL_DEBUGGING) + if (--ubl_state_recursion_chk) { + SERIAL_ECHOLNPGM("restore_ubl_active_state_and_leave() called too many times."); + set_message_with_feedback(GET_TEXT_F(MSG_UBL_RESTORE_ERROR)); + return; + } + #endif + set_bed_leveling_enabled(ubl_state_at_invocation); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); +} + +mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() { + + bool found_a_NAN = false, found_a_real = false; + + mesh_index_pair farthest { -1, -1, -99999.99 }; + + GRID_LOOP(i, j) { + if (!isnan(z_values[i][j])) continue; // Skip valid mesh points + + // Skip unreachable points + if (!probe.can_reach(get_mesh_x(i), get_mesh_y(j))) + continue; + + found_a_NAN = true; + + xy_int8_t nearby { -1, -1 }; + float d1, d2 = 99999.9f; + GRID_LOOP(k, l) { + if (isnan(z_values[k][l])) continue; + + found_a_real = true; + + // Add in a random weighting factor that scrambles the probing of the + // last half of the mesh (when every unprobed mesh point is one index + // from a probed location). + + d1 = HYPOT(i - k, j - l) + (1.0f / ((millis() % 47) + 13)); + + if (d1 < d2) { // Invalid mesh point (i,j) is closer to the defined point (k,l) + d2 = d1; + nearby.set(i, j); + } + } + + // + // At this point d2 should have the near defined mesh point to invalid mesh point (i,j) + // + + if (found_a_real && nearby.x >= 0 && d2 > farthest.distance) { + farthest.pos = nearby; // Found an invalid location farther from the defined mesh point + farthest.distance = d2; + } + } // GRID_LOOP + + if (!found_a_real && found_a_NAN) { // if the mesh is totally unpopulated, start the probing + farthest.pos.set((GRID_MAX_POINTS_X) / 2, (GRID_MAX_POINTS_Y) / 2); + farthest.distance = 1; + } + return farthest; +} + +#if ENABLED(UBL_HILBERT_CURVE) + + typedef struct { + MeshPointType type; + MeshFlags *done_flags; + bool probe_relative; + mesh_index_pair closest; + } find_closest_t; + + static bool test_func(uint8_t i, uint8_t j, void *data) { + find_closest_t *d = (find_closest_t*)data; + if ( d->type == CLOSEST || d->type == (isnan(bedlevel.z_values[i][j]) ? INVALID : REAL) + || (d->type == SET_IN_BITMAP && !d->done_flags->marked(i, j)) + ) { + // Found a Mesh Point of the specified type! + const xy_pos_t mpos = { bedlevel.get_mesh_x(i), bedlevel.get_mesh_y(j) }; + + // If using the probe as the reference there are some unreachable locations. + // Also for round beds, there are grid points outside the bed the nozzle can't reach. + // Prune them from the list and ignore them till the next Phase (manual nozzle probing). + + if (!(d->probe_relative ? probe.can_reach(mpos) : position_is_reachable(mpos))) + return false; + d->closest.pos.set(i, j); + return true; + } + return false; + } + +#endif + +mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const MeshPointType type, const xy_pos_t &pos, const bool probe_relative/*=false*/, MeshFlags *done_flags/*=nullptr*/) { + + #if ENABLED(UBL_HILBERT_CURVE) + + find_closest_t d; + d.type = type; + d.done_flags = done_flags; + d.probe_relative = probe_relative; + d.closest.invalidate(); + hilbert_curve::search_from_closest(pos, test_func, &d); + return d.closest; + + #else + + mesh_index_pair closest; + closest.invalidate(); + closest.distance = -99999.9f; + + // Get the reference position, either nozzle or probe + const xy_pos_t ref = probe_relative ? pos + probe.offset_xy : pos; + + float best_so_far = 99999.99f; + + GRID_LOOP(i, j) { + if ( type == CLOSEST || type == (isnan(z_values[i][j]) ? INVALID : REAL) + || (type == SET_IN_BITMAP && !done_flags->marked(i, j)) + ) { + // Found a Mesh Point of the specified type! + const xy_pos_t mpos = { get_mesh_x(i), get_mesh_y(j) }; + + // If using the probe as the reference there are some unreachable locations. + // Also for round beds, there are grid points outside the bed the nozzle can't reach. + // Prune them from the list and ignore them till the next Phase (manual nozzle probing). + + if (!(probe_relative ? probe.can_reach(mpos) : position_is_reachable(mpos))) + continue; + + // Reachable. Check if it's the best_so_far location to the nozzle. + + const xy_pos_t diff = current_position - mpos; + const float distance = (ref - mpos).magnitude() + diff.magnitude() * 0.1f; + + // factor in the distance from the current location for the normal case + // so the nozzle isn't running all over the bed. + if (distance < best_so_far) { + best_so_far = distance; // Found a closer location with the desired value type. + closest.pos.set(i, j); + closest.distance = best_so_far; + } + } + } // GRID_LOOP + + return closest; + + #endif +} + +/** + * 'Smart Fill': Scan from the outward edges of the mesh towards the center. + * If an invalid location is found, use the next two points (if valid) to + * calculate a 'reasonable' value for the unprobed mesh point. + */ + +bool unified_bed_leveling::smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { + const float v = z_values[x][y]; + if (isnan(v)) { // A NAN... + const int8_t dx = x + xdir, dy = y + ydir; + const float v1 = z_values[dx][dy]; + if (!isnan(v1)) { // ...next to a pair of real values? + const float v2 = z_values[dx + xdir][dy + ydir]; + if (!isnan(v2)) { + z_values[x][y] = v1 < v2 ? v1 : v1 + v1 - v2; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + return true; + } + } + } + return false; +} + +#if DISABLED(ProUIex) + typedef struct { uint8_t sx, ex, sy, ey; bool yfirst; } smart_fill_info; + + void unified_bed_leveling::smart_fill_mesh() { + static const smart_fill_info + info0 PROGMEM = { 0, GRID_MAX_POINTS_X, 0, (GRID_MAX_POINTS_Y) - 2, false }, // Bottom of the mesh looking up + info1 PROGMEM = { 0, GRID_MAX_POINTS_X, (GRID_MAX_POINTS_Y) - 1, 0, false }, // Top of the mesh looking down + info2 PROGMEM = { 0, (GRID_MAX_POINTS_X) - 2, 0, GRID_MAX_POINTS_Y, true }, // Left side of the mesh looking right + info3 PROGMEM = { (GRID_MAX_POINTS_X) - 1, 0, 0, GRID_MAX_POINTS_Y, true }; // Right side of the mesh looking left + static const smart_fill_info * const info[] PROGMEM = { &info0, &info1, &info2, &info3 }; + + LOOP_L_N(i, COUNT(info)) { + const smart_fill_info *f = (smart_fill_info*)pgm_read_ptr(&info[i]); + const int8_t sx = pgm_read_byte(&f->sx), sy = pgm_read_byte(&f->sy), + ex = pgm_read_byte(&f->ex), ey = pgm_read_byte(&f->ey); + if (pgm_read_byte(&f->yfirst)) { + const int8_t dir = ex > sx ? 1 : -1; + for (uint8_t y = sy; y != ey; ++y) + for (uint8_t x = sx; x != ex; x += dir) + if (smart_fill_one(x, y, dir, 0)) break; + } + else { + const int8_t dir = ey > sy ? 1 : -1; + for (uint8_t x = sx; x != ex; ++x) + for (uint8_t y = sy; y != ey; y += dir) + if (smart_fill_one(x, y, 0, dir)) break; + } + } + } +#endif + +#if HAS_BED_PROBE + + //#define VALIDATE_MESH_TILT + + #include "../../../libs/vector_3.h" + + void unified_bed_leveling::tilt_mesh_based_on_probed_grid(const bool do_3_pt_leveling) { + + #ifdef G29J_MESH_TILT_MARGIN + const float x_min = _MAX(probe.min_x() + (G29J_MESH_TILT_MARGIN), X_MIN_POS), + x_max = _MIN(probe.max_x() - (G29J_MESH_TILT_MARGIN), X_MAX_POS), + y_min = _MAX(probe.min_y() + (G29J_MESH_TILT_MARGIN), Y_MIN_POS), + y_max = _MIN(probe.max_y() - (G29J_MESH_TILT_MARGIN), Y_MAX_POS); + #else + const float x_min = probe.min_x(), x_max = probe.max_x(), + y_min = probe.min_y(), y_max = probe.max_y(); + #endif + const float dx = (x_max - x_min) / (param.J_grid_size - 1), + dy = (y_max - y_min) / (param.J_grid_size - 1); + + xy_float_t points[3]; + probe.get_three_points(points); + + float measured_z; + bool abort_flag = false; + + #if ENABLED(VALIDATE_MESH_TILT) + float z1, z2, z3; // Needed for algorithm validation below + #endif + + struct linear_fit_data lsf_results; + incremental_LSF_reset(&lsf_results); + + if (do_3_pt_leveling) { + SERIAL_ECHOLNPGM("Tilting mesh (1/3)"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + + measured_z = probe.probe_at_point(points[0], PROBE_PT_RAISE, param.V_verbosity); + if (isnan(measured_z)) + abort_flag = true; + else { + measured_z -= get_z_correction(points[0]); + TERN_(VALIDATE_MESH_TILT, z1 = measured_z); + if (param.V_verbosity > 3) { + serial_spaces(16); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); + } + incremental_LSF(&lsf_results, points[0], measured_z); + } + + if (!abort_flag) { + SERIAL_ECHOLNPGM("Tilting mesh (2/3)"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + + measured_z = probe.probe_at_point(points[1], PROBE_PT_RAISE, param.V_verbosity); + TERN_(VALIDATE_MESH_TILT, z2 = measured_z); + if (isnan(measured_z)) + abort_flag = true; + else { + measured_z -= get_z_correction(points[1]); + if (param.V_verbosity > 3) { + serial_spaces(16); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); + } + incremental_LSF(&lsf_results, points[1], measured_z); + } + } + + if (!abort_flag) { + SERIAL_ECHOLNPGM("Tilting mesh (3/3)"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + + measured_z = probe.probe_at_point(points[2], PROBE_PT_LAST_STOW, param.V_verbosity); + TERN_(VALIDATE_MESH_TILT, z3 = measured_z); + if (isnan(measured_z)) + abort_flag = true; + else { + measured_z -= get_z_correction(points[2]); + if (param.V_verbosity > 3) { + serial_spaces(16); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); + } + incremental_LSF(&lsf_results, points[2], measured_z); + } + } + + probe.stow(); + probe.move_z_after_probing(); + + if (abort_flag) { + SERIAL_ECHOLNPGM("?Error probing point. Aborting operation."); + return; + } + } + else { // !do_3_pt_leveling + + bool zig_zag = false; + + const uint16_t total_points = sq(param.J_grid_size); + uint16_t point_num = 1; + + xy_pos_t rpos; + LOOP_L_N(ix, param.J_grid_size) { + rpos.x = x_min + ix * dx; + LOOP_L_N(iy, param.J_grid_size) { + rpos.y = y_min + dy * (zig_zag ? param.J_grid_size - 1 - iy : iy); + + if (!abort_flag) { + SERIAL_ECHOLNPGM("Tilting mesh point ", point_num, "/", total_points, "\n"); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); + + measured_z = probe.probe_at_point(rpos, parser.seen_test('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling + + abort_flag = isnan(measured_z); + + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + const xy_pos_t lpos = rpos.asLogical(); + DEBUG_CHAR('('); + DEBUG_ECHO_F(rpos.x, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(rpos.y, 7); + DEBUG_ECHOPAIR_F(") logical: (", lpos.x, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(lpos.y, 7); + DEBUG_ECHOPAIR_F(") measured: ", measured_z, 7); + DEBUG_ECHOPAIR_F(" correction: ", get_z_correction(rpos), 7); + } + #endif + + measured_z -= get_z_correction(rpos) /* + probe.offset.z */ ; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_F(" final >>>---> ", measured_z, 7); + + if (param.V_verbosity > 3) { + serial_spaces(16); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); + } + incremental_LSF(&lsf_results, rpos, measured_z); + } + + point_num++; + } + + zig_zag ^= true; + } + } + probe.stow(); + probe.move_z_after_probing(); + + if (abort_flag || finish_incremental_LSF(&lsf_results)) { + SERIAL_ECHOPGM("Could not complete LSF!"); + return; + } + + vector_3 normal = vector_3(lsf_results.A, lsf_results.B, 1).get_normal(); + + if (param.V_verbosity > 2) { + SERIAL_ECHOPAIR_F("bed plane normal = [", normal.x, 7); + SERIAL_CHAR(','); + SERIAL_ECHO_F(normal.y, 7); + SERIAL_CHAR(','); + SERIAL_ECHO_F(normal.z, 7); + SERIAL_ECHOLNPGM("]"); + } + + matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1)); + + GRID_LOOP(i, j) { + float mx = get_mesh_x(i), my = get_mesh_y(j), mz = z_values[i][j]; + + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOPAIR_F("before rotation = [", mx, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(my, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(mz, 7); + DEBUG_ECHOPGM("] ---> "); + DEBUG_DELAY(20); + } + + rotation.apply_rotation_xyz(mx, my, mz); + + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOPAIR_F("after rotation = [", mx, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(my, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(mz, 7); + DEBUG_ECHOLNPGM("]"); + DEBUG_DELAY(20); + } + + z_values[i][j] = mz - lsf_results.D; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, z_values[i][j])); + } + + if (DEBUGGING(LEVELING)) { + rotation.debug(F("rotation matrix:\n")); + DEBUG_ECHOPAIR_F("LSF Results A=", lsf_results.A, 7); + DEBUG_ECHOPAIR_F(" B=", lsf_results.B, 7); + DEBUG_ECHOLNPAIR_F(" D=", lsf_results.D, 7); + DEBUG_DELAY(55); + + DEBUG_ECHOPAIR_F("bed plane normal = [", normal.x, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(normal.y, 7); + DEBUG_CHAR(','); + DEBUG_ECHO_F(normal.z, 7); + DEBUG_ECHOLNPGM("]"); + DEBUG_EOL(); + + /** + * Use the code below to check the validity of the mesh tilting algorithm. + * 3-Point Mesh Tilt uses the same algorithm as grid-based tilting, but only + * three points are used in the calculation. This guarantees that each probed point + * has an exact match when get_z_correction() for that location is calculated. + * The Z error between the probed point locations and the get_z_correction() + * numbers for those locations should be 0. + */ + #if ENABLED(VALIDATE_MESH_TILT) + auto d_from = []{ DEBUG_ECHOPGM("D from "); }; + auto normed = [&](const xy_pos_t &pos, const_float_t zadd) { + return normal.x * pos.x + normal.y * pos.y + zadd; + }; + auto debug_pt = [](FSTR_P const pre, const xy_pos_t &pos, const_float_t zadd) { + d_from(); SERIAL_ECHOF(pre); + DEBUG_ECHO_F(normed(pos, zadd), 6); + DEBUG_ECHOLNPAIR_F(" Z error = ", zadd - get_z_correction(pos), 6); + }; + debug_pt(F("1st point: "), probe_pt[0], normal.z * z1); + debug_pt(F("2nd point: "), probe_pt[1], normal.z * z2); + debug_pt(F("3rd point: "), probe_pt[2], normal.z * z3); + d_from(); DEBUG_ECHOPGM("safe home with Z="); + DEBUG_ECHOLNPAIR_F("0 : ", normed(safe_homing_xy, 0), 6); + d_from(); DEBUG_ECHOPGM("safe home with Z="); + DEBUG_ECHOLNPAIR_F("mesh value ", normed(safe_homing_xy, get_z_correction(safe_homing_xy)), 6); + DEBUG_ECHOPGM(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); + DEBUG_ECHOLNPAIR_F(") = ", get_z_correction(safe_homing_xy), 6); + #endif + } // DEBUGGING(LEVELING) + + } + +#endif // HAS_BED_PROBE + +#if ENABLED(UBL_G29_P31) + void unified_bed_leveling::smart_fill_wlsf(const_float_t weight_factor) { + + // For each undefined mesh point, compute a distance-weighted least squares fit + // from all the originally populated mesh points, weighted toward the point + // being extrapolated so that nearby points will have greater influence on + // the point being extrapolated. Then extrapolate the mesh point from WLSF. + + #if ProUIex + static_assert((GRID_LIMIT) <= 16, "GRID_MAX_POINTS_Y too big"); + #else + static_assert((GRID_MAX_POINTS_Y) <= 16, "GRID_MAX_POINTS_Y too big"); + #endif + uint16_t bitmap[GRID_MAX_POINTS_X] = { 0 }; + struct linear_fit_data lsf_results; + + SERIAL_ECHOPGM("Extrapolating mesh..."); + + const float weight_scaled = weight_factor * _MAX(MESH_X_DIST, MESH_Y_DIST); + + GRID_LOOP(jx, jy) if (!isnan(z_values[jx][jy])) SBI(bitmap[jx], jy); + + xy_pos_t ppos; + LOOP_L_N(ix, GRID_MAX_POINTS_X) { + ppos.x = get_mesh_x(ix); + LOOP_L_N(iy, GRID_MAX_POINTS_Y) { + ppos.y = get_mesh_y(iy); + if (isnan(z_values[ix][iy])) { + // undefined mesh point at (ppos.x,ppos.y), compute weighted LSF from original valid mesh points. + incremental_LSF_reset(&lsf_results); + xy_pos_t rpos; + LOOP_L_N(jx, GRID_MAX_POINTS_X) { + rpos.x = get_mesh_x(jx); + LOOP_L_N(jy, GRID_MAX_POINTS_Y) { + if (TEST(bitmap[jx], jy)) { + rpos.y = get_mesh_y(jy); + const float rz = z_values[jx][jy], + w = 1.0f + weight_scaled / (rpos - ppos).magnitude(); + incremental_WLSF(&lsf_results, rpos, rz, w); + } + } + } + if (finish_incremental_LSF(&lsf_results)) { + SERIAL_ECHOLNPGM("Insufficient data"); + return; + } + const float ez = -lsf_results.D - lsf_results.A * ppos.x - lsf_results.B * ppos.y; + z_values[ix][iy] = ez; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, z_values[ix][iy])); + idle(); // housekeeping + } + } + } + + SERIAL_ECHOLNPGM("done"); + } +#endif // UBL_G29_P31 + +#if ENABLED(UBL_DEVEL_DEBUGGING) + /** + * Much of the 'What?' command can be eliminated. But until we are fully debugged, it is + * good to have the extra information. Soon... we prune this to just a few items + */ + void unified_bed_leveling::g29_what_command() { + report_state(); + + if (storage_slot == -1) + SERIAL_ECHOPGM("No Mesh Loaded."); + else + SERIAL_ECHOPGM("Mesh ", storage_slot, " Loaded."); + SERIAL_EOL(); + serial_delay(50); + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + SERIAL_ECHOLNPAIR_F("Fade Height M420 Z", planner.z_fade_height, 4); + #endif + + adjust_mesh_to_mean(param.C_seen, param.C_constant); + + #if HAS_BED_PROBE + SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7); + #endif + + SERIAL_ECHOLNPGM("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50); + SERIAL_ECHOLNPGM("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y); serial_delay(50); + SERIAL_ECHOLNPGM("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X); serial_delay(50); + SERIAL_ECHOLNPGM("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y); serial_delay(50); + SERIAL_ECHOLNPGM("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X); serial_delay(50); + SERIAL_ECHOLNPGM("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y); serial_delay(50); + SERIAL_ECHOLNPGM("MESH_X_DIST ", MESH_X_DIST); + SERIAL_ECHOLNPGM("MESH_Y_DIST ", MESH_Y_DIST); serial_delay(50); + + SERIAL_ECHOPGM("X-Axis Mesh Points at: "); + LOOP_L_N(i, GRID_MAX_POINTS_X) { + SERIAL_ECHO_F(LOGICAL_X_POSITION(get_mesh_x(i)), 3); + SERIAL_ECHOPGM(" "); + serial_delay(25); + } + SERIAL_EOL(); + + SERIAL_ECHOPGM("Y-Axis Mesh Points at: "); + LOOP_L_N(i, GRID_MAX_POINTS_Y) { + SERIAL_ECHO_F(LOGICAL_Y_POSITION(get_mesh_y(i)), 3); + SERIAL_ECHOPGM(" "); + serial_delay(25); + } + SERIAL_EOL(); + + #if HAS_KILL + SERIAL_ECHOLNPGM("Kill pin on :", KILL_PIN, " state:", kill_state()); + #endif + + SERIAL_EOL(); + serial_delay(50); + + #if ENABLED(UBL_DEVEL_DEBUGGING) + SERIAL_ECHOLNPGM("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk); + serial_delay(50); + + SERIAL_ECHOLNPGM("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index())); + serial_delay(50); + + SERIAL_ECHOLNPGM("sizeof(ubl) : ", sizeof(ubl)); SERIAL_EOL(); + SERIAL_ECHOLNPGM("z_value[][] size: ", sizeof(z_values)); SERIAL_EOL(); + serial_delay(25); + + SERIAL_ECHOLNPGM("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index()))); + serial_delay(50); + + SERIAL_ECHOLNPGM("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n"); + serial_delay(25); + #endif // UBL_DEVEL_DEBUGGING + + if (!sanity_check()) { + echo_name(); + SERIAL_ECHOLNPGM(" sanity checks passed."); + } + } + + /** + * When we are fully debugged, the EEPROM dump command will get deleted also. But + * right now, it is good to have the extra information. Soon... we prune this. + */ + void unified_bed_leveling::g29_eeprom_dump() { + uint8_t cccc; + + SERIAL_ECHO_MSG("EEPROM Dump:"); + persistentStore.access_start(); + for (uint16_t i = 0; i < persistentStore.capacity(); i += 16) { + if (!(i & 0x3)) idle(); + print_hex_word(i); + SERIAL_ECHOPGM(": "); + for (uint16_t j = 0; j < 16; j++) { + persistentStore.read_data(i + j, &cccc, sizeof(uint8_t)); + print_hex_byte(cccc); + SERIAL_CHAR(' '); + } + SERIAL_EOL(); + } + SERIAL_EOL(); + persistentStore.access_finish(); + } + + /** + * When we are fully debugged, this may go away. But there are some valid + * use cases for the users. So we can wait and see what to do with it. + */ + void unified_bed_leveling::g29_compare_current_mesh_to_stored_mesh() { + const int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + return; + } + + if (!parser.has_value() || !WITHIN(parser.value_int(), 0, a - 1)) { + SERIAL_ECHOLNPGM("?Invalid storage slot.\n?Use 0 to ", a - 1); + return; + } + + param.KLS_storage_slot = (int8_t)parser.value_int(); + + float tmp_z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + settings.load_mesh(param.KLS_storage_slot, &tmp_z_values); + + SERIAL_ECHOLNPGM("Subtracting mesh in slot ", param.KLS_storage_slot, " from current mesh."); + + GRID_LOOP(x, y) { + z_values[x][y] -= tmp_z_values[x][y]; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + } + } + +#endif // UBL_DEVEL_DEBUGGING + +#endif // AUTO_BED_LEVELING_UBL diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp new file mode 100644 index 0000000000..9a856c2c59 --- /dev/null +++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp @@ -0,0 +1,503 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) + +#include "../bedlevel.h" +#include "../../../module/planner.h" +#include "../../../module/motion.h" + +#if ENABLED(DELTA) + #include "../../../module/delta.h" +#endif + +#include "../../../MarlinCore.h" +#include + +//#define DEBUG_UBL_MOTION +#define DEBUG_OUT ENABLED(DEBUG_UBL_MOTION) +#include "../../../core/debug_out.h" + +#if !UBL_SEGMENTED + + // TODO: The first and last parts of a move might result in very short segment(s) + // after getting split on the cell boundary, so moves like that should not + // get split. This will be most common for moves that start/end near the + // corners of cells. To fix the issue, simply check if the start/end of the line + // is very close to a cell boundary in advance and don't split the line there. + + void unified_bed_leveling::line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const 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 + */ + #if HAS_POSITION_MODIFIERS + xyze_pos_t start = current_position, end = destination; + planner.apply_modifiers(start); + planner.apply_modifiers(end); + #else + const xyze_pos_t &start = current_position, &end = destination; + #endif + + const xy_int8_t istart = cell_indexes(start), iend = cell_indexes(end); + + // A move within the same cell needs no splitting + if (istart == iend) { + + FINAL_MOVE: + + // When UBL_Z_RAISE_WHEN_OFF_MESH is disabled Z correction is extrapolated from the edge of the mesh + #ifdef UBL_Z_RAISE_WHEN_OFF_MESH + // For a move off the UBL mesh, use a constant Z raise + if (!cell_index_x_valid(end.x) || !cell_index_y_valid(end.y)) { + + // Note: There is no Z Correction in this case. We are off the mesh and don't know what + // a reasonable correction would be, UBL_Z_RAISE_WHEN_OFF_MESH will be used instead of + // a calculated (Bi-Linear interpolation) correction. + + end.z += UBL_Z_RAISE_WHEN_OFF_MESH; + planner.buffer_segment(end, scaled_fr_mm_s, extruder); + current_position = destination; + return; + } + #endif + + // The distance is always MESH_X_DIST so multiply by the constant reciprocal. + const float xratio = (end.x - get_mesh_x(iend.x)) * RECIPROCAL(MESH_X_DIST), + yratio = (end.y - get_mesh_y(iend.y)) * RECIPROCAL(MESH_Y_DIST), + z1 = z_values[iend.x][iend.y ] + xratio * (z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]), + z2 = z_values[iend.x][iend.y + 1] + xratio * (z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]); + + // X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset. + const float z0 = (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z); + + // Undefined parts of the Mesh in z_values[][] are NAN. + // Replace NAN corrections with 0.0 to prevent NAN propagation. + if (!isnan(z0)) end.z += z0; + planner.buffer_segment(end, scaled_fr_mm_s, extruder); + current_position = destination; + return; + } + + /** + * Past this point the move is known to cross one or more mesh lines. Check for the most common + * case - crossing only one X or Y line - after details are worked out to reduce computation. + */ + + const xy_float_t dist = end - start; + const xy_bool_t neg { dist.x < 0, dist.y < 0 }; + const xy_int8_t ineg { int8_t(neg.x), int8_t(neg.y) }; + const xy_float_t sign { neg.x ? -1.0f : 1.0f, neg.y ? -1.0f : 1.0f }; + const xy_int8_t iadd { int8_t(iend.x == istart.x ? 0 : sign.x), int8_t(iend.y == istart.y ? 0 : sign.y) }; + + /** + * Compute the extruder scaling factor for each partial move, checking for + * zero-length moves that would result in an infinite scaling factor. + * A float divide is required for this, but then it just multiplies. + * Also select a scaling factor based on the larger of the X and Y + * components. The larger of the two is used to preserve precision. + */ + + const xy_float_t ad = sign * dist; + const bool use_x_dist = ad.x > ad.y; + + float on_axis_distance = use_x_dist ? dist.x : dist.y; + + const float z_normalized_dist = (end.z - start.z) / on_axis_distance; // Allow divide by zero + #if HAS_EXTRUDERS + const float e_normalized_dist = (end.e - start.e) / on_axis_distance; + const bool inf_normalized_flag = isinf(e_normalized_dist); + #endif + + xy_int8_t icell = istart; + + const float ratio = dist.y / dist.x, // Allow divide by zero + c = start.y - ratio * start.x; + + const bool inf_ratio_flag = isinf(ratio); + + xyze_pos_t dest; // Stores XYZE for segmented moves + + /** + * Handle vertical lines that stay within one column. + * These need not be perfectly vertical. + */ + if (iadd.x == 0) { // Vertical line? + icell.y += ineg.y; // Line going down? Just go to the bottom. + while (icell.y != iend.y + ineg.y) { + icell.y += iadd.y; + const float next_mesh_line_y = get_mesh_y(icell.y); + + /** + * Skip the calculations for an infinite slope. + * For others the next X is the same so this can continue. + * Calculate X at the next Y mesh line. + */ + dest.x = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio; + + float z0 = z_correction_for_x_on_horizontal_mesh_line(dest.x, icell.x, icell.y) + * planner.fade_scaling_factor_for_z(end.z); + + // Undefined parts of the Mesh in z_values[][] are NAN. + // Replace NAN corrections with 0.0 to prevent NAN propagation. + if (isnan(z0)) z0 = 0.0; + + dest.y = get_mesh_y(icell.y); + + /** + * Without this check, it's possible to generate a zero length move, as in the case where + * the line is heading down, starting exactly on a mesh line boundary. Since this is rare + * it might be fine to remove this check and let planner.buffer_segment() filter it out. + */ + if (dest.y != start.y) { + if (!inf_normalized_flag) { // fall-through faster than branch + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); + dest.z = start.z + on_axis_distance * z_normalized_dist; + } + else { + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; + } + + dest.z += z0; + planner.buffer_segment(dest, scaled_fr_mm_s, extruder); + + } + else + DEBUG_ECHOLNPGM("[ubl] skip Y segment"); + } + + // At the final destination? Usually not, but when on a Y Mesh Line it's completed. + if (xy_pos_t(current_position) != xy_pos_t(end)) + goto FINAL_MOVE; + + current_position = destination; + return; + } + + /** + * Handle horizontal lines that stay within one row. + * These need not be perfectly horizontal. + */ + if (iadd.y == 0) { // Horizontal line? + icell.x += ineg.x; // Heading left? Just go to the left edge of the cell for the first move. + + while (icell.x != iend.x + ineg.x) { + icell.x += iadd.x; + dest.x = get_mesh_x(icell.x); + dest.y = ratio * dest.x + c; // Calculate Y at the next X mesh line + + float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x, icell.y) + * planner.fade_scaling_factor_for_z(end.z); + + // Undefined parts of the Mesh in z_values[][] are NAN. + // Replace NAN corrections with 0.0 to prevent NAN propagation. + if (isnan(z0)) z0 = 0.0; + + /** + * Without this check, it's possible to generate a zero length move, as in the case where + * the line is heading left, starting exactly on a mesh line boundary. Since this is rare + * it might be fine to remove this check and let planner.buffer_segment() filter it out. + */ + if (dest.x != start.x) { + if (!inf_normalized_flag) { + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); // Based on X or Y because the move is horizontal + dest.z = start.z + on_axis_distance * z_normalized_dist; + } + else { + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; + } + + dest.z += z0; + if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; + + } + else + DEBUG_ECHOLNPGM("[ubl] skip Y segment"); + } + + if (xy_pos_t(current_position) != xy_pos_t(end)) + goto FINAL_MOVE; + + current_position = destination; + return; + } + + /** + * Generic case of a line crossing both X and Y Mesh lines. + */ + + xy_int8_t cnt = (istart - iend).ABS(); + + icell += ineg; + + while (cnt) { + + const float next_mesh_line_x = get_mesh_x(icell.x + iadd.x), + next_mesh_line_y = get_mesh_y(icell.y + iadd.y); + + dest.y = ratio * next_mesh_line_x + c; // Calculate Y at the next X mesh line + dest.x = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line + // (No need to worry about ratio == 0. + // In that case, it was already detected + // as a vertical line move above.) + + if (neg.x == (dest.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(dest.x, icell.x - ineg.x, icell.y + iadd.y) + * planner.fade_scaling_factor_for_z(end.z); + + // Undefined parts of the Mesh in z_values[][] are NAN. + // Replace NAN corrections with 0.0 to prevent NAN propagation. + if (isnan(z0)) z0 = 0.0; + + dest.y = next_mesh_line_y; + + if (!inf_normalized_flag) { + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); + dest.z = start.z + on_axis_distance * z_normalized_dist; + } + else { + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; + } + + dest.z += z0; + if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; + + icell.y += iadd.y; + cnt.y--; + } + else { + // Yes! Crossing a X Mesh Line next + float z0 = z_correction_for_y_on_vertical_mesh_line(dest.y, icell.x + iadd.x, icell.y - ineg.y) + * planner.fade_scaling_factor_for_z(end.z); + + // Undefined parts of the Mesh in z_values[][] are NAN. + // Replace NAN corrections with 0.0 to prevent NAN propagation. + if (isnan(z0)) z0 = 0.0; + + dest.x = next_mesh_line_x; + + if (!inf_normalized_flag) { + on_axis_distance = use_x_dist ? dest.x - start.x : dest.y - start.y; + TERN_(HAS_EXTRUDERS, dest.e = start.e + on_axis_distance * e_normalized_dist); + dest.z = start.z + on_axis_distance * z_normalized_dist; + } + else { + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; + } + + dest.z += z0; + if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; + + icell.x += iadd.x; + cnt.x--; + } + + if (cnt.x < 0 || cnt.y < 0) break; // Too far! Exit the loop and go to FINAL_MOVE + } + + if (xy_pos_t(current_position) != xy_pos_t(end)) + goto FINAL_MOVE; + + current_position = destination; + } + +#else // UBL_SEGMENTED + + #if IS_SCARA + #define DELTA_SEGMENT_MIN_LENGTH 0.25 // SCARA minimum segment size is 0.25mm + #elif ENABLED(DELTA) + #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND) + #elif ENABLED(POLARGRAPH) + #define DELTA_SEGMENT_MIN_LENGTH 0.10 // mm (still subject to DEFAULT_SEGMENTS_PER_SECOND) + #else // CARTESIAN + #ifdef LEVELED_SEGMENT_LENGTH + #define DELTA_SEGMENT_MIN_LENGTH LEVELED_SEGMENT_LENGTH + #else + #define DELTA_SEGMENT_MIN_LENGTH 1.00 // mm (similar to G2/G3 arc segmentation) + #endif + #endif + + /** + * Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics. + * This calls planner.buffer_segment multiple times for small incremental moves. + * Returns true if did NOT move, false if moved (requires current_position update). + */ + + bool __O2 unified_bed_leveling::line_to_destination_segmented(const_feedRate_t scaled_fr_mm_s) { + + if (!position_is_reachable(destination)) // fail if moving outside reachable boundary + return true; // did not move, so current_position still accurate + + const xyze_pos_t total = destination - current_position; + + const float cart_xy_mm_2 = HYPOT2(total.x, total.y), + cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance + + #if IS_KINEMATIC + const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate + uint16_t segments = LROUND(segments_per_second * seconds), // Preferred number of segments for distance @ feedrate + seglimit = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length + NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments) + #else + uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length + #endif + + NOLESS(segments, 1U); // Must have at least one segment + const float inv_segments = 1.0f / segments; // Reciprocal to save calculation + + // Add hints to help optimize the move + PlannerHints hints(SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments); // Length of each segment + #if ENABLED(SCARA_FEEDRATE_SCALING) + hints.inv_duration = scaled_fr_mm_s / hints.millimeters; + #endif + + xyze_float_t diff = total * inv_segments; + + // Note that E segment distance could vary slightly as z mesh height + // changes for each segment, but small enough to ignore. + + xyze_pos_t raw = current_position; + + // Just do plain segmentation if UBL is inactive or the target is above the fade height + if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) { + while (--segments) { + raw += diff; + planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); + } + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, hints); + return false; // Did not set current from destination + } + + // Otherwise perform per-segment leveling + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination.z); + #endif + + // Move to first segment destination + raw += diff; + + 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. + + xy_int8_t icell = { + int8_t((raw.x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)), + int8_t((raw.y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST)) + }; + LIMIT(icell.x, 0, GRID_MAX_CELLS_X); + LIMIT(icell.y, 0, GRID_MAX_CELLS_Y); + + const int8_t ncellx = _MIN(icell.x+1, GRID_MAX_CELLS_X), + ncelly = _MIN(icell.y+1, GRID_MAX_CELLS_Y); + float z_x0y0 = z_values[icell.x][icell.y], // z at lower left corner + z_x1y0 = z_values[ncellx ][icell.y], // z at upper left corner + z_x0y1 = z_values[icell.x][ncelly ], // z at lower right corner + z_x1y1 = z_values[ncellx ][ncelly ]; // z at upper right corner + +// SERIAL_ECHOLNPGM("icell.x: ", icell.x, " icell.y: ", icell.y); +// SERIAL_ECHOLNPGM("z_x0y0: ", z_x0y0,); +// SERIAL_ECHOLNPGM("z_x1y0: ", z_x1y0,); +// SERIAL_ECHOLNPGM("z_x0y1: ", z_x0y1,); +// SERIAL_ECHOLNPGM("z_x1y1: ", z_x1y1,); + + if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A) + if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points + if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell, + if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points + + const xy_pos_t pos = { get_mesh_x(icell.x), get_mesh_y(icell.y) }; + xy_pos_t cell = raw - pos; + + const float z_xmy0 = (z_x1y0 - z_x0y0) * RECIPROCAL(MESH_X_DIST), // z slope per x along y0 (lower left to lower right) + z_xmy1 = (z_x1y1 - z_x0y1) * RECIPROCAL(MESH_X_DIST); // z slope per x along y1 (upper left to upper right) + + float z_cxy0 = z_x0y0 + z_xmy0 * cell.x; // z height along y0 at cell.x (changes for each cell.x in cell) + + const float z_cxy1 = z_x0y1 + z_xmy1 * cell.x, // z height along y1 at cell.x + z_cxyd = z_cxy1 - z_cxy0; // z height difference along cell.x from y0 to y1 + + float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cell.x from pos.y to y1 (changes for each cell.x in cell) + + // float z_cxcy = z_cxy0 + z_cxym * cell.y; // interpolated mesh z height along cell.x at cell.y (do inside the segment loop) + + // As subsequent segments step through this cell, the z_cxy0 intercept will change + // and the z_cxym slope will change, both as a function of cell.x within the cell, and + // each change by a constant for fixed segment lengths. + + const float z_sxy0 = z_xmy0 * diff.x, // per-segment adjustment to z_cxy0 + z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff.x; // per-segment adjustment to z_cxym + + for (;;) { // for all segments within this mesh cell + + if (--segments == 0) raw = destination; // if this is last segment, use destination for exact + + const float z_cxcy = (z_cxy0 + z_cxym * cell.y) // interpolated mesh z height along cell.x at cell.y + TERN_(ENABLE_LEVELING_FADE_HEIGHT, * fade_scaling_factor); // apply fade factor to interpolated height + + const float oldz = raw.z; raw.z += z_cxcy; + + LIMIT(raw.z, Z_PROBE_LOW_POINT, Z_MAX_POS); + + planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); + raw.z = oldz; + + if (segments == 0) // done with last segment + return false; // didn't set current from destination + + raw += diff; + cell += diff; + + if (!WITHIN(cell.x, 0, MESH_X_DIST) || !WITHIN(cell.y, 0, MESH_Y_DIST)) // done within this cell, break to next + break; + + // Next segment still within same mesh cell, adjust the per-segment + // 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 + + return false; // caller will update current_position + } + +#endif // UBL_SEGMENTED + +#endif // AUTO_BED_LEVELING_UBL diff --git a/Marlin/src/feature/binary_stream.cpp b/Marlin/src/feature/binary_stream.cpp new file mode 100644 index 0000000000..81e110339b --- /dev/null +++ b/Marlin/src/feature/binary_stream.cpp @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(BINARY_FILE_TRANSFER) + +#include "../sd/cardreader.h" +#include "binary_stream.h" + +char* SDFileTransferProtocol::Packet::Open::data = nullptr; +size_t SDFileTransferProtocol::data_waiting, SDFileTransferProtocol::transfer_timeout, SDFileTransferProtocol::idle_timeout; +bool SDFileTransferProtocol::transfer_active, SDFileTransferProtocol::dummy_transfer, SDFileTransferProtocol::compression; + +BinaryStream binaryStream[NUM_SERIAL]; + +#endif diff --git a/Marlin/src/feature/binary_stream.h b/Marlin/src/feature/binary_stream.h new file mode 100644 index 0000000000..417e39c745 --- /dev/null +++ b/Marlin/src/feature/binary_stream.h @@ -0,0 +1,456 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +#define BINARY_STREAM_COMPRESSION +#if ENABLED(BINARY_STREAM_COMPRESSION) + #include "../libs/heatshrink/heatshrink_decoder.h" + // STM32 (and others?) require a word-aligned buffer for SD card transfers via DMA + static __attribute__((aligned(sizeof(size_t)))) uint8_t decode_buffer[512] = {}; + static heatshrink_decoder hsd; +#endif + +inline bool bs_serial_data_available(const serial_index_t index) { + return SERIAL_IMPL.available(index); +} + +inline int bs_read_serial(const serial_index_t index) { + return SERIAL_IMPL.read(index); +} + +class SDFileTransferProtocol { +private: + struct Packet { + struct [[gnu::packed]] Open { + static bool validate(char *buffer, size_t length) { + return (length > sizeof(Open) && buffer[length - 1] == '\0'); + } + static Open& decode(char *buffer) { + data = &buffer[2]; + return *reinterpret_cast(buffer); + } + bool compression_enabled() { return compression & 0x1; } + bool dummy_transfer() { return dummy & 0x1; } + static char* filename() { return data; } + private: + uint8_t dummy, compression; + static char* data; // variable length strings complicate things + }; + }; + + static bool file_open(char *filename) { + if (!dummy_transfer) { + card.mount(); + card.openFileWrite(filename); + if (!card.isFileOpen()) return false; + } + transfer_active = true; + data_waiting = 0; + TERN_(BINARY_STREAM_COMPRESSION, heatshrink_decoder_reset(&hsd)); + return true; + } + + static bool file_write(char *buffer, const size_t length) { + #if ENABLED(BINARY_STREAM_COMPRESSION) + if (compression) { + size_t total_processed = 0, processed_count = 0; + HSD_poll_res presult; + + while (total_processed < length) { + heatshrink_decoder_sink(&hsd, reinterpret_cast(&buffer[total_processed]), length - total_processed, &processed_count); + total_processed += processed_count; + do { + presult = heatshrink_decoder_poll(&hsd, &decode_buffer[data_waiting], sizeof(decode_buffer) - data_waiting, &processed_count); + data_waiting += processed_count; + if (data_waiting == sizeof(decode_buffer)) { + if (!dummy_transfer) + if (card.write(decode_buffer, data_waiting) < 0) { + return false; + } + data_waiting = 0; + } + } while (presult == HSDR_POLL_MORE); + } + return true; + } + #endif + return (dummy_transfer || card.write(buffer, length) >= 0); + } + + static bool file_close() { + if (!dummy_transfer) { + #if ENABLED(BINARY_STREAM_COMPRESSION) + // flush any buffered data + if (data_waiting) { + if (card.write(decode_buffer, data_waiting) < 0) return false; + data_waiting = 0; + } + #endif + card.closefile(); + card.release(); + } + TERN_(BINARY_STREAM_COMPRESSION, heatshrink_decoder_finish(&hsd)); + transfer_active = false; + return true; + } + + static void transfer_abort() { + if (!dummy_transfer) { + card.closefile(); + card.removeFile(card.filename); + card.release(); + TERN_(BINARY_STREAM_COMPRESSION, heatshrink_decoder_finish(&hsd)); + } + transfer_active = false; + return; + } + + enum class FileTransfer : uint8_t { QUERY, OPEN, CLOSE, WRITE, ABORT }; + + static size_t data_waiting, transfer_timeout, idle_timeout; + static bool transfer_active, dummy_transfer, compression; + +public: + + static void idle() { + // If a transfer is interrupted and a file is left open, abort it after TIMEOUT ms + const millis_t ms = millis(); + if (transfer_active && ELAPSED(ms, idle_timeout)) { + idle_timeout = ms + IDLE_PERIOD; + if (ELAPSED(ms, transfer_timeout)) transfer_abort(); + } + } + + static void process(uint8_t packet_type, char *buffer, const uint16_t length) { + transfer_timeout = millis() + TIMEOUT; + switch (static_cast(packet_type)) { + case FileTransfer::QUERY: + SERIAL_ECHOPGM("PFT:version:", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH); + #if ENABLED(BINARY_STREAM_COMPRESSION) + SERIAL_ECHOLNPGM(":compression:heatshrink,", HEATSHRINK_STATIC_WINDOW_BITS, ",", HEATSHRINK_STATIC_LOOKAHEAD_BITS); + #else + SERIAL_ECHOLNPGM(":compression:none"); + #endif + break; + case FileTransfer::OPEN: + if (transfer_active) + SERIAL_ECHOLNPGM("PFT:busy"); + else { + if (Packet::Open::validate(buffer, length)) { + auto packet = Packet::Open::decode(buffer); + compression = packet.compression_enabled(); + dummy_transfer = packet.dummy_transfer(); + if (file_open(packet.filename())) { + SERIAL_ECHOLNPGM("PFT:success"); + break; + } + } + SERIAL_ECHOLNPGM("PFT:fail"); + } + break; + case FileTransfer::CLOSE: + if (transfer_active) { + if (file_close()) + SERIAL_ECHOLNPGM("PFT:success"); + else + SERIAL_ECHOLNPGM("PFT:ioerror"); + } + else SERIAL_ECHOLNPGM("PFT:invalid"); + break; + case FileTransfer::WRITE: + if (!transfer_active) + SERIAL_ECHOLNPGM("PFT:invalid"); + else if (!file_write(buffer, length)) + SERIAL_ECHOLNPGM("PFT:ioerror"); + break; + case FileTransfer::ABORT: + transfer_abort(); + SERIAL_ECHOLNPGM("PFT:success"); + break; + default: + SERIAL_ECHOLNPGM("PTF:invalid"); + break; + } + } + + static const uint16_t VERSION_MAJOR = 0, VERSION_MINOR = 1, VERSION_PATCH = 0, TIMEOUT = 10000, IDLE_PERIOD = 1000; +}; + +class BinaryStream { +public: + enum class Protocol : uint8_t { CONTROL, FILE_TRANSFER }; + + enum class ProtocolControl : uint8_t { SYNC = 1, CLOSE }; + + enum class StreamState : uint8_t { PACKET_RESET, PACKET_WAIT, PACKET_HEADER, PACKET_DATA, PACKET_FOOTER, + PACKET_PROCESS, PACKET_RESEND, PACKET_TIMEOUT, PACKET_ERROR }; + + struct Packet { // 10 byte protocol overhead, ascii with checksum and line number has a minimum of 7 increasing with line + + union Header { + static constexpr uint16_t HEADER_TOKEN = 0xB5AD; + struct [[gnu::packed]] { + uint16_t token; // packet start token + uint8_t sync; // stream sync, resend id and packet loss detection + uint8_t meta; // 4 bit protocol, + // 4 bit packet type + uint16_t size; // data length + uint16_t checksum; // header checksum + }; + uint8_t protocol() { return (meta >> 4) & 0xF; } + uint8_t type() { return meta & 0xF; } + void reset() { token = 0; sync = 0; meta = 0; size = 0; checksum = 0; } + uint8_t data[2]; + }; + + union Footer { + struct [[gnu::packed]] { + uint16_t checksum; // full packet checksum + }; + void reset() { checksum = 0; } + uint8_t data[1]; + }; + + Header header; + Footer footer; + uint32_t bytes_received; + uint16_t checksum, header_checksum; + millis_t timeout; + char* buffer; + + void reset() { + header.reset(); + footer.reset(); + bytes_received = 0; + checksum = 0; + header_checksum = 0; + timeout = millis() + PACKET_MAX_WAIT; + buffer = nullptr; + } + } packet{}; + + void reset() { + sync = 0; + packet_retries = 0; + buffer_next_index = 0; + } + + // fletchers 16 checksum + uint32_t checksum(uint32_t cs, uint8_t value) { + uint16_t cs_low = (((cs & 0xFF) + value) % 255); + return ((((cs >> 8) + cs_low) % 255) << 8) | cs_low; + } + + // read the next byte from the data stream keeping track of + // whether the stream times out from data starvation + // takes the data variable by reference in order to return status + bool stream_read(uint8_t& data) { + if (stream_state != StreamState::PACKET_WAIT && ELAPSED(millis(), packet.timeout)) { + stream_state = StreamState::PACKET_TIMEOUT; + return false; + } + if (!bs_serial_data_available(card.transfer_port_index)) return false; + data = bs_read_serial(card.transfer_port_index); + packet.timeout = millis() + PACKET_MAX_WAIT; + return true; + } + + template + void receive(char (&buffer)[buffer_size]) { + uint8_t data = 0; + millis_t transfer_window = millis() + RX_TIMESLICE; + + #if ENABLED(SDSUPPORT) + PORT_REDIRECT(SERIAL_PORTMASK(card.transfer_port_index)); + #endif + + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Warray-bounds" + + while (PENDING(millis(), transfer_window)) { + switch (stream_state) { + /** + * Data stream packet handling + */ + case StreamState::PACKET_RESET: + packet.reset(); + stream_state = StreamState::PACKET_WAIT; + case StreamState::PACKET_WAIT: + if (!stream_read(data)) { idle(); return; } // no active packet so don't wait + packet.header.data[1] = data; + if (packet.header.token == packet.header.HEADER_TOKEN) { + packet.bytes_received = 2; + stream_state = StreamState::PACKET_HEADER; + } + else { + // stream corruption drop data + packet.header.data[0] = data; + } + break; + case StreamState::PACKET_HEADER: + if (!stream_read(data)) break; + + packet.header.data[packet.bytes_received++] = data; + packet.checksum = checksum(packet.checksum, data); + + // header checksum calculation can't contain the checksum + if (packet.bytes_received == sizeof(Packet::header) - 2) + packet.header_checksum = packet.checksum; + + if (packet.bytes_received == sizeof(Packet::header)) { + if (packet.header.checksum == packet.header_checksum) { + // The SYNC control packet is a special case in that it doesn't require the stream sync to be correct + if (static_cast(packet.header.protocol()) == Protocol::CONTROL && static_cast(packet.header.type()) == ProtocolControl::SYNC) { + SERIAL_ECHOLNPGM("ss", sync, ",", buffer_size, ",", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH); + stream_state = StreamState::PACKET_RESET; + break; + } + if (packet.header.sync == sync) { + buffer_next_index = 0; + packet.bytes_received = 0; + if (packet.header.size) { + stream_state = StreamState::PACKET_DATA; + packet.buffer = static_cast(&buffer[0]); // multipacket buffering not implemented, always allocate whole buffer to packet + } + else + stream_state = StreamState::PACKET_PROCESS; + } + else if (packet.header.sync == sync - 1) { // ok response must have been lost + SERIAL_ECHOLNPGM("ok", packet.header.sync); // transmit valid packet received and drop the payload + stream_state = StreamState::PACKET_RESET; + } + else if (packet_retries) { + stream_state = StreamState::PACKET_RESET; // could be packets already buffered on flow controlled connections, drop them without ack + } + else { + SERIAL_ECHO_MSG("Datastream packet out of order"); + stream_state = StreamState::PACKET_RESEND; + } + } + else { + SERIAL_ECHO_MSG("Packet header(", packet.header.sync, "?) corrupt"); + stream_state = StreamState::PACKET_RESEND; + } + } + break; + case StreamState::PACKET_DATA: + if (!stream_read(data)) break; + + if (buffer_next_index < buffer_size) + packet.buffer[buffer_next_index] = data; + else { + SERIAL_ECHO_MSG("Datastream packet data buffer overrun"); + stream_state = StreamState::PACKET_ERROR; + break; + } + + packet.checksum = checksum(packet.checksum, data); + packet.bytes_received++; + buffer_next_index++; + + if (packet.bytes_received == packet.header.size) { + stream_state = StreamState::PACKET_FOOTER; + packet.bytes_received = 0; + } + break; + case StreamState::PACKET_FOOTER: + if (!stream_read(data)) break; + + packet.footer.data[packet.bytes_received++] = data; + if (packet.bytes_received == sizeof(Packet::footer)) { + if (packet.footer.checksum == packet.checksum) { + stream_state = StreamState::PACKET_PROCESS; + } + else { + SERIAL_ECHO_MSG("Packet(", packet.header.sync, ") payload corrupt"); + stream_state = StreamState::PACKET_RESEND; + } + } + break; + case StreamState::PACKET_PROCESS: + sync++; + packet_retries = 0; + bytes_received += packet.header.size; + + SERIAL_ECHOLNPGM("ok", packet.header.sync); // transmit valid packet received + dispatch(); + stream_state = StreamState::PACKET_RESET; + break; + case StreamState::PACKET_RESEND: + if (packet_retries < MAX_RETRIES || MAX_RETRIES == 0) { + packet_retries++; + stream_state = StreamState::PACKET_RESET; + SERIAL_ECHO_MSG("Resend request ", packet_retries); + SERIAL_ECHOLNPGM("rs", sync); + } + else + stream_state = StreamState::PACKET_ERROR; + break; + case StreamState::PACKET_TIMEOUT: + SERIAL_ECHO_MSG("Datastream timeout"); + stream_state = StreamState::PACKET_RESEND; + break; + case StreamState::PACKET_ERROR: + SERIAL_ECHOLNPGM("fe", packet.header.sync); + reset(); // reset everything, resync required + stream_state = StreamState::PACKET_RESET; + break; + } + } + + #pragma GCC diagnostic pop + } + + void dispatch() { + switch (static_cast(packet.header.protocol())) { + case Protocol::CONTROL: + switch (static_cast(packet.header.type())) { + case ProtocolControl::CLOSE: // revert back to ASCII mode + card.flag.binary_mode = false; + break; + default: + SERIAL_ECHO_MSG("Unknown BinaryProtocolControl Packet"); + } + break; + case Protocol::FILE_TRANSFER: + SDFileTransferProtocol::process(packet.header.type(), packet.buffer, packet.header.size); // send user data to be processed + break; + default: + SERIAL_ECHO_MSG("Unsupported Binary Protocol"); + } + } + + void idle() { + // Some Protocols may need periodic updates without new data + SDFileTransferProtocol::idle(); + } + + static const uint16_t PACKET_MAX_WAIT = 500, RX_TIMESLICE = 20, MAX_RETRIES = 0, VERSION_MAJOR = 0, VERSION_MINOR = 1, VERSION_PATCH = 0; + uint8_t packet_retries, sync; + uint16_t buffer_next_index; + uint32_t bytes_received; + StreamState stream_state = StreamState::PACKET_RESET; +}; + +extern BinaryStream binaryStream[NUM_SERIAL]; diff --git a/Marlin/src/feature/bltouch.cpp b/Marlin/src/feature/bltouch.cpp new file mode 100644 index 0000000000..fe56341a47 --- /dev/null +++ b/Marlin/src/feature/bltouch.cpp @@ -0,0 +1,194 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(BLTOUCH) + +#include "bltouch.h" + +BLTouch bltouch; + +bool BLTouch::od_5v_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain +#ifdef BLTOUCH_HS_MODE + bool BLTouch::high_speed_mode; // Initialized by settings.load, 0 = Low Speed; 1 = High Speed +#else + constexpr bool BLTouch::high_speed_mode; +#endif + +#include "../module/servo.h" +#include "../module/probe.h" + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../core/debug_out.h" + +bool BLTouch::command(const BLTCommand cmd, const millis_t &ms) { + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("BLTouch Command :", cmd); + servo[Z_PROBE_SERVO_NR].move(cmd); + safe_delay(_MAX(ms, (uint32_t)BLTOUCH_DELAY)); // BLTOUCH_DELAY is also the *minimum* delay + return triggered(); +} + +// Init the class and device. Call from setup(). +void BLTouch::init(const bool set_voltage/*=false*/) { + // Voltage Setting (if enabled). At every Marlin initialization: + // BLTOUCH < V3.0 and clones: This will be ignored by the probe + // BLTOUCH V3.0: SET_5V_MODE or SET_OD_MODE (if enabled). + // OD_MODE is the default on power on, but setting it does not hurt + // This mode will stay active until manual SET_OD_MODE or power cycle + // BLTOUCH V3.1: SET_5V_MODE or SET_OD_MODE (if enabled). + // At power on, the probe will default to the eeprom settings configured by the user + _reset(); + _stow(); + + #if ENABLED(BLTOUCH_FORCE_MODE_SET) + + constexpr bool should_set = true; + + #else + + #ifdef DEBUG_OUT + if (DEBUGGING(LEVELING)) { + PGMSTR(mode0, "OD"); + PGMSTR(mode1, "5V"); + DEBUG_ECHOPGM("BLTouch Mode: "); + DEBUG_ECHOPGM_P(bltouch.od_5v_mode ? mode1 : mode0); + DEBUG_ECHOLNPGM(" (Default " TERN(BLTOUCH_SET_5V_MODE, "5V", "OD") ")"); + } + #endif + + const bool should_set = od_5v_mode != ENABLED(BLTOUCH_SET_5V_MODE); + + #endif + + if (should_set && set_voltage) + mode_conv_proc(ENABLED(BLTOUCH_SET_5V_MODE)); +} + +void BLTouch::clear() { + _reset(); // RESET or RESET_SW will clear an alarm condition but... + // ...it will not clear a triggered condition in SW mode when the pin is currently up + // ANTClabs <-- CODE ERROR + _stow(); // STOW will pull up the pin and clear any triggered condition unless it fails, don't care + _deploy(); // DEPLOY to test the probe. Could fail, don't care + _stow(); // STOW to be ready for meaningful work. Could fail, don't care +} + +bool BLTouch::triggered() { return PROBE_TRIGGERED(); } + +bool BLTouch::deploy_proc() { + // Do a DEPLOY + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch DEPLOY requested"); + + // Attempt to DEPLOY, wait for DEPLOY_DELAY or ALARM + if (_deploy_query_alarm()) { + // The deploy might have failed or the probe is already triggered (nozzle too low?) + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch ALARM or TRIGGER after DEPLOY, recovering"); + + clear(); // Get the probe into start condition + + // Last attempt to DEPLOY + if (_deploy_query_alarm()) { + // The deploy might have failed or the probe is actually triggered (nozzle too low?) again + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Deploy Failed"); + probe.probe_error_stop(); // Something is wrong, needs action, but not too bad, allow restart + return true; // Tell our caller we goofed in case he cares to know + } + } + + // One of the recommended ANTClabs ways to probe, using SW MODE + TERN_(BLTOUCH_FORCE_SW_MODE, _set_SW_mode()); + + // Now the probe is ready to issue a 10ms pulse when the pin goes up. + // The trigger STOW (see motion.cpp for example) will pull up the probes pin as soon as the pulse + // is registered. + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("bltouch.deploy_proc() end"); + + return false; // report success to caller +} + +bool BLTouch::stow_proc() { + // Do a STOW + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch STOW requested"); + + // A STOW will clear a triggered condition in the probe (10ms pulse). + // At the moment that we come in here, we might (pulse) or will (SW mode) see the trigger on the pin. + // So even though we know a STOW will be ignored if an ALARM condition is active, we will STOW. + // Note: If the probe is deployed AND in an ALARM condition, this STOW will not pull up the pin + // and the ALARM condition will still be there. --> ANTClabs should change this behavior maybe + + // Attempt to STOW, wait for STOW_DELAY or ALARM + if (_stow_query_alarm()) { + // The stow might have failed + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch ALARM or TRIGGER after STOW, recovering"); + + _reset(); // This RESET will then also pull up the pin. If it doesn't + // work and the pin is still down, there will no longer be + // an ALARM condition though. + // But one more STOW will catch that + // Last attempt to STOW + if (_stow_query_alarm()) { // so if there is now STILL an ALARM condition: + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Stow Failed"); + probe.probe_error_stop(); // Something is wrong, needs action, but not too bad, allow restart + return true; // Tell our caller we goofed in case he cares to know + } + } + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("bltouch.stow_proc() end"); + + return false; // report success to caller +} + +bool BLTouch::status_proc() { + /** + * Return a TRUE for "YES, it is DEPLOYED" + * This function will ensure switch state is reset after execution + */ + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch STATUS requested"); + + _set_SW_mode(); // Incidentally, _set_SW_mode() will also RESET any active alarm + const bool tr = triggered(); // If triggered in SW mode, the pin is up, it is STOWED + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch is ", tr); + + if (tr) _stow(); else _deploy(); // Turn off SW mode, reset any trigger, honor pin state + return !tr; +} + +void BLTouch::mode_conv_proc(const bool M5V) { + /** + * BLTOUCH pre V3.0 and clones: No reaction at all to this sequence apart from a DEPLOY -> STOW + * BLTOUCH V3.0: This will set the mode (twice) and sadly, a STOW is needed at the end, because of the deploy + * BLTOUCH V3.1: This will set the mode and store it in the eeprom. The STOW is not needed but does not hurt + */ + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("BLTouch Set Mode - ", M5V); + _deploy(); + if (M5V) _set_5V_mode(); else _set_OD_mode(); + _mode_store(); + if (M5V) _set_5V_mode(); else _set_OD_mode(); + _stow(); + od_5v_mode = M5V; +} + +#endif // BLTOUCH diff --git a/Marlin/src/feature/bltouch.h b/Marlin/src/feature/bltouch.h new file mode 100644 index 0000000000..fa857bb96a --- /dev/null +++ b/Marlin/src/feature/bltouch.h @@ -0,0 +1,118 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" + +// BLTouch commands are sent as servo angles +typedef unsigned char BLTCommand; + +#define STOW_ALARM true +#define BLTOUCH_DEPLOY 10 +#define BLTOUCH_STOW 90 +#define BLTOUCH_SW_MODE 60 +#define BLTOUCH_SELFTEST 120 +#define BLTOUCH_MODE_STORE 130 +#define BLTOUCH_5V_MODE 140 +#define BLTOUCH_OD_MODE 150 +#define BLTOUCH_RESET 160 + +/** + * The following commands require different minimum delays. + * + * 500ms required for a reliable Reset. + * + * 750ms required for Deploy/Stow, otherwise the alarm state + * will not be seen until the following move command. + */ + +#ifndef BLTOUCH_SET5V_DELAY + #define BLTOUCH_SET5V_DELAY 150 +#endif +#ifndef BLTOUCH_SETOD_DELAY + #define BLTOUCH_SETOD_DELAY 150 +#endif +#ifndef BLTOUCH_MODE_STORE_DELAY + #define BLTOUCH_MODE_STORE_DELAY 150 +#endif +#ifndef BLTOUCH_DEPLOY_DELAY + #define BLTOUCH_DEPLOY_DELAY 750 +#endif +#ifndef BLTOUCH_STOW_DELAY + #define BLTOUCH_STOW_DELAY 750 +#endif +#ifndef BLTOUCH_RESET_DELAY + #define BLTOUCH_RESET_DELAY 500 +#endif + +class BLTouch { +public: + + static void init(const bool set_voltage=false); + static bool od_5v_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain + + #ifdef BLTOUCH_HS_MODE + static bool high_speed_mode; // Initialized by settings.load, 0 = Low Speed; 1 = High Speed + #else + static constexpr bool high_speed_mode = false; + #endif + + static float z_extra_clearance() { return high_speed_mode ? 7 : 0; } + + // DEPLOY and STOW are wrapped for error handling - these are used by homing and by probing + static bool deploy() { return deploy_proc(); } + static bool stow() { return stow_proc(); } + static bool status() { return status_proc(); } + + // Native BLTouch commands ("Underscore"...), used in lcd menus and internally + static void _reset() { command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); } + + static void _selftest() { command(BLTOUCH_SELFTEST, BLTOUCH_DELAY); } + + static void _set_SW_mode() { command(BLTOUCH_SW_MODE, BLTOUCH_DELAY); } + static void _reset_SW_mode() { if (triggered()) _stow(); else _deploy(); } + + static void _set_5V_mode() { command(BLTOUCH_5V_MODE, BLTOUCH_SET5V_DELAY); } + static void _set_OD_mode() { command(BLTOUCH_OD_MODE, BLTOUCH_SETOD_DELAY); } + static void _mode_store() { command(BLTOUCH_MODE_STORE, BLTOUCH_MODE_STORE_DELAY); } + + static void _deploy() { command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); } + static void _stow() { command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY); } + + static void mode_conv_5V() { mode_conv_proc(true); } + static void mode_conv_OD() { mode_conv_proc(false); } + + static bool triggered(); + +private: + static bool _deploy_query_alarm() { return command(BLTOUCH_DEPLOY, BLTOUCH_DEPLOY_DELAY); } + static bool _stow_query_alarm() { return command(BLTOUCH_STOW, BLTOUCH_STOW_DELAY) == STOW_ALARM; } + + static void clear(); + static bool command(const BLTCommand cmd, const millis_t &ms); + static bool deploy_proc(); + static bool stow_proc(); + static bool status_proc(); + static void mode_conv_proc(const bool M5V); +}; + +extern BLTouch bltouch; diff --git a/Marlin/src/feature/cancel_object.cpp b/Marlin/src/feature/cancel_object.cpp new file mode 100644 index 0000000000..bffd2bb720 --- /dev/null +++ b/Marlin/src/feature/cancel_object.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(CANCEL_OBJECTS) + +#include "cancel_object.h" +#include "../gcode/gcode.h" +#include "../lcd/marlinui.h" + +CancelObject cancelable; + +int8_t CancelObject::object_count, // = 0 + CancelObject::active_object = -1; +uint32_t CancelObject::canceled; // = 0x0000 +bool CancelObject::skipping; // = false + +void CancelObject::set_active_object(const int8_t obj) { + active_object = obj; + if (WITHIN(obj, 0, 31)) { + if (obj >= object_count) object_count = obj + 1; + skipping = TEST(canceled, obj); + } + else + skipping = false; + + #if BOTH(HAS_STATUS_MESSAGE, CANCEL_OBJECTS_REPORTING) + if (active_object >= 0) + ui.status_printf(0, F(S_FMT " %i"), GET_TEXT(MSG_PRINTING_OBJECT), int(active_object)); + else + ui.reset_status(); + #endif +} + +void CancelObject::cancel_object(const int8_t obj) { + if (WITHIN(obj, 0, 31)) { + SBI(canceled, obj); + if (obj == active_object) skipping = true; + } +} + +void CancelObject::uncancel_object(const int8_t obj) { + if (WITHIN(obj, 0, 31)) { + CBI(canceled, obj); + if (obj == active_object) skipping = false; + } +} + +void CancelObject::report() { + if (active_object >= 0) + SERIAL_ECHO_MSG("Active Object: ", active_object); + + if (canceled) { + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Canceled:"); + for (int i = 0; i < object_count; i++) + if (TEST(canceled, i)) { SERIAL_CHAR(' '); SERIAL_ECHO(i); } + SERIAL_EOL(); + } +} + +#endif // CANCEL_OBJECTS diff --git a/Marlin/src/feature/cancel_object.h b/Marlin/src/feature/cancel_object.h new file mode 100644 index 0000000000..62548a3719 --- /dev/null +++ b/Marlin/src/feature/cancel_object.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include + +class CancelObject { +public: + static bool skipping; + static int8_t object_count, active_object; + static uint32_t canceled; + static void set_active_object(const int8_t obj); + static void cancel_object(const int8_t obj); + static void uncancel_object(const int8_t obj); + static void report(); + static bool is_canceled(const int8_t obj) { return TEST(canceled, obj); } + static void clear_active_object() { set_active_object(-1); } + static void cancel_active_object() { cancel_object(active_object); } + static void reset() { canceled = 0x0000; object_count = 0; clear_active_object(); } +}; + +extern CancelObject cancelable; diff --git a/Marlin/src/feature/caselight.cpp b/Marlin/src/feature/caselight.cpp new file mode 100644 index 0000000000..eb580a6d62 --- /dev/null +++ b/Marlin/src/feature/caselight.cpp @@ -0,0 +1,103 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(CASE_LIGHT_ENABLE) + +#include "caselight.h" + +CaseLight caselight; + +#if CASELIGHT_USES_BRIGHTNESS && !defined(CASE_LIGHT_DEFAULT_BRIGHTNESS) + #define CASE_LIGHT_DEFAULT_BRIGHTNESS 0 // For use on PWM pin as non-PWM just sets a default +#endif + +#if CASELIGHT_USES_BRIGHTNESS + uint8_t CaseLight::brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS; +#endif + +bool CaseLight::on = CASE_LIGHT_DEFAULT_ON; + +#if CASE_LIGHT_IS_COLOR_LED + constexpr uint8_t init_case_light[] = CASE_LIGHT_DEFAULT_COLOR; + LEDColor CaseLight::color = { init_case_light[0], init_case_light[1], init_case_light[2] OPTARG(HAS_WHITE_LED, init_case_light[3]) }; +#endif + +void CaseLight::update(const bool sflag) { + #if CASELIGHT_USES_BRIGHTNESS + /** + * The brightness_sav (and sflag) is needed because ARM chips ignore + * a "WRITE(CASE_LIGHT_PIN,x)" command to the pins that are directly + * controlled by the PWM module. In order to turn them off the brightness + * level needs to be set to OFF. Since we can't use the PWM register to + * save the last brightness level we need a variable to save it. + */ + static uint8_t brightness_sav; // Save brightness info for restore on "M355 S1" + + if (on || !sflag) + brightness_sav = brightness; // Save brightness except for M355 S0 + if (sflag && on) + brightness = brightness_sav; // Restore last brightness for M355 S1 + + const uint8_t i = on ? brightness : 0, n10ct = ENABLED(INVERT_CASE_LIGHT) ? 255 - i : i; + UNUSED(n10ct); + #endif + + #if CASE_LIGHT_IS_COLOR_LED + #if ENABLED(CASE_LIGHT_USE_NEOPIXEL) + if (on) + // Use current color of (NeoPixel) leds and new brightness level + leds.set_color(LEDColor(leds.color.r, leds.color.g, leds.color.b OPTARG(HAS_WHITE_LED, leds.color.w) OPTARG(NEOPIXEL_LED, n10ct))); + else + // Switch off leds + leds.set_off(); + #else + // Use CaseLight color (CASE_LIGHT_DEFAULT_COLOR) and new brightness level + leds.set_color(LEDColor(color.r, color.g, color.b OPTARG(HAS_WHITE_LED, color.w) OPTARG(NEOPIXEL_LED, n10ct))); + #endif + #else // !CASE_LIGHT_IS_COLOR_LED + + #if CASELIGHT_USES_BRIGHTNESS + if (pin_is_pwm()) + hal.set_pwm_duty(pin_t(CASE_LIGHT_PIN), ( + #if CASE_LIGHT_MAX_PWM == 255 + n10ct + #else + map(n10ct, 0, 255, 0, CASE_LIGHT_MAX_PWM) + #endif + )); + else + #endif + { + const bool s = on ? TERN(INVERT_CASE_LIGHT, LOW, HIGH) : TERN(INVERT_CASE_LIGHT, HIGH, LOW); + WRITE(CASE_LIGHT_PIN, s ? HIGH : LOW); + } + + #endif // !CASE_LIGHT_IS_COLOR_LED + + #if ENABLED(CASE_LIGHT_USE_RGB_LED) + if (leds.lights_on) leds.update(); else leds.set_off(); + #endif +} + +#endif // CASE_LIGHT_ENABLE diff --git a/Marlin/src/feature/caselight.h b/Marlin/src/feature/caselight.h new file mode 100644 index 0000000000..17e1222acb --- /dev/null +++ b/Marlin/src/feature/caselight.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +#if CASE_LIGHT_IS_COLOR_LED + #include "leds/leds.h" // for LEDColor +#endif + +class CaseLight { +public: + static bool on; + #if ENABLED(CASELIGHT_USES_BRIGHTNESS) + static uint8_t brightness; + #endif + + static bool pin_is_pwm() { return TERN0(NEED_CASE_LIGHT_PIN, PWM_PIN(CASE_LIGHT_PIN)); } + static bool has_brightness() { return TERN0(CASELIGHT_USES_BRIGHTNESS, TERN(CASE_LIGHT_USE_NEOPIXEL, true, pin_is_pwm())); } + + static void init() { + #if NEED_CASE_LIGHT_PIN + if (pin_is_pwm()) SET_PWM(CASE_LIGHT_PIN); else SET_OUTPUT(CASE_LIGHT_PIN); + #endif + update_brightness(); + } + + static void update(const bool sflag); + static void update_brightness() { update(false); } + static void update_enabled() { update(true); } + + #if ENABLED(CASE_LIGHT_IS_COLOR_LED) + private: + static LEDColor color; + #endif +}; + +extern CaseLight caselight; diff --git a/Marlin/src/feature/closedloop.cpp b/Marlin/src/feature/closedloop.cpp new file mode 100644 index 0000000000..1b9f711a6b --- /dev/null +++ b/Marlin/src/feature/closedloop.cpp @@ -0,0 +1,44 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + +#if !PIN_EXISTS(CLOSED_LOOP_ENABLE) || !PIN_EXISTS(CLOSED_LOOP_MOVE_COMPLETE) + #error "CLOSED_LOOP_ENABLE_PIN and CLOSED_LOOP_MOVE_COMPLETE_PIN are required for EXTERNAL_CLOSED_LOOP_CONTROLLER." +#endif + +#include "closedloop.h" + +ClosedLoop closedloop; + +void ClosedLoop::init() { + OUT_WRITE(CLOSED_LOOP_ENABLE_PIN, LOW); + SET_INPUT_PULLUP(CLOSED_LOOP_MOVE_COMPLETE_PIN); +} + +void ClosedLoop::set(const byte val) { + OUT_WRITE(CLOSED_LOOP_ENABLE_PIN, val); +} + +#endif // EXTERNAL_CLOSED_LOOP_CONTROLLER diff --git a/Marlin/src/feature/closedloop.h b/Marlin/src/feature/closedloop.h new file mode 100644 index 0000000000..e03400c35c --- /dev/null +++ b/Marlin/src/feature/closedloop.h @@ -0,0 +1,32 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +class ClosedLoop { +public: + static void init(); + static void set(const byte val); +}; + +extern ClosedLoop closedloop; + +#define CLOSED_LOOP_WAITING() (READ(CLOSED_LOOP_ENABLE_PIN) && !READ(CLOSED_LOOP_MOVE_COMPLETE_PIN)) diff --git a/Marlin/src/feature/controllerfan.cpp b/Marlin/src/feature/controllerfan.cpp new file mode 100644 index 0000000000..6e5278ce74 --- /dev/null +++ b/Marlin/src/feature/controllerfan.cpp @@ -0,0 +1,112 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(USE_CONTROLLER_FAN) + +#include "controllerfan.h" +#include "../module/stepper.h" +#include "../module/temperature.h" + +ControllerFan controllerFan; + +uint8_t ControllerFan::speed; + +#if ENABLED(CONTROLLER_FAN_EDITABLE) + controllerFan_settings_t ControllerFan::settings; // {0} + #else + const controllerFan_settings_t &ControllerFan::settings = controllerFan_defaults; +#endif + +void ControllerFan::setup() { + SET_OUTPUT(CONTROLLER_FAN_PIN); + #ifdef CONTROLLER_FAN2_PIN + SET_OUTPUT(CONTROLLER_FAN2_PIN); + #endif + init(); +} + +void ControllerFan::set_fan_speed(const uint8_t s) { + speed = s < (CONTROLLERFAN_SPEED_MIN) ? 0 : s; // Fan OFF below minimum +} + +void ControllerFan::update() { + static millis_t lastMotorOn = 0, // Last time a motor was turned on + nextMotorCheck = 0; // Last time the state was checked + const millis_t ms = millis(); + if (ELAPSED(ms, nextMotorCheck)) { + nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s + + // If any triggers for the controller fan are true... + // - At least one stepper driver is enabled + // - The heated bed is enabled + // - TEMP_SENSOR_BOARD is reporting >= CONTROLLER_FAN_MIN_BOARD_TEMP + const ena_mask_t axis_mask = TERN(CONTROLLER_FAN_USE_Z_ONLY, _BV(Z_AXIS), (ena_mask_t)~TERN0(CONTROLLER_FAN_IGNORE_Z, _BV(Z_AXIS))); + if ( (stepper.axis_enabled.bits & axis_mask) + || TERN0(HAS_HEATED_BED, thermalManager.temp_bed.soft_pwm_amount > 0) + || TERN0(HAS_CONTROLLER_FAN_MIN_BOARD_TEMP, thermalManager.wholeDegBoard() >= CONTROLLER_FAN_MIN_BOARD_TEMP) + ) lastMotorOn = ms; //... set time to NOW so the fan will turn on + + // Fan Settings. Set fan > 0: + // - If AutoMode is on and steppers have been enabled for CONTROLLERFAN_IDLE_TIME seconds. + // - If System is on idle and idle fan speed settings is activated. + set_fan_speed( + settings.auto_mode && lastMotorOn && PENDING(ms, lastMotorOn + SEC_TO_MS(settings.duration)) + ? settings.active_speed : settings.idle_speed + ); + + speed = CALC_FAN_SPEED(speed); + + #if FAN_KICKSTART_TIME + static millis_t fan_kick_end = 0; + if (speed > FAN_OFF_PWM) { + if (!fan_kick_end) { + fan_kick_end = ms + FAN_KICKSTART_TIME; // May be longer based on slow update interval for controller fn check. Sets minimum + speed = FAN_KICKSTART_POWER; + } + else if (PENDING(ms, fan_kick_end)) + speed = FAN_KICKSTART_POWER; + } + else + fan_kick_end = 0; + #endif + + #if ENABLED(FAN_SOFT_PWM) + thermalManager.soft_pwm_controller_speed = speed; + #else + if (PWM_PIN(CONTROLLER_FAN_PIN)) + hal.set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed); + else + WRITE(CONTROLLER_FAN_PIN, speed > 0); + + #ifdef CONTROLLER_FAN2_PIN + if (PWM_PIN(CONTROLLER_FAN2_PIN)) + hal.set_pwm_duty(pin_t(CONTROLLER_FAN2_PIN), speed); + else + WRITE(CONTROLLER_FAN2_PIN, speed > 0); + #endif + #endif + } +} + +#endif // USE_CONTROLLER_FAN diff --git a/Marlin/src/feature/controllerfan.h b/Marlin/src/feature/controllerfan.h new file mode 100644 index 0000000000..55eb2359b0 --- /dev/null +++ b/Marlin/src/feature/controllerfan.h @@ -0,0 +1,72 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" + +typedef struct { + uint8_t active_speed, // 0-255 (fullspeed); Speed with enabled stepper motors + idle_speed; // 0-255 (fullspeed); Speed after idle period with all motors are disabled + uint16_t duration; // Duration in seconds for the fan to run after all motors are disabled + bool auto_mode; // Default true +} controllerFan_settings_t; + +#ifndef CONTROLLERFAN_SPEED_ACTIVE + #define CONTROLLERFAN_SPEED_ACTIVE 255 +#endif +#ifndef CONTROLLERFAN_SPEED_IDLE + #define CONTROLLERFAN_SPEED_IDLE 0 +#endif +#ifndef CONTROLLERFAN_IDLE_TIME + #define CONTROLLERFAN_IDLE_TIME 60 +#endif + +static constexpr controllerFan_settings_t controllerFan_defaults = { + CONTROLLERFAN_SPEED_ACTIVE, + CONTROLLERFAN_SPEED_IDLE, + CONTROLLERFAN_IDLE_TIME, + true +}; + +#if ENABLED(USE_CONTROLLER_FAN) + +class ControllerFan { + private: + static uint8_t speed; + static void set_fan_speed(const uint8_t s); + + public: + #if ENABLED(CONTROLLER_FAN_EDITABLE) + static controllerFan_settings_t settings; + #else + static const controllerFan_settings_t &settings; + #endif + static bool state() { return speed > 0; } + static void init() { reset(); } + static void reset() { TERN_(CONTROLLER_FAN_EDITABLE, settings = controllerFan_defaults); } + static void setup(); + static void update(); +}; + +extern ControllerFan controllerFan; + +#endif diff --git a/Marlin/src/feature/cooler.cpp b/Marlin/src/feature/cooler.cpp new file mode 100644 index 0000000000..e0f99777d1 --- /dev/null +++ b/Marlin/src/feature/cooler.cpp @@ -0,0 +1,48 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if EITHER(HAS_COOLER, LASER_COOLANT_FLOW_METER) + +#include "cooler.h" +Cooler cooler; + +#if HAS_COOLER + uint8_t Cooler::mode = 0; + uint16_t Cooler::capacity; + uint16_t Cooler::load; + bool Cooler::enabled = false; +#endif + +#if ENABLED(LASER_COOLANT_FLOW_METER) + bool Cooler::flowmeter = false; + millis_t Cooler::flowmeter_next_ms; // = 0 + volatile uint16_t Cooler::flowpulses; + float Cooler::flowrate; + #if ENABLED(FLOWMETER_SAFETY) + bool Cooler::flowsafety_enabled = true; + bool Cooler::flowfault = false; + #endif +#endif + +#endif // HAS_COOLER || LASER_COOLANT_FLOW_METER diff --git a/Marlin/src/feature/cooler.h b/Marlin/src/feature/cooler.h new file mode 100644 index 0000000000..9891514e23 --- /dev/null +++ b/Marlin/src/feature/cooler.h @@ -0,0 +1,109 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" + +#ifndef FLOWMETER_PPL + #define FLOWMETER_PPL 5880 // Pulses per liter +#endif +#ifndef FLOWMETER_INTERVAL + #define FLOWMETER_INTERVAL 1000 // milliseconds +#endif + +// Cooling device + +class Cooler { +public: + static uint16_t capacity; // Cooling capacity in watts + static uint16_t load; // Cooling load in watts + + static bool enabled; + static void enable() { enabled = true; } + static void disable() { enabled = false; } + static void toggle() { enabled = !enabled; } + + static uint8_t mode; // 0 = CO2 Liquid cooling, 1 = Laser Diode TEC Heatsink Cooling + static void set_mode(const uint8_t m) { mode = m; } + + #if ENABLED(LASER_COOLANT_FLOW_METER) + static float flowrate; // Flow meter reading in liters-per-minute. + static bool flowmeter; // Flag to monitor the flow + static volatile uint16_t flowpulses; // Flowmeter IRQ pulse count + static millis_t flowmeter_next_ms; // Next time at which to calculate flow + + static void set_flowmeter(const bool sflag) { + if (flowmeter != sflag) { + flowmeter = sflag; + if (sflag) { + flowpulses = 0; + flowmeter_next_ms = millis() + FLOWMETER_INTERVAL; + } + } + } + + // To calculate flow we only need to count pulses + static void flowmeter_ISR() { flowpulses++; } + + // Enable / Disable the flow meter interrupt + static void flowmeter_interrupt_enable() { + attachInterrupt(digitalPinToInterrupt(FLOWMETER_PIN), flowmeter_ISR, RISING); + } + static void flowmeter_interrupt_disable() { + detachInterrupt(digitalPinToInterrupt(FLOWMETER_PIN)); + } + + // Enable / Disable the flow meter interrupt + static void flowmeter_enable() { set_flowmeter(true); flowpulses = 0; flowmeter_interrupt_enable(); } + static void flowmeter_disable() { set_flowmeter(false); flowmeter_interrupt_disable(); flowpulses = 0; } + + // Get the total flow (in liters per minute) since the last reading + static void calc_flowrate() { + // flowrate = (litres) * (seconds) = litres per minute + flowrate = (flowpulses / (float)FLOWMETER_PPL) * ((1000.0f / (float)FLOWMETER_INTERVAL) * 60.0f); + flowpulses = 0; + } + + // Userland task to update the flow meter + static void flowmeter_task(const millis_t ms=millis()) { + if (!flowmeter) // !! The flow meter must always be on !! + flowmeter_enable(); // Init and prime + if (ELAPSED(ms, flowmeter_next_ms)) { + calc_flowrate(); + flowmeter_next_ms = ms + FLOWMETER_INTERVAL; + } + } + + #if ENABLED(FLOWMETER_SAFETY) + static bool flowfault; // Flag that the cooler is in a fault state + static bool flowsafety_enabled; // Flag to disable the cutter if flow rate is too low + static void flowsafety_toggle() { flowsafety_enabled = !flowsafety_enabled; } + static bool check_flow_too_low() { + const bool too_low = flowsafety_enabled && flowrate < (FLOWMETER_MIN_LITERS_PER_MINUTE); + flowfault = too_low; + return too_low; + } + #endif + #endif +}; + +extern Cooler cooler; diff --git a/Marlin/src/feature/dac/dac_dac084s085.cpp b/Marlin/src/feature/dac/dac_dac084s085.cpp new file mode 100644 index 0000000000..772bb68de4 --- /dev/null +++ b/Marlin/src/feature/dac/dac_dac084s085.cpp @@ -0,0 +1,97 @@ +/*************************************************************** + * + * External DAC for Alligator Board + * + ****************************************************************/ + +#include "../../inc/MarlinConfig.h" + +#if MB(ALLIGATOR) + +#include "dac_dac084s085.h" + +#include "../../MarlinCore.h" +#include "../../HAL/shared/Delay.h" + +dac084s085::dac084s085() { } + +void dac084s085::begin() { + uint8_t externalDac_buf[] = { 0x20, 0x00 }; // all off + + // All SPI chip-select HIGH + SET_OUTPUT(DAC0_SYNC_PIN); + #if HAS_MULTI_EXTRUDER + SET_OUTPUT(DAC1_SYNC_PIN); + #endif + cshigh(); + spiBegin(); + + //init onboard DAC + DELAY_US(2); + WRITE(DAC0_SYNC_PIN, LOW); + DELAY_US(2); + WRITE(DAC0_SYNC_PIN, HIGH); + DELAY_US(2); + WRITE(DAC0_SYNC_PIN, LOW); + + spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); + WRITE(DAC0_SYNC_PIN, HIGH); + + #if HAS_MULTI_EXTRUDER + //init Piggy DAC + DELAY_US(2); + WRITE(DAC1_SYNC_PIN, LOW); + DELAY_US(2); + WRITE(DAC1_SYNC_PIN, HIGH); + DELAY_US(2); + WRITE(DAC1_SYNC_PIN, LOW); + + spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); + WRITE(DAC1_SYNC_PIN, HIGH); + #endif + + return; +} + +void dac084s085::setValue(const uint8_t channel, const uint8_t value) { + if (channel >= 7) return; // max channel (X,Y,Z,E0,E1,E2,E3) + + const uint8_t externalDac_buf[] = { + 0x10 | ((channel > 3 ? 7 : 3) - channel << 6) | (value >> 4), + 0x00 | (value << 4) + }; + + // All SPI chip-select HIGH + cshigh(); + + if (channel > 3) { // DAC Piggy E1,E2,E3 + WRITE(DAC1_SYNC_PIN, LOW); + DELAY_US(2); + WRITE(DAC1_SYNC_PIN, HIGH); + DELAY_US(2); + WRITE(DAC1_SYNC_PIN, LOW); + } + else { // DAC onboard X,Y,Z,E0 + WRITE(DAC0_SYNC_PIN, LOW); + DELAY_US(2); + WRITE(DAC0_SYNC_PIN, HIGH); + DELAY_US(2); + WRITE(DAC0_SYNC_PIN, LOW); + } + + DELAY_US(2); + spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); +} + +void dac084s085::cshigh() { + WRITE(DAC0_SYNC_PIN, HIGH); + #if HAS_MULTI_EXTRUDER + WRITE(DAC1_SYNC_PIN, HIGH); + #endif + WRITE(SPI_EEPROM1_CS_PIN, HIGH); + WRITE(SPI_EEPROM2_CS_PIN, HIGH); + WRITE(SPI_FLASH_CS_PIN, HIGH); + WRITE(SD_SS_PIN, HIGH); +} + +#endif // MB(ALLIGATOR) diff --git a/Marlin/src/feature/dac/dac_dac084s085.h b/Marlin/src/feature/dac/dac_dac084s085.h new file mode 100644 index 0000000000..5be0129fc9 --- /dev/null +++ b/Marlin/src/feature/dac/dac_dac084s085.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +class dac084s085 { + public: + dac084s085(); + static void begin(); + static void setValue(const uint8_t channel, const uint8_t value); + private: + static void cshigh(); +}; diff --git a/Marlin/src/feature/dac/dac_mcp4728.cpp b/Marlin/src/feature/dac/dac_mcp4728.cpp new file mode 100644 index 0000000000..6f5a9ee691 --- /dev/null +++ b/Marlin/src/feature/dac/dac_mcp4728.cpp @@ -0,0 +1,154 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * mcp4728.cpp - Arduino library for MicroChip MCP4728 I2C D/A converter + * + * For implementation details, please take a look at the datasheet: + * https://ww1.microchip.com/downloads/en/DeviceDoc/22187a.pdf + * + * For discussion and feedback, please go to: + * https://forum.arduino.cc/index.php/topic,51842.0.html + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_MOTOR_CURRENT_DAC + +#include "dac_mcp4728.h" + +MCP4728 mcp4728; + +xyze_uint_t dac_values; + +/** + * Begin I2C, get current values (input register and eeprom) of mcp4728 + */ +void MCP4728::init() { + Wire.begin(); + Wire.requestFrom(I2C_ADDRESS(DAC_DEV_ADDRESS), uint8_t(24)); + while (Wire.available()) { + char deviceID = Wire.read(), + hiByte = Wire.read(), + loByte = Wire.read(); + + if (!(deviceID & 0x08)) + dac_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(const uint8_t channel, const uint16_t value) { + dac_values[channel] = value; + return fastWrite(); +} + +/** + * Write all input resistor values to EEPROM using SequentialWrite 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(I2C_ADDRESS(DAC_DEV_ADDRESS)); + Wire.write(SEQWRITE); + LOOP_LOGICAL_AXES(i) { + Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(dac_values[i])); + Wire.write(lowByte(dac_values[i])); + } + return Wire.endTransmission(); +} + +/** + * Write Voltage reference setting to all input registers + */ +uint8_t MCP4728::setVref_all(const uint8_t value) { + Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS)); + Wire.write(VREFWRITE | (value ? 0x0F : 0x00)); + return Wire.endTransmission(); +} +/** + * Write Gain setting to all input registers + */ +uint8_t MCP4728::setGain_all(const uint8_t value) { + Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS)); + Wire.write(GAINWRITE | (value ? 0x0F : 0x00)); + return Wire.endTransmission(); +} + +/** + * Return Input Register value + */ +uint16_t MCP4728::getValue(const uint8_t channel) { return dac_values[channel]; } + +#if 0 +/** + * Steph: Might be useful in the future + * Return Vout + */ +uint16_t MCP4728::getVout(const uint8_t channel) { + const uint32_t vref = 2048, + vOut = (vref * dac_values[channel] * (_DAC_STEPPER_GAIN + 1)) / 4096; + return _MIN(vOut, defaultVDD); +} +#endif + +/** + * Returns DAC values as a 0-100 percentage of drive strength + */ +uint8_t MCP4728::getDrvPct(const uint8_t channel) { return uint8_t(100.0 * dac_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(xyze_uint_t &pct) { + dac_values = pct * (DAC_STEPPER_MAX) * 0.01f; + fastWrite(); +} + +/** + * FastWrite input register values - All DAC output update. refer to DATASHEET 5.6.1 + * DAC Input and PowerDown bits update. + * No EEPROM update + */ +uint8_t MCP4728::fastWrite() { + Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS)); + LOOP_LOGICAL_AXES(i) { + Wire.write(highByte(dac_values[i])); + Wire.write(lowByte(dac_values[i])); + } + return Wire.endTransmission(); +} + +/** + * Common function for simple general commands + */ +uint8_t MCP4728::simpleCommand(const byte simpleCommand) { + Wire.beginTransmission(I2C_ADDRESS(GENERALCALL)); + Wire.write(simpleCommand); + return Wire.endTransmission(); +} + +#endif // HAS_MOTOR_CURRENT_DAC diff --git a/Marlin/src/feature/dac/dac_mcp4728.h b/Marlin/src/feature/dac/dac_mcp4728.h new file mode 100644 index 0000000000..3a7d5f10f6 --- /dev/null +++ b/Marlin/src/feature/dac/dac_mcp4728.h @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Arduino library for MicroChip MCP4728 I2C D/A converter. + */ + +#include "../../core/types.h" + +#include + +/** + * The following three macros are only used in this piece of code related to mcp4728. + * They are defined in the standard Arduino framework but could be undefined in 32 bits Arduino frameworks. + * (For instance not defined in Arduino lpc176x framework) + * So we have to define them if needed. + */ +#ifndef word + #define word(h, l) ((uint8_t) ((h << 8) | l)) +#endif + +#ifndef lowByte + #define lowByte(w) ((uint8_t) ((w) & 0xFF)) +#endif + +#ifndef highByte + #define highByte(w) ((uint8_t) ((w) >> 8)) +#endif + +#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) + +class MCP4728 { +public: + static void init(); + static uint8_t analogWrite(const uint8_t channel, const uint16_t value); + static uint8_t eepromWrite(); + static uint8_t setVref_all(const uint8_t value); + static uint8_t setGain_all(const uint8_t value); + static uint16_t getValue(const uint8_t channel); + static uint8_t fastWrite(); + static uint8_t simpleCommand(const byte simpleCommand); + static uint8_t getDrvPct(const uint8_t channel); + static void setDrvPct(xyze_uint_t &pct); +}; + +extern MCP4728 mcp4728; diff --git a/Marlin/src/feature/dac/stepper_dac.cpp b/Marlin/src/feature/dac/stepper_dac.cpp new file mode 100644 index 0000000000..f5664bc598 --- /dev/null +++ b/Marlin/src/feature/dac/stepper_dac.cpp @@ -0,0 +1,102 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * stepper_dac.cpp - To set stepper current via DAC + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_MOTOR_CURRENT_DAC + +#include "stepper_dac.h" + +bool dac_present = false; +constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER; +xyze_uint_t dac_channel_pct = DAC_MOTOR_CURRENT_DEFAULT; + +StepperDAC stepper_dac; + +int StepperDAC::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 StepperDAC::set_current_value(const uint8_t channel, uint16_t val) { + if (!(dac_present && channel < LOGICAL_AXES)) return; + + NOMORE(val, uint16_t(DAC_STEPPER_MAX)); + + mcp4728.analogWrite(dac_order[channel], val); + mcp4728.simpleCommand(UPDATE); +} + +void StepperDAC::set_current_percent(const uint8_t channel, float val) { + set_current_value(channel, _MIN(val, 100.0f) * (DAC_STEPPER_MAX) / 100.0f); +} + +static float dac_perc(int8_t n) { return mcp4728.getDrvPct(dac_order[n]); } +static float dac_amps(int8_t n) { return mcp4728.getValue(dac_order[n]) * 0.125 * RECIPROCAL(DAC_STEPPER_SENSE * 1000); } + +uint8_t StepperDAC::get_current_percent(const AxisEnum axis) { return mcp4728.getDrvPct(dac_order[axis]); } +void StepperDAC::set_current_percents(xyze_uint8_t &pct) { + LOOP_LOGICAL_AXES(i) dac_channel_pct[i] = pct[dac_order[i]]; + mcp4728.setDrvPct(dac_channel_pct); +} + +void StepperDAC::print_values() { + if (!dac_present) return; + SERIAL_ECHO_MSG("Stepper current values in % (Amps):"); + SERIAL_ECHO_START(); + LOOP_LOGICAL_AXES(a) { + SERIAL_CHAR(' ', IAXIS_CHAR(a), ':'); + SERIAL_ECHO(dac_perc(a)); + SERIAL_ECHOPGM_P(PSTR(" ("), dac_amps(AxisEnum(a)), PSTR(")")); + } + #if HAS_EXTRUDERS + SERIAL_ECHOLNPGM_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")")); + #endif +} + +void StepperDAC::commit_eeprom() { + if (!dac_present) return; + mcp4728.eepromWrite(); +} + +#endif // HAS_MOTOR_CURRENT_DAC diff --git a/Marlin/src/feature/dac/stepper_dac.h b/Marlin/src/feature/dac/stepper_dac.h new file mode 100644 index 0000000000..26a0f2f95c --- /dev/null +++ b/Marlin/src/feature/dac/stepper_dac.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * stepper_dac.h - To set stepper current via DAC + */ + +#include "dac_mcp4728.h" + +class StepperDAC { +public: + static int init(); + static void set_current_percent(const uint8_t channel, float val); + static void set_current_value(const uint8_t channel, uint16_t val); + static void print_values(); + static void commit_eeprom(); + static uint8_t get_current_percent(const AxisEnum axis); + static void set_current_percents(xyze_uint8_t &pct); +}; + +extern StepperDAC stepper_dac; diff --git a/Marlin/src/feature/digipot/digipot.h b/Marlin/src/feature/digipot/digipot.h new file mode 100644 index 0000000000..3fbd1f3662 --- /dev/null +++ b/Marlin/src/feature/digipot/digipot.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// +// Header for MCP4018 and MCP4451 current control i2c devices +// +class DigipotI2C { +public: + static void init(); + static void set_current(const uint8_t channel, const float current); +}; + +extern DigipotI2C digipot_i2c; diff --git a/Marlin/src/feature/digipot/digipot_mcp4018.cpp b/Marlin/src/feature/digipot/digipot_mcp4018.cpp new file mode 100644 index 0000000000..3f2ecbfcdc --- /dev/null +++ b/Marlin/src/feature/digipot/digipot_mcp4018.cpp @@ -0,0 +1,108 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(DIGIPOT_MCP4018) + +#include "digipot.h" + +#include +#include // https://github.com/felias-fogg/SlowSoftI2CMaster + +// Settings for the I2C based DIGIPOT (MCP4018) based on WT150 + +#ifndef DIGIPOT_A4988_Rsx + #define DIGIPOT_A4988_Rsx 0.250 +#endif +#ifndef DIGIPOT_A4988_Vrefmax + #define DIGIPOT_A4988_Vrefmax 1.666 +#endif +#define DIGIPOT_MCP4018_MAX_VALUE 127 + +#define DIGIPOT_A4988_Itripmax(Vref) ((Vref) / (8.0 * DIGIPOT_A4988_Rsx)) + +#define DIGIPOT_A4988_FACTOR ((DIGIPOT_MCP4018_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 = TERN(DIGIPOT_USE_RAW_VALUES, current, CEIL(current * DIGIPOT_A4988_FACTOR)); + return byte(constrain(value, 0, DIGIPOT_MCP4018_MAX_VALUE)); +} + +static SlowSoftI2CMaster pots[DIGIPOT_I2C_NUM_CHANNELS] = { + SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_X, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #if DIGIPOT_I2C_NUM_CHANNELS > 1 + , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_Y, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #if DIGIPOT_I2C_NUM_CHANNELS > 2 + , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_Z, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #if DIGIPOT_I2C_NUM_CHANNELS > 3 + , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E0, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #if DIGIPOT_I2C_NUM_CHANNELS > 4 + , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E1, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #if DIGIPOT_I2C_NUM_CHANNELS > 5 + , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E2, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #if DIGIPOT_I2C_NUM_CHANNELS > 6 + , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E3, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #if DIGIPOT_I2C_NUM_CHANNELS > 7 + , SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E4, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS)) + #endif + #endif + #endif + #endif + #endif + #endif + #endif +}; + +static void digipot_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_A) << 1) | I2C_WRITE); + pots[channel].i2c_write(v); + pots[channel].i2c_stop(); + } +} + +// This is for the MCP4018 I2C based digipot +void DigipotI2C::set_current(const uint8_t channel, const float current) { + const float ival = _MIN(_MAX(current, 0), float(DIGIPOT_MCP4018_MAX_VALUE)); + digipot_i2c_send(channel, current_to_wiper(ival)); +} + +void DigipotI2C::init() { + LOOP_L_N(i, DIGIPOT_I2C_NUM_CHANNELS) pots[i].i2c_init(); + + // Init currents according to Configuration_adv.h + static const float digipot_motor_current[] PROGMEM = + #if ENABLED(DIGIPOT_USE_RAW_VALUES) + DIGIPOT_MOTOR_CURRENT + #else + DIGIPOT_I2C_MOTOR_CURRENTS + #endif + ; + LOOP_L_N(i, COUNT(digipot_motor_current)) + set_current(i, pgm_read_float(&digipot_motor_current[i])); +} + +DigipotI2C digipot_i2c; + +#endif // DIGIPOT_MCP4018 diff --git a/Marlin/src/feature/digipot/digipot_mcp4451.cpp b/Marlin/src/feature/digipot/digipot_mcp4451.cpp new file mode 100644 index 0000000000..ba5ecdad05 --- /dev/null +++ b/Marlin/src/feature/digipot/digipot_mcp4451.cpp @@ -0,0 +1,103 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(DIGIPOT_MCP4451) + +#include "digipot.h" + +#include +#include + +#if MB(MKS_SBASE) + #include "digipot_mcp4451_I2C_routines.h" +#endif + +// Settings for the I2C based DIGIPOT (MCP4451) on Azteeg X3 Pro +#if MB(5DPRINT) + #define DIGIPOT_I2C_FACTOR 117.96f + #define DIGIPOT_I2C_MAX_CURRENT 1.736f +#elif MB(AZTEEG_X5_MINI, AZTEEG_X5_MINI_WIFI) + #define DIGIPOT_I2C_FACTOR 113.5f + #define DIGIPOT_I2C_MAX_CURRENT 2.0f +#elif MB(AZTEEG_X5_GT) + #define DIGIPOT_I2C_FACTOR 51.0f + #define DIGIPOT_I2C_MAX_CURRENT 3.0f +#else + #define DIGIPOT_I2C_FACTOR 106.7f + #define DIGIPOT_I2C_MAX_CURRENT 2.5f +#endif + +static byte current_to_wiper(const float current) { + return byte(TERN(DIGIPOT_USE_RAW_VALUES, current, CEIL(DIGIPOT_I2C_FACTOR * current))); +} + +static void digipot_i2c_send(const byte addr, const byte a, const byte b) { + #if MB(MKS_SBASE) + digipot_mcp4451_start(addr); + digipot_mcp4451_send_byte(a); + digipot_mcp4451_send_byte(b); + #else + Wire.beginTransmission(I2C_ADDRESS(addr)); + Wire.write(a); + Wire.write(b); + Wire.endTransmission(); + #endif +} + +// This is for the MCP4451 I2C based digipot +void DigipotI2C::set_current(const uint8_t channel, const float 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 + const byte addr = channel < 4 ? DIGIPOT_I2C_ADDRESS_A : DIGIPOT_I2C_ADDRESS_B; // channel 0-3 vs 4-7 + + // Initial setup + digipot_i2c_send(addr, 0x40, 0xFF); + digipot_i2c_send(addr, 0xA0, 0xFF); + + // Set actual wiper value + byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 }; + digipot_i2c_send(addr, addresses[channel & 0x3], current_to_wiper(_MIN(float(_MAX(current, 0)), DIGIPOT_I2C_MAX_CURRENT))); +} + +void DigipotI2C::init() { + #if MB(MKS_SBASE) + configure_i2c(16); // Set clock_option to 16 ensure I2C is initialized at 400kHz + #else + Wire.begin(); + #endif + // Set up initial currents as defined in Configuration_adv.h + static const float digipot_motor_current[] PROGMEM = + #if ENABLED(DIGIPOT_USE_RAW_VALUES) + DIGIPOT_MOTOR_CURRENT + #else + DIGIPOT_I2C_MOTOR_CURRENTS + #endif + ; + LOOP_L_N(i, COUNT(digipot_motor_current)) + set_current(i, pgm_read_float(&digipot_motor_current[i])); +} + +DigipotI2C digipot_i2c; + +#endif // DIGIPOT_MCP4451 diff --git a/Marlin/src/feature/direct_stepping.cpp b/Marlin/src/feature/direct_stepping.cpp new file mode 100644 index 0000000000..13cf71e076 --- /dev/null +++ b/Marlin/src/feature/direct_stepping.cpp @@ -0,0 +1,264 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(DIRECT_STEPPING) + +#include "direct_stepping.h" + +#include "../MarlinCore.h" + +#define CHECK_PAGE(I, R) do{ \ + if (I >= sizeof(page_states) / sizeof(page_states[0])) { \ + fatal_error = true; \ + return R; \ + } \ +}while(0) + +#define CHECK_PAGE_STATE(I, R, S) do { \ + CHECK_PAGE(I, R); \ + if (page_states[I] != S) { \ + fatal_error = true; \ + return R; \ + } \ +}while(0) + +namespace DirectStepping { + + template + State SerialPageManager::state; + + template + volatile bool SerialPageManager::fatal_error; + + template + volatile PageState SerialPageManager::page_states[Cfg::PAGE_COUNT]; + + template + volatile bool SerialPageManager::page_states_dirty; + + template + uint8_t SerialPageManager::pages[Cfg::PAGE_COUNT][Cfg::PAGE_SIZE]; + + template + uint8_t SerialPageManager::checksum; + + template + typename Cfg::write_byte_idx_t SerialPageManager::write_byte_idx; + + template + typename Cfg::page_idx_t SerialPageManager::write_page_idx; + + template + typename Cfg::write_byte_idx_t SerialPageManager::write_page_size; + + template + void SerialPageManager::init() { + for (int i = 0 ; i < Cfg::PAGE_COUNT ; i++) + page_states[i] = PageState::FREE; + + fatal_error = false; + state = State::NEWLINE; + + page_states_dirty = false; + + SERIAL_ECHOLNPGM("pages_ready"); + } + + template + FORCE_INLINE bool SerialPageManager::maybe_store_rxd_char(uint8_t c) { + switch (state) { + default: + case State::MONITOR: + switch (c) { + case '\n': + case '\r': + state = State::NEWLINE; + default: + return false; + } + case State::NEWLINE: + switch (c) { + case Cfg::CONTROL_CHAR: + state = State::ADDRESS; + return true; + case '\n': + case '\r': + state = State::NEWLINE; + return false; + default: + state = State::MONITOR; + return false; + } + case State::ADDRESS: + //TODO: 16 bit address, State::ADDRESS2 + write_page_idx = c; + write_byte_idx = 0; + checksum = 0; + + CHECK_PAGE(write_page_idx, true); + + if (page_states[write_page_idx] == PageState::FAIL) { + // Special case for fail + state = State::UNFAIL; + return true; + } + + set_page_state(write_page_idx, PageState::WRITING); + + state = Cfg::DIRECTIONAL ? State::COLLECT : State::SIZE; + + return true; + case State::SIZE: + // Zero means full page size + write_page_size = c; + state = State::COLLECT; + return true; + case State::COLLECT: + pages[write_page_idx][write_byte_idx++] = c; + checksum ^= c; + + // check if still collecting + if (Cfg::PAGE_SIZE == 256) { + // special case for 8-bit, check if rolled back to 0 + if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes + if (write_byte_idx) return true; + } + else if (write_byte_idx < write_page_size) + return true; + } + else if (Cfg::DIRECTIONAL) { + if (write_byte_idx != Cfg::PAGE_SIZE) + return true; + } + else if (write_byte_idx < write_page_size) + return true; + + state = State::CHECKSUM; + return true; + case State::CHECKSUM: { + const PageState page_state = (checksum == c) ? PageState::OK : PageState::FAIL; + set_page_state(write_page_idx, page_state); + state = State::MONITOR; + return true; + } + case State::UNFAIL: + if (c == 0) + set_page_state(write_page_idx, PageState::FREE); + else + fatal_error = true; + state = State::MONITOR; + return true; + } + } + + template + void SerialPageManager::write_responses() { + if (fatal_error) { + kill(GET_TEXT_F(MSG_BAD_PAGE)); + return; + } + + if (!page_states_dirty) return; + page_states_dirty = false; + + SERIAL_CHAR(Cfg::CONTROL_CHAR); + constexpr int state_bits = 2; + constexpr int n_bytes = Cfg::PAGE_COUNT >> state_bits; + volatile uint8_t bits_b[n_bytes] = { 0 }; + + for (page_idx_t i = 0 ; i < Cfg::PAGE_COUNT ; i++) { + bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7); + } + + uint8_t crc = 0; + for (uint8_t i = 0 ; i < n_bytes ; i++) { + crc ^= bits_b[i]; + SERIAL_CHAR(bits_b[i]); + } + + SERIAL_CHAR(crc); + SERIAL_EOL(); + } + + template + FORCE_INLINE void SerialPageManager::set_page_state(const page_idx_t page_idx, const PageState page_state) { + CHECK_PAGE(page_idx,); + + page_states[page_idx] = page_state; + page_states_dirty = true; + } + + template <> + FORCE_INLINE uint8_t *PageManager::get_page(const page_idx_t page_idx) { + CHECK_PAGE(page_idx, nullptr); + + return pages[page_idx]; + } + + template <> + FORCE_INLINE void PageManager::free_page(const page_idx_t page_idx) { + set_page_state(page_idx, PageState::FREE); + } + +}; + +DirectStepping::PageManager page_manager; + +const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS] PROGMEM = { + + #if STEPPER_PAGE_FORMAT == SP_4x4D_128 + + { 1, 1, 1, 1, 1, 1, 1 }, // 0 = -7 + { 1, 1, 1, 0, 1, 1, 1 }, // 1 = -6 + { 1, 1, 1, 0, 1, 0, 1 }, // 2 = -5 + { 1, 1, 0, 1, 0, 1, 0 }, // 3 = -4 + { 1, 1, 0, 0, 1, 0, 0 }, // 4 = -3 + { 0, 0, 1, 0, 0, 0, 1 }, // 5 = -2 + { 0, 0, 0, 1, 0, 0, 0 }, // 6 = -1 + { 0, 0, 0, 0, 0, 0, 0 }, // 7 = 0 + { 0, 0, 0, 1, 0, 0, 0 }, // 8 = 1 + { 0, 0, 1, 0, 0, 0, 1 }, // 9 = 2 + { 1, 1, 0, 0, 1, 0, 0 }, // 10 = 3 + { 1, 1, 0, 1, 0, 1, 0 }, // 11 = 4 + { 1, 1, 1, 0, 1, 0, 1 }, // 12 = 5 + { 1, 1, 1, 0, 1, 1, 1 }, // 13 = 6 + { 1, 1, 1, 1, 1, 1, 1 }, // 14 = 7 + { 0 } + + #elif STEPPER_PAGE_FORMAT == SP_4x2_256 + + { 0, 0, 0 }, // 0 + { 0, 1, 0 }, // 1 + { 1, 0, 1 }, // 2 + { 1, 1, 1 }, // 3 + + #elif STEPPER_PAGE_FORMAT == SP_4x1_512 + + {0} // Uncompressed format, table not used + + #endif + +}; + +#endif // DIRECT_STEPPING diff --git a/Marlin/src/feature/direct_stepping.h b/Marlin/src/feature/direct_stepping.h new file mode 100644 index 0000000000..b8a803f811 --- /dev/null +++ b/Marlin/src/feature/direct_stepping.h @@ -0,0 +1,130 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +namespace DirectStepping { + + enum State : char { + MONITOR, NEWLINE, ADDRESS, SIZE, COLLECT, CHECKSUM, UNFAIL + }; + + enum PageState : uint8_t { + FREE, WRITING, OK, FAIL + }; + + // Static state used for stepping through direct stepping pages + struct page_step_state_t { + // Current page + uint8_t *page; + // Current segment + uint16_t segment_idx; + // Current steps within segment + uint8_t segment_steps; + // Segment delta + xyze_uint8_t sd; + // Block delta + xyze_int_t bd; + }; + + template + class SerialPageManager { + public: + + typedef typename Cfg::page_idx_t page_idx_t; + + static bool maybe_store_rxd_char(uint8_t c); + static void write_responses(); + + // common methods for page managers + static void init(); + static uint8_t *get_page(const page_idx_t page_idx); + static void free_page(const page_idx_t page_idx); + + protected: + + typedef typename Cfg::write_byte_idx_t write_byte_idx_t; + + static State state; + static volatile bool fatal_error; + + static volatile PageState page_states[Cfg::PAGE_COUNT]; + static volatile bool page_states_dirty; + + static uint8_t pages[Cfg::PAGE_COUNT][Cfg::PAGE_SIZE]; + static uint8_t checksum; + static write_byte_idx_t write_byte_idx; + static page_idx_t write_page_idx; + static write_byte_idx_t write_page_size; + + static void set_page_state(const page_idx_t page_idx, const PageState page_state); + }; + + template + struct config_t { + static constexpr char CONTROL_CHAR = '!'; + + static constexpr int PAGE_COUNT = num_pages; + static constexpr int AXIS_COUNT = num_axes; + static constexpr int BITS_SEGMENT = bits_segment; + static constexpr int DIRECTIONAL = dir ? 1 : 0; + static constexpr int SEGMENTS = segments; + + static constexpr int NUM_SEGMENTS = _BV(BITS_SEGMENT); + static constexpr int SEGMENT_STEPS = _BV(BITS_SEGMENT - DIRECTIONAL) - 1; + static constexpr int TOTAL_STEPS = SEGMENT_STEPS * SEGMENTS; + static constexpr int PAGE_SIZE = (AXIS_COUNT * BITS_SEGMENT * SEGMENTS) / 8; + + typedef uvalue_t(PAGE_SIZE - 1) write_byte_idx_t; + typedef uvalue_t(PAGE_COUNT - 1) page_idx_t; + }; + + template + using SP_4x4D_128 = config_t; + + template + using SP_4x2_256 = config_t; + + template + using SP_4x1_512 = config_t; + + // configured types + typedef STEPPER_PAGE_FORMAT Config; + + template class PAGE_MANAGER; + typedef PAGE_MANAGER PageManager; +}; + +#define SP_4x4D_128 1 +//#define SP_4x4_128 2 +//#define SP_4x2D_256 3 +#define SP_4x2_256 4 +#define SP_4x1_512 5 + +typedef typename DirectStepping::Config::page_idx_t page_idx_t; + +// TODO: use config +typedef DirectStepping::page_step_state_t page_step_state_t; + +extern const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS]; +extern DirectStepping::PageManager page_manager; diff --git a/Marlin/src/feature/e_parser.cpp b/Marlin/src/feature/e_parser.cpp new file mode 100644 index 0000000000..cfe0956aa7 --- /dev/null +++ b/Marlin/src/feature/e_parser.cpp @@ -0,0 +1,48 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * e_parser.cpp - Intercept special commands directly in the serial stream + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(EMERGENCY_PARSER) + +#include "e_parser.h" + +// Static data members +bool EmergencyParser::killed_by_M112, // = false + EmergencyParser::quickstop_by_M410, + #if ENABLED(SDSUPPORT) + EmergencyParser::sd_abort_by_M524, + #endif + EmergencyParser::enabled; + +#if ENABLED(HOST_PROMPT_SUPPORT) + uint8_t EmergencyParser::M876_reason; // = 0 +#endif + +// Global instance +EmergencyParser emergency_parser; + +#endif // EMERGENCY_PARSER diff --git a/Marlin/src/feature/e_parser.h b/Marlin/src/feature/e_parser.h new file mode 100644 index 0000000000..3a15a7ffa0 --- /dev/null +++ b/Marlin/src/feature/e_parser.h @@ -0,0 +1,243 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * e_parser.h - Intercept special commands directly in the serial stream + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(HOST_PROMPT_SUPPORT) + #include "host_actions.h" +#endif + +// External references +extern bool wait_for_user, wait_for_heatup; + +#if ENABLED(REALTIME_REPORTING_COMMANDS) + // From motion.h, which cannot be included here + void report_current_position_moving(); + void quickpause_stepper(); + void quickresume_stepper(); +#endif + +#if ENABLED(SOFT_RESET_VIA_SERIAL) + void HAL_reboot(); +#endif + +class EmergencyParser { + +public: + + // Currently looking for: M108, M112, M410, M524, M876 S[0-9], S000, P000, R000 + enum State : uint8_t { + EP_RESET, + EP_N, + EP_M, + EP_M1, + EP_M10, EP_M108, + EP_M11, EP_M112, + EP_M4, EP_M41, EP_M410, + #if ENABLED(SDSUPPORT) + EP_M5, EP_M52, EP_M524, + #endif + #if ENABLED(HOST_PROMPT_SUPPORT) + EP_M8, EP_M87, EP_M876, EP_M876S, EP_M876SN, + #endif + #if ENABLED(REALTIME_REPORTING_COMMANDS) + EP_S, EP_S0, EP_S00, EP_GRBL_STATUS, + EP_R, EP_R0, EP_R00, EP_GRBL_RESUME, + EP_P, EP_P0, EP_P00, EP_GRBL_PAUSE, + #endif + #if ENABLED(SOFT_RESET_VIA_SERIAL) + EP_ctrl, + EP_K, EP_KI, EP_KIL, EP_KILL, + #endif + EP_IGNORE // to '\n' + }; + + static bool killed_by_M112; + static bool quickstop_by_M410; + + #if ENABLED(SDSUPPORT) + static bool sd_abort_by_M524; + #endif + + #if ENABLED(HOST_PROMPT_SUPPORT) + static uint8_t M876_reason; + #endif + + EmergencyParser() { enable(); } + + FORCE_INLINE static void enable() { enabled = true; } + FORCE_INLINE static void disable() { enabled = false; } + + FORCE_INLINE static void update(State &state, const uint8_t c) { + switch (state) { + case EP_RESET: + switch (c) { + case ' ': case '\n': case '\r': break; + case 'N': state = EP_N; break; + case 'M': state = EP_M; break; + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case 'S': state = EP_S; break; + case 'P': state = EP_P; break; + case 'R': state = EP_R; break; + #endif + #if ENABLED(SOFT_RESET_VIA_SERIAL) + case '^': state = EP_ctrl; break; + case 'K': state = EP_K; break; + #endif + default: state = EP_IGNORE; + } + break; + + case EP_N: + switch (c) { + case '0' ... '9': + case '-': case ' ': break; + case 'M': state = EP_M; break; + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case 'S': state = EP_S; break; + case 'P': state = EP_P; break; + case 'R': state = EP_R; break; + #endif + default: state = EP_IGNORE; + } + break; + + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case EP_S: state = (c == '0') ? EP_S0 : EP_IGNORE; break; + case EP_S0: state = (c == '0') ? EP_S00 : EP_IGNORE; break; + case EP_S00: state = (c == '0') ? EP_GRBL_STATUS : EP_IGNORE; break; + + case EP_R: state = (c == '0') ? EP_R0 : EP_IGNORE; break; + case EP_R0: state = (c == '0') ? EP_R00 : EP_IGNORE; break; + case EP_R00: state = (c == '0') ? EP_GRBL_RESUME : EP_IGNORE; break; + + case EP_P: state = (c == '0') ? EP_P0 : EP_IGNORE; break; + case EP_P0: state = (c == '0') ? EP_P00 : EP_IGNORE; break; + case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE : EP_IGNORE; break; + #endif + + #if ENABLED(SOFT_RESET_VIA_SERIAL) + case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break; + case EP_K: state = (c == 'I') ? EP_KI : EP_IGNORE; break; + case EP_KI: state = (c == 'L') ? EP_KIL : EP_IGNORE; break; + case EP_KIL: state = (c == 'L') ? EP_KILL : EP_IGNORE; break; + #endif + + case EP_M: + switch (c) { + case ' ': break; + case '1': state = EP_M1; break; + case '4': state = EP_M4; break; + #if ENABLED(SDSUPPORT) + case '5': state = EP_M5; break; + #endif + #if ENABLED(HOST_PROMPT_SUPPORT) + case '8': state = EP_M8; break; + #endif + default: state = EP_IGNORE; + } + break; + + case EP_M1: + switch (c) { + case '0': state = EP_M10; break; + case '1': state = EP_M11; break; + default: state = EP_IGNORE; + } + break; + + case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break; + case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break; + case EP_M4: state = (c == '1') ? EP_M41 : EP_IGNORE; break; + case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break; + + #if ENABLED(SDSUPPORT) + case EP_M5: state = (c == '2') ? EP_M52 : EP_IGNORE; break; + case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break; + #endif + + #if ENABLED(HOST_PROMPT_SUPPORT) + + case EP_M8: state = (c == '7') ? EP_M87 : EP_IGNORE; break; + case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break; + + case EP_M876: + switch (c) { + case ' ': break; + case 'S': state = EP_M876S; break; + default: state = EP_IGNORE; break; + } + break; + + case EP_M876S: + switch (c) { + case ' ': break; + case '0' ... '9': + state = EP_M876SN; + M876_reason = uint8_t(c - '0'); + break; + } + break; + + #endif + + case EP_IGNORE: + if (ISEOL(c)) state = EP_RESET; + break; + + default: + if (ISEOL(c)) { + if (enabled) switch (state) { + case EP_M108: wait_for_user = wait_for_heatup = false; break; + case EP_M112: killed_by_M112 = true; break; + case EP_M410: quickstop_by_M410 = true; break; + #if ENABLED(SDSUPPORT) + case EP_M524: sd_abort_by_M524 = true; break; + #endif + #if ENABLED(HOST_PROMPT_SUPPORT) + case EP_M876SN: hostui.handle_response(M876_reason); break; + #endif + #if ENABLED(REALTIME_REPORTING_COMMANDS) + case EP_GRBL_STATUS: report_current_position_moving(); break; + case EP_GRBL_PAUSE: quickpause_stepper(); break; + case EP_GRBL_RESUME: quickresume_stepper(); break; + #endif + #if ENABLED(SOFT_RESET_VIA_SERIAL) + case EP_KILL: HAL_reboot(); break; + #endif + default: break; + } + state = EP_RESET; + } + } + } + +private: + static bool enabled; +}; + +extern EmergencyParser emergency_parser; diff --git a/Marlin/src/feature/easythreed_ui.cpp b/Marlin/src/feature/easythreed_ui.cpp new file mode 100644 index 0000000000..b15daffc09 --- /dev/null +++ b/Marlin/src/feature/easythreed_ui.cpp @@ -0,0 +1,236 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(EASYTHREED_UI) + +#include "easythreed_ui.h" +#include "pause.h" +#include "../module/temperature.h" +#include "../module/printcounter.h" +#include "../sd/cardreader.h" +#include "../gcode/queue.h" +#include "../module/motion.h" +#include "../module/planner.h" +#include "../MarlinCore.h" + +EasythreedUI easythreed_ui; + +#define BTN_DEBOUNCE_MS 20 + +void EasythreedUI::init() { + SET_INPUT_PULLUP(BTN_HOME); SET_OUTPUT(BTN_HOME_GND); + SET_INPUT_PULLUP(BTN_FEED); SET_OUTPUT(BTN_FEED_GND); + SET_INPUT_PULLUP(BTN_RETRACT); SET_OUTPUT(BTN_RETRACT_GND); + SET_INPUT_PULLUP(BTN_PRINT); + SET_OUTPUT(EASYTHREED_LED_PIN); +} + +void EasythreedUI::run() { + blinkLED(); + loadButton(); + printButton(); +} + +enum LEDInterval : uint16_t { + LED_OFF = 0, + LED_ON = 4000, + LED_BLINK_0 = 2500, + LED_BLINK_1 = 1500, + LED_BLINK_2 = 1000, + LED_BLINK_3 = 800, + LED_BLINK_4 = 500, + LED_BLINK_5 = 300, + LED_BLINK_6 = 150, + LED_BLINK_7 = 50 +}; + +uint16_t blink_interval_ms = LED_ON; // Status LED on Start button + +void EasythreedUI::blinkLED() { + static millis_t prev_blink_interval_ms = 0, blink_start_ms = 0; + + if (blink_interval_ms == LED_OFF) { WRITE(EASYTHREED_LED_PIN, HIGH); return; } // OFF + if (blink_interval_ms >= LED_ON) { WRITE(EASYTHREED_LED_PIN, LOW); return; } // ON + + const millis_t ms = millis(); + if (prev_blink_interval_ms != blink_interval_ms) { + prev_blink_interval_ms = blink_interval_ms; + blink_start_ms = ms; + } + if (PENDING(ms, blink_start_ms + blink_interval_ms)) + WRITE(EASYTHREED_LED_PIN, LOW); + else if (PENDING(ms, blink_start_ms + 2 * blink_interval_ms)) + WRITE(EASYTHREED_LED_PIN, HIGH); + else + blink_start_ms = ms; +} + +// +// Filament Load/Unload Button +// Load/Unload buttons are a 3 position switch with a common center ground. +// +void EasythreedUI::loadButton() { + if (printingIsActive()) return; + + enum FilamentStatus : uint8_t { FS_IDLE, FS_PRESS, FS_CHECK, FS_PROCEED }; + static uint8_t filament_status = FS_IDLE; + static millis_t filament_time = 0; + + switch (filament_status) { + + case FS_IDLE: + if (!READ(BTN_RETRACT) || !READ(BTN_FEED)) { // If feed/retract switch is toggled... + filament_status++; // ...proceed to next test. + filament_time = millis(); + } + break; + + case FS_PRESS: + if (ELAPSED(millis(), filament_time + BTN_DEBOUNCE_MS)) { // After a short debounce delay... + if (!READ(BTN_RETRACT) || !READ(BTN_FEED)) { // ...if switch still toggled... + thermalManager.setTargetHotend(EXTRUDE_MINTEMP + 10, 0); // Start heating up + blink_interval_ms = LED_BLINK_7; // Set the LED to blink fast + filament_status++; + } + else + filament_status = FS_IDLE; // Switch not toggled long enough + } + break; + + case FS_CHECK: + if (READ(BTN_RETRACT) && READ(BTN_FEED)) { // Switch in center position (stop) + blink_interval_ms = LED_ON; // LED on steady + filament_status = FS_IDLE; + thermalManager.disable_all_heaters(); + } + else if (thermalManager.hotEnoughToExtrude(0)) { // Is the hotend hot enough to move material? + filament_status++; // Proceed to feed / retract. + blink_interval_ms = LED_BLINK_5; // Blink ~3 times per second + } + break; + + case FS_PROCEED: { + // Feed or Retract just once. Hard abort all moves and return to idle on swicth release. + static bool flag = false; + if (READ(BTN_RETRACT) && READ(BTN_FEED)) { // Switch in center position (stop) + flag = false; // Restore flag to false + filament_status = FS_IDLE; // Go back to idle state + quickstop_stepper(); // Hard-stop all the steppers ... now! + thermalManager.disable_all_heaters(); // And disable all the heaters + blink_interval_ms = LED_ON; + } + else if (!flag) { + flag = true; + queue.inject(!READ(BTN_RETRACT) ? F("G91\nG0 E10 F180\nG0 E-120 F180\nM104 S0") : F("G91\nG0 E100 F120\nM104 S0")); + } + } break; + } + +} + +#if HAS_STEPPER_RESET + void disableStepperDrivers(); +#endif + +// +// Print Start/Pause/Resume Button +// +void EasythreedUI::printButton() { + enum KeyStatus : uint8_t { KS_IDLE, KS_PRESS, KS_PROCEED }; + static uint8_t key_status = KS_IDLE; + static millis_t key_time = 0; + + enum PrintFlag : uint8_t { PF_START, PF_PAUSE, PF_RESUME }; + static PrintFlag print_key_flag = PF_START; + + const millis_t ms = millis(); + + switch (key_status) { + case KS_IDLE: + if (!READ(BTN_PRINT)) { // Print/Pause/Resume button pressed? + key_time = ms; // Save start time + key_status++; // Go to debounce test + } + break; + + case KS_PRESS: + if (ELAPSED(ms, key_time + BTN_DEBOUNCE_MS)) // Wait for debounce interval to expire + key_status = READ(BTN_PRINT) ? KS_IDLE : KS_PROCEED; // Proceed if still pressed + break; + + case KS_PROCEED: + if (!READ(BTN_PRINT)) break; // Wait for the button to be released + key_status = KS_IDLE; // Ready for the next press + if (PENDING(ms, key_time + 1200 - BTN_DEBOUNCE_MS)) { // Register a press < 1.2 seconds + switch (print_key_flag) { + case PF_START: { // The "Print" button starts an SD card print + if (printingIsActive()) break; // Already printing? (find another line that checks for 'is planner doing anything else right now?') + blink_interval_ms = LED_BLINK_2; // Blink the indicator LED at 1 second intervals + print_key_flag = PF_PAUSE; // The "Print" button now pauses the print + card.mount(); // Force SD card to mount - now! + if (!card.isMounted) { // Failed to mount? + blink_interval_ms = LED_OFF; // Turn off LED + print_key_flag = PF_START; + return; // Bail out + } + card.ls(); // List all files to serial output + const uint16_t filecnt = card.countFilesInWorkDir(); // Count printable files in cwd + if (filecnt == 0) return; // None are printable? + card.selectFileByIndex(filecnt); // Select the last file according to current sort options + card.openAndPrintFile(card.filename); // Start printing it + break; + } + case PF_PAUSE: { // Pause printing (not currently firing) + if (!printingIsActive()) break; + blink_interval_ms = LED_ON; // Set indicator to steady ON + queue.inject(F("M25")); // Queue Pause + print_key_flag = PF_RESUME; // The "Print" button now resumes the print + break; + } + case PF_RESUME: { // Resume printing + if (printingIsActive()) break; + blink_interval_ms = LED_BLINK_2; // Blink the indicator LED at 1 second intervals + queue.inject(F("M24")); // Queue resume + print_key_flag = PF_PAUSE; // The "Print" button now pauses the print + break; + } + } + } + else { // Register a longer press + if (print_key_flag == PF_START && !printingIsActive()) { // While not printing, this moves Z up 10mm + blink_interval_ms = LED_ON; + queue.inject(F("G91\nG0 Z10 F600\nG90")); // Raise Z soon after returning to main loop + } + else { // While printing, cancel print + card.abortFilePrintSoon(); // There is a delay while the current steps play out + blink_interval_ms = LED_OFF; // Turn off LED + } + planner.synchronize(); // Wait for commands already in the planner to finish + TERN_(HAS_STEPPER_RESET, disableStepperDrivers()); // Disable all steppers - now! + print_key_flag = PF_START; // The "Print" button now starts a new print + } + break; + } +} +#endif // EASYTHREED_UI diff --git a/Marlin/src/feature/easythreed_ui.h b/Marlin/src/feature/easythreed_ui.h new file mode 100644 index 0000000000..af9ad2d090 --- /dev/null +++ b/Marlin/src/feature/easythreed_ui.h @@ -0,0 +1,35 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +class EasythreedUI { + public: + static void init(); + static void run(); + + private: + static void blinkLED(); + static void loadButton(); + static void printButton(); +}; + +extern EasythreedUI easythreed_ui; diff --git a/Marlin/src/feature/encoder_i2c.cpp b/Marlin/src/feature/encoder_i2c.cpp new file mode 100644 index 0000000000..092ce0f8b8 --- /dev/null +++ b/Marlin/src/feature/encoder_i2c.cpp @@ -0,0 +1,1128 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +//todo: add support for multiple encoders on a single axis +//todo: add z axis auto-leveling +//todo: consolidate some of the related M codes? +//todo: add endstop-replacement mode? +//todo: try faster I2C speed; tweak TWI_FREQ (400000L, or faster?); or just TWBR = ((CPU_FREQ / 400000L) - 16) / 2; +//todo: consider Marlin-optimized Wire library; i.e. MarlinWire, like MarlinSerial + + +#include "../inc/MarlinConfig.h" + +#if ENABLED(I2C_POSITION_ENCODERS) + +#include "encoder_i2c.h" + +#include "../module/stepper.h" +#include "../gcode/parser.h" + +#include "../feature/babystep.h" + +#include + +I2CPositionEncodersMgr I2CPEM; + +void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) { + encoderAxis = axis; + i2cAddress = address; + + initialized = true; + + SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis, addr = ", address); + + position = get_position(); +} + +void I2CPositionEncoder::update() { + if (!initialized || !homed || !active) return; //check encoder is set up and active + + position = get_position(); + + //we don't want to stop things just because the encoder missed a message, + //so we only care about responses that indicate bad magnetic strength + + if (!passes_test(false)) { //check encoder data is good + lastErrorTime = millis(); + /* + if (trusted) { //commented out as part of the note below + trusted = false; + SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis encoder. Disengaging error correction until module is trusted again."); + } + */ + return; + } + + if (!trusted) { + /** + * This is commented out because it introduces error and can cause bad print quality. + * + * This code is intended to manage situations where the encoder has reported bad magnetic strength. + * This indicates that the magnetic strip was too far away from the sensor to reliably track position. + * When this happens, this code resets the offset based on where the printer thinks it is. This has been + * shown to introduce errors in actual position which result in drifting prints and poor print quality. + * Perhaps a better method would be to disable correction on the axis with a problem, report it to the + * user via the status leds on the encoder module and prompt the user to re-home the axis at which point + * the encoder would be re-enabled. + */ + + #if 0 + // If the magnetic strength has been good for a certain time, start trusting the module again + + if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) { + trusted = true; + + SERIAL_ECHOLNPGM("Untrusted encoder module on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis has been fault-free for set duration, reinstating error correction."); + + //the encoder likely lost its place when the error occurred, so we'll reset and use the printer's + //idea of where it the axis is to re-initialize + const float pos = planner.get_axis_position_mm(encoderAxis); + int32_t positionInTicks = pos * get_ticks_unit(); + + //shift position from previous to current position + zeroOffset -= (positionInTicks - get_position()); + + #ifdef I2CPE_DEBUG + SERIAL_ECHOLNPGM("Current position is ", pos); + SERIAL_ECHOLNPGM("Position in encoder ticks is ", positionInTicks); + SERIAL_ECHOLNPGM("New zero-offset of ", zeroOffset); + SERIAL_ECHOPGM("New position reads as ", get_position()); + SERIAL_CHAR('('); + SERIAL_DECIMAL(mm_from_count(get_position())); + SERIAL_ECHOLNPGM(")"); + #endif + } + #endif + return; + } + + lastPosition = position; + const millis_t positionTime = millis(); + + //only do error correction if setup and enabled + if (ec && ecMethod != I2CPE_ECM_NONE) { + + #ifdef I2CPE_EC_THRESH_PROPORTIONAL + const millis_t deltaTime = positionTime - lastPositionTime; + const uint32_t distance = ABS(position - lastPosition), + speed = distance / deltaTime; + const float threshold = constrain((speed / 50), 1, 50) * ecThreshold; + #else + const float threshold = get_error_correct_threshold(); + #endif + + //check error + #if ENABLED(I2CPE_ERR_ROLLING_AVERAGE) + float sum = 0, diffSum = 0; + + errIdx = (errIdx >= I2CPE_ERR_ARRAY_SIZE - 1) ? 0 : errIdx + 1; + err[errIdx] = get_axis_error_steps(false); + + LOOP_L_N(i, I2CPE_ERR_ARRAY_SIZE) { + sum += err[i]; + if (i) diffSum += ABS(err[i-1] - err[i]); + } + + const int32_t error = int32_t(sum / (I2CPE_ERR_ARRAY_SIZE + 1)); //calculate average for error + + #else + const int32_t error = get_axis_error_steps(false); + #endif + + //SERIAL_ECHOLNPGM("Axis error steps: ", error); + + #ifdef I2CPE_ERR_THRESH_ABORT + if (ABS(error) > I2CPE_ERR_THRESH_ABORT * planner.settings.axis_steps_per_mm[encoderAxis]) { + //kill(F("Significant Error")); + SERIAL_ECHOLNPGM("Axis error over threshold, aborting!", error); + safe_delay(5000); + } + #endif + + #if ENABLED(I2CPE_ERR_ROLLING_AVERAGE) + if (errIdx == 0) { + // In order to correct for "error" but avoid correcting for noise and non-skips + // it must be > threshold and have a difference average of < 10 and be < 2000 steps + if (ABS(error) > threshold * planner.settings.axis_steps_per_mm[encoderAxis] + && diffSum < 10 * (I2CPE_ERR_ARRAY_SIZE - 1) + && ABS(error) < 2000 + ) { // Check for persistent error (skip) + errPrst[errPrstIdx++] = error; // Error must persist for I2CPE_ERR_PRST_ARRAY_SIZE error cycles. This also serves to improve the average accuracy + if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) { + float sumP = 0; + LOOP_L_N(i, I2CPE_ERR_PRST_ARRAY_SIZE) sumP += errPrst[i]; + const int32_t errorP = int32_t(sumP * RECIPROCAL(I2CPE_ERR_PRST_ARRAY_SIZE)); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm"); + babystep.add_steps(encoderAxis, -LROUND(errorP)); + errPrstIdx = 0; + } + } + else + errPrstIdx = 0; + } + #else + if (ABS(error) > threshold * planner.settings.axis_steps_per_mm[encoderAxis]) { + //SERIAL_ECHOLN(error); + //SERIAL_ECHOLN(position); + babystep.add_steps(encoderAxis, -LROUND(error / 2)); + } + #endif + + if (ABS(error) > I2CPE_ERR_CNT_THRESH * planner.settings.axis_steps_per_mm[encoderAxis]) { + const millis_t ms = millis(); + if (ELAPSED(ms, nextErrorCountTime)) { + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum); + errorCount++; + nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS; + } + } + } + + lastPositionTime = positionTime; +} + +void I2CPositionEncoder::set_homed() { + if (active) { + reset(); // Reset module's offset to zero (so current position is homed / zero) + delay(10); + + zeroOffset = get_raw_count(); + homed = trusted = true; + + #ifdef I2CPE_DEBUG + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis encoder homed, offset of ", zeroOffset, " ticks."); + #endif + } +} + +void I2CPositionEncoder::set_unhomed() { + zeroOffset = 0; + homed = trusted = false; + + #ifdef I2CPE_DEBUG + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis encoder unhomed."); + #endif +} + +bool I2CPositionEncoder::passes_test(const bool report) { + if (report) { + if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. "); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + serial_ternary(H == I2CPE_MAG_SIG_BAD, F(" axis "), F("magnetic strip "), F("encoder ")); + switch (H) { + case I2CPE_MAG_SIG_GOOD: + case I2CPE_MAG_SIG_MID: + SERIAL_ECHO_TERNARY(H == I2CPE_MAG_SIG_GOOD, "passes test; field strength ", "good", "fair", ".\n"); + break; + default: + SERIAL_ECHOLNPGM("not detected!"); + } + } + return (H == I2CPE_MAG_SIG_GOOD || H == I2CPE_MAG_SIG_MID); +} + +float I2CPositionEncoder::get_axis_error_mm(const bool report) { + const float target = planner.get_axis_position_mm(encoderAxis), + actual = mm_from_count(position), + diff = actual - target, + error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading + + if (report) { + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm"); + } + + return error; +} + +int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) { + if (!active) { + if (report) { + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis encoder not active!"); + } + return 0; + } + + float stepperTicksPerUnit; + int32_t encoderTicks = position, encoderCountInStepperTicksScaled; + //int32_t stepperTicks = stepper.position(encoderAxis); + + // With a rotary encoder we're concerned with ticks/rev; whereas with a linear we're concerned with ticks/mm + stepperTicksPerUnit = (type == I2CPE_ENC_TYPE_ROTARY) ? stepperTicks : planner.settings.axis_steps_per_mm[encoderAxis]; + + //convert both 'ticks' into same units / base + encoderCountInStepperTicksScaled = LROUND((stepperTicksPerUnit * encoderTicks) / encoderTicksPerUnit); + + const int32_t target = stepper.position(encoderAxis); + int32_t error = encoderCountInStepperTicksScaled - target; + + //suppress discontinuities (might be caused by bad I2C readings...?) + const bool suppressOutput = (ABS(error - errorPrev) > 100); + + errorPrev = error; + + if (report) { + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error); + } + + if (suppressOutput) { + if (report) SERIAL_ECHOLNPGM("!Discontinuity. Suppressing error."); + error = 0; + } + + return error; +} + +int32_t I2CPositionEncoder::get_raw_count() { + uint8_t index = 0; + i2cLong encoderCount; + + encoderCount.val = 0x00; + + if (Wire.requestFrom(I2C_ADDRESS(i2cAddress), uint8_t(3)) != 3) { + //houston, we have a problem... + H = I2CPE_MAG_SIG_NF; + return 0; + } + + while (Wire.available()) + encoderCount.bval[index++] = (uint8_t)Wire.read(); + + //extract the magnetic strength + H = (B00000011 & (encoderCount.bval[2] >> 6)); + + //extract sign bit; sign = (encoderCount.bval[2] & B00100000); + //set all upper bits to the sign value to overwrite H + encoderCount.val = (encoderCount.bval[2] & B00100000) ? (encoderCount.val | 0xFFC00000) : (encoderCount.val & 0x003FFFFF); + + if (invert) encoderCount.val *= -1; + + return encoderCount.val; +} + +bool I2CPositionEncoder::test_axis() { + // Only works on XYZ Cartesian machines for the time being + if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false; + + const float startPosition = soft_endstop.min[encoderAxis] + 10, + endPosition = soft_endstop.max[encoderAxis] - 10; + const feedRate_t fr_mm_s = FLOOR(homing_feedrate(encoderAxis)); + + ec = false; + + xyze_pos_t startCoord, endCoord; + LOOP_NUM_AXES(a) { + startCoord[a] = planner.get_axis_position_mm((AxisEnum)a); + endCoord[a] = planner.get_axis_position_mm((AxisEnum)a); + } + startCoord[encoderAxis] = startPosition; + endCoord[encoderAxis] = endPosition; + + planner.synchronize(); + + #if HAS_EXTRUDERS + startCoord.e = planner.get_axis_position_mm(E_AXIS); + planner.buffer_line(startCoord, fr_mm_s, 0); + planner.synchronize(); + #endif + + // if the module isn't currently trusted, wait until it is (or until it should be if things are working) + if (!trusted) { + int32_t startWaitingTime = millis(); + while (!trusted && millis() - startWaitingTime < I2CPE_TIME_TRUSTED) + safe_delay(500); + } + + if (trusted) { // if trusted, commence test + TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS)); + planner.buffer_line(endCoord, fr_mm_s, 0); + planner.synchronize(); + } + + return trusted; +} + +void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) { + if (type != I2CPE_ENC_TYPE_LINEAR) { + SERIAL_ECHOLNPGM("Steps/mm calibration requires linear encoder."); + return; + } + + if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) { + SERIAL_ECHOLNPGM("Steps/mm calibration not supported for this axis."); + return; + } + + float old_steps_mm, new_steps_mm, + startDistance, endDistance, + travelDistance, travelledDistance, total = 0; + + int32_t startCount, stopCount; + + const feedRate_t fr_mm_s = homing_feedrate(encoderAxis); + + bool oldec = ec; + ec = false; + + startDistance = 20; + endDistance = soft_endstop.max[encoderAxis] - 20; + travelDistance = endDistance - startDistance; + + xyze_pos_t startCoord, endCoord; + LOOP_NUM_AXES(a) { + startCoord[a] = planner.get_axis_position_mm((AxisEnum)a); + endCoord[a] = planner.get_axis_position_mm((AxisEnum)a); + } + startCoord[encoderAxis] = startDistance; + endCoord[encoderAxis] = endDistance; + + planner.synchronize(); + + LOOP_L_N(i, iter) { + TERN_(HAS_EXTRUDERS, startCoord.e = planner.get_axis_position_mm(E_AXIS)); + planner.buffer_line(startCoord, fr_mm_s, 0); + planner.synchronize(); + + delay(250); + startCount = get_position(); + + //do_blocking_move_to(endCoord); + + TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS)); + planner.buffer_line(endCoord, fr_mm_s, 0); + planner.synchronize(); + + //Read encoder distance + delay(250); + stopCount = get_position(); + + travelledDistance = mm_from_count(ABS(stopCount - startCount)); + + SERIAL_ECHOLNPGM("Attempted travel: ", travelDistance, "mm"); + SERIAL_ECHOLNPGM(" Actual travel: ", travelledDistance, "mm"); + + //Calculate new axis steps per unit + old_steps_mm = planner.settings.axis_steps_per_mm[encoderAxis]; + new_steps_mm = (old_steps_mm * travelDistance) / travelledDistance; + + SERIAL_ECHOLNPGM("Old steps/mm: ", old_steps_mm); + SERIAL_ECHOLNPGM("New steps/mm: ", new_steps_mm); + + //Save new value + planner.settings.axis_steps_per_mm[encoderAxis] = new_steps_mm; + + if (iter > 1) { + total += new_steps_mm; + + // swap start and end points so next loop runs from current position + const float tempCoord = startCoord[encoderAxis]; + startCoord[encoderAxis] = endCoord[encoderAxis]; + endCoord[encoderAxis] = tempCoord; + } + } + + if (iter > 1) { + total /= (float)iter; + SERIAL_ECHOLNPGM("Average steps/mm: ", total); + } + + ec = oldec; + + SERIAL_ECHOLNPGM("Calculated steps/mm set. Use M500 to save to EEPROM."); +} + +void I2CPositionEncoder::reset() { + Wire.beginTransmission(I2C_ADDRESS(i2cAddress)); + Wire.write(I2CPE_RESET_COUNT); + Wire.endTransmission(); + + TERN_(I2CPE_ERR_ROLLING_AVERAGE, ZERO(err)); +} + + +bool I2CPositionEncodersMgr::I2CPE_anyaxis; +uint8_t I2CPositionEncodersMgr::I2CPE_addr, + I2CPositionEncodersMgr::I2CPE_idx; +I2CPositionEncoder I2CPositionEncodersMgr::encoders[I2CPE_ENCODER_CNT]; + +void I2CPositionEncodersMgr::init() { + Wire.begin(); + + #if I2CPE_ENCODER_CNT > 0 + uint8_t i = 0; + + encoders[i].init(I2CPE_ENC_1_ADDR, I2CPE_ENC_1_AXIS); + + #ifdef I2CPE_ENC_1_TYPE + encoders[i].set_type(I2CPE_ENC_1_TYPE); + #endif + #ifdef I2CPE_ENC_1_TICKS_UNIT + encoders[i].set_ticks_unit(I2CPE_ENC_1_TICKS_UNIT); + #endif + #ifdef I2CPE_ENC_1_TICKS_REV + encoders[i].set_stepper_ticks(I2CPE_ENC_1_TICKS_REV); + #endif + #ifdef I2CPE_ENC_1_INVERT + encoders[i].set_inverted(ENABLED(I2CPE_ENC_1_INVERT)); + #endif + #ifdef I2CPE_ENC_1_EC_METHOD + encoders[i].set_ec_method(I2CPE_ENC_1_EC_METHOD); + #endif + #ifdef I2CPE_ENC_1_EC_THRESH + encoders[i].set_ec_threshold(I2CPE_ENC_1_EC_THRESH); + #endif + + encoders[i].set_active(encoders[i].passes_test(true)); + + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_1_AXIS == E_AXIS) encoders[i].set_homed()); + #endif + + #if I2CPE_ENCODER_CNT > 1 + i++; + + encoders[i].init(I2CPE_ENC_2_ADDR, I2CPE_ENC_2_AXIS); + + #ifdef I2CPE_ENC_2_TYPE + encoders[i].set_type(I2CPE_ENC_2_TYPE); + #endif + #ifdef I2CPE_ENC_2_TICKS_UNIT + encoders[i].set_ticks_unit(I2CPE_ENC_2_TICKS_UNIT); + #endif + #ifdef I2CPE_ENC_2_TICKS_REV + encoders[i].set_stepper_ticks(I2CPE_ENC_2_TICKS_REV); + #endif + #ifdef I2CPE_ENC_2_INVERT + encoders[i].set_inverted(ENABLED(I2CPE_ENC_2_INVERT)); + #endif + #ifdef I2CPE_ENC_2_EC_METHOD + encoders[i].set_ec_method(I2CPE_ENC_2_EC_METHOD); + #endif + #ifdef I2CPE_ENC_2_EC_THRESH + encoders[i].set_ec_threshold(I2CPE_ENC_2_EC_THRESH); + #endif + + encoders[i].set_active(encoders[i].passes_test(true)); + + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_2_AXIS == E_AXIS) encoders[i].set_homed()); + #endif + + #if I2CPE_ENCODER_CNT > 2 + i++; + + encoders[i].init(I2CPE_ENC_3_ADDR, I2CPE_ENC_3_AXIS); + + #ifdef I2CPE_ENC_3_TYPE + encoders[i].set_type(I2CPE_ENC_3_TYPE); + #endif + #ifdef I2CPE_ENC_3_TICKS_UNIT + encoders[i].set_ticks_unit(I2CPE_ENC_3_TICKS_UNIT); + #endif + #ifdef I2CPE_ENC_3_TICKS_REV + encoders[i].set_stepper_ticks(I2CPE_ENC_3_TICKS_REV); + #endif + #ifdef I2CPE_ENC_3_INVERT + encoders[i].set_inverted(ENABLED(I2CPE_ENC_3_INVERT)); + #endif + #ifdef I2CPE_ENC_3_EC_METHOD + encoders[i].set_ec_method(I2CPE_ENC_3_EC_METHOD); + #endif + #ifdef I2CPE_ENC_3_EC_THRESH + encoders[i].set_ec_threshold(I2CPE_ENC_3_EC_THRESH); + #endif + + encoders[i].set_active(encoders[i].passes_test(true)); + + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_3_AXIS == E_AXIS) encoders[i].set_homed()); + #endif + + #if I2CPE_ENCODER_CNT > 3 + i++; + + encoders[i].init(I2CPE_ENC_4_ADDR, I2CPE_ENC_4_AXIS); + + #ifdef I2CPE_ENC_4_TYPE + encoders[i].set_type(I2CPE_ENC_4_TYPE); + #endif + #ifdef I2CPE_ENC_4_TICKS_UNIT + encoders[i].set_ticks_unit(I2CPE_ENC_4_TICKS_UNIT); + #endif + #ifdef I2CPE_ENC_4_TICKS_REV + encoders[i].set_stepper_ticks(I2CPE_ENC_4_TICKS_REV); + #endif + #ifdef I2CPE_ENC_4_INVERT + encoders[i].set_inverted(ENABLED(I2CPE_ENC_4_INVERT)); + #endif + #ifdef I2CPE_ENC_4_EC_METHOD + encoders[i].set_ec_method(I2CPE_ENC_4_EC_METHOD); + #endif + #ifdef I2CPE_ENC_4_EC_THRESH + encoders[i].set_ec_threshold(I2CPE_ENC_4_EC_THRESH); + #endif + + encoders[i].set_active(encoders[i].passes_test(true)); + + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_4_AXIS == E_AXIS) encoders[i].set_homed()); + #endif + + #if I2CPE_ENCODER_CNT > 4 + i++; + + encoders[i].init(I2CPE_ENC_5_ADDR, I2CPE_ENC_5_AXIS); + + #ifdef I2CPE_ENC_5_TYPE + encoders[i].set_type(I2CPE_ENC_5_TYPE); + #endif + #ifdef I2CPE_ENC_5_TICKS_UNIT + encoders[i].set_ticks_unit(I2CPE_ENC_5_TICKS_UNIT); + #endif + #ifdef I2CPE_ENC_5_TICKS_REV + encoders[i].set_stepper_ticks(I2CPE_ENC_5_TICKS_REV); + #endif + #ifdef I2CPE_ENC_5_INVERT + encoders[i].set_inverted(ENABLED(I2CPE_ENC_5_INVERT)); + #endif + #ifdef I2CPE_ENC_5_EC_METHOD + encoders[i].set_ec_method(I2CPE_ENC_5_EC_METHOD); + #endif + #ifdef I2CPE_ENC_5_EC_THRESH + encoders[i].set_ec_threshold(I2CPE_ENC_5_EC_THRESH); + #endif + + encoders[i].set_active(encoders[i].passes_test(true)); + + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_5_AXIS == E_AXIS) encoders[i].set_homed()); + #endif + + #if I2CPE_ENCODER_CNT > 5 + i++; + + encoders[i].init(I2CPE_ENC_6_ADDR, I2CPE_ENC_6_AXIS); + + #ifdef I2CPE_ENC_6_TYPE + encoders[i].set_type(I2CPE_ENC_6_TYPE); + #endif + #ifdef I2CPE_ENC_6_TICKS_UNIT + encoders[i].set_ticks_unit(I2CPE_ENC_6_TICKS_UNIT); + #endif + #ifdef I2CPE_ENC_6_TICKS_REV + encoders[i].set_stepper_ticks(I2CPE_ENC_6_TICKS_REV); + #endif + #ifdef I2CPE_ENC_6_INVERT + encoders[i].set_inverted(ENABLED(I2CPE_ENC_6_INVERT)); + #endif + #ifdef I2CPE_ENC_6_EC_METHOD + encoders[i].set_ec_method(I2CPE_ENC_6_EC_METHOD); + #endif + #ifdef I2CPE_ENC_6_EC_THRESH + encoders[i].set_ec_threshold(I2CPE_ENC_6_EC_THRESH); + #endif + + encoders[i].set_active(encoders[i].passes_test(true)); + + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_6_AXIS == E_AXIS) encoders[i].set_homed()); + #endif +} + +void I2CPositionEncodersMgr::report_position(const int8_t idx, const bool units, const bool noOffset) { + CHECK_IDX(); + + if (units) + SERIAL_ECHOLN(noOffset ? encoders[idx].mm_from_count(encoders[idx].get_raw_count()) : encoders[idx].get_position_mm()); + else { + if (noOffset) { + const int32_t raw_count = encoders[idx].get_raw_count(); + SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()], ' '); + + for (uint8_t j = 31; j > 0; j--) + SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j))); + + SERIAL_ECHO((bool)(0x00000001 & raw_count)); + SERIAL_CHAR(' '); + SERIAL_ECHOLN(raw_count); + } + else + SERIAL_ECHOLN(encoders[idx].get_position()); + } +} + +void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const uint8_t newaddr) { + // First check 'new' address is not in use + Wire.beginTransmission(I2C_ADDRESS(newaddr)); + if (!Wire.endTransmission()) { + SERIAL_ECHOLNPGM("?There is already a device with that address on the I2C bus! (", newaddr, ")"); + return; + } + + // Now check that we can find the module on the oldaddr address + Wire.beginTransmission(I2C_ADDRESS(oldaddr)); + if (Wire.endTransmission()) { + SERIAL_ECHOLNPGM("?No module detected at this address! (", oldaddr, ")"); + return; + } + + SERIAL_ECHOLNPGM("Module found at ", oldaddr, ", changing address to ", newaddr); + + // Change the modules address + Wire.beginTransmission(I2C_ADDRESS(oldaddr)); + Wire.write(I2CPE_SET_ADDR); + Wire.write(newaddr); + Wire.endTransmission(); + + SERIAL_ECHOLNPGM("Address changed, resetting and waiting for confirmation.."); + + // Wait for the module to reset (can probably be improved by polling address with a timeout). + safe_delay(I2CPE_REBOOT_TIME); + + // Look for the module at the new address. + Wire.beginTransmission(I2C_ADDRESS(newaddr)); + if (Wire.endTransmission()) { + SERIAL_ECHOLNPGM("Address change failed! Check encoder module."); + return; + } + + SERIAL_ECHOLNPGM("Address change successful!"); + + // Now, if this module is configured, find which encoder instance it's supposed to correspond to + // and enable it (it will likely have failed initialization on power-up, before the address change). + const int8_t idx = idx_from_addr(newaddr); + if (idx >= 0 && !encoders[idx].get_active()) { + SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()]); + SERIAL_ECHOLNPGM(" axis encoder was not detected on printer startup. Trying again."); + encoders[idx].set_active(encoders[idx].passes_test(true)); + } +} + +void I2CPositionEncodersMgr::report_module_firmware(const uint8_t address) { + // First check there is a module + Wire.beginTransmission(I2C_ADDRESS(address)); + if (Wire.endTransmission()) { + SERIAL_ECHOLNPGM("?No module detected at this address! (", address, ")"); + return; + } + + SERIAL_ECHOLNPGM("Requesting version info from module at address ", address, ":"); + + Wire.beginTransmission(I2C_ADDRESS(address)); + Wire.write(I2CPE_SET_REPORT_MODE); + Wire.write(I2CPE_REPORT_VERSION); + Wire.endTransmission(); + + // Read value + if (Wire.requestFrom(I2C_ADDRESS(address), uint8_t(32))) { + char c; + while (Wire.available() > 0 && (c = (char)Wire.read()) > 0) + SERIAL_CHAR(c); + SERIAL_EOL(); + } + + // Set module back to normal (distance) mode + Wire.beginTransmission(I2C_ADDRESS(address)); + Wire.write(I2CPE_SET_REPORT_MODE); + Wire.write(I2CPE_REPORT_DISTANCE); + Wire.endTransmission(); +} + +int8_t I2CPositionEncodersMgr::parse() { + I2CPE_addr = 0; + + if (parser.seen('A')) { + + if (!parser.has_value()) { + SERIAL_ECHOLNPGM("?A seen, but no address specified! [30-200]"); + return I2CPE_PARSE_ERR; + } + + I2CPE_addr = parser.value_byte(); + if (!WITHIN(I2CPE_addr, 30, 200)) { // reserve the first 30 and last 55 + SERIAL_ECHOLNPGM("?Address out of range. [30-200]"); + return I2CPE_PARSE_ERR; + } + + I2CPE_idx = idx_from_addr(I2CPE_addr); + if (I2CPE_idx >= I2CPE_ENCODER_CNT) { + SERIAL_ECHOLNPGM("?No device with this address!"); + return I2CPE_PARSE_ERR; + } + } + else if (parser.seenval('I')) { + + if (!parser.has_value()) { + SERIAL_ECHOLNPGM("?I seen, but no index specified! [0-", I2CPE_ENCODER_CNT - 1, "]"); + return I2CPE_PARSE_ERR; + } + + I2CPE_idx = parser.value_byte(); + if (I2CPE_idx >= I2CPE_ENCODER_CNT) { + SERIAL_ECHOLNPGM("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1, "]"); + return I2CPE_PARSE_ERR; + } + + I2CPE_addr = encoders[I2CPE_idx].get_address(); + } + else + I2CPE_idx = 0xFF; + + I2CPE_anyaxis = parser.seen_axis(); + + return I2CPE_PARSE_OK; +} + +/** + * M860: Report the position(s) of position encoder module(s). + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1] + * O Include homed zero-offset in returned position. + * U Units in mm or raw step count. + * + * If A or I not specified: + * X Report on X axis encoder, if present. + * Y Report on Y axis encoder, if present. + * Z Report on Z axis encoder, if present. + * E Report on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M860() { + if (parse()) return; + + const bool hasU = parser.seen_test('U'), hasO = parser.seen_test('O'); + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen_test(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) report_position(idx, hasU, hasO); + } + } + } + else + report_position(I2CPE_idx, hasU, hasO); +} + +/** + * M861: Report the status of position encoder modules. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1] + * + * If A or I not specified: + * X Report on X axis encoder, if present. + * Y Report on Y axis encoder, if present. + * Z Report on Z axis encoder, if present. + * E Report on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M861() { + if (parse()) return; + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) report_status(idx); + } + } + } + else + report_status(I2CPE_idx); +} + +/** + * M862: Perform an axis continuity test for position encoder + * modules. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1] + * + * If A or I not specified: + * X Report on X axis encoder, if present. + * Y Report on Y axis encoder, if present. + * Z Report on Z axis encoder, if present. + * E Report on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M862() { + if (parse()) return; + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) test_axis(idx); + } + } + } + else + test_axis(I2CPE_idx); +} + +/** + * M863: Perform steps-per-mm calibration for + * position encoder modules. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1] + * P Number of rePeats/iterations. + * + * If A or I not specified: + * X Report on X axis encoder, if present. + * Y Report on Y axis encoder, if present. + * Z Report on Z axis encoder, if present. + * E Report on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M863() { + if (parse()) return; + + const uint8_t iterations = constrain(parser.byteval('P', 1), 1, 10); + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations); + } + } + } + else + calibrate_steps_mm(I2CPE_idx, iterations); +} + +/** + * M864: Change position encoder module I2C address. + * + * A Module current/old I2C address. If not present, + * assumes default address (030). [30, 200]. + * S Module new I2C address. [30, 200]. + * + * If S is not specified: + * X Use I2CPE_PRESET_ADDR_X (030). + * Y Use I2CPE_PRESET_ADDR_Y (031). + * Z Use I2CPE_PRESET_ADDR_Z (032). + * E Use I2CPE_PRESET_ADDR_E (033). + */ +void I2CPositionEncodersMgr::M864() { + uint8_t newAddress; + + if (parse()) return; + + if (!I2CPE_addr) I2CPE_addr = I2CPE_PRESET_ADDR_X; + + if (parser.seen('S')) { + if (!parser.has_value()) { + SERIAL_ECHOLNPGM("?S seen, but no address specified! [30-200]"); + return; + } + + newAddress = parser.value_byte(); + if (!WITHIN(newAddress, 30, 200)) { + SERIAL_ECHOLNPGM("?New address out of range. [30-200]"); + return; + } + } + else if (!I2CPE_anyaxis) { + SERIAL_ECHOLNPGM("?You must specify S or [XYZE]."); + return; + } + else { + if (parser.seen_test('X')) newAddress = I2CPE_PRESET_ADDR_X; + else if (parser.seen_test('Y')) newAddress = I2CPE_PRESET_ADDR_Y; + else if (parser.seen_test('Z')) newAddress = I2CPE_PRESET_ADDR_Z; + else if (parser.seen_test('E')) newAddress = I2CPE_PRESET_ADDR_E; + else return; + } + + SERIAL_ECHOLNPGM("Changing module at address ", I2CPE_addr, " to address ", newAddress); + + change_module_address(I2CPE_addr, newAddress); +} + +/** + * M865: Check position encoder module firmware version. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1]. + * + * If A or I not specified: + * X Check X axis encoder, if present. + * Y Check Y axis encoder, if present. + * Z Check Z axis encoder, if present. + * E Check E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M865() { + if (parse()) return; + + if (!I2CPE_addr) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address()); + } + } + } + else + report_module_firmware(I2CPE_addr); +} + +/** + * M866: Report or reset position encoder module error + * count. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1]. + * R Reset error counter. + * + * If A or I not specified: + * X Act on X axis encoder, if present. + * Y Act on Y axis encoder, if present. + * Z Act on Z axis encoder, if present. + * E Act on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M866() { + if (parse()) return; + + const bool hasR = parser.seen_test('R'); + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) { + if (hasR) + reset_error_count(idx, AxisEnum(i)); + else + report_error_count(idx, AxisEnum(i)); + } + } + } + } + else if (hasR) + reset_error_count(I2CPE_idx, encoders[I2CPE_idx].get_axis()); + else + report_error_count(I2CPE_idx, encoders[I2CPE_idx].get_axis()); +} + +/** + * M867: Enable/disable or toggle error correction for position encoder modules. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1]. + * S<1|0> Enable/disable error correction. 1 enables, 0 disables. If not + * supplied, toggle. + * + * If A or I not specified: + * X Act on X axis encoder, if present. + * Y Act on Y axis encoder, if present. + * Z Act on Z axis encoder, if present. + * E Act on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M867() { + if (parse()) return; + + const int8_t onoff = parser.seenval('S') ? parser.value_int() : -1; + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) { + const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff; + enable_ec(idx, ena, AxisEnum(i)); + } + } + } + } + else { + const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff; + enable_ec(I2CPE_idx, ena, encoders[I2CPE_idx].get_axis()); + } +} + +/** + * M868: Report or set position encoder module error correction + * threshold. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1]. + * T New error correction threshold. + * + * If A not specified: + * X Act on X axis encoder, if present. + * Y Act on Y axis encoder, if present. + * Z Act on Z axis encoder, if present. + * E Act on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M868() { + if (parse()) return; + + const float newThreshold = parser.seenval('T') ? parser.value_float() : -9999; + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) { + if (newThreshold != -9999) + set_ec_threshold(idx, newThreshold, encoders[idx].get_axis()); + else + get_ec_threshold(idx, encoders[idx].get_axis()); + } + } + } + } + else if (newThreshold != -9999) + set_ec_threshold(I2CPE_idx, newThreshold, encoders[I2CPE_idx].get_axis()); + else + get_ec_threshold(I2CPE_idx, encoders[I2CPE_idx].get_axis()); +} + +/** + * M869: Report position encoder module error. + * + * A Module I2C address. [30, 200]. + * I Module index. [0, I2CPE_ENCODER_CNT - 1]. + * + * If A not specified: + * X Act on X axis encoder, if present. + * Y Act on Y axis encoder, if present. + * Z Act on Z axis encoder, if present. + * E Act on E axis encoder, if present. + */ +void I2CPositionEncodersMgr::M869() { + if (parse()) return; + + if (I2CPE_idx == 0xFF) { + LOOP_LOGICAL_AXES(i) { + if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) { + const uint8_t idx = idx_from_axis(AxisEnum(i)); + if ((int8_t)idx >= 0) report_error(idx); + } + } + } + else + report_error(I2CPE_idx); +} + +#endif // I2C_POSITION_ENCODERS diff --git a/Marlin/src/feature/encoder_i2c.h b/Marlin/src/feature/encoder_i2c.h new file mode 100644 index 0000000000..f25fe2ea6b --- /dev/null +++ b/Marlin/src/feature/encoder_i2c.h @@ -0,0 +1,320 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +#include "../module/planner.h" + +#include + +//=========== 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 + #define I2CPE_ERR_PRST_ARRAY_SIZE 10 +#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) + +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, + initialized = false, + active = false, + invert = false, + ec = true; + + int32_t zeroOffset = 0, + lastPosition = 0, + position; + + millis_t lastPositionTime = 0, + nextErrorCountTime = 0, + lastErrorTime; + + #if ENABLED(I2CPE_ERR_ROLLING_AVERAGE) + uint8_t errIdx = 0, errPrstIdx = 0; + int err[I2CPE_ERR_ARRAY_SIZE] = { 0 }, + errPrst[I2CPE_ERR_PRST_ARRAY_SIZE] = { 0 }; + #endif + + public: + void init(const uint8_t address, const AxisEnum axis); + void reset(); + + void update(); + + void set_homed(); + void set_unhomed(); + + 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.settings.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; } + + 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(); + + FORCE_INLINE int get_error_count() { 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() { 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_t 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.settings.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; } +}; + +class I2CPositionEncodersMgr { + private: + static bool I2CPE_anyaxis; + static uint8_t I2CPE_addr, I2CPE_idx; + + public: + + static void init(); + + // consider only updating one endoder per call / tick if encoders become too time intensive + static void update() { 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 unhomed(const AxisEnum axis) { + LOOP_PE(i) + if (encoders[i].get_axis() == axis) encoders[i].set_unhomed(); + } + + 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_ECHOLNPGM("Encoder ", idx, ": "); + 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_ECHOLNPGM("Error count on ", AS_CHAR(AXIS_CHAR(axis)), " 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_ECHOLNPGM("Error count on ", AS_CHAR(AXIS_CHAR(axis)), " 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_ECHOPGM("Error correction on ", AS_CHAR(AXIS_CHAR(axis))); + SERIAL_ECHO_TERNARY(encoders[idx].get_ec_enabled(), " axis is ", "en", "dis", "abled.\n"); + } + + static void set_ec_threshold(const int8_t idx, const float newThreshold, const AxisEnum axis) { + CHECK_IDX(); + encoders[idx].set_ec_threshold(newThreshold); + SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(AXIS_CHAR(axis)), " axis set to ", newThreshold, "mm."); + } + + static void get_ec_threshold(const int8_t idx, const AxisEnum axis) { + CHECK_IDX(); + const float threshold = encoders[idx].get_ec_threshold(); + SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(AXIS_CHAR(axis)), " axis is ", threshold, "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; diff --git a/Marlin/src/feature/ethernet.cpp b/Marlin/src/feature/ethernet.cpp new file mode 100644 index 0000000000..c5bfa932cb --- /dev/null +++ b/Marlin/src/feature/ethernet.cpp @@ -0,0 +1,175 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if HAS_ETHERNET + +#include "ethernet.h" +#include "../core/serial.h" + +#define DEBUG_OUT ENABLED(DEBUG_ETHERNET) +#include "../core/debug_out.h" + +bool MarlinEthernet::hardware_enabled, // = false + MarlinEthernet::have_telnet_client; // = false + +IPAddress MarlinEthernet::ip, + MarlinEthernet::myDns, + MarlinEthernet::gateway, + MarlinEthernet::subnet; + +EthernetClient MarlinEthernet::telnetClient; // connected client + +MarlinEthernet ethernet; + +EthernetServer server(23); // telnet server + +enum linkStates { UNLINKED, LINKING, LINKED, CONNECTING, CONNECTED, NO_HARDWARE } linkState; + +#ifdef __IMXRT1062__ + + static void teensyMAC(uint8_t * const mac) { + const uint32_t m1 = HW_OCOTP_MAC1, m2 = HW_OCOTP_MAC0; + mac[0] = m1 >> 8; + mac[1] = m1 >> 0; + mac[2] = m2 >> 24; + mac[3] = m2 >> 16; + mac[4] = m2 >> 8; + mac[5] = m2 >> 0; + } + +#else + + byte mac[] = MAC_ADDRESS; + +#endif + +void ethernet_cable_error() { SERIAL_ERROR_MSG("Ethernet cable is not connected."); } + +void MarlinEthernet::init() { + if (!hardware_enabled) return; + + SERIAL_ECHO_MSG("Starting network..."); + + // Init the Ethernet device + #ifdef __IMXRT1062__ + uint8_t mac[6]; + teensyMAC(mac); + #endif + + if (!ip) { + Ethernet.begin(mac); // use DHCP + } + else { + if (!gateway) { + gateway = ip; + gateway[3] = 1; + myDns = gateway; + subnet = IPAddress(255,255,255,0); + } + if (!myDns) myDns = gateway; + if (!subnet) subnet = IPAddress(255,255,255,0); + Ethernet.begin(mac, ip, myDns, gateway, subnet); + } + + // Check for Ethernet hardware present + if (Ethernet.hardwareStatus() == EthernetNoHardware) { + SERIAL_ERROR_MSG("No Ethernet hardware found."); + linkState = NO_HARDWARE; + return; + } + + linkState = UNLINKED; + + if (Ethernet.linkStatus() == LinkOFF) + ethernet_cable_error(); +} + +void MarlinEthernet::check() { + if (!hardware_enabled) return; + + switch (linkState) { + case NO_HARDWARE: + break; + + case UNLINKED: + if (Ethernet.linkStatus() == LinkOFF) break; + + SERIAL_ECHOLNPGM("Ethernet cable connected"); + server.begin(); + linkState = LINKING; + break; + + case LINKING: + if (!Ethernet.localIP()) break; + + SERIAL_ECHOPGM("Successfully started telnet server with IP "); + MYSERIAL1.println(Ethernet.localIP()); + + linkState = LINKED; + break; + + case LINKED: + if (Ethernet.linkStatus() == LinkOFF) { + ethernet_cable_error(); + linkState = UNLINKED; + break; + } + telnetClient = server.accept(); + if (telnetClient) linkState = CONNECTING; + break; + + case CONNECTING: + telnetClient.println("Marlin " SHORT_BUILD_VERSION); + #if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR) + telnetClient.println( + " Last Updated: " STRING_DISTRIBUTION_DATE + " | Author: " STRING_CONFIG_H_AUTHOR + ); + #endif + telnetClient.println(" Compiled: " __DATE__); + + SERIAL_ECHOLNPGM("Client connected"); + have_telnet_client = true; + linkState = CONNECTED; + break; + + case CONNECTED: + if (telnetClient && !telnetClient.connected()) { + SERIAL_ECHOLNPGM("Client disconnected"); + telnetClient.stop(); + have_telnet_client = false; + linkState = LINKED; + } + if (Ethernet.linkStatus() == LinkOFF) { + ethernet_cable_error(); + if (telnetClient) telnetClient.stop(); + linkState = UNLINKED; + } + break; + + default: break; + } +} + +#endif // HAS_ETHERNET diff --git a/Marlin/src/feature/ethernet.h b/Marlin/src/feature/ethernet.h new file mode 100644 index 0000000000..70a58efce7 --- /dev/null +++ b/Marlin/src/feature/ethernet.h @@ -0,0 +1,39 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#ifdef __IMXRT1062__ + #include +#endif + +// Teensy 4.1 uses internal MAC Address + +class MarlinEthernet { + public: + static bool hardware_enabled, have_telnet_client; + static IPAddress ip, myDns, gateway, subnet; + static EthernetClient telnetClient; + static void init(); + static void check(); +}; + +extern MarlinEthernet ethernet; diff --git a/Marlin/src/feature/fancheck.cpp b/Marlin/src/feature/fancheck.cpp new file mode 100644 index 0000000000..126b79b0a4 --- /dev/null +++ b/Marlin/src/feature/fancheck.cpp @@ -0,0 +1,207 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 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 . + * + */ + +/** + * fancheck.cpp - fan tachometer check + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_FANCHECK + +#include "fancheck.h" +#include "../module/temperature.h" + +#if HAS_AUTO_FAN && EXTRUDER_AUTO_FAN_SPEED != 255 && DISABLED(FOURWIRES_FANS) + bool FanCheck::measuring = false; +#endif +Flags FanCheck::tacho_state; +uint16_t FanCheck::edge_counter[TACHO_COUNT]; +uint8_t FanCheck::rps[TACHO_COUNT]; +FanCheck::TachoError FanCheck::error = FanCheck::TachoError::NONE; +bool FanCheck::enabled; + +void FanCheck::init() { + #define _TACHINIT(N) TERN(E##N##_FAN_TACHO_PULLUP, SET_INPUT_PULLUP, TERN(E##N##_FAN_TACHO_PULLDOWN, SET_INPUT_PULLDOWN, SET_INPUT))(E##N##_FAN_TACHO_PIN) + #if HAS_E0_FAN_TACHO + _TACHINIT(0); + #endif + #if HAS_E1_FAN_TACHO + _TACHINIT(1); + #endif + #if HAS_E2_FAN_TACHO + _TACHINIT(2); + #endif + #if HAS_E3_FAN_TACHO + _TACHINIT(3); + #endif + #if HAS_E4_FAN_TACHO + _TACHINIT(4); + #endif + #if HAS_E5_FAN_TACHO + _TACHINIT(5); + #endif + #if HAS_E6_FAN_TACHO + _TACHINIT(6); + #endif + #if HAS_E7_FAN_TACHO + _TACHINIT(7); + #endif +} + +void FanCheck::update_tachometers() { + bool status; + + #define _TACHO_CASE(N) case N: status = READ(E##N##_FAN_TACHO_PIN); break; + LOOP_L_N(f, TACHO_COUNT) { + switch (f) { + #if HAS_E0_FAN_TACHO + _TACHO_CASE(0) + #endif + #if HAS_E1_FAN_TACHO + _TACHO_CASE(1) + #endif + #if HAS_E2_FAN_TACHO + _TACHO_CASE(2) + #endif + #if HAS_E3_FAN_TACHO + _TACHO_CASE(3) + #endif + #if HAS_E4_FAN_TACHO + _TACHO_CASE(4) + #endif + #if HAS_E5_FAN_TACHO + _TACHO_CASE(5) + #endif + #if HAS_E6_FAN_TACHO + _TACHO_CASE(6) + #endif + #if HAS_E7_FAN_TACHO + _TACHO_CASE(7) + #endif + default: continue; + } + + if (status != tacho_state[f]) { + if (measuring) ++edge_counter[f]; + tacho_state.set(f, status); + } + } +} + +void FanCheck::compute_speed(uint16_t elapsedTime) { + static uint8_t errors_count[TACHO_COUNT]; + static uint8_t fan_reported_errors_msk = 0; + + uint8_t fan_error_msk = 0; + LOOP_L_N(f, TACHO_COUNT) { + switch (f) { + TERN_(HAS_E0_FAN_TACHO, case 0:) + TERN_(HAS_E1_FAN_TACHO, case 1:) + TERN_(HAS_E2_FAN_TACHO, case 2:) + TERN_(HAS_E3_FAN_TACHO, case 3:) + TERN_(HAS_E4_FAN_TACHO, case 4:) + TERN_(HAS_E5_FAN_TACHO, case 5:) + TERN_(HAS_E6_FAN_TACHO, case 6:) + TERN_(HAS_E7_FAN_TACHO, case 7:) + // Compute fan speed + rps[f] = edge_counter[f] * float(250) / elapsedTime; + edge_counter[f] = 0; + + // Check fan speed + constexpr int8_t max_extruder_fan_errors = TERN(HAS_PWMFANCHECK, 10000, 5000) / Temperature::fan_update_interval_ms; + + if (rps[f] >= 20 || TERN0(HAS_AUTO_FAN, thermalManager.autofan_speed[f] == 0)) + errors_count[f] = 0; + else if (errors_count[f] < max_extruder_fan_errors) + ++errors_count[f]; + else if (enabled) + SBI(fan_error_msk, f); + break; + } + } + + // Drop the error when all fans are ok + if (!fan_error_msk && error == TachoError::REPORTED) error = TachoError::FIXED; + + if (error == TachoError::FIXED && !printJobOngoing() && !printingIsPaused()) { + error = TachoError::NONE; // if the issue has been fixed while the printer is idle, reenable immediately + ui.reset_alert_level(); + } + + if (fan_error_msk & ~fan_reported_errors_msk) { + // Handle new faults only + LOOP_L_N(f, TACHO_COUNT) if (TEST(fan_error_msk, f)) report_speed_error(f); + } + fan_reported_errors_msk = fan_error_msk; +} + +void FanCheck::report_speed_error(uint8_t fan) { + if (printJobOngoing()) { + if (error == TachoError::NONE) { + if (thermalManager.degTargetHotend(fan) != 0) { + kill(GET_TEXT_F(MSG_FAN_SPEED_FAULT)); + error = TachoError::REPORTED; + } + else + error = TachoError::DETECTED; // Plans error for next processed command + } + } + else if (!printingIsPaused()) { + thermalManager.setTargetHotend(0, fan); // Always disable heating + if (error == TachoError::NONE) error = TachoError::REPORTED; + } + + SERIAL_ERROR_MSG(STR_ERR_FANSPEED, fan); + LCD_ALERTMESSAGE(MSG_FAN_SPEED_FAULT); +} + +void FanCheck::print_fan_states() { + LOOP_L_N(s, 2) { + LOOP_L_N(f, TACHO_COUNT) { + switch (f) { + TERN_(HAS_E0_FAN_TACHO, case 0:) + TERN_(HAS_E1_FAN_TACHO, case 1:) + TERN_(HAS_E2_FAN_TACHO, case 2:) + TERN_(HAS_E3_FAN_TACHO, case 3:) + TERN_(HAS_E4_FAN_TACHO, case 4:) + TERN_(HAS_E5_FAN_TACHO, case 5:) + TERN_(HAS_E6_FAN_TACHO, case 6:) + TERN_(HAS_E7_FAN_TACHO, case 7:) + SERIAL_ECHOPGM("E", f); + if (s == 0) + SERIAL_ECHOPGM(":", 60 * rps[f], " RPM "); + else + SERIAL_ECHOPGM("@:", TERN(HAS_AUTO_FAN, thermalManager.autofan_speed[f], 255), " "); + break; + } + } + } + SERIAL_EOL(); +} + +#if ENABLED(AUTO_REPORT_FANS) + AutoReporter FanCheck::auto_reporter; + void FanCheck::AutoReportFan::report() { print_fan_states(); } +#endif + +#endif // HAS_FANCHECK diff --git a/Marlin/src/feature/fancheck.h b/Marlin/src/feature/fancheck.h new file mode 100644 index 0000000000..b13a34fb19 --- /dev/null +++ b/Marlin/src/feature/fancheck.h @@ -0,0 +1,89 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +#if HAS_FANCHECK + +#include "../MarlinCore.h" +#include "../lcd/marlinui.h" + +#if ENABLED(AUTO_REPORT_FANS) + #include "../libs/autoreport.h" +#endif + +#if ENABLED(PARK_HEAD_ON_PAUSE) + #include "../gcode/queue.h" +#endif + +/** + * fancheck.h + */ +#define TACHO_COUNT TERN(HAS_E7_FAN_TACHO, 8, TERN(HAS_E6_FAN_TACHO, 7, TERN(HAS_E5_FAN_TACHO, 6, TERN(HAS_E4_FAN_TACHO, 5, TERN(HAS_E3_FAN_TACHO, 4, TERN(HAS_E2_FAN_TACHO, 3, TERN(HAS_E1_FAN_TACHO, 2, 1))))))) + +class FanCheck { + private: + + enum class TachoError : uint8_t { NONE, DETECTED, REPORTED, FIXED }; + + #if HAS_PWMFANCHECK + static bool measuring; // For future use (3 wires PWM controlled fans) + #else + static constexpr bool measuring = true; + #endif + static Flags tacho_state; + static uint16_t edge_counter[TACHO_COUNT]; + static uint8_t rps[TACHO_COUNT]; + static TachoError error; + + static void report_speed_error(uint8_t fan); + + public: + + static bool enabled; + + static void init(); + static void update_tachometers(); + static void compute_speed(uint16_t elapsedTime); + static void print_fan_states(); + #if HAS_PWMFANCHECK + static void toggle_measuring() { measuring = !measuring; } + static bool is_measuring() { return measuring; } + #endif + + static void check_deferred_error() { + if (error == TachoError::DETECTED) { + error = TachoError::REPORTED; + TERN(PARK_HEAD_ON_PAUSE, queue.inject(F("M125")), kill(GET_TEXT_F(MSG_FAN_SPEED_FAULT))); + } + } + + #if ENABLED(AUTO_REPORT_FANS) + struct AutoReportFan { static void report(); }; + static AutoReporter auto_reporter; + #endif +}; + +extern FanCheck fan_check; + +#endif // HAS_FANCHECK diff --git a/Marlin/src/feature/fanmux.cpp b/Marlin/src/feature/fanmux.cpp new file mode 100644 index 0000000000..43952ca8ee --- /dev/null +++ b/Marlin/src/feature/fanmux.cpp @@ -0,0 +1,55 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * feature/pause.cpp - Pause feature support functions + * This may be combined with related G-codes if features are consolidated. + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_FANMUX + +#include "fanmux.h" + +void fanmux_switch(const uint8_t e) { + WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW); + #if PIN_EXISTS(FANMUX1) + WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW); + #if PIN_EXISTS(FANMUX2) + WRITE(FANMUX2_PIN, TEST(e, 2) ? HIGH : LOW); + #endif + #endif +} + +void fanmux_init() { + SET_OUTPUT(FANMUX0_PIN); + #if PIN_EXISTS(FANMUX1) + SET_OUTPUT(FANMUX1_PIN); + #if PIN_EXISTS(FANMUX2) + SET_OUTPUT(FANMUX2_PIN); + #endif + #endif + fanmux_switch(0); +} + +#endif // HAS_FANMUX diff --git a/Marlin/src/feature/fanmux.h b/Marlin/src/feature/fanmux.h new file mode 100644 index 0000000000..efb92cf198 --- /dev/null +++ b/Marlin/src/feature/fanmux.h @@ -0,0 +1,29 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/fanmux.h - Cooling Fan Multiplexer support functions + */ + +void fanmux_switch(const uint8_t e); +void fanmux_init(); diff --git a/Marlin/src/feature/filwidth.cpp b/Marlin/src/feature/filwidth.cpp new file mode 100644 index 0000000000..2bd9c78980 --- /dev/null +++ b/Marlin/src/feature/filwidth.cpp @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(FILAMENT_WIDTH_SENSOR) + +#include "filwidth.h" + +FilamentWidthSensor filwidth; + +bool FilamentWidthSensor::enabled; // = false; // (M405-M406) Filament Width Sensor ON/OFF. +uint32_t FilamentWidthSensor::accum; // = 0 // ADC accumulator +uint16_t FilamentWidthSensor::raw; // = 0 // Measured filament diameter - one extruder only +float FilamentWidthSensor::nominal_mm = DEFAULT_NOMINAL_FILAMENT_DIA, // (M104) Nominal filament width + FilamentWidthSensor::measured_mm = DEFAULT_MEASURED_FILAMENT_DIA, // Measured filament diameter + FilamentWidthSensor::e_count = 0, + FilamentWidthSensor::delay_dist = 0; +uint8_t FilamentWidthSensor::meas_delay_cm = MEASUREMENT_DELAY_CM; // Distance delay setting +int8_t FilamentWidthSensor::ratios[MAX_MEASUREMENT_DELAY + 1], // Ring buffer to delay measurement. (Extruder factor minus 100) + FilamentWidthSensor::index_r, // Indexes into ring buffer + FilamentWidthSensor::index_w; + +void FilamentWidthSensor::init() { + const int8_t ratio = sample_to_size_ratio(); + LOOP_L_N(i, COUNT(ratios)) ratios[i] = ratio; + index_r = index_w = 0; +} + +#endif // FILAMENT_WIDTH_SENSOR diff --git a/Marlin/src/feature/filwidth.h b/Marlin/src/feature/filwidth.h new file mode 100644 index 0000000000..9eb1e77762 --- /dev/null +++ b/Marlin/src/feature/filwidth.h @@ -0,0 +1,120 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" +#include "../module/planner.h" +#include "../module/thermistor/thermistors.h" + +class FilamentWidthSensor { +public: + static constexpr int MMD_CM = MAX_MEASUREMENT_DELAY + 1, MMD_MM = MMD_CM * 10; + static bool enabled; // (M405-M406) Filament Width Sensor ON/OFF. + static uint32_t accum; // ADC accumulator + static uint16_t raw; // Measured filament diameter - one extruder only + static float nominal_mm, // (M104) Nominal filament width + measured_mm, // Measured filament diameter + e_count, delay_dist; + static uint8_t meas_delay_cm; // Distance delay setting + static int8_t ratios[MMD_CM], // Ring buffer to delay measurement. (Extruder factor minus 100) + index_r, index_w; // Indexes into ring buffer + + FilamentWidthSensor() { init(); } + static void init(); + + static void enable(const bool ena) { enabled = ena; } + + static void set_delay_cm(const uint8_t cm) { + meas_delay_cm = _MIN(cm, MAX_MEASUREMENT_DELAY); + } + + /** + * Convert Filament Width (mm) to an extrusion ratio + * and reduce to an 8 bit value. + * + * A nominal width of 1.75 and measured width of 1.73 + * gives (100 * 1.75 / 1.73) for a ratio of 101 and + * a return value of 1. + */ + static int8_t sample_to_size_ratio() { + return ABS(nominal_mm - measured_mm) <= FILWIDTH_ERROR_MARGIN + ? int(100.0f * nominal_mm / measured_mm) - 100 : 0; + } + + // Apply a single ADC reading to the raw value + static void accumulate(const uint16_t adc) { + if (adc > 102) // Ignore ADC under 0.5 volts + accum += (uint32_t(adc) << 7) - (accum >> 7); + } + + // Convert raw measurement to mm + static float raw_to_mm(const uint16_t v) { return v * float(ADC_VREF) * RECIPROCAL(float(MAX_RAW_THERMISTOR_VALUE)); } + static float raw_to_mm() { return raw_to_mm(raw); } + + // A scaled reading is ready + // Divide to get to 0-16384 range since we used 1/128 IIR filter approach + static void reading_ready() { raw = accum >> 10; } + + // Update mm from the raw measurement + static void update_measured_mm() { measured_mm = raw_to_mm(); } + + // Update ring buffer used to delay filament measurements + static void advance_e(const_float_t e_move) { + + // Increment counters with the E distance + e_count += e_move; + delay_dist += e_move; + + // Only get new measurements on forward E movement + if (!UNEAR_ZERO(e_count)) { + + // Loop the delay distance counter (modulus by the mm length) + while (delay_dist >= MMD_MM) delay_dist -= MMD_MM; + + // Convert into an index (cm) into the measurement array + index_r = int8_t(delay_dist * 0.1f); + + // If the ring buffer is not full... + if (index_r != index_w) { + e_count = 0; // Reset the E movement counter + const int8_t meas_sample = sample_to_size_ratio(); + do { + if (++index_w >= MMD_CM) index_w = 0; // The next unused slot + ratios[index_w] = meas_sample; // Store the measurement + } while (index_r != index_w); // More slots to fill? + } + } + } + + // Dynamically set the volumetric multiplier based on the delayed width measurement. + static void update_volumetric() { + if (enabled) { + int8_t read_index = index_r - meas_delay_cm; + if (read_index < 0) read_index += MMD_CM; // Loop around buffer if needed + LIMIT(read_index, 0, MAX_MEASUREMENT_DELAY); + planner.apply_filament_width_sensor(ratios[read_index]); + } + } + +}; + +extern FilamentWidthSensor filwidth; diff --git a/Marlin/src/feature/fwretract.cpp b/Marlin/src/feature/fwretract.cpp new file mode 100644 index 0000000000..28355640d2 --- /dev/null +++ b/Marlin/src/feature/fwretract.cpp @@ -0,0 +1,269 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * fwretract.cpp - Implement firmware-based retraction + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(FWRETRACT) + +#include "fwretract.h" + +FWRetract fwretract; // Single instance - this calls the constructor + +#include "../module/motion.h" +#include "../module/planner.h" + +#include "../gcode/gcode.h" + +#if ENABLED(RETRACT_SYNC_MIXING) + #include "mixing.h" +#endif + +// private: + +#if HAS_MULTI_EXTRUDER + Flags FWRetract::retracted_swap; // Which extruders are swap-retracted +#endif + +// public: + +fwretract_settings_t FWRetract::settings; // M207 S F Z W, M208 S F W R + +#if ENABLED(FWRETRACT_AUTORETRACT) + bool FWRetract::autoretract_enabled; // M209 S - Autoretract switch +#endif + +Flags FWRetract::retracted; // Which extruders are currently retracted + +float FWRetract::current_retract[EXTRUDERS], // Retract value used by planner + FWRetract::current_hop; + +void FWRetract::reset() { + TERN_(FWRETRACT_AUTORETRACT, autoretract_enabled = false); + settings.retract_length = RETRACT_LENGTH; + settings.retract_feedrate_mm_s = RETRACT_FEEDRATE; + settings.retract_zraise = RETRACT_ZRAISE; + settings.retract_recover_extra = RETRACT_RECOVER_LENGTH; + settings.retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE; + settings.swap_retract_length = RETRACT_LENGTH_SWAP; + settings.swap_retract_recover_extra = RETRACT_RECOVER_LENGTH_SWAP; + settings.swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP; + current_hop = 0.0; + + retracted.reset(); + EXTRUDER_LOOP() { + E_TERN_(retracted_swap.clear(e)); + current_retract[e] = 0.0; + } +} + +/** + * Retract or recover according to firmware settings + * + * This function handles retract/recover moves for G10 and G11, + * plus auto-retract moves sent from G0/G1 when E-only moves are done. + * + * To simplify the logic, doubled retract/recover moves are ignored. + * + * Note: Auto-retract will apply the set Z hop in addition to any Z hop + * included in the G-code. Use M207 Z0 to to prevent double hop. + */ +void FWRetract::retract(const bool retracting E_OPTARG(bool swapping/*=false*/)) { + // Prevent two retracts or recovers in a row + if (retracted[active_extruder] == retracting) return; + + // Prevent two swap-retract or recovers in a row + #if HAS_MULTI_EXTRUDER + // Allow G10 S1 only after G11 + if (swapping && retracted_swap[active_extruder] == retracting) return; + // G11 priority to recover the long retract if activated + if (!retracting) swapping = retracted_swap[active_extruder]; + #else + constexpr bool swapping = false; + #endif + + /* // debugging + SERIAL_ECHOLNPGM( + "retracting ", AS_DIGIT(retracting), + " swapping ", swapping, + " active extruder ", active_extruder + ); + EXTRUDER_LOOP() { + SERIAL_ECHOLNPGM("retracted[", e, "] ", AS_DIGIT(retracted[e])); + #if HAS_MULTI_EXTRUDER + SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e])); + #endif + } + SERIAL_ECHOLNPGM("current_position.z ", current_position.z); + SERIAL_ECHOLNPGM("current_position.e ", current_position.e); + SERIAL_ECHOLNPGM("current_hop ", current_hop); + //*/ + + const float base_retract = TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS)) + * (swapping ? settings.swap_retract_length : settings.retract_length); + + // The current position will be the destination for E and Z moves + destination = current_position; + + #if ENABLED(RETRACT_SYNC_MIXING) + const uint8_t old_mixing_tool = mixer.get_current_vtool(); + mixer.T(MIXER_AUTORETRACT_TOOL); + #endif + + const feedRate_t fr_max_z = planner.settings.max_feedrate_mm_s[Z_AXIS]; + if (retracting) { + // Retract by moving from a faux E position back to the current E position + current_retract[active_extruder] = base_retract; + prepare_internal_move_to_destination( // set current from destination + settings.retract_feedrate_mm_s * TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS)) + ); + + // Is a Z hop set, and has the hop not yet been done? + if (!current_hop && settings.retract_zraise > 0.01f) { // Apply hop only once + current_hop += settings.retract_zraise; // Add to the hop total (again, only once) + // Raise up, set_current_to_destination. Maximum Z feedrate + prepare_internal_move_to_destination(fr_max_z); + } + } + else { + // If a hop was done and Z hasn't changed, undo the Z hop + if (current_hop) { + current_hop = 0; + // Lower Z, set_current_to_destination. Maximum Z feedrate + prepare_internal_move_to_destination(fr_max_z); + } + + const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra; + if (extra_recover) { + current_position.e -= extra_recover; // Adjust the current E position by the extra amount to recover + sync_plan_position_e(); // Sync the planner position so the extra amount is recovered + } + + current_retract[active_extruder] = 0; + + // Recover E, set_current_to_destination + prepare_internal_move_to_destination( + (swapping ? settings.swap_retract_recover_feedrate_mm_s : settings.retract_recover_feedrate_mm_s) + * TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS)) + ); + } + + TERN_(RETRACT_SYNC_MIXING, mixer.T(old_mixing_tool)); // Restore original mixing tool + + retracted.set(active_extruder, retracting); // Active extruder now retracted / recovered + + // If swap retract/recover update the retracted_swap flag too + #if HAS_MULTI_EXTRUDER + if (swapping) retracted_swap.set(active_extruder, retracting); + #endif + + /* // debugging + SERIAL_ECHOLNPGM("retracting ", AS_DIGIT(retracting)); + SERIAL_ECHOLNPGM("swapping ", AS_DIGIT(swapping)); + SERIAL_ECHOLNPGM("active_extruder ", active_extruder); + EXTRUDER_LOOP() { + SERIAL_ECHOLNPGM("retracted[", e, "] ", AS_DIGIT(retracted[e])); + #if HAS_MULTI_EXTRUDER + SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e])); + #endif + } + SERIAL_ECHOLNPGM("current_position.z ", current_position.z); + SERIAL_ECHOLNPGM("current_position.e ", current_position.e); + SERIAL_ECHOLNPGM("current_hop ", current_hop); + //*/ +} + +//extern const char SP_Z_STR[]; + +/** + * M207: Set firmware retraction values + * + * S[+units] retract_length + * W[+units] swap_retract_length (multi-extruder) + * F[units/min] retract_feedrate_mm_s + * Z[units] retract_zraise + */ +void FWRetract::M207() { + if (!parser.seen("FSWZ")) return M207_report(); + if (parser.seenval('S')) settings.retract_length = parser.value_axis_units(E_AXIS); + if (parser.seenval('F')) settings.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); + if (parser.seenval('Z')) settings.retract_zraise = parser.value_linear_units(); + if (parser.seenval('W')) settings.swap_retract_length = parser.value_axis_units(E_AXIS); +} + +void FWRetract::M207_report() { + SERIAL_ECHOLNPGM_P( + PSTR(" M207 S"), LINEAR_UNIT(settings.retract_length) + , PSTR(" W"), LINEAR_UNIT(settings.swap_retract_length) + , PSTR(" F"), LINEAR_UNIT(MMS_TO_MMM(settings.retract_feedrate_mm_s)) + , SP_Z_STR, LINEAR_UNIT(settings.retract_zraise) + ); +} + +/** + * M208: Set firmware un-retraction values + * + * S[+units] retract_recover_extra (in addition to M207 S*) + * W[+units] swap_retract_recover_extra (multi-extruder) + * F[units/min] retract_recover_feedrate_mm_s + * R[units/min] swap_retract_recover_feedrate_mm_s + */ +void FWRetract::M208() { + if (!parser.seen("FSRW")) return M208_report(); + if (parser.seen('S')) settings.retract_recover_extra = parser.value_axis_units(E_AXIS); + if (parser.seen('F')) settings.retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); + if (parser.seen('R')) settings.swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); + if (parser.seen('W')) settings.swap_retract_recover_extra = parser.value_axis_units(E_AXIS); +} + +void FWRetract::M208_report() { + SERIAL_ECHOLNPGM( + " M208 S", LINEAR_UNIT(settings.retract_recover_extra) + , " W", LINEAR_UNIT(settings.swap_retract_recover_extra) + , " F", LINEAR_UNIT(MMS_TO_MMM(settings.retract_recover_feedrate_mm_s)) + ); +} + +#if ENABLED(FWRETRACT_AUTORETRACT) + + /** + * M209: Enable automatic retract (M209 S1) + * For slicers that don't support G10/11, reversed extrude-only + * moves will be classified as retraction. + */ + void FWRetract::M209() { + if (!parser.seen('S')) return M209_report(); + if (MIN_AUTORETRACT <= MAX_AUTORETRACT) + enable_autoretract(parser.value_bool()); + } + + void FWRetract::M209_report() { + SERIAL_ECHOLNPGM(" M209 S", AS_DIGIT(autoretract_enabled)); + } + +#endif // FWRETRACT_AUTORETRACT + + +#endif // FWRETRACT diff --git a/Marlin/src/feature/fwretract.h b/Marlin/src/feature/fwretract.h new file mode 100644 index 0000000000..db2a62c8d4 --- /dev/null +++ b/Marlin/src/feature/fwretract.h @@ -0,0 +1,89 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * fwretract.h - Define firmware-based retraction interface + */ + +#include "../inc/MarlinConfigPre.h" + +typedef struct { + float retract_length; // M207 S - G10 Retract length + feedRate_t retract_feedrate_mm_s; // M207 F - G10 Retract feedrate + float retract_zraise, // M207 Z - G10 Retract hop size + retract_recover_extra; // M208 S - G11 Recover length + feedRate_t retract_recover_feedrate_mm_s; // M208 F - G11 Recover feedrate + float swap_retract_length, // M207 W - G10 Swap Retract length + swap_retract_recover_extra; // M208 W - G11 Swap Recover length + feedRate_t swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate +} fwretract_settings_t; + +#if ENABLED(FWRETRACT) + +class FWRetract { +private: + #if HAS_MULTI_EXTRUDER + static Flags retracted_swap; // Which extruders are swap-retracted + #endif + +public: + static fwretract_settings_t settings; + + #if ENABLED(FWRETRACT_AUTORETRACT) + static bool autoretract_enabled; // M209 S - Autoretract switch + #else + static constexpr bool autoretract_enabled = false; + #endif + + static Flags retracted; // Which extruders are currently retracted + static float current_retract[EXTRUDERS], // Retract value used by planner + current_hop; // Hop value used by planner + + FWRetract() { reset(); } + + static void reset(); + + static void refresh_autoretract() { retracted.reset(); } + + static void enable_autoretract(const bool enable) { + #if ENABLED(FWRETRACT_AUTORETRACT) + autoretract_enabled = enable; + refresh_autoretract(); + #endif + } + + static void retract(const bool retracting E_OPTARG(bool swapping=false)); + + static void M207_report(); + static void M207(); + static void M208_report(); + static void M208(); + #if ENABLED(FWRETRACT_AUTORETRACT) + static void M209_report(); + static void M209(); + #endif +}; + +extern FWRetract fwretract; + +#endif // FWRETRACT diff --git a/Marlin/src/feature/host_actions.cpp b/Marlin/src/feature/host_actions.cpp new file mode 100644 index 0000000000..773b6ebc61 --- /dev/null +++ b/Marlin/src/feature/host_actions.cpp @@ -0,0 +1,225 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(HOST_ACTION_COMMANDS) + +//#define DEBUG_HOST_ACTIONS + +#include "host_actions.h" + +#if ENABLED(ADVANCED_PAUSE_FEATURE) + #include "pause.h" + #include "../gcode/queue.h" +#endif + +#if HAS_FILAMENT_SENSOR + #include "runout.h" +#endif + +HostUI hostui; + +void HostUI::action(FSTR_P const fstr, const bool eol) { + PORT_REDIRECT(SerialMask::All); + SERIAL_ECHOPGM("//action:"); + SERIAL_ECHOF(fstr); + if (eol) SERIAL_EOL(); +} + +#ifdef ACTION_ON_KILL + void HostUI::kill() { action(F(ACTION_ON_KILL)); } +#endif +#ifdef ACTION_ON_PAUSE + void HostUI::pause(const bool eol/*=true*/) { action(F(ACTION_ON_PAUSE), eol); } +#endif +#ifdef ACTION_ON_PAUSED + void HostUI::paused(const bool eol/*=true*/) { action(F(ACTION_ON_PAUSED), eol); } +#endif +#ifdef ACTION_ON_RESUME + void HostUI::resume() { action(F(ACTION_ON_RESUME)); } +#endif +#ifdef ACTION_ON_RESUMED + void HostUI::resumed() { action(F(ACTION_ON_RESUMED)); } +#endif +#ifdef ACTION_ON_CANCEL + void HostUI::cancel() { action(F(ACTION_ON_CANCEL)); } +#endif +#ifdef ACTION_ON_START + void HostUI::start() { action(F(ACTION_ON_START)); } +#endif + +#if ENABLED(G29_RETRY_AND_RECOVER) + #ifdef ACTION_ON_G29_RECOVER + void HostUI::g29_recover() { action(F(ACTION_ON_G29_RECOVER)); } + #endif + #ifdef ACTION_ON_G29_FAILURE + void HostUI::g29_failure() { action(F(ACTION_ON_G29_FAILURE)); } + #endif +#endif + +#ifdef SHUTDOWN_ACTION + void HostUI::shutdown() { action(F(SHUTDOWN_ACTION)); } +#endif + +#if ENABLED(HOST_PROMPT_SUPPORT) + + PromptReason HostUI::host_prompt_reason = PROMPT_NOT_DEFINED; + + PGMSTR(CONTINUE_STR, "Continue"); + PGMSTR(DISMISS_STR, "Dismiss"); + + #if HAS_RESUME_CONTINUE + extern bool wait_for_user; + #endif + + void HostUI::notify(const char * const cstr) { + PORT_REDIRECT(SerialMask::All); + action(F("notification "), false); + SERIAL_ECHOLN(cstr); + } + + void HostUI::notify_P(PGM_P const pstr) { + PORT_REDIRECT(SerialMask::All); + action(F("notification "), false); + SERIAL_ECHOLNPGM_P(pstr); + } + + void HostUI::prompt(FSTR_P const ptype, const bool eol/*=true*/) { + PORT_REDIRECT(SerialMask::All); + action(F("prompt_"), false); + SERIAL_ECHOF(ptype); + if (eol) SERIAL_EOL(); + } + + void HostUI::prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char/*='\0'*/) { + prompt(ptype, false); + PORT_REDIRECT(SerialMask::All); + SERIAL_CHAR(' '); + if (pgm) + SERIAL_ECHOPGM_P(str); + else + SERIAL_ECHO(str); + if (extra_char != '\0') SERIAL_CHAR(extra_char); + SERIAL_EOL(); + } + + void HostUI::prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char/*='\0'*/) { + prompt_end(); + host_prompt_reason = reason; + prompt_plus(F("begin"), fstr, extra_char); + } + void HostUI::prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char/*='\0'*/) { + prompt_end(); + host_prompt_reason = reason; + prompt_plus(F("begin"), cstr, extra_char); + } + + void HostUI::prompt_end() { prompt(F("end")); } + void HostUI::prompt_show() { prompt(F("show")); } + + void HostUI::_prompt_show(FSTR_P const btn1, FSTR_P const btn2) { + if (btn1) prompt_button(btn1); + if (btn2) prompt_button(btn2); + prompt_show(); + } + + void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); } + void HostUI::prompt_button(const char * const cstr) { prompt_plus(F("button"), cstr); } + + void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { + prompt_begin(reason, fstr); + _prompt_show(btn1, btn2); + } + void HostUI::prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { + prompt_begin(reason, cstr); + _prompt_show(btn1, btn2); + } + void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { + prompt_begin(reason, fstr, extra_char); + _prompt_show(btn1, btn2); + } + void HostUI::prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) { + prompt_begin(reason, cstr, extra_char); + _prompt_show(btn1, btn2); + } + + #if ENABLED(ADVANCED_PAUSE_FEATURE) + void HostUI::filament_load_prompt() { + const bool disable_to_continue = TERN0(HAS_FILAMENT_SENSOR, runout.filament_ran_out); + prompt_do(PROMPT_FILAMENT_RUNOUT, F("Paused"), F("PurgeMore"), + disable_to_continue ? F("DisableRunout") : FPSTR(CONTINUE_STR) + ); + } + #endif + + // + // Handle responses from the host, such as: + // - Filament runout responses: Purge More, Continue + // - General "Continue" response + // - Resume Print response + // - Dismissal of info + // + void HostUI::handle_response(const uint8_t response) { + const PromptReason hpr = host_prompt_reason; + host_prompt_reason = PROMPT_NOT_DEFINED; // Reset now ahead of logic + switch (hpr) { + case PROMPT_FILAMENT_RUNOUT: + switch (response) { + + case 0: // "Purge More" button + #if BOTH(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE) + pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE; // Simulate menu selection (menu exits, doesn't extrude more) + #endif + break; + + case 1: // "Continue" / "Disable Runout" button + #if BOTH(M600_PURGE_MORE_RESUMABLE, ADVANCED_PAUSE_FEATURE) + pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT; // Simulate menu selection + #endif + #if HAS_FILAMENT_SENSOR + if (runout.filament_ran_out) { // Disable a triggered sensor + runout.enabled = false; + runout.reset(); + } + #endif + break; + } + break; + case PROMPT_USER_CONTINUE: + TERN_(HAS_RESUME_CONTINUE, wait_for_user = false); + break; + case PROMPT_PAUSE_RESUME: + #if BOTH(ADVANCED_PAUSE_FEATURE, SDSUPPORT) + extern const char M24_STR[]; + queue.inject_P(M24_STR); + #endif + break; + case PROMPT_INFO: + break; + default: break; + } + } + +#endif // HOST_PROMPT_SUPPORT + +#endif // HOST_ACTION_COMMANDS diff --git a/Marlin/src/feature/host_actions.h b/Marlin/src/feature/host_actions.h new file mode 100644 index 0000000000..3f75562398 --- /dev/null +++ b/Marlin/src/feature/host_actions.h @@ -0,0 +1,128 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" +#include "../HAL/shared/Marduino.h" + +#if ENABLED(HOST_PROMPT_SUPPORT) + + enum PromptReason : uint8_t { + PROMPT_NOT_DEFINED, + PROMPT_FILAMENT_RUNOUT, + PROMPT_USER_CONTINUE, + PROMPT_FILAMENT_RUNOUT_REHEAT, + PROMPT_PAUSE_RESUME, + PROMPT_INFO + }; + +#endif + +class HostUI { + public: + + static void action(FSTR_P const fstr, const bool eol=true); + + #ifdef ACTION_ON_KILL + static void kill(); + #endif + #ifdef ACTION_ON_PAUSE + static void pause(const bool eol=true); + #endif + #ifdef ACTION_ON_PAUSED + static void paused(const bool eol=true); + #endif + #ifdef ACTION_ON_RESUME + static void resume(); + #endif + #ifdef ACTION_ON_RESUMED + static void resumed(); + #endif + #ifdef ACTION_ON_CANCEL + static void cancel(); + #endif + #ifdef ACTION_ON_START + static void start(); + #endif + #ifdef SHUTDOWN_ACTION + static void shutdown(); + #endif + + #if ENABLED(G29_RETRY_AND_RECOVER) + #ifdef ACTION_ON_G29_RECOVER + static void g29_recover(); + #endif + #ifdef ACTION_ON_G29_FAILURE + static void g29_failure(); + #endif + #endif + + #if ENABLED(HOST_PROMPT_SUPPORT) + private: + static void prompt(FSTR_P const ptype, const bool eol=true); + static void prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char='\0'); + static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0') { + prompt_plus(true, ptype, FTOP(fstr), extra_char); + } + static void prompt_plus(FSTR_P const ptype, const char * const cstr, const char extra_char='\0') { + prompt_plus(false, ptype, cstr, extra_char); + } + + static void prompt_show(); + static void _prompt_show(FSTR_P const btn1, FSTR_P const btn2); + + public: + static PromptReason host_prompt_reason; + + static void handle_response(const uint8_t response); + + static void notify_P(PGM_P const message); + static void notify(FSTR_P const fmsg) { notify_P(FTOP(fmsg)); } + static void notify(const char * const message); + + static void prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char='\0'); + static void prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char='\0'); + static void prompt_end(); + + static void prompt_button(FSTR_P const fstr); + static void prompt_button(const char * const cstr); + + static void prompt_do(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); + static void prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); + static void prompt_do(const PromptReason reason, FSTR_P const pstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); + static void prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr); + + static void prompt_open(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr) { + if (host_prompt_reason == PROMPT_NOT_DEFINED) prompt_do(reason, pstr, btn1, btn2); + } + + #if ENABLED(ADVANCED_PAUSE_FEATURE) + static void filament_load_prompt(); + #endif + + #endif + +}; + +extern HostUI hostui; + +extern const char CONTINUE_STR[], DISMISS_STR[]; diff --git a/Marlin/src/feature/hotend_idle.cpp b/Marlin/src/feature/hotend_idle.cpp new file mode 100644 index 0000000000..4b137f42da --- /dev/null +++ b/Marlin/src/feature/hotend_idle.cpp @@ -0,0 +1,91 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Hotend Idle Timeout + * Prevent filament in the nozzle from charring and causing a critical jam. + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(HOTEND_IDLE_TIMEOUT) + +#include "hotend_idle.h" +#include "../gcode/gcode.h" + +#include "../module/temperature.h" +#include "../module/motion.h" +#include "../module/planner.h" +#include "../lcd/marlinui.h" + +extern HotendIdleProtection hotend_idle; + +millis_t HotendIdleProtection::next_protect_ms = 0; + +void HotendIdleProtection::check_hotends(const millis_t &ms) { + bool do_prot = false; + HOTEND_LOOP() { + const bool busy = (TERN0(HAS_RESUME_CONTINUE, wait_for_user) || planner.has_blocks_queued()); + if (thermalManager.degHotend(e) >= (HOTEND_IDLE_MIN_TRIGGER) && !busy) { + do_prot = true; break; + } + } + if (bool(next_protect_ms) != do_prot) + next_protect_ms = do_prot ? ms + hp_interval : 0; +} + +void HotendIdleProtection::check_e_motion(const millis_t &ms) { + static float old_e_position = 0; + if (old_e_position != current_position.e) { + old_e_position = current_position.e; // Track filament motion + if (next_protect_ms) // If some heater is on then... + next_protect_ms = ms + hp_interval; // ...delay the timeout till later + } +} + +void HotendIdleProtection::check() { + const millis_t ms = millis(); // Shared millis + + check_hotends(ms); // Any hotends need protection? + check_e_motion(ms); // Motion will protect them + + // Hot and not moving for too long... + if (next_protect_ms && ELAPSED(ms, next_protect_ms)) + timed_out(); +} + +// Lower (but don't raise) hotend / bed temperatures +void HotendIdleProtection::timed_out() { + next_protect_ms = 0; + SERIAL_ECHOLNPGM("Hotend Idle Timeout"); + LCD_MESSAGE(MSG_HOTEND_IDLE_TIMEOUT); + HOTEND_LOOP() { + if ((HOTEND_IDLE_NOZZLE_TARGET) < thermalManager.degTargetHotend(e)) + thermalManager.setTargetHotend(HOTEND_IDLE_NOZZLE_TARGET, e); + } + #if HAS_HEATED_BED + if ((HOTEND_IDLE_BED_TARGET) < thermalManager.degTargetBed()) + thermalManager.setTargetBed(HOTEND_IDLE_BED_TARGET); + #endif +} + +#endif // HOTEND_IDLE_TIMEOUT diff --git a/Marlin/src/feature/hotend_idle.h b/Marlin/src/feature/hotend_idle.h new file mode 100644 index 0000000000..40f557d5ed --- /dev/null +++ b/Marlin/src/feature/hotend_idle.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../core/millis_t.h" + +class HotendIdleProtection { +public: + static void check(); +private: + static constexpr millis_t hp_interval = SEC_TO_MS(HOTEND_IDLE_TIMEOUT_SEC); + static millis_t next_protect_ms; + static void check_hotends(const millis_t &ms); + static void check_e_motion(const millis_t &ms); + static void timed_out(); +}; + +extern HotendIdleProtection hotend_idle; diff --git a/Marlin/src/feature/joystick.cpp b/Marlin/src/feature/joystick.cpp new file mode 100644 index 0000000000..acab5d7437 --- /dev/null +++ b/Marlin/src/feature/joystick.cpp @@ -0,0 +1,184 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * joystick.cpp - joystick input / jogging + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(JOYSTICK) + +#include "joystick.h" + +#include "../inc/MarlinConfig.h" // for pins +#include "../module/planner.h" + +Joystick joystick; + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + +#if HAS_JOY_ADC_X + temp_info_t Joystick::x; // = { 0 } + #if ENABLED(INVERT_JOY_X) + #define JOY_X(N) (16383 - (N)) + #else + #define JOY_X(N) (N) + #endif +#endif +#if HAS_JOY_ADC_Y + temp_info_t Joystick::y; // = { 0 } + #if ENABLED(INVERT_JOY_Y) + #define JOY_Y(N) (16383 - (N)) + #else + #define JOY_Y(N) (N) + #endif +#endif +#if HAS_JOY_ADC_Z + temp_info_t Joystick::z; // = { 0 } + #if ENABLED(INVERT_JOY_Z) + #define JOY_Z(N) (16383 - (N)) + #else + #define JOY_Z(N) (N) + #endif +#endif + +#if ENABLED(JOYSTICK_DEBUG) + void Joystick::report() { + SERIAL_ECHOPGM("Joystick"); + #if HAS_JOY_ADC_X + SERIAL_ECHOPGM_P(SP_X_STR, JOY_X(x.getraw())); + #endif + #if HAS_JOY_ADC_Y + SERIAL_ECHOPGM_P(SP_Y_STR, JOY_Y(y.getraw())); + #endif + #if HAS_JOY_ADC_Z + SERIAL_ECHOPGM_P(SP_Z_STR, JOY_Z(z.getraw())); + #endif + #if HAS_JOY_ADC_EN + SERIAL_ECHO_TERNARY(READ(JOY_EN_PIN), " EN=", "HIGH (dis", "LOW (en", "abled)"); + #endif + SERIAL_EOL(); + } +#endif + +#if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z + + void Joystick::calculate(xyz_float_t &norm_jog) { + // Do nothing if enable pin (active-low) is not LOW + #if HAS_JOY_ADC_EN + if (READ(JOY_EN_PIN)) return; + #endif + + auto _normalize_joy = [](float &axis_jog, const raw_adc_t raw, const raw_adc_t (&joy_limits)[4]) { + if (WITHIN(raw, joy_limits[0], joy_limits[3])) { + // within limits, check deadzone + if (raw > joy_limits[2]) + axis_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]); + else if (raw < joy_limits[1]) + axis_jog = int16_t(raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value + // Map normal to jog value via quadratic relationship + axis_jog = SIGN(axis_jog) * sq(axis_jog); + } + }; + + #if HAS_JOY_ADC_X + static constexpr raw_adc_t joy_x_limits[4] = JOY_X_LIMITS; + _normalize_joy(norm_jog.x, JOY_X(x.getraw()), joy_x_limits); + #endif + #if HAS_JOY_ADC_Y + static constexpr raw_adc_t joy_y_limits[4] = JOY_Y_LIMITS; + _normalize_joy(norm_jog.y, JOY_Y(y.getraw()), joy_y_limits); + #endif + #if HAS_JOY_ADC_Z + static constexpr raw_adc_t joy_z_limits[4] = JOY_Z_LIMITS; + _normalize_joy(norm_jog.z, JOY_Z(z.getraw()), joy_z_limits); + #endif + } + +#endif + +#if ENABLED(POLL_JOG) + + void Joystick::inject_jog_moves() { + // Recursion barrier + static bool injecting_now; // = false; + if (injecting_now) return; + + #if ENABLED(NO_MOTION_BEFORE_HOMING) + if (TERN0(HAS_JOY_ADC_X, axis_should_home(X_AXIS)) || TERN0(HAS_JOY_ADC_Y, axis_should_home(Y_AXIS)) || TERN0(HAS_JOY_ADC_Z, axis_should_home(Z_AXIS))) + return; + #endif + + static constexpr int QUEUE_DEPTH = 5; // Insert up to this many movements + static constexpr float target_lag = 0.25f, // Aim for 1/4 second lag + seg_time = target_lag / QUEUE_DEPTH; // 0.05 seconds, short segments inserted every 1/20th of a second + static constexpr millis_t timer_limit_ms = millis_t(seg_time * 500); // 25 ms minimum delay between insertions + + // The planner can merge/collapse small moves, so the movement queue is unreliable to control the lag + static millis_t next_run = 0; + if (PENDING(millis(), next_run)) return; + next_run = millis() + timer_limit_ms; + + // Only inject a command if the planner has fewer than 5 moves and there are no unparsed commands + if (planner.movesplanned() >= QUEUE_DEPTH || queue.has_commands_queued()) + return; + + // Normalized jog values are 0 for no movement and -1 or +1 for as max feedrate (nonlinear relationship) + // Jog are initialized to zero and handling input can update values but doesn't have to + // You could use a two-axis joystick and a one-axis keypad and they might work together + xyz_float_t norm_jog{0}; + + // Use ADC values and defined limits. The active zone is normalized: -1..0 (dead) 0..1 + #if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z + joystick.calculate(norm_jog); + #endif + + // Other non-joystick poll-based jogging could be implemented here + // with "jogging" encapsulated as a more general class. + + TERN_(EXTENSIBLE_UI, ExtUI::_joystick_update(norm_jog)); + + // norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate] + xyz_float_t move_dist{0}; + float hypot2 = 0; + LOOP_NUM_AXES(i) if (norm_jog[i]) { + move_dist[i] = seg_time * norm_jog[i] * TERN(EXTENSIBLE_UI, manual_feedrate_mm_s, planner.settings.max_feedrate_mm_s)[i]; + hypot2 += sq(move_dist[i]); + } + + if (!UNEAR_ZERO(hypot2)) { + current_position += move_dist; + apply_motion_limits(current_position); + const float length = sqrt(hypot2); + PlannerHints hints(length); + injecting_now = true; + planner.buffer_line(current_position, length / seg_time, active_extruder, hints); + injecting_now = false; + } + } + +#endif // POLL_JOG + +#endif // JOYSTICK diff --git a/Marlin/src/feature/joystick.h b/Marlin/src/feature/joystick.h new file mode 100644 index 0000000000..91bf6bdc00 --- /dev/null +++ b/Marlin/src/feature/joystick.h @@ -0,0 +1,52 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * joystick.h - joystick input / jogging + */ + +#include "../inc/MarlinConfigPre.h" +#include "../core/types.h" +#include "../module/temperature.h" + +class Joystick { + friend class Temperature; + private: + #if HAS_JOY_ADC_X + static temp_info_t x; + #endif + #if HAS_JOY_ADC_Y + static temp_info_t y; + #endif + #if HAS_JOY_ADC_Z + static temp_info_t z; + #endif + public: + #if ENABLED(JOYSTICK_DEBUG) + static void report(); + #endif + static void calculate(xyz_float_t &norm_jog); + static void inject_jog_moves(); +}; + +extern Joystick joystick; diff --git a/Marlin/src/feature/leds/blinkm.cpp b/Marlin/src/feature/leds/blinkm.cpp new file mode 100644 index 0000000000..868eb4b3d9 --- /dev/null +++ b/Marlin/src/feature/leds/blinkm.cpp @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * blinkm.cpp - Control a BlinkM over i2c + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(BLINKM) + +#include "blinkm.h" +#include "leds.h" +#include + +void blinkm_set_led_color(const LEDColor &color) { + Wire.begin(); + Wire.beginTransmission(I2C_ADDRESS(0x09)); + Wire.write('o'); //to disable ongoing script, only needs to be used once + Wire.write('n'); + Wire.write(color.r); + Wire.write(color.g); + Wire.write(color.b); + Wire.endTransmission(); +} + +#endif // BLINKM diff --git a/Marlin/src/feature/leds/blinkm.h b/Marlin/src/feature/leds/blinkm.h new file mode 100644 index 0000000000..29a9e78412 --- /dev/null +++ b/Marlin/src/feature/leds/blinkm.h @@ -0,0 +1,31 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * blinkm.h - Control a BlinkM over i2c + */ + +struct LEDColor; +typedef LEDColor LEDColor; + +void blinkm_set_led_color(const LEDColor &color); diff --git a/Marlin/src/feature/leds/leds.cpp b/Marlin/src/feature/leds/leds.cpp new file mode 100644 index 0000000000..94900445dc --- /dev/null +++ b/Marlin/src/feature/leds/leds.cpp @@ -0,0 +1,300 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * leds.cpp - Marlin RGB LED general support + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_COLOR_LEDS + +#include "leds.h" + +#if EITHER(CASE_LIGHT_USE_RGB_LED, CASE_LIGHT_USE_NEOPIXEL) + #include "../../feature/caselight.h" +#endif + +#if ENABLED(LED_COLOR_PRESETS) + const LEDColor LEDLights::defaultLEDColor = LEDColor( + LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE + OPTARG(HAS_WHITE_LED, LED_USER_PRESET_WHITE) + OPTARG(NEOPIXEL_LED, LED_USER_PRESET_BRIGHTNESS) + ); +#endif + +#if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED) + LEDColor LEDLights::color; + bool LEDLights::lights_on; +#endif + +LEDLights leds; + +void LEDLights::setup() { + #if EITHER(RGB_LED, RGBW_LED) + if (PWM_PIN(RGB_LED_R_PIN)) SET_PWM(RGB_LED_R_PIN); else SET_OUTPUT(RGB_LED_R_PIN); + if (PWM_PIN(RGB_LED_G_PIN)) SET_PWM(RGB_LED_G_PIN); else SET_OUTPUT(RGB_LED_G_PIN); + if (PWM_PIN(RGB_LED_B_PIN)) SET_PWM(RGB_LED_B_PIN); else SET_OUTPUT(RGB_LED_B_PIN); + #if ENABLED(RGBW_LED) + if (PWM_PIN(RGB_LED_W_PIN)) SET_PWM(RGB_LED_W_PIN); else SET_OUTPUT(RGB_LED_W_PIN); + #endif + + #if ENABLED(RGB_STARTUP_TEST) + int8_t led_pin_count = 0; + if (PWM_PIN(RGB_LED_R_PIN) && PWM_PIN(RGB_LED_G_PIN) && PWM_PIN(RGB_LED_B_PIN)) led_pin_count = 3; + #if ENABLED(RGBW_LED) + if (PWM_PIN(RGB_LED_W_PIN) && led_pin_count) led_pin_count++; + #endif + // Startup animation + if (led_pin_count) { + // blackout + if (PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), 0); else WRITE(RGB_LED_R_PIN, LOW); + if (PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), 0); else WRITE(RGB_LED_G_PIN, LOW); + if (PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), 0); else WRITE(RGB_LED_B_PIN, LOW); + #if ENABLED(RGBW_LED) + if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), 0); + else WRITE(RGB_LED_W_PIN, LOW); + #endif + delay(200); + + LOOP_L_N(i, led_pin_count) { + LOOP_LE_N(b, 200) { + const uint16_t led_pwm = b <= 100 ? b : 200 - b; + if (i == 0 && PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), led_pwm); else WRITE(RGB_LED_R_PIN, b < 100 ? HIGH : LOW); + if (i == 1 && PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), led_pwm); else WRITE(RGB_LED_G_PIN, b < 100 ? HIGH : LOW); + if (i == 2 && PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), led_pwm); else WRITE(RGB_LED_B_PIN, b < 100 ? HIGH : LOW); + #if ENABLED(RGBW_LED) + if (i == 3){ + if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), led_pwm); + else WRITE(RGB_LED_W_PIN, b < 100 ? HIGH : LOW); + delay(RGB_STARTUP_TEST_INNER_MS);//More slowing for ending + } + #endif + delay(RGB_STARTUP_TEST_INNER_MS); + } + } + delay(500); + } + #endif // RGB_STARTUP_TEST + + #elif BOTH(PCA9632, RGB_STARTUP_TEST) // PCA9632 RGB_STARTUP_TEST + + constexpr int8_t led_pin_count = TERN(HAS_WHITE_LED, 4, 3); + + // Startup animation + LEDColor curColor = LEDColorOff(); + PCA9632_set_led_color(curColor); // blackout + delay(200); + + /* + * LED Pin Counter steps -> events + * | 0-100 | 100-200 | 200-300 | 300-400 | + * fade in steady | fade out + * start next pin fade in + */ + + uint16_t led_pin_counters[led_pin_count] = { 1, 0, 0 }; + + bool canEnd = false; + while (led_pin_counters[0] != 99 || !canEnd) { + if (led_pin_counters[0] == 99) // End loop next time pin0 counter is 99 + canEnd = true; + LOOP_L_N(i, led_pin_count) { + if (led_pin_counters[i] > 0) { + if (++led_pin_counters[i] == 400) // turn off current pin counter in led_pin_counters + led_pin_counters[i] = 0; + else if (led_pin_counters[i] == 201) { // start next pin pwm + led_pin_counters[i + 1 == led_pin_count ? 0 : i + 1] = 1; + i++; // skip next pin in this loop so it doesn't increment twice + } + } + } + uint16_t r, g, b; + r = led_pin_counters[0]; curColor.r = r <= 100 ? r : r <= 300 ? 100 : 400 - r; + g = led_pin_counters[1]; curColor.g = g <= 100 ? g : g <= 300 ? 100 : 400 - g; + b = led_pin_counters[2]; curColor.b = b <= 100 ? b : b <= 300 ? 100 : 400 - b; + #if HAS_WHITE_LED + const uint16_t w = led_pin_counters[3]; curColor.w = w <= 100 ? w : w <= 300 ? 100 : 400 - w; + #endif + PCA9632_set_led_color(curColor); + delay(RGB_STARTUP_TEST_INNER_MS); + } + + // Fade to white + LOOP_LE_N(led_pwm, 100) { + NOLESS(curColor.r, led_pwm); + NOLESS(curColor.g, led_pwm); + NOLESS(curColor.b, led_pwm); + TERN_(HAS_WHITE_LED, NOLESS(curColor.w, led_pwm)); + PCA9632_set_led_color(curColor); + delay(RGB_STARTUP_TEST_INNER_MS); + } + + #endif // PCA9632 && RGB_STARTUP_TEST + + TERN_(NEOPIXEL_LED, neo.init()); + TERN_(PCA9533, PCA9533_init()); + TERN_(LED_USER_PRESET_STARTUP, set_default()); +} + +void LEDLights::set_color(const LEDColor &incol + OPTARG(NEOPIXEL_IS_SEQUENTIAL, bool isSequence/*=false*/) +) { + + #if ENABLED(NEOPIXEL_LED) + + const uint32_t neocolor = LEDColorWhite() == incol + ? neo.Color(NEO_WHITE) + : neo.Color(incol.r, incol.g, incol.b OPTARG(HAS_WHITE_LED, incol.w)); + + #if ENABLED(NEOPIXEL_IS_SEQUENTIAL) + static uint16_t nextLed = 0; + #ifdef NEOPIXEL_BKGD_INDEX_FIRST + while (WITHIN(nextLed, NEOPIXEL_BKGD_INDEX_FIRST, NEOPIXEL_BKGD_INDEX_LAST)) { + neo.reset_background_color(); + if (++nextLed >= neo.pixels()) { nextLed = 0; return; } + } + #endif + #endif + + #if BOTH(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL) + // Update brightness only if caselight is ON or switching leds off + if (caselight.on || incol.is_off()) + #endif + neo.set_brightness(incol.i); + + #if ENABLED(NEOPIXEL_IS_SEQUENTIAL) + if (isSequence) { + neo.set_pixel_color(nextLed, neocolor); + neo.show(); + if (++nextLed >= neo.pixels()) nextLed = 0; + return; + } + #endif + + #if BOTH(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL) + // Update color only if caselight is ON or switching leds off + if (caselight.on || incol.is_off()) + #endif + neo.set_color(neocolor); + + #endif + + #if ENABLED(BLINKM) + + // This variant uses i2c to send the RGB components to the device. + blinkm_set_led_color(incol); + + #endif + + #if EITHER(RGB_LED, RGBW_LED) + + // This variant uses 3-4 separate pins for the RGB(W) components. + // If the pins can do PWM then their intensity will be set. + #define _UPDATE_RGBW(C,c) do { \ + if (PWM_PIN(RGB_LED_##C##_PIN)) \ + hal.set_pwm_duty(pin_t(RGB_LED_##C##_PIN), c); \ + else \ + WRITE(RGB_LED_##C##_PIN, c ? HIGH : LOW); \ + }while(0) + #define UPDATE_RGBW(C,c) _UPDATE_RGBW(C, TERN1(CASE_LIGHT_USE_RGB_LED, caselight.on) ? incol.c : 0) + UPDATE_RGBW(R,r); UPDATE_RGBW(G,g); UPDATE_RGBW(B,b); + #if ENABLED(RGBW_LED) + UPDATE_RGBW(W,w); + #endif + + #endif + + // Update I2C LED driver + TERN_(PCA9632, PCA9632_set_led_color(incol)); + TERN_(PCA9533, PCA9533_set_rgb(incol.r, incol.g, incol.b)); + + #if EITHER(LED_CONTROL_MENU, PRINTER_EVENT_LEDS) + // Don't update the color when OFF + lights_on = !incol.is_off(); + if (lights_on) color = incol; + #endif +} + +#if ENABLED(LED_CONTROL_MENU) + void LEDLights::toggle() { if (lights_on) set_off(); else update(); } +#endif + +#if LED_POWEROFF_TIMEOUT > 0 + + millis_t LEDLights::led_off_time; // = 0 + + void LEDLights::update_timeout(const bool power_on) { + if (lights_on) { + const millis_t ms = millis(); + if (power_on) + reset_timeout(ms); + else if (ELAPSED(ms, led_off_time)) + set_off(); + } + } + +#endif + +#if ENABLED(NEOPIXEL2_SEPARATE) + + #if ENABLED(NEO2_COLOR_PRESETS) + const LEDColor LEDLights2::defaultLEDColor = LEDColor( + NEO2_USER_PRESET_RED, NEO2_USER_PRESET_GREEN, NEO2_USER_PRESET_BLUE + OPTARG(HAS_WHITE_LED2, NEO2_USER_PRESET_WHITE) + OPTARG(NEOPIXEL_LED, NEO2_USER_PRESET_BRIGHTNESS) + ); + #endif + + #if ENABLED(LED_CONTROL_MENU) + LEDColor LEDLights2::color; + bool LEDLights2::lights_on; + #endif + + LEDLights2 leds2; + + void LEDLights2::setup() { + neo2.init(); + TERN_(NEO2_USER_PRESET_STARTUP, set_default()); + } + + void LEDLights2::set_color(const LEDColor &incol) { + const uint32_t neocolor = LEDColorWhite() == incol + ? neo2.Color(NEO2_WHITE) + : neo2.Color(incol.r, incol.g, incol.b OPTARG(HAS_WHITE_LED2, incol.w)); + neo2.set_brightness(incol.i); + neo2.set_color(neocolor); + + #if ENABLED(LED_CONTROL_MENU) + // Don't update the color when OFF + lights_on = !incol.is_off(); + if (lights_on) color = incol; + #endif + } + + #if ENABLED(LED_CONTROL_MENU) + void LEDLights2::toggle() { if (lights_on) set_off(); else update(); } + #endif + +#endif // NEOPIXEL2_SEPARATE + +#endif // HAS_COLOR_LEDS diff --git a/Marlin/src/feature/leds/leds.h b/Marlin/src/feature/leds/leds.h new file mode 100644 index 0000000000..c6137b45c3 --- /dev/null +++ b/Marlin/src/feature/leds/leds.h @@ -0,0 +1,230 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * leds.h - Marlin general RGB LED support + */ + +#include "../../inc/MarlinConfigPre.h" + +#include + +// A white component can be passed +#if EITHER(RGBW_LED, PCA9632_RGBW) + #define HAS_WHITE_LED 1 +#endif + +#if ENABLED(NEOPIXEL_LED) + #define _NEOPIXEL_INCLUDE_ + #include "neopixel.h" + #undef _NEOPIXEL_INCLUDE_ +#endif + +#if ENABLED(BLINKM) + #include "blinkm.h" +#endif + +#if ENABLED(PCA9533) + #include "pca9533.h" +#endif + +#if ENABLED(PCA9632) + #include "pca9632.h" +#endif + +/** + * LEDcolor type for use with leds.set_color + */ +typedef struct LEDColor { + uint8_t r, g, b + OPTARG(HAS_WHITE_LED, w) + OPTARG(NEOPIXEL_LED, i) + ; + + LEDColor() : r(255), g(255), b(255) + OPTARG(HAS_WHITE_LED, w(255)) + OPTARG(NEOPIXEL_LED, i(NEOPIXEL_BRIGHTNESS)) + {} + + LEDColor(const LEDColor&) = default; + + LEDColor(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w=0) OPTARG(NEOPIXEL_LED, uint8_t i=NEOPIXEL_BRIGHTNESS)) + : r(r), g(g), b(b) OPTARG(HAS_WHITE_LED, w(w)) OPTARG(NEOPIXEL_LED, i(i)) {} + + LEDColor(const uint8_t (&rgbw)[4]) : r(rgbw[0]), g(rgbw[1]), b(rgbw[2]) + OPTARG(HAS_WHITE_LED, w(rgbw[3])) + OPTARG(NEOPIXEL_LED, i(NEOPIXEL_BRIGHTNESS)) + {} + + LEDColor& operator=(const uint8_t (&rgbw)[4]) { + r = rgbw[0]; g = rgbw[1]; b = rgbw[2]; + TERN_(HAS_WHITE_LED, w = rgbw[3]); + return *this; + } + + bool operator==(const LEDColor &right) { + if (this == &right) return true; + return 0 == memcmp(this, &right, sizeof(LEDColor)); + } + + bool operator!=(const LEDColor &right) { return !operator==(right); } + + bool is_off() const { + return 3 > r + g + b + TERN0(HAS_WHITE_LED, w); + } +} LEDColor; + +/** + * Color presets + */ + +#define LEDColorOff() LEDColor( 0, 0, 0) +#define LEDColorRed() LEDColor(255, 0, 0) +#if ENABLED(LED_COLORS_REDUCE_GREEN) + #define LEDColorOrange() LEDColor(255, 25, 0) + #define LEDColorYellow() LEDColor(255, 75, 0) +#else + #define LEDColorOrange() LEDColor(255, 80, 0) + #define LEDColorYellow() LEDColor(255, 255, 0) +#endif +#define LEDColorGreen() LEDColor( 0, 255, 0) +#define LEDColorBlue() LEDColor( 0, 0, 255) +#define LEDColorIndigo() LEDColor( 0, 255, 255) +#define LEDColorViolet() LEDColor(255, 0, 255) +#if HAS_WHITE_LED && DISABLED(RGB_LED) + #define LEDColorWhite() LEDColor( 0, 0, 0, 255) +#else + #define LEDColorWhite() LEDColor(255, 255, 255) +#endif + +class LEDLights { +public: + #if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED) + static LEDColor color; // last non-off color + static bool lights_on; // the last set color was "on" + #else + static constexpr bool lights_on = true; + #endif + + LEDLights() {} // ctor + + static void setup(); // init() + + static void set_color(const LEDColor &color + OPTARG(NEOPIXEL_IS_SEQUENTIAL, bool isSequence=false) + ); + + static void set_color(uint8_t r, uint8_t g, uint8_t b + OPTARG(HAS_WHITE_LED, uint8_t w=0) + OPTARG(NEOPIXEL_LED, uint8_t i=NEOPIXEL_BRIGHTNESS) + OPTARG(NEOPIXEL_IS_SEQUENTIAL, bool isSequence=false) + ) { + set_color(LEDColor(r, g, b OPTARG(HAS_WHITE_LED, w) OPTARG(NEOPIXEL_LED, i)) OPTARG(NEOPIXEL_IS_SEQUENTIAL, isSequence)); + } + + static void set_off() { set_color(LEDColorOff()); } + static void set_green() { set_color(LEDColorGreen()); } + static void set_white() { set_color(LEDColorWhite()); } + + #if ENABLED(LED_COLOR_PRESETS) + static const LEDColor defaultLEDColor; + static void set_default() { set_color(defaultLEDColor); } + static void set_red() { set_color(LEDColorRed()); } + static void set_orange() { set_color(LEDColorOrange()); } + static void set_yellow() { set_color(LEDColorYellow()); } + static void set_blue() { set_color(LEDColorBlue()); } + static void set_indigo() { set_color(LEDColorIndigo()); } + static void set_violet() { set_color(LEDColorViolet()); } + #endif + + #if ENABLED(PRINTER_EVENT_LEDS) + static LEDColor get_color() { return lights_on ? color : LEDColorOff(); } + #endif + + #if ENABLED(LED_CONTROL_MENU) + static void toggle(); // swap "off" with color + #endif + #if EITHER(LED_CONTROL_MENU, CASE_LIGHT_USE_RGB_LED) || LED_POWEROFF_TIMEOUT > 0 + static void update() { set_color(color); } + #endif + + #if LED_POWEROFF_TIMEOUT > 0 + private: + static millis_t led_off_time; + public: + static void reset_timeout(const millis_t &ms) { + led_off_time = ms + LED_POWEROFF_TIMEOUT; + if (!lights_on) update(); + } + static void update_timeout(const bool power_on); + #endif +}; + +extern LEDLights leds; + +#if ENABLED(NEOPIXEL2_SEPARATE) + + class LEDLights2 { + public: + LEDLights2() {} + + static void setup(); // init() + + static void set_color(const LEDColor &color); + + static void set_color(uint8_t r, uint8_t g, uint8_t b + OPTARG(HAS_WHITE_LED, uint8_t w=0) + OPTARG(NEOPIXEL_LED, uint8_t i=NEOPIXEL_BRIGHTNESS) + ) { + set_color(LEDColor(r, g, b + OPTARG(HAS_WHITE_LED, w) + OPTARG(NEOPIXEL_LED, i) + )); + } + + static void set_off() { set_color(LEDColorOff()); } + static void set_green() { set_color(LEDColorGreen()); } + static void set_white() { set_color(LEDColorWhite()); } + + #if ENABLED(NEO2_COLOR_PRESETS) + static const LEDColor defaultLEDColor; + static void set_default() { set_color(defaultLEDColor); } + static void set_red() { set_color(LEDColorRed()); } + static void set_orange() { set_color(LEDColorOrange()); } + static void set_yellow() { set_color(LEDColorYellow()); } + static void set_blue() { set_color(LEDColorBlue()); } + static void set_indigo() { set_color(LEDColorIndigo()); } + static void set_violet() { set_color(LEDColorViolet()); } + #endif + + #if ENABLED(NEOPIXEL2_SEPARATE) + static LEDColor color; // last non-off color + static bool lights_on; // the last set color was "on" + static void toggle(); // swap "off" with color + static void update() { set_color(color); } + #endif + }; + + extern LEDLights2 leds2; + +#endif // NEOPIXEL2_SEPARATE diff --git a/Marlin/src/feature/leds/neopixel.cpp b/Marlin/src/feature/leds/neopixel.cpp new file mode 100644 index 0000000000..2193217df0 --- /dev/null +++ b/Marlin/src/feature/leds/neopixel.cpp @@ -0,0 +1,176 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Marlin RGB LED general support + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(NEOPIXEL_LED) + +#include "leds.h" + +#if EITHER(NEOPIXEL_STARTUP_TEST, NEOPIXEL2_STARTUP_TEST) + #include "../../core/utility.h" +#endif + +Marlin_NeoPixel neo; +pixel_index_t Marlin_NeoPixel::neoindex; + +Adafruit_NeoPixel Marlin_NeoPixel::adaneo1(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIXEL_TYPE + NEO_KHZ800); +#if CONJOINED_NEOPIXEL + Adafruit_NeoPixel Marlin_NeoPixel::adaneo2(NEOPIXEL_PIXELS, NEOPIXEL2_PIN, NEOPIXEL2_TYPE + NEO_KHZ800); +#endif + +#ifdef NEOPIXEL_BKGD_INDEX_FIRST + + void Marlin_NeoPixel::set_background_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w) { + for (int background_led = NEOPIXEL_BKGD_INDEX_FIRST; background_led <= NEOPIXEL_BKGD_INDEX_LAST; background_led++) + set_pixel_color(background_led, adaneo1.Color(r, g, b, w)); + } + + void Marlin_NeoPixel::reset_background_color() { + constexpr uint8_t background_color[4] = NEOPIXEL_BKGD_COLOR; + set_background_color(background_color); + } + + void Marlin_NeoPixel::set_background_off() { + #ifndef NEOPIXEL_BKGD_TIMEOUT_COLOR + #define NEOPIXEL_BKGD_TIMEOUT_COLOR { 0, 0, 0, 0 } + #endif + constexpr uint8_t background_color_off[4] = NEOPIXEL_BKGD_TIMEOUT_COLOR; + set_background_color(background_color_off); + } + +#endif // NEOPIXEL_BKGD_INDEX_FIRST + +void Marlin_NeoPixel::set_color(const uint32_t color) { + if (neoindex >= 0) { + set_pixel_color(neoindex, color); + neoindex = -1; + } + else { + for (uint16_t i = 0; i < pixels(); ++i) { + #ifdef NEOPIXEL_BKGD_INDEX_FIRST + if (i == NEOPIXEL_BKGD_INDEX_FIRST && TERN(NEOPIXEL_BKGD_ALWAYS_ON, true, color != 0x000000)) { + reset_background_color(); + i += NEOPIXEL_BKGD_INDEX_LAST - (NEOPIXEL_BKGD_INDEX_FIRST); + continue; + } + #endif + set_pixel_color(i, color); + } + } + show(); +} + +void Marlin_NeoPixel::set_color_startup(const uint32_t color) { + for (uint16_t i = 0; i < pixels(); ++i) + set_pixel_color(i, color); + show(); +} + +void Marlin_NeoPixel::init() { + neoindex = -1; // -1 .. NEOPIXEL_PIXELS-1 range + set_brightness(NEOPIXEL_BRIGHTNESS); // 0 .. 255 range + begin(); + show(); // initialize to all off + + #if ENABLED(NEOPIXEL_STARTUP_TEST) + set_color_startup(adaneo1.Color(255, 0, 0, 0)); // red + safe_delay(500); + set_color_startup(adaneo1.Color(0, 255, 0, 0)); // green + safe_delay(500); + set_color_startup(adaneo1.Color(0, 0, 255, 0)); // blue + safe_delay(500); + #if HAS_WHITE_LED + set_color_startup(adaneo1.Color(0, 0, 0, 255)); // white + safe_delay(500); + #endif + #endif + + #ifdef NEOPIXEL_BKGD_INDEX_FIRST + reset_background_color(); + #endif + + set_color(adaneo1.Color + TERN(LED_USER_PRESET_STARTUP, + (LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE, LED_USER_PRESET_WHITE), + (0, 0, 0, 0)) + ); +} + +#if ENABLED(NEOPIXEL2_SEPARATE) + + Marlin_NeoPixel2 neo2; + + pixel_index_t Marlin_NeoPixel2::neoindex; + Adafruit_NeoPixel Marlin_NeoPixel2::adaneo(NEOPIXEL2_PIXELS, NEOPIXEL2_PIN, NEOPIXEL2_TYPE); + + void Marlin_NeoPixel2::set_color(const uint32_t color) { + if (neoindex >= 0) { + set_pixel_color(neoindex, color); + neoindex = -1; + } + else { + for (uint16_t i = 0; i < pixels(); ++i) + set_pixel_color(i, color); + } + show(); + } + + void Marlin_NeoPixel2::set_color_startup(const uint32_t color) { + for (uint16_t i = 0; i < pixels(); ++i) + set_pixel_color(i, color); + show(); + } + + void Marlin_NeoPixel2::init() { + neoindex = -1; // -1 .. NEOPIXEL2_PIXELS-1 range + set_brightness(NEOPIXEL2_BRIGHTNESS); // 0 .. 255 range + begin(); + show(); // initialize to all off + + #if ENABLED(NEOPIXEL2_STARTUP_TEST) + set_color_startup(adaneo.Color(255, 0, 0, 0)); // red + safe_delay(500); + set_color_startup(adaneo.Color(0, 255, 0, 0)); // green + safe_delay(500); + set_color_startup(adaneo.Color(0, 0, 255, 0)); // blue + safe_delay(500); + #if HAS_WHITE_LED2 + set_color_startup(adaneo.Color(0, 0, 0, 255)); // white + safe_delay(500); + #endif + #endif + + set_color(adaneo.Color + TERN(NEO2_USER_PRESET_STARTUP, + (NEO2_USER_PRESET_RED, NEO2_USER_PRESET_GREEN, NEO2_USER_PRESET_BLUE, NEO2_USER_PRESET_WHITE), + (0, 0, 0, 0)) + ); + } + +#endif // NEOPIXEL2_SEPARATE + +#endif // NEOPIXEL_LED diff --git a/Marlin/src/feature/leds/neopixel.h b/Marlin/src/feature/leds/neopixel.h new file mode 100644 index 0000000000..3801ded6aa --- /dev/null +++ b/Marlin/src/feature/leds/neopixel.h @@ -0,0 +1,196 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * NeoPixel support + */ + +#ifndef _NEOPIXEL_INCLUDE_ + #error "Always include 'leds.h' and not 'neopixel.h' directly." +#endif + +// ------------------------ +// Includes +// ------------------------ + +#include "../../inc/MarlinConfig.h" + +#include +#include + +// ------------------------ +// Defines +// ------------------------ + +#define _NEO_IS_RGB(N) (N == NEO_RGB || N == NEO_RBG || N == NEO_GRB || N == NEO_GBR || N == NEO_BRG || N == NEO_BGR) + +#if !_NEO_IS_RGB(NEOPIXEL_TYPE) + #define HAS_WHITE_LED 1 +#endif + +#if HAS_WHITE_LED + #define NEO_WHITE 0, 0, 0, 255 +#else + #define NEO_WHITE 255, 255, 255 +#endif + +#if defined(NEOPIXEL2_TYPE) && NEOPIXEL2_TYPE != NEOPIXEL_TYPE && DISABLED(NEOPIXEL2_SEPARATE) + #define MULTIPLE_NEOPIXEL_TYPES 1 +#endif + +#if EITHER(MULTIPLE_NEOPIXEL_TYPES, NEOPIXEL2_INSERIES) + #define CONJOINED_NEOPIXEL 1 +#endif + +// ------------------------ +// Types +// ------------------------ + +typedef value_t(TERN0(NEOPIXEL_LED, NEOPIXEL_PIXELS)) pixel_index_t; + +// ------------------------ +// Classes +// ------------------------ + +class Marlin_NeoPixel { +private: + static Adafruit_NeoPixel adaneo1; + #if CONJOINED_NEOPIXEL + static Adafruit_NeoPixel adaneo2; + #endif + +public: + static pixel_index_t neoindex; + + static void init(); + static void set_color_startup(const uint32_t c); + + static void set_color(const uint32_t c); + + #ifdef NEOPIXEL_BKGD_INDEX_FIRST + static void set_background_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w); + static void set_background_color(const uint8_t (&rgbw)[4]) { set_background_color(rgbw[0], rgbw[1], rgbw[2], rgbw[3]); } + static void reset_background_color(); + static void set_background_off(); + #endif + + static void begin() { + adaneo1.begin(); + TERN_(CONJOINED_NEOPIXEL, adaneo2.begin()); + } + + static void set_pixel_color(const uint16_t n, const uint32_t c) { + #if ENABLED(NEOPIXEL2_INSERIES) + if (n >= NEOPIXEL_PIXELS) adaneo2.setPixelColor(n - (NEOPIXEL_PIXELS), c); + else adaneo1.setPixelColor(n, c); + #else + adaneo1.setPixelColor(n, c); + TERN_(MULTIPLE_NEOPIXEL_TYPES, adaneo2.setPixelColor(n, c)); + #endif + } + + static void set_brightness(const uint8_t b) { + adaneo1.setBrightness(b); + TERN_(CONJOINED_NEOPIXEL, adaneo2.setBrightness(b)); + } + + static void show() { + // Some platforms cannot maintain PWM output when NeoPixel disables interrupts for long durations. + TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT()); + adaneo1.show(); + #if PIN_EXISTS(NEOPIXEL2) + #if CONJOINED_NEOPIXEL + adaneo2.show(); + #else + adaneo1.show(); + adaneo1.setPin(NEOPIXEL_PIN); + #endif + #endif + TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT()); + } + + // Accessors + static uint16_t pixels() { return adaneo1.numPixels() * TERN1(NEOPIXEL2_INSERIES, 2); } + + static uint32_t pixel_color(const uint16_t n) { + #if ENABLED(NEOPIXEL2_INSERIES) + if (n >= NEOPIXEL_PIXELS) return adaneo2.getPixelColor(n - (NEOPIXEL_PIXELS)); + #endif + return adaneo1.getPixelColor(n); + } + + static uint8_t brightness() { return adaneo1.getBrightness(); } + + static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w)) { + return adaneo1.Color(r, g, b OPTARG(HAS_WHITE_LED, w)); + } +}; + +extern Marlin_NeoPixel neo; + +// Neo pixel channel 2 +#if ENABLED(NEOPIXEL2_SEPARATE) + + #if _NEO_IS_RGB(NEOPIXEL2_TYPE) + #define NEOPIXEL2_IS_RGB 1 + #define NEO2_WHITE 255, 255, 255 + #else + #define NEOPIXEL2_IS_RGBW 1 + #define HAS_WHITE_LED2 1 // A white component can be passed for NEOPIXEL2 + #define NEO2_WHITE 0, 0, 0, 255 + #endif + + class Marlin_NeoPixel2 { + private: + static Adafruit_NeoPixel adaneo; + + public: + static pixel_index_t neoindex; + + static void init(); + static void set_color_startup(const uint32_t c); + + static void set_color(const uint32_t c); + + static void begin() { adaneo.begin(); } + static void set_pixel_color(const uint16_t n, const uint32_t c) { adaneo.setPixelColor(n, c); } + static void set_brightness(const uint8_t b) { adaneo.setBrightness(b); } + static void show() { + adaneo.show(); + adaneo.setPin(NEOPIXEL2_PIN); + } + + // Accessors + static uint16_t pixels() { return adaneo.numPixels();} + static uint32_t pixel_color(const uint16_t n) { return adaneo.getPixelColor(n); } + static uint8_t brightness() { return adaneo.getBrightness(); } + static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED2, uint8_t w)) { + return adaneo.Color(r, g, b OPTARG(HAS_WHITE_LED2, w)); + } + }; + + extern Marlin_NeoPixel2 neo2; + +#endif // NEOPIXEL2_SEPARATE + +#undef _NEO_IS_RGB diff --git a/Marlin/src/feature/leds/pca9533.cpp b/Marlin/src/feature/leds/pca9533.cpp new file mode 100644 index 0000000000..914db21ba3 --- /dev/null +++ b/Marlin/src/feature/leds/pca9533.cpp @@ -0,0 +1,127 @@ +/* + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * PCA9533 LED controller driver (MightyBoard, FlashForge Creator Pro, etc.) + * by @grauerfuchs - 1 Apr 2020 + */ +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PCA9533) + +#include "pca9533.h" +#include + +void PCA9533_init() { + Wire.begin(); + PCA9533_reset(); +} + +static void PCA9533_writeAllRegisters(uint8_t psc0, uint8_t pwm0, uint8_t psc1, uint8_t pwm1, uint8_t ls0) { + uint8_t data[6] = { PCA9533_REG_PSC0 | PCA9533_REGM_AI, psc0, pwm0, psc1, pwm1, ls0 }; + Wire.beginTransmission(PCA9533_Addr >> 1); + Wire.write(data, 6); + Wire.endTransmission(); + delayMicroseconds(1); +} + +static void PCA9533_writeRegister(uint8_t reg, uint8_t val) { + uint8_t data[2] = { reg, val }; + Wire.beginTransmission(PCA9533_Addr >> 1); + Wire.write(data, 2); + Wire.endTransmission(); + delayMicroseconds(1); +} + +// Reset (clear) all registers +void PCA9533_reset() { + PCA9533_writeAllRegisters(0, 0, 0, 0, 0); +} + +// Turn all LEDs off +void PCA9533_setOff() { + PCA9533_writeRegister(PCA9533_REG_SEL, 0); +} + +void PCA9533_set_rgb(uint8_t red, uint8_t green, uint8_t blue) { + uint8_t r_pwm0 = 0; // Register data - PWM value + uint8_t r_pwm1 = 0; // Register data - PWM value + + uint8_t op_g = 0, op_r = 0, op_b = 0; // Opcodes - Green, Red, Blue + + // Light theory! GREEN takes priority because + // it's the most visible to the human eye. + if (green == 0) op_g = PCA9533_LED_OP_OFF; + else if (green == 255) op_g = PCA9533_LED_OP_ON; + else { r_pwm0 = green; op_g = PCA9533_LED_OP_PWM0; } + + // RED + if (red == 0) op_r = PCA9533_LED_OP_OFF; + else if (red == 255) op_r = PCA9533_LED_OP_ON; + else if (r_pwm0 == 0 || r_pwm0 == red) { + r_pwm0 = red; op_r = PCA9533_LED_OP_PWM0; + } + else { + r_pwm1 = red; op_r = PCA9533_LED_OP_PWM1; + } + + // BLUE + if (blue == 0) op_b = PCA9533_LED_OP_OFF; + else if (blue == 255) op_b = PCA9533_LED_OP_ON; + else if (r_pwm0 == 0 || r_pwm0 == blue) { + r_pwm0 = blue; op_b = PCA9533_LED_OP_PWM0; + } + else if (r_pwm1 == 0 || r_pwm1 == blue) { + r_pwm1 = blue; op_b = PCA9533_LED_OP_PWM1; + } + else { + /** + * Conflict. 3 values are requested but only 2 channels exist. + * G is on channel 0 and R is on channel 1, so work from there. + * Find the closest match, average the values, then use the free channel. + */ + uint8_t dgb = ABS(green - blue), + dgr = ABS(green - red), + dbr = ABS(blue - red); + if (dgb < dgr && dgb < dbr) { // Mix with G on channel 0. + op_b = PCA9533_LED_OP_PWM0; + r_pwm0 = uint8_t(((uint16_t)green + (uint16_t)blue) / 2); + } + else if (dbr <= dgr && dbr <= dgb) { // Mix with R on channel 1. + op_b = PCA9533_LED_OP_PWM1; + r_pwm1 = uint8_t(((uint16_t)red + (uint16_t)blue) / 2); + } + else { // Mix R+G on 0 and put B on 1. + op_r = PCA9533_LED_OP_PWM0; + r_pwm0 = uint8_t(((uint16_t)green + (uint16_t)red) / 2); + op_b = PCA9533_LED_OP_PWM1; + r_pwm1 = blue; + } + } + + // Write the changes to the hardware + PCA9533_writeAllRegisters(0, r_pwm0, 0, r_pwm1, + (op_g << PCA9533_LED_OFS_GRN) | (op_r << PCA9533_LED_OFS_RED) | (op_b << PCA9533_LED_OFS_BLU) + ); +} + +#endif // PCA9533 diff --git a/Marlin/src/feature/leds/pca9533.h b/Marlin/src/feature/leds/pca9533.h new file mode 100644 index 0000000000..431058c491 --- /dev/null +++ b/Marlin/src/feature/leds/pca9533.h @@ -0,0 +1,59 @@ +/* + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/* + * Driver for the PCA9533 LED controller found on the MightyBoard + * used by FlashForge Creator Pro, MakerBot, etc. + * Written 2020 APR 01 by grauerfuchs + */ +#include + +#define ENABLE_I2C_PULLUPS + +// Chip address (for Wire) +#define PCA9533_Addr 0xC4 + +// Control registers +#define PCA9533_REG_READ 0x00 +#define PCA9533_REG_PSC0 0x01 +#define PCA9533_REG_PWM0 0x02 +#define PCA9533_REG_PSC1 0x03 +#define PCA9533_REG_PWM1 0x04 +#define PCA9533_REG_SEL 0x05 +#define PCA9533_REGM_AI 0x10 + +// LED selector operation +#define PCA9533_LED_OP_OFF 0B00 +#define PCA9533_LED_OP_ON 0B01 +#define PCA9533_LED_OP_PWM0 0B10 +#define PCA9533_LED_OP_PWM1 0B11 + +// Select register bit offsets for LED colors +#define PCA9533_LED_OFS_RED 0 +#define PCA9533_LED_OFS_GRN 2 +#define PCA9533_LED_OFS_BLU 4 + +void PCA9533_init(); +void PCA9533_reset(); +void PCA9533_set_rgb(uint8_t red, uint8_t green, uint8_t blue); +void PCA9533_setOff(); diff --git a/Marlin/src/feature/leds/pca9632.cpp b/Marlin/src/feature/leds/pca9632.cpp new file mode 100644 index 0000000000..abea988004 --- /dev/null +++ b/Marlin/src/feature/leds/pca9632.cpp @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Driver for the Philips PCA9632 LED driver. + * Written by Robert Mendon Feb 2017. + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PCA9632) + +#include "pca9632.h" +#include "leds.h" +#include + +#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 White=LED3 +#ifndef PCA9632_RED + #define PCA9632_RED 0x00 +#endif +#ifndef PCA9632_GRN + #define PCA9632_GRN 0x02 +#endif +#ifndef PCA9632_BLU + #define PCA9632_BLU 0x04 +#endif +#if HAS_WHITE_LED && !defined(PCA9632_WHT) + #define PCA9632_WHT 0x06 +#endif + +// If any of the color indexes are greater than 0x04 they can't use auto increment +#if !defined(PCA9632_NO_AUTO_INC) && (PCA9632_RED > 0x04 || PCA9632_GRN > 0x04 || PCA9632_BLU > 0x04 || PCA9632_WHT > 0x04) + #define PCA9632_NO_AUTO_INC +#endif + +#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(I2C_ADDRESS(addr)); + Wire.write(regadd); + Wire.write(value); + Wire.endTransmission(); +} + +static void PCA9632_WriteAllRegisters(const byte addr, const byte regadd, const byte vr, const byte vg, const byte vb + OPTARG(PCA9632_RGBW, const byte vw) +) { + #if DISABLED(PCA9632_NO_AUTO_INC) + uint8_t data[4]; + data[0] = PCA9632_AUTO_IND | regadd; + data[1 + (PCA9632_RED >> 1)] = vr; + data[1 + (PCA9632_GRN >> 1)] = vg; + data[1 + (PCA9632_BLU >> 1)] = vb; + Wire.beginTransmission(I2C_ADDRESS(addr)); + Wire.write(data, sizeof(data)); + Wire.endTransmission(); + #else + PCA9632_WriteRegister(addr, regadd + (PCA9632_RED >> 1), vr); + PCA9632_WriteRegister(addr, regadd + (PCA9632_GRN >> 1), vg); + PCA9632_WriteRegister(addr, regadd + (PCA9632_BLU >> 1), vb); + #if ENABLED(PCA9632_RGBW) + PCA9632_WriteRegister(addr, regadd + (PCA9632_WHT >> 1), vw); + #endif + #endif +} + +#if 0 + static byte PCA9632_ReadRegister(const byte addr, const byte regadd) { + Wire.beginTransmission(I2C_ADDRESS(addr)); + Wire.write(regadd); + const byte value = Wire.read(); + Wire.endTransmission(); + return value; + } +#endif + +void PCA9632_set_led_color(const LEDColor &color) { + Wire.begin(); + if (!PCA_init) { + PCA_init = 1; + PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_MODE1, PCA9632_MODE1_VALUE); + PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_MODE2, PCA9632_MODE2_VALUE); + } + + const byte LEDOUT = (color.r ? LED_PWM << PCA9632_RED : 0) + | (color.g ? LED_PWM << PCA9632_GRN : 0) + | (color.b ? LED_PWM << PCA9632_BLU : 0) + #if ENABLED(PCA9632_RGBW) + | (color.w ? LED_PWM << PCA9632_WHT : 0) + #endif + ; + + PCA9632_WriteAllRegisters(PCA9632_ADDRESS,PCA9632_PWM0, color.r, color.g, color.b + OPTARG(PCA9632_RGBW, color.w) + ); + PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_LEDOUT, LEDOUT); +} + +#if ENABLED(PCA9632_BUZZER) + + void PCA9632_buzz(const long, const uint16_t) { + uint8_t data[] = PCA9632_BUZZER_DATA; + Wire.beginTransmission(I2C_ADDRESS(PCA9632_ADDRESS)); + Wire.write(data, sizeof(data)); + Wire.endTransmission(); + } + +#endif // PCA9632_BUZZER + +#endif // PCA9632 diff --git a/Marlin/src/feature/leds/pca9632.h b/Marlin/src/feature/leds/pca9632.h new file mode 100644 index 0000000000..fb59a8c184 --- /dev/null +++ b/Marlin/src/feature/leds/pca9632.h @@ -0,0 +1,37 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Driver for the Philips PCA9632 LED driver. + * Written by Robert Mendon Feb 2017. + */ + +struct LEDColor; +typedef LEDColor LEDColor; + +void PCA9632_set_led_color(const LEDColor &color); + +#if ENABLED(PCA9632_BUZZER) + #include + void PCA9632_buzz(const long, const uint16_t); +#endif diff --git a/Marlin/src/feature/leds/printer_event_leds.cpp b/Marlin/src/feature/leds/printer_event_leds.cpp new file mode 100644 index 0000000000..e6407a6320 --- /dev/null +++ b/Marlin/src/feature/leds/printer_event_leds.cpp @@ -0,0 +1,93 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * feature/leds/printer_event_leds.cpp - LED color changing based on printer status + */ + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(PRINTER_EVENT_LEDS) + +#include "printer_event_leds.h" + +PrinterEventLEDs printerEventLEDs; + +#if HAS_LEDS_OFF_FLAG + bool PrinterEventLEDs::leds_off_after_print; // = false +#endif + +#if HAS_TEMP_HOTEND || HAS_HEATED_BED + + uint8_t PrinterEventLEDs::old_intensity = 0; + + inline uint8_t pel_intensity(const celsius_t start, const celsius_t current, const celsius_t target) { + if (start == target) return 255; + return (uint8_t)map(constrain(current, start, target), start, target, 0, 255); + } + + inline void pel_set_rgb(const uint8_t r, const uint8_t g, const uint8_t b OPTARG(HAS_WHITE_LED, const uint8_t w=0)) { + leds.set_color( + LEDColor(r, g, b OPTARG(HAS_WHITE_LED, w) OPTARG(NEOPIXEL_LED, neo.brightness())) + OPTARG(NEOPIXEL_IS_SEQUENTIAL, true) + ); + } + +#endif + +#if HAS_TEMP_HOTEND + + void PrinterEventLEDs::onHotendHeating(const celsius_t start, const celsius_t current, const celsius_t target) { + const uint8_t blue = pel_intensity(start, current, target); + if (blue != old_intensity) { + old_intensity = blue; + pel_set_rgb(255, 0, 255 - blue); + } + } + +#endif + +#if HAS_HEATED_BED + + void PrinterEventLEDs::onBedHeating(const celsius_t start, const celsius_t current, const celsius_t target) { + const uint8_t red = pel_intensity(start, current, target); + if (red != old_intensity) { + old_intensity = red; + pel_set_rgb(red, 0, 255); + } + } + +#endif + +#if HAS_HEATED_CHAMBER + + void PrinterEventLEDs::onChamberHeating(const celsius_t start, const celsius_t current, const celsius_t target) { + const uint8_t green = pel_intensity(start, current, target); + if (green != old_intensity) { + old_intensity = green; + pel_set_rgb(255, green, 255); + } + } + +#endif + +#endif // PRINTER_EVENT_LEDS diff --git a/Marlin/src/feature/leds/printer_event_leds.h b/Marlin/src/feature/leds/printer_event_leds.h new file mode 100644 index 0000000000..2a4342e8f5 --- /dev/null +++ b/Marlin/src/feature/leds/printer_event_leds.h @@ -0,0 +1,86 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/leds/printer_event_leds.h - LED color changing based on printer status + */ + +#include "leds.h" +#include "../../inc/MarlinConfig.h" + +class PrinterEventLEDs { +private: + static uint8_t old_intensity; + + #if HAS_LEDS_OFF_FLAG + static bool leds_off_after_print; + #endif + + static void set_done() { TERN(LED_COLOR_PRESETS, leds.set_default(), leds.set_off()); } + +public: + #if HAS_TEMP_HOTEND + static LEDColor onHotendHeatingStart() { old_intensity = 0; return leds.get_color(); } + static void onHotendHeating(const celsius_t start, const celsius_t current, const celsius_t target); + #endif + + #if HAS_HEATED_BED + static LEDColor onBedHeatingStart() { old_intensity = 127; return leds.get_color(); } + static void onBedHeating(const celsius_t start, const celsius_t current, const celsius_t target); + #endif + + #if HAS_HEATED_CHAMBER + static LEDColor onChamberHeatingStart() { old_intensity = 127; return leds.get_color(); } + static void onChamberHeating(const celsius_t start, const celsius_t current, const celsius_t target); + #endif + + #if HAS_TEMP_HOTEND || HAS_HEATED_BED || HAS_HEATED_CHAMBER + static void onHeatingDone() { leds.set_white(); } + static void onPidTuningDone(LEDColor c) { leds.set_color(c); } + #endif + + #if ENABLED(SDSUPPORT) + + static void onPrintCompleted() { + leds.set_green(); + #if HAS_LEDS_OFF_FLAG + leds_off_after_print = true; + #else + safe_delay(2000); + set_done(); + #endif + } + + static void onResumeAfterWait() { + #if HAS_LEDS_OFF_FLAG + if (leds_off_after_print) { + set_done(); + leds_off_after_print = false; + } + #endif + } + + #endif // SDSUPPORT +}; + +extern PrinterEventLEDs printerEventLEDs; diff --git a/Marlin/src/feature/leds/tempstat.cpp b/Marlin/src/feature/leds/tempstat.cpp new file mode 100644 index 0000000000..967b9f4d81 --- /dev/null +++ b/Marlin/src/feature/leds/tempstat.cpp @@ -0,0 +1,55 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Marlin RGB LED general support + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(TEMP_STAT_LEDS) + +#include "tempstat.h" +#include "../../module/temperature.h" + +void handle_status_leds() { + static int8_t old_red = -1; // Invalid value to force LED initialization + static millis_t next_status_led_update_ms = 0; + if (ELAPSED(millis(), next_status_led_update_ms)) { + next_status_led_update_ms += 500; // Update every 0.5s + celsius_t max_temp = TERN0(HAS_HEATED_BED, _MAX(thermalManager.degTargetBed(), thermalManager.wholeDegBed())); + HOTEND_LOOP() + max_temp = _MAX(max_temp, thermalManager.wholeDegHotend(e), thermalManager.degTargetHotend(e)); + const int8_t new_red = (max_temp > 55) ? HIGH : (max_temp < 54 || old_red < 0) ? LOW : old_red; + if (new_red != old_red) { + old_red = new_red; + #if PIN_EXISTS(STAT_LED_RED) + WRITE(STAT_LED_RED_PIN, new_red); + #endif + #if PIN_EXISTS(STAT_LED_BLUE) + WRITE(STAT_LED_BLUE_PIN, !new_red); + #endif + } + } +} + +#endif // TEMP_STAT_LEDS diff --git a/Marlin/src/feature/leds/tempstat.h b/Marlin/src/feature/leds/tempstat.h new file mode 100644 index 0000000000..a8b919bd8c --- /dev/null +++ b/Marlin/src/feature/leds/tempstat.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * Marlin general RGB LED support + */ + +void handle_status_leds(); diff --git a/Marlin/src/feature/max7219.cpp b/Marlin/src/feature/max7219.cpp new file mode 100644 index 0000000000..83d161d1fe --- /dev/null +++ b/Marlin/src/feature/max7219.cpp @@ -0,0 +1,739 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * This module is off by default, but can be enabled to facilitate the display of + * extra debug information during code development. + * + * 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 + * + * send() is called automatically at startup, and then there are a number of + * support functions available to control the LEDs in the 8x8 grid. + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(MAX7219_DEBUG) + +#define MAX7219_ERRORS // Disable to save 406 bytes of Program Memory + +#include "max7219.h" + +#include "../module/planner.h" +#include "../MarlinCore.h" +#include "../HAL/shared/Delay.h" + +#if ENABLED(MAX7219_SIDE_BY_SIDE) && MAX7219_NUMBER_UNITS > 1 + #define HAS_SIDE_BY_SIDE 1 +#endif + +#define _ROT ((MAX7219_ROTATE + 360) % 360) +#if _ROT == 0 || _ROT == 180 + #define MAX7219_X_LEDS TERN(HAS_SIDE_BY_SIDE, 8, MAX7219_LINES) + #define MAX7219_Y_LEDS TERN(HAS_SIDE_BY_SIDE, MAX7219_LINES, 8) +#elif _ROT == 90 || _ROT == 270 + #define MAX7219_X_LEDS TERN(HAS_SIDE_BY_SIDE, MAX7219_LINES, 8) + #define MAX7219_Y_LEDS TERN(HAS_SIDE_BY_SIDE, 8, MAX7219_LINES) +#else + #error "MAX7219_ROTATE must be a multiple of +/- 90°." +#endif + +#ifdef MAX7219_DEBUG_PROFILE + CodeProfiler::Mode CodeProfiler::mode = ACCUMULATE_AVERAGE; + uint8_t CodeProfiler::instance_count = 0; + uint32_t CodeProfiler::last_calc_time = micros(); + uint8_t CodeProfiler::time_fraction = 0; + uint32_t CodeProfiler::total_time = 0; + uint16_t CodeProfiler::call_count = 0; +#endif + +Max7219 max7219; + +uint8_t Max7219::led_line[MAX7219_LINES]; // = { 0 }; +uint8_t Max7219::suspended; // = 0; + +#define LINE_REG(Q) (max7219_reg_digit0 + ((Q) & 0x7)) + +#if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_EACH) + #define _LED_BIT(Q) (7 - ((Q) & 0x7)) +#else + #define _LED_BIT(Q) ((Q) & 0x7) +#endif +#if _ROT == 0 || _ROT == 180 + #define LED_BIT(X,Y) _LED_BIT(X) +#else + #define LED_BIT(X,Y) _LED_BIT(Y) +#endif +#if _ROT == 0 || _ROT == 90 + #define _LED_IND(P,Q) (_LED_TOP(P) + ((Q) & 0x7)) +#else + #define _LED_IND(P,Q) (_LED_TOP(P) + (7 - ((Q) & 0x7))) +#endif + +#if HAS_SIDE_BY_SIDE + #if (_ROT == 0 || _ROT == 90) == DISABLED(MAX7219_REVERSE_ORDER) + #define _LED_TOP(Q) ((MAX7219_NUMBER_UNITS - 1 - ((Q) >> 3)) << 3) + #else + #define _LED_TOP(Q) ((Q) & ~0x7) + #endif + #if _ROT == 0 || _ROT == 180 + #define LED_IND(X,Y) _LED_IND(Y,Y) + #elif _ROT == 90 || _ROT == 270 + #define LED_IND(X,Y) _LED_IND(X,X) + #endif +#else + #if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_ORDER) + #define _LED_TOP(Q) ((Q) & ~0x7) + #else + #define _LED_TOP(Q) ((MAX7219_NUMBER_UNITS - 1 - ((Q) >> 3)) << 3) + #endif + #if _ROT == 0 || _ROT == 180 + #define LED_IND(X,Y) _LED_IND(X,Y) + #elif _ROT == 90 || _ROT == 270 + #define LED_IND(X,Y) _LED_IND(Y,X) + #endif +#endif + +#define XOR_7219(X,Y) do{ led_line[LED_IND(X,Y)] ^= _BV(LED_BIT(X,Y)); }while(0) +#define SET_7219(X,Y) do{ led_line[LED_IND(X,Y)] |= _BV(LED_BIT(X,Y)); }while(0) +#define CLR_7219(X,Y) do{ led_line[LED_IND(X,Y)] &= ~_BV(LED_BIT(X,Y)); }while(0) +#define BIT_7219(X,Y) TEST(led_line[LED_IND(X,Y)], LED_BIT(X,Y)) + +#ifdef CPU_32_BIT + #define SIG_DELAY() DELAY_US(1) // Approximate a 1µs delay on 32-bit ARM + #undef CRITICAL_SECTION_START + #undef CRITICAL_SECTION_END + #define CRITICAL_SECTION_START() NOOP + #define CRITICAL_SECTION_END() NOOP +#else + #define SIG_DELAY() DELAY_NS(250) +#endif + +void Max7219::error(FSTR_P const func, const int32_t v1, const int32_t v2/*=-1*/) { + #if ENABLED(MAX7219_ERRORS) + SERIAL_ECHOPGM("??? Max7219::"); + SERIAL_ECHOF(func, AS_CHAR('(')); + SERIAL_ECHO(v1); + if (v2 > 0) SERIAL_ECHOPGM(", ", v2); + SERIAL_CHAR(')'); + SERIAL_EOL(); + #else + UNUSED(func); UNUSED(v1); UNUSED(v2); + #endif +} + +/** + * Flip the lowest n_bytes of the supplied bits: + * flipped(x, 1) flips the low 8 bits of x. + * flipped(x, 2) flips the low 16 bits of x. + * flipped(x, 3) flips the low 24 bits of x. + * flipped(x, 4) flips the low 32 bits of x. + */ +inline uint32_t flipped(const uint32_t bits, const uint8_t n_bytes) { + uint32_t mask = 1, outbits = 0; + LOOP_L_N(b, n_bytes * 8) { + outbits <<= 1; + if (bits & mask) outbits |= 1; + mask <<= 1; + } + return outbits; +} + +void Max7219::noop() { + CRITICAL_SECTION_START(); + SIG_DELAY(); + WRITE(MAX7219_DIN_PIN, LOW); + for (uint8_t i = 16; i--;) { + SIG_DELAY(); + WRITE(MAX7219_CLK_PIN, LOW); + SIG_DELAY(); + SIG_DELAY(); + WRITE(MAX7219_CLK_PIN, HIGH); + SIG_DELAY(); + } + CRITICAL_SECTION_END(); +} + +void Max7219::putbyte(uint8_t data) { + CRITICAL_SECTION_START(); + for (uint8_t i = 8; i--;) { + SIG_DELAY(); + WRITE(MAX7219_CLK_PIN, LOW); // tick + SIG_DELAY(); + WRITE(MAX7219_DIN_PIN, (data & 0x80) ? HIGH : LOW); // send 1 or 0 based on data bit + SIG_DELAY(); + WRITE(MAX7219_CLK_PIN, HIGH); // tock + SIG_DELAY(); + data <<= 1; + } + CRITICAL_SECTION_END(); +} + +void Max7219::pulse_load() { + SIG_DELAY(); + WRITE(MAX7219_LOAD_PIN, LOW); // tell the chip to load the data + SIG_DELAY(); + WRITE(MAX7219_LOAD_PIN, HIGH); + SIG_DELAY(); +} + +void Max7219::send(const uint8_t reg, const uint8_t data) { + SIG_DELAY(); + CRITICAL_SECTION_START(); + SIG_DELAY(); + putbyte(reg); // specify register + SIG_DELAY(); + putbyte(data); // put data + CRITICAL_SECTION_END(); +} + +// Send out a single native row of bits to just one unit +void Max7219::refresh_unit_line(const uint8_t line) { + if (suspended) return; + #if MAX7219_NUMBER_UNITS == 1 + send(LINE_REG(line), led_line[line]); + #else + for (uint8_t u = MAX7219_NUMBER_UNITS; u--;) + if (u == (line >> 3)) send(LINE_REG(line), led_line[line]); else noop(); + #endif + pulse_load(); +} + +// Send out a single native row of bits to all units +void Max7219::refresh_line(const uint8_t line) { + if (suspended) return; + #if MAX7219_NUMBER_UNITS == 1 + refresh_unit_line(line); + #else + for (uint8_t u = MAX7219_NUMBER_UNITS; u--;) + send(LINE_REG(line), led_line[(u << 3) | (line & 0x7)]); + #endif + pulse_load(); +} + +void Max7219::set(const uint8_t line, const uint8_t bits) { + led_line[line] = bits; + refresh_unit_line(line); +} + +#if ENABLED(MAX7219_NUMERIC) + + // Draw an integer with optional leading zeros and optional decimal point + void Max7219::print(const uint8_t start, int16_t value, uint8_t size, const bool leadzero=false, bool dec=false) { + if (suspended) return; + constexpr uint8_t led_numeral[10] = { 0x7E, 0x60, 0x6D, 0x79, 0x63, 0x5B, 0x5F, 0x70, 0x7F, 0x7A }, + led_decimal = 0x80, led_minus = 0x01; + bool blank = false, neg = value < 0; + if (neg) value *= -1; + while (size--) { + const bool minus = neg && blank; + if (minus) neg = false; + send( + max7219_reg_digit0 + start + size, + minus ? led_minus : blank ? 0x00 : led_numeral[value % 10] | (dec ? led_decimal : 0x00) + ); + pulse_load(); // tell the chips to load the clocked out data + value /= 10; + if (!value && !leadzero) blank = true; + dec = false; + } + } + + // Draw a float with a decimal point and optional digits + void Max7219::print(const uint8_t start, const_float_t value, const uint8_t pre_size, const uint8_t post_size, const bool leadzero=false) { + if (pre_size) print(start, value, pre_size, leadzero, !!post_size); + if (post_size) { + const int16_t after = ABS(value) * (10 ^ post_size); + print(start + pre_size, after, post_size, true); + } + } + +#endif // MAX7219_NUMERIC + +// Modify a single LED bit and send the changed line +void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm/*=nullptr*/) { + if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_set"), x, y); + if (BIT_7219(x, y) == on) return; + XOR_7219(x, y); + refresh_unit_line(LED_IND(x, y)); + if (rcm != nullptr) *rcm |= _BV(LED_IND(x, y) & 0x07); +} + +void Max7219::led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) { + if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_on"), x, y); + led_set(x, y, true, rcm); +} + +void Max7219::led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) { + if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_off"), x, y); + led_set(x, y, false, rcm); +} + +void Max7219::led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) { + if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_toggle"), x, y); + led_set(x, y, !BIT_7219(x, y), rcm); +} + +void Max7219::send_row(const uint8_t row) { + if (suspended) return; + #if _ROT == 0 || _ROT == 180 // Native Lines are horizontal too + #if MAX7219_X_LEDS <= 8 + refresh_unit_line(LED_IND(0, row)); // A single unit line + #else + refresh_line(LED_IND(0, row)); // Same line, all units + #endif + #else // Native lines are vertical + UNUSED(row); + refresh(); // Actually a column + #endif +} + +void Max7219::send_column(const uint8_t col) { + if (suspended) return; + #if _ROT == 90 || _ROT == 270 // Native Lines are vertical too + #if MAX7219_Y_LEDS <= 8 + refresh_unit_line(LED_IND(col, 0)); // A single unit line + #else + refresh_line(LED_IND(col, 0)); // Same line, all units + #endif + #else // Native lines are horizontal + UNUSED(col); + refresh(); // Actually a row + #endif +} + +void Max7219::clear() { + ZERO(led_line); + refresh(); +} + +void Max7219::fill() { + memset(led_line, 0xFF, sizeof(led_line)); + refresh(); +} + +void Max7219::clear_row(const uint8_t row) { + if (row >= MAX7219_Y_LEDS) return error(F("clear_row"), row); + LOOP_L_N(x, MAX7219_X_LEDS) CLR_7219(x, row); + send_row(row); +} + +void Max7219::clear_column(const uint8_t col) { + if (col >= MAX7219_X_LEDS) return error(F("set_column"), col); + LOOP_L_N(y, MAX7219_Y_LEDS) CLR_7219(col, y); + send_column(col); +} + +/** + * Plot the low order bits of val to the specified row of the matrix. + * With 4 Max7219 units in the chain, it's possible to set 32 bits at + * once with a single call to the function (if rotated 90° or 270°). + */ +void Max7219::set_row(const uint8_t row, const uint32_t val) { + if (row >= MAX7219_Y_LEDS) return error(F("set_row"), row); + uint32_t mask = _BV32(MAX7219_X_LEDS - 1); + LOOP_L_N(x, MAX7219_X_LEDS) { + if (val & mask) SET_7219(x, row); else CLR_7219(x, row); + mask >>= 1; + } + send_row(row); +} + +/** + * Plot the low order bits of val to the specified column of the matrix. + * With 4 Max7219 units in the chain, it's possible to set 32 bits at + * once with a single call to the function (if rotated 0° or 180°). + */ +void Max7219::set_column(const uint8_t col, const uint32_t val) { + if (col >= MAX7219_X_LEDS) return error(F("set_column"), col); + uint32_t mask = _BV32(MAX7219_Y_LEDS - 1); + LOOP_L_N(y, MAX7219_Y_LEDS) { + if (val & mask) SET_7219(col, y); else CLR_7219(col, y); + mask >>= 1; + } + send_column(col); +} + +void Max7219::set_rows_16bits(const uint8_t y, uint32_t val) { + #if MAX7219_X_LEDS == 8 + if (y > MAX7219_Y_LEDS - 2) return error(F("set_rows_16bits"), y, val); + set_row(y + 1, val); val >>= 8; + set_row(y + 0, val); + #else // at least 16 bits on each row + if (y > MAX7219_Y_LEDS - 1) return error(F("set_rows_16bits"), y, val); + set_row(y, val); + #endif +} + +void Max7219::set_rows_32bits(const uint8_t y, uint32_t val) { + #if MAX7219_X_LEDS == 8 + if (y > MAX7219_Y_LEDS - 4) return error(F("set_rows_32bits"), y, val); + set_row(y + 3, val); val >>= 8; + set_row(y + 2, val); val >>= 8; + set_row(y + 1, val); val >>= 8; + set_row(y + 0, val); + #elif MAX7219_X_LEDS == 16 + if (y > MAX7219_Y_LEDS - 2) return error(F("set_rows_32bits"), y, val); + set_row(y + 1, val); val >>= 16; + set_row(y + 0, val); + #else // at least 24 bits on each row. In the 3 matrix case, just display the low 24 bits + if (y > MAX7219_Y_LEDS - 1) return error(F("set_rows_32bits"), y, val); + set_row(y, val); + #endif +} + +void Max7219::set_columns_16bits(const uint8_t x, uint32_t val) { + #if MAX7219_Y_LEDS == 8 + if (x > MAX7219_X_LEDS - 2) return error(F("set_columns_16bits"), x, val); + set_column(x + 0, val); val >>= 8; + set_column(x + 1, val); + #else // at least 16 bits in each column + if (x > MAX7219_X_LEDS - 1) return error(F("set_columns_16bits"), x, val); + set_column(x, val); + #endif +} + +void Max7219::set_columns_32bits(const uint8_t x, uint32_t val) { + #if MAX7219_Y_LEDS == 8 + if (x > MAX7219_X_LEDS - 4) return error(F("set_rows_32bits"), x, val); + set_column(x + 3, val); val >>= 8; + set_column(x + 2, val); val >>= 8; + set_column(x + 1, val); val >>= 8; + set_column(x + 0, val); + #elif MAX7219_Y_LEDS == 16 + if (x > MAX7219_X_LEDS - 2) return error(F("set_rows_32bits"), x, val); + set_column(x + 1, val); val >>= 16; + set_column(x + 0, val); + #else // at least 24 bits on each row. In the 3 matrix case, just display the low 24 bits + if (x > MAX7219_X_LEDS - 1) return error(F("set_rows_32bits"), x, val); + set_column(x, val); + #endif +} + +// Initialize the Max7219 +void Max7219::register_setup() { + LOOP_L_N(i, MAX7219_NUMBER_UNITS) + send(max7219_reg_scanLimit, 0x07); + pulse_load(); // Tell the chips to load the clocked out data + + LOOP_L_N(i, MAX7219_NUMBER_UNITS) + send(max7219_reg_decodeMode, 0x00); // Using an led matrix (not digits) + pulse_load(); // Tell the chips to load the clocked out data + + LOOP_L_N(i, MAX7219_NUMBER_UNITS) + send(max7219_reg_shutdown, 0x01); // Not in shutdown mode + pulse_load(); // Tell the chips to load the clocked out data + + LOOP_L_N(i, MAX7219_NUMBER_UNITS) + send(max7219_reg_displayTest, 0x00); // No display test + pulse_load(); // Tell the chips to load the clocked out data + + LOOP_L_N(i, MAX7219_NUMBER_UNITS) + send(max7219_reg_intensity, 0x01 & 0x0F); // The first 0x0F is the value you can set + // Range: 0x00 to 0x0F + pulse_load(); // Tell the chips to load the clocked out data +} + +#if MAX7219_INIT_TEST + + uint8_t test_mode = 0; + millis_t next_patt_ms; + bool patt_on; + + #if MAX7219_INIT_TEST == 2 + + #define MAX7219_LEDS (MAX7219_X_LEDS * MAX7219_Y_LEDS) + + constexpr millis_t pattern_delay = 4; + + int8_t spiralx, spiraly, spiral_dir; + uvalue_t(MAX7219_LEDS) spiral_count; + + void Max7219::test_pattern() { + constexpr int8_t way[][2] = { { 1, 0 }, { 0, 1 }, { -1, 0 }, { 0, -1 } }; + led_set(spiralx, spiraly, patt_on); + const int8_t x = spiralx + way[spiral_dir][0], y = spiraly + way[spiral_dir][1]; + if (!WITHIN(x, 0, MAX7219_X_LEDS - 1) || !WITHIN(y, 0, MAX7219_Y_LEDS - 1) || BIT_7219(x, y) == patt_on) + spiral_dir = (spiral_dir + 1) & 0x3; + spiralx += way[spiral_dir][0]; + spiraly += way[spiral_dir][1]; + if (!spiral_count--) { + if (!patt_on) + test_mode = 0; + else { + spiral_count = MAX7219_LEDS; + spiralx = spiraly = spiral_dir = 0; + patt_on = false; + } + } + } + + #else + + constexpr millis_t pattern_delay = 20; + int8_t sweep_count, sweepx, sweep_dir; + + void Max7219::test_pattern() { + set_column(sweepx, patt_on ? 0xFFFFFFFF : 0x00000000); + sweepx += sweep_dir; + if (!WITHIN(sweepx, 0, MAX7219_X_LEDS - 1)) { + if (!patt_on) { + sweep_dir *= -1; + sweepx += sweep_dir; + } + else + sweepx -= MAX7219_X_LEDS * sweep_dir; + patt_on ^= true; + next_patt_ms += 100; + if (++test_mode > 4) test_mode = 0; + } + } + + #endif + + void Max7219::run_test_pattern() { + const millis_t ms = millis(); + if (PENDING(ms, next_patt_ms)) return; + next_patt_ms = ms + pattern_delay; + test_pattern(); + } + + void Max7219::start_test_pattern() { + clear(); + test_mode = 1; + patt_on = true; + #if MAX7219_INIT_TEST == 2 + spiralx = spiraly = spiral_dir = 0; + spiral_count = MAX7219_LEDS; + #else + sweep_dir = 1; + sweepx = 0; + sweep_count = MAX7219_X_LEDS; + #endif + } + +#endif // MAX7219_INIT_TEST + +void Max7219::init() { + SET_OUTPUT(MAX7219_DIN_PIN); + SET_OUTPUT(MAX7219_CLK_PIN); + OUT_WRITE(MAX7219_LOAD_PIN, HIGH); + delay(1); + + register_setup(); + + clear(); + + #if MAX7219_INIT_TEST + start_test_pattern(); + #endif +} + +/** + * This code demonstrates some simple debugging using a single 8x8 LED Matrix. If your feature could + * benefit from matrix display, add its code here. Very little processing is required, so the 7219 is + * ideal for debugging when realtime feedback is important but serial output can't be used. + */ + +// Apply changes to update a marker +void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2, uint8_t * const rcm/*=nullptr*/) { + #if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line. + led_off(v1 & 0xF, pos, rcm); + led_on(v2 & 0xF, pos, rcm); + #elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column. + led_off(pos, v1 & 0xF, rcm); + led_on(pos, v2 & 0xF, rcm); + #else // Single 8x8 LED matrix. Use two lines to get 16 LEDs. + led_off(v1 & 0x7, pos + (v1 >= 8), rcm); + led_on(v2 & 0x7, pos + (v2 >= 8), rcm); + #endif +} + +// Apply changes to update a tail-to-head range +void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, + const uint8_t nh, uint8_t * const rcm/*=nullptr*/) { + #if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line. + if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF) + led_off(n & 0xF, y, rcm); + if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF) + led_on(n & 0xF, y, rcm); + #elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column. + if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF) + led_off(y, n & 0xF, rcm); + if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF) + led_on(y, n & 0xF, rcm); + #else // Single 8x8 LED matrix. Use two lines to get 16 LEDs. + if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF) + led_off(n & 0x7, y + (n >= 8), rcm); + if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF) + led_on(n & 0x7, y + (n >= 8), rcm); + #endif +} + +// Apply changes to update a quantity +void Max7219::quantity(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) { + for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++) + led_set( + #if MAX7219_X_LEDS >= MAX7219_Y_LEDS + i, pos // Single matrix or multiple matrices in Landscape + #else + pos, i // Multiple matrices in Portrait + #endif + , nv >= ov + , rcm + ); +} + +void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) { + for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++) + led_set( + #if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line. + i, pos + #elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column. + pos, i + #else // Single 8x8 LED matrix. Use two lines to get 16 LEDs. + i >> 1, pos + (i & 1) + #endif + , nv >= ov + , rcm + ); +} + +void Max7219::idle_tasks() { + #define MAX7219_USE_HEAD (defined(MAX7219_DEBUG_PLANNER_HEAD) || defined(MAX7219_DEBUG_PLANNER_QUEUE)) + #define MAX7219_USE_TAIL (defined(MAX7219_DEBUG_PLANNER_TAIL) || defined(MAX7219_DEBUG_PLANNER_QUEUE)) + #if MAX7219_USE_HEAD || MAX7219_USE_TAIL + CRITICAL_SECTION_START(); + #if MAX7219_USE_HEAD + const uint8_t head = planner.block_buffer_head; + #endif + #if MAX7219_USE_TAIL + const uint8_t tail = planner.block_buffer_tail; + #endif + CRITICAL_SECTION_END(); + #endif + + #if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE) + static uint8_t refresh_cnt; // = 0 + constexpr uint16_t refresh_limit = 5; + static millis_t next_blink = 0; + const millis_t ms = millis(); + const bool do_blink = ELAPSED(ms, next_blink); + #else + static uint16_t refresh_cnt; // = 0 + constexpr bool do_blink = true; + constexpr uint16_t refresh_limit = 50000; + #endif + + // Some Max7219 units are vulnerable to electrical noise, especially + // with long wires next to high current wires. If the display becomes + // corrupted, this will fix it within a couple seconds. + if (do_blink && ++refresh_cnt >= refresh_limit) { + refresh_cnt = 0; + register_setup(); + } + + #if MAX7219_INIT_TEST + if (test_mode) { + run_test_pattern(); + return; + } + #endif + + // suspend updates and record which lines have changed for batching later + suspended++; + uint8_t row_change_mask = 0x00; + + #if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE) + if (do_blink) { + led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1, &row_change_mask); + next_blink = ms + 1000; + } + #endif + + #if defined(MAX7219_DEBUG_PLANNER_HEAD) && defined(MAX7219_DEBUG_PLANNER_TAIL) && MAX7219_DEBUG_PLANNER_HEAD == MAX7219_DEBUG_PLANNER_TAIL + + static int16_t last_head_cnt = 0xF, last_tail_cnt = 0xF; + + if (last_head_cnt != head || last_tail_cnt != tail) { + range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head, &row_change_mask); + last_head_cnt = head; + last_tail_cnt = tail; + } + + #else + + #ifdef MAX7219_DEBUG_PLANNER_HEAD + static int16_t last_head_cnt = 0x1; + if (last_head_cnt != head) { + mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head, &row_change_mask); + last_head_cnt = head; + } + #endif + + #ifdef MAX7219_DEBUG_PLANNER_TAIL + static int16_t last_tail_cnt = 0x1; + if (last_tail_cnt != tail) { + mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail, &row_change_mask); + last_tail_cnt = tail; + } + #endif + + #endif + + #ifdef MAX7219_DEBUG_PLANNER_QUEUE + static int16_t last_depth = 0; + const int16_t current_depth = (head - tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1) & 0xF; + if (current_depth != last_depth) { + quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth, &row_change_mask); + last_depth = current_depth; + } + #endif + + #ifdef MAX7219_DEBUG_PROFILE + static uint8_t last_time_fraction = 0; + const uint8_t current_time_fraction = (uint16_t(CodeProfiler::get_time_fraction()) * MAX7219_NUMBER_UNITS + 8) / 16; + if (current_time_fraction != last_time_fraction) { + quantity(MAX7219_DEBUG_PROFILE, last_time_fraction, current_time_fraction, &row_change_mask); + last_time_fraction = current_time_fraction; + } + #endif + + // batch line updates + suspended--; + if (!suspended) + LOOP_L_N(i, 8) if (row_change_mask & _BV(i)) + refresh_line(i); + + // After resume() automatically do a refresh() + if (suspended == 0x80) { + suspended = 0; + refresh(); + } +} + +#endif // MAX7219_DEBUG diff --git a/Marlin/src/feature/max7219.h b/Marlin/src/feature/max7219.h new file mode 100644 index 0000000000..a6b110fdf4 --- /dev/null +++ b/Marlin/src/feature/max7219.h @@ -0,0 +1,222 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * This module is off by default, but can be enabled to facilitate the display of + * extra debug information during code development. + * + * 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. + * + * If you are using the Max7219 matrix for firmware debug purposes in time sensitive + * areas of the code, please be aware that the orientation (rotation) of the display can + * affect the speed. The Max7219 can update a single column fairly fast. It is much + * faster to do a Max7219_Set_Column() with a rotation of 90 or 270 degrees than to do + * a Max7219_Set_Row(). The opposite is true for rotations of 0 or 180 degrees. + */ + +#include "../inc/MarlinConfig.h" + +#ifndef MAX7219_ROTATE + #define MAX7219_ROTATE 0 +#endif + +#ifndef MAX7219_NUMBER_UNITS + #define MAX7219_NUMBER_UNITS 1 +#endif +#define MAX7219_LINES (8 * (MAX7219_NUMBER_UNITS)) + +// +// 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_decodeMode 0x09 +#define max7219_reg_intensity 0x0A +#define max7219_reg_scanLimit 0x0B +#define max7219_reg_shutdown 0x0C +#define max7219_reg_displayTest 0x0F + +#ifdef MAX7219_DEBUG_PROFILE + // This class sums up the amount of time for which its instances exist. + // By default there is one instantiated for the duration of the idle() + // function. But an instance can be created in any code block to measure + // the time spent from the point of instantiation until the CPU leaves + // block. Be careful about having multiple instances of CodeProfiler as + // it does not guard against double counting. In general mixing ISR and + // non-ISR use will require critical sections but note that mode setting + // is atomic so the total or average times can safely be read if you set + // mode to FREEZE first. + class CodeProfiler { + public: + enum Mode : uint8_t { ACCUMULATE_AVERAGE, ACCUMULATE_TOTAL, FREEZE }; + + private: + static Mode mode; + static uint8_t instance_count; + static uint32_t last_calc_time; + static uint32_t total_time; + static uint8_t time_fraction; + static uint16_t call_count; + + uint32_t start_time; + + public: + CodeProfiler() : start_time(micros()) { instance_count++; } + ~CodeProfiler() { + instance_count--; + if (mode == FREEZE) return; + + call_count++; + + const uint32_t now = micros(); + total_time += now - start_time; + + if (mode == ACCUMULATE_TOTAL) return; + + // update time_fraction every hundred milliseconds + if (instance_count == 0 && ELAPSED(now, last_calc_time + 100000)) { + time_fraction = total_time * 128 / (now - last_calc_time); + last_calc_time = now; + total_time = 0; + } + } + + static void set_mode(Mode _mode) { mode = _mode; } + static void reset() { + time_fraction = 0; + last_calc_time = micros(); + total_time = 0; + call_count = 0; + } + // returns fraction of total time which was measured, scaled from 0 to 128 + static uint8_t get_time_fraction() { return time_fraction; } + // returns total time in microseconds + static uint32_t get_total_time() { return total_time; } + + static uint16_t get_call_count() { return call_count; } + }; +#endif + +class Max7219 { +public: + static uint8_t led_line[MAX7219_LINES]; + + Max7219() {} + + static void init(); + static void register_setup(); + static void putbyte(uint8_t data); + static void pulse_load(); + + // Set a single register (e.g., a whole native row) + static void send(const uint8_t reg, const uint8_t data); + + // Refresh all units + static void refresh() { for (uint8_t i = 0; i < 8; i++) refresh_line(i); } + + // Suspend / resume updates to the LED unit + // Use these methods to speed up multiple changes + // or to apply updates from interrupt context. + static void suspend() { suspended++; } + static void resume() { suspended--; suspended |= 0x80; } + + // Update a single native line on all units + static void refresh_line(const uint8_t line); + + // Update a single native line on just one unit + static void refresh_unit_line(const uint8_t line); + + #if ENABLED(MAX7219_NUMERIC) + // Draw an integer with optional leading zeros and optional decimal point + void print(const uint8_t start, int16_t value, uint8_t size, const bool leadzero=false, bool dec=false); + // Draw a float with a decimal point and optional digits + void print(const uint8_t start, const_float_t value, const uint8_t pre_size, const uint8_t post_size, const bool leadzero=false); + #endif + + // Set a single LED by XY coordinate + static void led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm=nullptr); + static void led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr); + static void led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr); + static void led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr); + + // Set all LEDs in a single column + static void set_column(const uint8_t col, const uint32_t val); + static void clear_column(const uint8_t col); + + // Set all LEDs in a single row + static void set_row(const uint8_t row, const uint32_t val); + static void clear_row(const uint8_t row); + + // 16 and 32 bit versions of Row and Column functions + // Multiple rows and columns will be used to display the value if + // the array of matrix LED's is too narrow to accomplish the goal + static void set_rows_16bits(const uint8_t y, uint32_t val); + static void set_rows_32bits(const uint8_t y, uint32_t val); + static void set_columns_16bits(const uint8_t x, uint32_t val); + static void set_columns_32bits(const uint8_t x, uint32_t val); + + // Quickly clear the whole matrix + static void clear(); + + // Quickly fill the whole matrix + static void fill(); + + // Apply custom code to update the matrix + static void idle_tasks(); + +private: + static uint8_t suspended; + static void error(FSTR_P const func, const int32_t v1, const int32_t v2=-1); + static void noop(); + static void set(const uint8_t line, const uint8_t bits); + static void send_row(const uint8_t row); + static void send_column(const uint8_t col); + static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2, uint8_t * const rcm=nullptr); + static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh, uint8_t * const rcm=nullptr); + static void quantity(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr); + static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr); + + #if MAX7219_INIT_TEST + static void test_pattern(); + static void run_test_pattern(); + static void start_test_pattern(); + #endif +}; + +extern Max7219 max7219; diff --git a/Marlin/src/feature/meatpack.cpp b/Marlin/src/feature/meatpack.cpp new file mode 100644 index 0000000000..07ff41e5be --- /dev/null +++ b/Marlin/src/feature/meatpack.cpp @@ -0,0 +1,218 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * MeatPack G-code Compression + * + * Algorithm & Implementation: Scott Mudge - mail@scottmudge.com + * Date: Dec. 2020 + * + * Character Frequencies from ~30 MB of comment-stripped G-code: + * '1' -> 4451136 '4' -> 1353273 '\n' -> 1087683 '-' -> 90242 + * '0' -> 4253577 '9' -> 1352147 'G' -> 1075806 'Z' -> 34109 + * ' ' -> 3053297 '3' -> 1262929 'X' -> 975742 'M' -> 11879 + * '.' -> 3035310 '5' -> 1189871 'E' -> 965275 'S' -> 9910 + * '2' -> 1523296 '6' -> 1127900 'Y' -> 965274 + * '8' -> 1366812 '7' -> 1112908 'F' -> 99416 + * + * When space is omitted the letter 'E' is used in its place + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_MEATPACK + +#include "meatpack.h" + +#define MeatPack_ProtocolVersion "PV01" +//#define MP_DEBUG + +#define DEBUG_OUT ENABLED(MP_DEBUG) +#include "../core/debug_out.h" + +// The 15 most-common characters used in G-code, ~90-95% of all G-code uses these characters +// Stored in SRAM for performance. +uint8_t meatPackLookupTable[16] = { + '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', + '.', ' ', '\n', 'G', 'X', + '\0' // Unused. 0b1111 indicates a literal character +}; + +#if ENABLED(MP_DEBUG) + uint8_t chars_decoded = 0; // Log the first 64 bytes after each reset +#endif + +void MeatPack::reset_state() { + state = 0; + cmd_is_next = false; + second_char = 0; + cmd_count = full_char_count = char_out_count = 0; + TERN_(MP_DEBUG, chars_decoded = 0); +} + +/** + * Unpack one or two characters from a packed byte into a buffer. + * Return flags indicating whether any literal bytes follow. + */ +uint8_t MeatPack::unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out) { + uint8_t out = 0; + + // If lower nybble is 1111, the higher nybble is unused, and next char is full. + if ((pk & kFirstNotPacked) == kFirstNotPacked) + out = kFirstCharIsLiteral; + else { + const uint8_t chr = pk & 0x0F; + chars_out[0] = meatPackLookupTable[chr]; // Set the first char + } + + // Check if upper nybble is 1111... if so, we don't need the second char. + if ((pk & kSecondNotPacked) == kSecondNotPacked) + out |= kSecondCharIsLiteral; + else { + const uint8_t chr = (pk >> 4) & 0x0F; + chars_out[1] = meatPackLookupTable[chr]; // Set the second char + } + + return out; +} + +/** + * Interpret a single (non-command) character + * according to the current MeatPack state. + */ +void MeatPack::handle_rx_char_inner(const uint8_t c) { + if (TEST(state, MPConfig_Bit_Active)) { // Is MeatPack active? + if (!full_char_count) { // No literal characters to fetch? + uint8_t buf[2] = { 0, 0 }; + const uint8_t res = unpack_chars(c, buf); // Decode the byte into one or two characters. + if (res & kFirstCharIsLiteral) { // The 1st character couldn't be packed. + ++full_char_count; // So the next stream byte is a full character. + if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. Another stream byte is a full character. + else second_char = buf[1]; // Retain the unpacked second character. + } + else { + handle_output_char(buf[0]); // Send the unpacked first character out. + if (buf[0] != '\n') { // After a newline the next char won't be set + if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. The next stream byte is a full character. + else handle_output_char(buf[1]); // Send the unpacked second character out. + } + } + } + else { + handle_output_char(c); // Pass through the character that couldn't be packed... + if (second_char) { + handle_output_char(second_char); // ...and send an unpacked 2nd character, if set. + second_char = 0; + } + --full_char_count; // One literal character was consumed + } + } + else // Packing not enabled, just copy character to output + handle_output_char(c); +} + +/** + * Buffer a single output character which will be picked up in + * GCodeQueue::get_serial_commands via calls to get_result_char + */ +void MeatPack::handle_output_char(const uint8_t c) { + char_out_buf[char_out_count++] = c; + + #if ENABLED(MP_DEBUG) + if (chars_decoded < 1024) { + ++chars_decoded; + DEBUG_ECHOLNPGM("RB: ", AS_CHAR(c)); + } + #endif +} + +/** + * Process a MeatPack command byte to update the state. + * Report the new state to serial. + */ +void MeatPack::handle_command(const MeatPack_Command c) { + switch (c) { + case MPCommand_QueryConfig: break; + case MPCommand_EnablePacking: SBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] ENA REC"); break; + case MPCommand_DisablePacking: CBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] DIS REC"); break; + case MPCommand_ResetAll: reset_state(); DEBUG_ECHOLNPGM("[MPDBG] RESET REC"); break; + case MPCommand_EnableNoSpaces: + SBI(state, MPConfig_Bit_NoSpaces); + meatPackLookupTable[kSpaceCharIdx] = kSpaceCharReplace; DEBUG_ECHOLNPGM("[MPDBG] ENA NSP"); break; + case MPCommand_DisableNoSpaces: + CBI(state, MPConfig_Bit_NoSpaces); + meatPackLookupTable[kSpaceCharIdx] = ' '; DEBUG_ECHOLNPGM("[MPDBG] DIS NSP"); break; + default: DEBUG_ECHOLNPGM("[MPDBG] UNK CMD REC"); + } + report_state(); +} + +void MeatPack::report_state() { + // NOTE: if any configuration vars are added below, the outgoing sync text for host plugin + // should not contain the "PV' substring, as this is used to indicate protocol version + SERIAL_ECHOPGM("[MP] " MeatPack_ProtocolVersion " "); + serialprint_onoff(TEST(state, MPConfig_Bit_Active)); + SERIAL_ECHOF(TEST(state, MPConfig_Bit_NoSpaces) ? F(" NSP\n") : F(" ESP\n")); +} + +/** + * Interpret a single character received from serial + * according to the current meatpack state. + */ +void MeatPack::handle_rx_char(const uint8_t c, const serial_index_t serial_ind) { + if (c == kCommandByte) { // A command (0xFF) byte? + if (cmd_count) { // In fact, two in a row? + cmd_is_next = true; // Then a MeatPack command follows + cmd_count = 0; + } + else + ++cmd_count; // cmd_count = 1 // One command byte received so far... + return; + } + + if (cmd_is_next) { // Were two command bytes received? + PORT_REDIRECT(SERIAL_PORTMASK(serial_ind)); + handle_command((MeatPack_Command)c); // Then the byte is a MeatPack command + cmd_is_next = false; + return; + } + + if (cmd_count) { // Only a single 0xFF was received + handle_rx_char_inner(kCommandByte); // A single 0xFF is passed on literally so it can be interpreted as kFirstNotPacked|kSecondNotPacked + cmd_count = 0; + } + + handle_rx_char_inner(c); // Other characters are passed on for MeatPack decoding +} + +uint8_t MeatPack::get_result_char(char * const __restrict out) { + uint8_t res = 0; + if (char_out_count) { + res = char_out_count; + char_out_count = 0; + for (uint8_t i = 0; i < res; ++i) + out[i] = (char)char_out_buf[i]; + } + return res; +} + +#endif // HAS_MEATPACK diff --git a/Marlin/src/feature/meatpack.h b/Marlin/src/feature/meatpack.h new file mode 100644 index 0000000000..98a535e592 --- /dev/null +++ b/Marlin/src/feature/meatpack.h @@ -0,0 +1,175 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/* + * MeatPack G-code Compression + * + * Algorithm & Implementation: Scott Mudge - mail@scottmudge.com + * Date: Dec. 2020 + * + * Specifically optimized for 3D printing G-Code, this is a zero-cost data compression method + * which packs ~180-190% more data into the same amount of bytes going to the CNC controller. + * As a majority of G-Code can be represented by a restricted alphabet, I performed histogram + * analysis on a wide variety of 3D printing G-code samples, and found ~93% of all G-code could + * be represented by the same 15-character alphabet. + * + * This allowed me to design a system of packing 2 8-bit characters into a single byte, assuming + * they fall within this limited 15-character alphabet. Using a 4-bit lookup table, these 8-bit + * characters can be represented by a 4-bit index. + * + * Combined with some logic to allow commingling of full-width characters outside of this 15- + * character alphabet (at the cost of an extra 8-bits per full-width character), and by stripping + * out unnecessary comments, the end result is G-code which is roughly half the original size. + * + * Why did I do this? I noticed micro-stuttering and other data-bottleneck issues while printing + * objects with high curvature, especially at high speeds. There is also the issue of the limited + * baud rate provided by Prusa's Atmega2560-based boards, over the USB serial connection. So soft- + * ware like OctoPrint would also suffer this same micro-stuttering and poor print quality issue. + * + */ +#pragma once + +#include +#include "../core/serial_hook.h" + +/** + * Commands sent to MeatPack to control its behavior. + * They are sent by first sending 2x MeatPack_CommandByte (0xFF) in sequence, + * followed by one of the command bytes below. + * Provided that 0xFF is an exceedingly rare character that is virtually never + * present in G-code naturally, it is safe to assume 2 in sequence should never + * happen naturally, and so it is used as a signal here. + * + * 0xFF *IS* used in "packed" G-code (used to denote that the next 2 characters are + * full-width), however 2 in a row will never occur, as the next 2 bytes will always + * some non-0xFF character. + */ +enum MeatPack_Command : uint8_t { + MPCommand_None = 0, + MPCommand_EnablePacking = 0xFB, + MPCommand_DisablePacking = 0xFA, + MPCommand_ResetAll = 0xF9, + MPCommand_QueryConfig = 0xF8, + MPCommand_EnableNoSpaces = 0xF7, + MPCommand_DisableNoSpaces = 0xF6 +}; + +enum MeatPack_ConfigStateBits : uint8_t { + MPConfig_Bit_Active = 0, + MPConfig_Bit_NoSpaces = 1 +}; + +class MeatPack { + + // Utility definitions + static const uint8_t kCommandByte = 0b11111111, + kFirstNotPacked = 0b00001111, + kSecondNotPacked = 0b11110000, + kFirstCharIsLiteral = 0b00000001, + kSecondCharIsLiteral = 0b00000010; + + static const uint8_t kSpaceCharIdx = 11; + static const char kSpaceCharReplace = 'E'; + + bool cmd_is_next; // A command is pending + uint8_t state; // Configuration state + uint8_t second_char; // Buffers a character if dealing with out-of-sequence pairs + uint8_t cmd_count, // Counter of command bytes received (need 2) + full_char_count, // Counter for full-width characters to be received + char_out_count; // Stores number of characters to be read out. + uint8_t char_out_buf[2]; // Output buffer for caching up to 2 characters + +public: + // Pass in a character rx'd by SD card or serial. Automatically parses command/ctrl sequences, + // and will control state internally. + void handle_rx_char(const uint8_t c, const serial_index_t serial_ind); + + /** + * After passing in rx'd char using above method, call this to get characters out. + * Can return from 0 to 2 characters at once. + * @param out [in] Output pointer for unpacked/processed data. + * @return Number of characters returned. Range from 0 to 2. + */ + uint8_t get_result_char(char * const __restrict out); + + void reset_state(); + void report_state(); + uint8_t unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out); + void handle_command(const MeatPack_Command c); + void handle_output_char(const uint8_t c); + void handle_rx_char_inner(const uint8_t c); + + MeatPack() : cmd_is_next(false), state(0), second_char(0), cmd_count(0), full_char_count(0), char_out_count(0) {} +}; + +// Implement the MeatPack serial class so it's transparent to rest of the code +template +struct MeatpackSerial : public SerialBase > { + typedef SerialBase< MeatpackSerial > BaseClassT; + + SerialT & out; + MeatPack meatpack; + + char serialBuffer[2]; + uint8_t charCount; + uint8_t readIndex; + + NO_INLINE void write(uint8_t c) { out.write(c); } + void flush() { out.flush(); } + void begin(long br) { out.begin(br); readIndex = 0; } + void end() { out.end(); } + + void msgDone() { out.msgDone(); } + // Existing instances implement Arduino's operator bool, so use that if it's available + bool connected() { return Private::HasMember_connected::value ? CALL_IF_EXISTS(bool, &out, connected) : (bool)out; } + void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); } + SerialFeature features(serial_index_t index) const { return SerialFeature::MeatPack | CALL_IF_EXISTS(SerialFeature, &out, features, index); } + + + int available(serial_index_t index) { + if (charCount) return charCount; // The buffer still has data + if (out.available(index) <= 0) return 0; // No data to read + + // Don't read in read method, instead do it here, so we can make progress in the read method + const int r = out.read(index); + if (r == -1) return 0; // This is an error from the underlying serial code + meatpack.handle_rx_char((uint8_t)r, index); + charCount = meatpack.get_result_char(serialBuffer); + readIndex = 0; + + return charCount; + } + + int readImpl(const serial_index_t index) { + // Not enough char to make progress? + if (charCount == 0 && available(index) == 0) return -1; + + charCount--; + return serialBuffer[readIndex++]; + } + + int read(serial_index_t index) { return readImpl(index); } + int available() { return available(0); } + int read() { return readImpl(0); } + + MeatpackSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {} +}; diff --git a/Marlin/src/feature/mixing.cpp b/Marlin/src/feature/mixing.cpp new file mode 100644 index 0000000000..b1a069e320 --- /dev/null +++ b/Marlin/src/feature/mixing.cpp @@ -0,0 +1,210 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(MIXING_EXTRUDER) + +//#define MIXER_NORMALIZER_DEBUG + +#include "mixing.h" + +Mixer mixer; + +#ifdef MIXER_NORMALIZER_DEBUG + #include "../core/serial.h" +#endif + +// Used up to Planner level +uint_fast8_t Mixer::selected_vtool = 0; +float Mixer::collector[MIXING_STEPPERS]; // mix proportion. 0.0 = off, otherwise <= COLOR_A_MASK. +mixer_comp_t Mixer::color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS]; + +// Used in Stepper +int_fast8_t Mixer::runner = 0; +mixer_comp_t Mixer::s_color[MIXING_STEPPERS]; +mixer_accu_t Mixer::accu[MIXING_STEPPERS] = { 0 }; + +#if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX) + mixer_perc_t Mixer::mix[MIXING_STEPPERS]; +#endif + +void Mixer::normalize(const uint8_t tool_index) { + float cmax = 0; + #ifdef MIXER_NORMALIZER_DEBUG + float csum = 0; + #endif + MIXER_STEPPER_LOOP(i) { + const float v = collector[i]; + NOLESS(cmax, v); + #ifdef MIXER_NORMALIZER_DEBUG + csum += v; + #endif + } + #ifdef MIXER_NORMALIZER_DEBUG + SERIAL_ECHOPGM("Mixer: Old relation : [ "); + MIXER_STEPPER_LOOP(i) { + SERIAL_DECIMAL(collector[i] / csum); + SERIAL_CHAR(' '); + } + SERIAL_ECHOLNPGM("]"); + #endif + + // Scale all values so their maximum is COLOR_A_MASK + const float scale = float(COLOR_A_MASK) / cmax; + MIXER_STEPPER_LOOP(i) color[tool_index][i] = collector[i] * scale; + + #ifdef MIXER_NORMALIZER_DEBUG + csum = 0; + SERIAL_ECHOPGM("Mixer: Normalize to : [ "); + MIXER_STEPPER_LOOP(i) { + SERIAL_ECHO(uint16_t(color[tool_index][i])); + SERIAL_CHAR(' '); + csum += color[tool_index][i]; + } + SERIAL_ECHOLNPGM("]"); + SERIAL_ECHOPGM("Mixer: New relation : [ "); + MIXER_STEPPER_LOOP(i) { + SERIAL_ECHO_F(uint16_t(color[tool_index][i]) / csum, 3); + SERIAL_CHAR(' '); + } + SERIAL_ECHOLNPGM("]"); + #endif + + TERN_(GRADIENT_MIX, refresh_gradient()); +} + +void Mixer::reset_vtools() { + // Virtual Tools 0, 1, 2, 3 = Filament 1, 2, 3, 4, etc. + // Every virtual tool gets a pure filament + LOOP_L_N(t, _MIN(MIXING_VIRTUAL_TOOLS, MIXING_STEPPERS)) + MIXER_STEPPER_LOOP(i) + color[t][i] = (t == i) ? COLOR_A_MASK : 0; + + // Remaining virtual tools are 100% filament 1 + #if MIXING_VIRTUAL_TOOLS > MIXING_STEPPERS + LOOP_S_L_N(t, MIXING_STEPPERS, MIXING_VIRTUAL_TOOLS) + MIXER_STEPPER_LOOP(i) + color[t][i] = (i == 0) ? COLOR_A_MASK : 0; + #endif + + // MIXING_PRESETS: Set a variety of obvious mixes as presets + #if ENABLED(MIXING_PRESETS) && WITHIN(MIXING_STEPPERS, 2, 3) + #if MIXING_STEPPERS == 2 + if (MIXING_VIRTUAL_TOOLS > 2) { collector[0] = 1; collector[1] = 1; mixer.normalize(2); } // 1:1 + if (MIXING_VIRTUAL_TOOLS > 3) { collector[0] = 3; mixer.normalize(3); } // 3:1 + if (MIXING_VIRTUAL_TOOLS > 4) { collector[0] = 1; collector[1] = 3; mixer.normalize(4); } // 1:3 + if (MIXING_VIRTUAL_TOOLS > 5) { collector[1] = 2; mixer.normalize(5); } // 1:2 + if (MIXING_VIRTUAL_TOOLS > 6) { collector[0] = 2; collector[1] = 1; mixer.normalize(6); } // 2:1 + if (MIXING_VIRTUAL_TOOLS > 7) { collector[0] = 3; collector[1] = 2; mixer.normalize(7); } // 3:2 + #else + if (MIXING_VIRTUAL_TOOLS > 3) { collector[0] = 1; collector[1] = 1; collector[2] = 1; mixer.normalize(3); } // 1:1:1 + if (MIXING_VIRTUAL_TOOLS > 4) { collector[1] = 3; collector[2] = 0; mixer.normalize(4); } // 1:3:0 + if (MIXING_VIRTUAL_TOOLS > 5) { collector[0] = 0; collector[2] = 1; mixer.normalize(5); } // 0:3:1 + if (MIXING_VIRTUAL_TOOLS > 6) { collector[1] = 1; mixer.normalize(6); } // 0:1:1 + if (MIXING_VIRTUAL_TOOLS > 7) { collector[0] = 1; collector[2] = 0; mixer.normalize(7); } // 1:1:0 + #endif + ZERO(collector); + #endif +} + +// called at boot +void Mixer::init() { + + ZERO(collector); + + reset_vtools(); + + #if HAS_MIXER_SYNC_CHANNEL + // AUTORETRACT_TOOL gets the same amount of all filaments + MIXER_STEPPER_LOOP(i) + color[MIXER_AUTORETRACT_TOOL][i] = COLOR_A_MASK; + #endif + + #if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX) + update_mix_from_vtool(); + #endif + + TERN_(GRADIENT_MIX, update_gradient_for_planner_z()); +} + +void Mixer::refresh_collector(const float proportion/*=1.0*/, const uint8_t t/*=selected_vtool*/, float (&c)[MIXING_STEPPERS]/*=collector*/) { + float csum = 0, cmax = 0; + MIXER_STEPPER_LOOP(i) { + const float v = color[t][i]; + cmax = _MAX(cmax, v); + csum += v; + } + //SERIAL_ECHOPGM("Mixer::refresh_collector(", proportion, ", ", t, ") cmax=", cmax, " csum=", csum, " color"); + const float inv_prop = proportion / csum; + MIXER_STEPPER_LOOP(i) { + c[i] = color[t][i] * inv_prop; + //SERIAL_ECHOPGM(" [", t, "][", i, "] = ", color[t][i], " (", c[i], ") "); + } + //SERIAL_EOL(); +} + +#if ENABLED(GRADIENT_MIX) + + #include "../module/motion.h" + #include "../module/planner.h" + + gradient_t Mixer::gradient = { + false, // enabled + {0}, // color (array) + 0, 0, // start_z, end_z + 0, 1, // start_vtool, end_vtool + {0}, {0} // start_mix[], end_mix[] + OPTARG(GRADIENT_VTOOL, -1) // vtool_index + }; + + float Mixer::prev_z; // = 0 + + void Mixer::update_gradient_for_z(const_float_t z) { + if (z == prev_z) return; + prev_z = z; + + const float slice = gradient.end_z - gradient.start_z; + + float pct = (z - gradient.start_z) / slice; + NOLESS(pct, 0.0f); NOMORE(pct, 1.0f); + + MIXER_STEPPER_LOOP(i) { + const mixer_perc_t sm = gradient.start_mix[i]; + mix[i] = sm + (gradient.end_mix[i] - sm) * pct; + } + + copy_mix_to_color(gradient.color); + } + + void Mixer::update_gradient_for_planner_z() { + #if ENABLED(DELTA) + get_cartesian_from_steppers(); + update_gradient_for_z(cartes.z); + #else + update_gradient_for_z(planner.get_axis_position_mm(Z_AXIS)); + #endif + } + +#endif // GRADIENT_MIX + +#endif // MIXING_EXTRUDER diff --git a/Marlin/src/feature/mixing.h b/Marlin/src/feature/mixing.h new file mode 100644 index 0000000000..85d52d69c8 --- /dev/null +++ b/Marlin/src/feature/mixing.h @@ -0,0 +1,262 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +//#define MIXER_NORMALIZER_DEBUG + +#ifndef __AVR__ // || HAS_DUAL_MIXING + // Use 16-bit (or fastest) data for the integer mix factors + typedef uint_fast16_t mixer_comp_t; + typedef uint_fast16_t mixer_accu_t; + #define COLOR_A_MASK 0x8000 + #define COLOR_MASK 0x7FFF +#else + // Use 8-bit data for the integer mix factors + // Exactness is sacrificed for speed + #define MIXER_ACCU_SIGNED + typedef uint8_t mixer_comp_t; + typedef int8_t mixer_accu_t; + #define COLOR_A_MASK 0x80 + #define COLOR_MASK 0x7F +#endif + +typedef int8_t mixer_perc_t; + +#ifndef MIXING_VIRTUAL_TOOLS + #define MIXING_VIRTUAL_TOOLS 1 +#endif + +enum MixTool { + FIRST_USER_VIRTUAL_TOOL = 0 + , LAST_USER_VIRTUAL_TOOL = MIXING_VIRTUAL_TOOLS - 1 + , NR_USER_VIRTUAL_TOOLS + , MIXER_DIRECT_SET_TOOL = NR_USER_VIRTUAL_TOOLS + #if HAS_MIXER_SYNC_CHANNEL + , MIXER_AUTORETRACT_TOOL + #endif + , NR_MIXING_VIRTUAL_TOOLS +}; + +#define MAX_VTOOLS TERN(HAS_MIXER_SYNC_CHANNEL, 254, 255) +static_assert(NR_MIXING_VIRTUAL_TOOLS <= MAX_VTOOLS, "MIXING_VIRTUAL_TOOLS must be <= " STRINGIFY(MAX_VTOOLS) "!"); + +#define MIXER_STEPPER_LOOP(VAR) for (uint_fast8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++) + +#if ENABLED(GRADIENT_MIX) + + typedef struct { + bool enabled; // This gradient is enabled + mixer_comp_t color[MIXING_STEPPERS]; // The current gradient color + float start_z, end_z; // Region for gradient + int8_t start_vtool, end_vtool; // Start and end virtual tools + mixer_perc_t start_mix[MIXING_STEPPERS], // Start and end mixes from those tools + end_mix[MIXING_STEPPERS]; + #if ENABLED(GRADIENT_VTOOL) + int8_t vtool_index; // Use this virtual tool number as index + #endif + } gradient_t; + +#endif + +/** + * @brief Mixer class + * @details Contains data and behaviors for a Mixing Extruder + */ +class Mixer { + public: + + static float collector[MIXING_STEPPERS]; // M163 components, also editable from LCD + + static void init(); // Populate colors at boot time + + static void reset_vtools(); + static void refresh_collector(const float proportion=1.0, const uint8_t t=selected_vtool, float (&c)[MIXING_STEPPERS]=collector); + + // Used up to Planner level + FORCE_INLINE static void set_collector(const uint8_t c, const float f) { collector[c] = _MAX(f, 0.0f); } + + static void normalize(const uint8_t tool_index); + FORCE_INLINE static void normalize() { normalize(selected_vtool); } + + FORCE_INLINE static uint8_t get_current_vtool() { return selected_vtool; } + + FORCE_INLINE static void T(const uint_fast8_t c) { + selected_vtool = c; + TERN_(GRADIENT_VTOOL, refresh_gradient()); + TERN_(HAS_DUAL_MIXING, update_mix_from_vtool()); + } + + // Used when dealing with blocks + FORCE_INLINE static void populate_block(mixer_comp_t b_color[MIXING_STEPPERS]) { + #if ENABLED(GRADIENT_MIX) + if (gradient.enabled) { + MIXER_STEPPER_LOOP(i) b_color[i] = gradient.color[i]; + return; + } + #endif + MIXER_STEPPER_LOOP(i) b_color[i] = color[selected_vtool][i]; + } + + FORCE_INLINE static void stepper_setup(mixer_comp_t b_color[MIXING_STEPPERS]) { + MIXER_STEPPER_LOOP(i) s_color[i] = b_color[i]; + } + + #if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX) + + static mixer_perc_t mix[MIXING_STEPPERS]; // Scratch array for the Mix in proportion to 100 + + static void copy_mix_to_color(mixer_comp_t (&tcolor)[MIXING_STEPPERS]) { + // Scale each component to the largest one in terms of COLOR_A_MASK + // So the largest component will be COLOR_A_MASK and the other will be in proportion to it + const float scale = (COLOR_A_MASK) * RECIPROCAL(_MAX( + LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]) + )); + + // Scale all values so their maximum is COLOR_A_MASK + MIXER_STEPPER_LOOP(i) tcolor[i] = mix[i] * scale; + + #ifdef MIXER_NORMALIZER_DEBUG + SERIAL_ECHOPGM("Mix [ "); + SERIAL_ECHOLIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]); + SERIAL_ECHOPGM(" ] to Color [ "); + SERIAL_ECHOLIST_N(MIXING_STEPPERS, tcolor[0], tcolor[1], tcolor[2], tcolor[3], tcolor[4], tcolor[5]); + SERIAL_ECHOLNPGM(" ]"); + #endif + } + + static void update_mix_from_vtool(const uint8_t j=selected_vtool) { + float ctot = 0; + MIXER_STEPPER_LOOP(i) ctot += color[j][i]; + //MIXER_STEPPER_LOOP(i) mix[i] = 100.0f * color[j][i] / ctot; + MIXER_STEPPER_LOOP(i) mix[i] = mixer_perc_t(100.0f * color[j][i] / ctot); + + #ifdef MIXER_NORMALIZER_DEBUG + SERIAL_ECHOPGM("V-tool ", j, " [ "); + SERIAL_ECHOLIST_N(MIXING_STEPPERS, color[j][0], color[j][1], color[j][2], color[j][3], color[j][4], color[j][5]); + SERIAL_ECHOPGM(" ] to Mix [ "); + SERIAL_ECHOLIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]); + SERIAL_ECHOLNPGM(" ]"); + #endif + } + + #endif // HAS_DUAL_MIXING || GRADIENT_MIX + + #if HAS_DUAL_MIXING + + // Update the virtual tool from an edited mix + static void update_vtool_from_mix() { + copy_mix_to_color(color[selected_vtool]); + TERN_(GRADIENT_MIX, refresh_gradient()); + // MIXER_STEPPER_LOOP(i) collector[i] = mix[i]; + // normalize(); + } + + #endif // HAS_DUAL_MIXING + + #if ENABLED(GRADIENT_MIX) + + static gradient_t gradient; + static float prev_z; + + // Update the current mix from the gradient for a given Z + static void update_gradient_for_z(const_float_t z); + static void update_gradient_for_planner_z(); + static void gradient_control(const_float_t z) { + if (gradient.enabled) { + if (z >= gradient.end_z) + T(gradient.end_vtool); + else + update_gradient_for_z(z); + } + } + + static void update_mix_from_gradient() { + float ctot = 0; + MIXER_STEPPER_LOOP(i) ctot += gradient.color[i]; + MIXER_STEPPER_LOOP(i) mix[i] = (mixer_perc_t)CEIL(100.0f * gradient.color[i] / ctot); + + #ifdef MIXER_NORMALIZER_DEBUG + SERIAL_ECHOPGM("Gradient [ "); + SERIAL_ECHOLIST_N(MIXING_STEPPERS, gradient.color[0], gradient.color[1], gradient.color[2], gradient.color[3], gradient.color[4], gradient.color[5]); + SERIAL_ECHOPGM(" ] to Mix [ "); + SERIAL_ECHOLIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]); + SERIAL_ECHOLNPGM(" ]"); + #endif + } + + // Refresh the gradient after a change + static void refresh_gradient() { + #if ENABLED(GRADIENT_VTOOL) + const bool is_grd = (gradient.vtool_index == -1 || selected_vtool == (uint8_t)gradient.vtool_index); + #else + constexpr bool is_grd = true; + #endif + gradient.enabled = is_grd && gradient.start_vtool != gradient.end_vtool && gradient.start_z < gradient.end_z; + if (gradient.enabled) { + mixer_perc_t mix_bak[MIXING_STEPPERS]; + COPY(mix_bak, mix); + update_mix_from_vtool(gradient.start_vtool); + COPY(gradient.start_mix, mix); + update_mix_from_vtool(gradient.end_vtool); + COPY(gradient.end_mix, mix); + update_gradient_for_planner_z(); + COPY(mix, mix_bak); + prev_z = -1; + } + } + + #endif // GRADIENT_MIX + + // Used in Stepper + FORCE_INLINE static uint8_t get_stepper() { return runner; } + FORCE_INLINE static uint8_t get_next_stepper() { + for (;;) { + if (--runner < 0) runner = MIXING_STEPPERS - 1; + accu[runner] += s_color[runner]; + if ( + #ifdef MIXER_ACCU_SIGNED + accu[runner] < 0 + #else + accu[runner] & COLOR_A_MASK + #endif + ) { + accu[runner] &= COLOR_MASK; + return runner; + } + } + } + + private: + + // Used up to Planner level + static uint_fast8_t selected_vtool; + static mixer_comp_t color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS]; + + // Used in Stepper + static int_fast8_t runner; + static mixer_comp_t s_color[MIXING_STEPPERS]; + static mixer_accu_t accu[MIXING_STEPPERS]; +}; + +extern Mixer mixer; diff --git a/Marlin/src/feature/mmu/mmu.cpp b/Marlin/src/feature/mmu/mmu.cpp new file mode 100644 index 0000000000..58c49ed224 --- /dev/null +++ b/Marlin/src/feature/mmu/mmu.cpp @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_PRUSA_MMU1 + +#include "../../MarlinCore.h" +#include "../../module/planner.h" +#include "../../module/stepper.h" + +void mmu_init() { + SET_OUTPUT(E_MUX0_PIN); + SET_OUTPUT(E_MUX1_PIN); + SET_OUTPUT(E_MUX2_PIN); +} + +void select_multiplexed_stepper(const uint8_t e) { + planner.synchronize(); + stepper.disable_e_steppers(); + WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW); + WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW); + WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW); + safe_delay(100); +} + +#endif // HAS_PRUSA_MMU1 diff --git a/Marlin/src/feature/mmu/mmu.h b/Marlin/src/feature/mmu/mmu.h new file mode 100644 index 0000000000..23742d00c6 --- /dev/null +++ b/Marlin/src/feature/mmu/mmu.h @@ -0,0 +1,25 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +void mmu_init(); +void select_multiplexed_stepper(const uint8_t e); diff --git a/Marlin/src/feature/mmu/mmu2-serial-protocol.md b/Marlin/src/feature/mmu/mmu2-serial-protocol.md new file mode 100644 index 0000000000..93135e406f --- /dev/null +++ b/Marlin/src/feature/mmu/mmu2-serial-protocol.md @@ -0,0 +1,94 @@ +Startup sequence +================ + +When initialized, MMU sends + +- MMU => 'start\n' + +We follow with + +- MMU <= 'S1\n' +- MMU => 'ok*Firmware version*\n' +- MMU <= 'S2\n' +- MMU => 'ok*Build number*\n' + +#if (12V_mode) + +- MMU <= 'M1\n' +- MMU => 'ok\n' + +#endif + +- MMU <= 'P0\n' +- MMU => '*FINDA status*\n' + +Now we are sure MMU is available and ready. If there was a timeout or other communication problem somewhere, printer will be killed. + +- *Firmware version* is an integer value, but we don't care about it +- *Build number* is an integer value and has to be >=126, or =>132 if 12V mode is enabled +- *FINDA status* is 1 if the filament is loaded to the extruder, 0 otherwise + + +*Build number* is checked against the required value, if it does not match, printer is halted. + + + +Toolchange +========== + +- MMU <= 'T*Filament index*\n' + +MMU sends + +- MMU => 'ok\n' + +as soon as the filament is fed down to the extruder. We follow with + +- MMU <= 'C0\n' + +MMU will feed a few more millimeters of filament for the extruder gears to grab. +When done, the MMU sends + +- MMU => 'ok\n' + +We don't wait for a response here but immediately continue with the next G-code which should +be one or more extruder moves to feed the filament into the hotend. + + +FINDA status +============ + +- MMU <= 'P0\n' +- MMU => '*FINDA status*\n' + +*FINDA status* is 1 if the is filament loaded to the extruder, 0 otherwise. This could be used as filament runout sensor if probed regularly. + + + +Load filament +============= + +- MMU <= 'L*Filament index*\n' + +MMU will feed filament down to the extruder, when done + +- MMU => 'ok\n' + + +Unload filament +============= + +- MMU <= 'U0\n' + +MMU will retract current filament from the extruder, when done + +- MMU => 'ok\n' + + + +Eject filament +============== + +- MMU <= 'E*Filament index*\n' +- MMU => 'ok\n' + diff --git a/Marlin/src/feature/mmu/mmu2.cpp b/Marlin/src/feature/mmu/mmu2.cpp new file mode 100644 index 0000000000..bd6b93ed09 --- /dev/null +++ b/Marlin/src/feature/mmu/mmu2.cpp @@ -0,0 +1,1063 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_PRUSA_MMU2 + +#include "mmu2.h" +#include "../../lcd/menu/menu_mmu2.h" + +MMU2 mmu2; + +#include "../../gcode/gcode.h" +#include "../../lcd/marlinui.h" +#include "../../libs/buzzer.h" +#include "../../libs/nozzle.h" +#include "../../module/temperature.h" +#include "../../module/planner.h" +#include "../../module/stepper.h" +#include "../../MarlinCore.h" + +#if ENABLED(HOST_PROMPT_SUPPORT) + #include "../../feature/host_actions.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../../lcd/extui/ui_api.h" +#endif + +#if ProUIex + #include "../../lcd/e3v2/proui/dwin_defines.h" +#endif + +#define DEBUG_OUT ENABLED(MMU2_DEBUG) +#include "../../core/debug_out.h" + +#define MMU_TODELAY 100 +#define MMU_TIMEOUT 10 +#define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0) +#define MMU_P0_TIMEOUT 3000UL // Timeout for P0 command: 3seconds + +#define MMU2_SEND(S) tx_str(F(S "\n")) +#define MMU2_RECV(S) rx_str(F(S "\n")) + +#if ENABLED(MMU_EXTRUDER_SENSOR) + uint8_t mmu_idl_sens = 0; + static bool mmu_loading_flag = false; +#endif + +#define MMU_CMD_NONE 0 +#define MMU_CMD_T0 0x10 // up to supported filaments +#define MMU_CMD_L0 0x20 // up to supported filaments +#define MMU_CMD_C0 0x30 +#define MMU_CMD_U0 0x40 +#define MMU_CMD_E0 0x50 // up to supported filaments +#define MMU_CMD_R0 0x60 +#define MMU_CMD_F0 0x70 // up to supported filaments + +#define MMU_REQUIRED_FW_BUILDNR TERN(MMU2_MODE_12V, 132, 126) + +#define MMU2_NO_TOOL 99 +#define MMU_BAUD 115200 + +bool MMU2::_enabled, MMU2::ready, MMU2::mmu_print_saved; +#if HAS_PRUSA_MMU2S + bool MMU2::mmu2s_triggered; +#endif +uint8_t MMU2::cmd, MMU2::cmd_arg, MMU2::last_cmd, MMU2::extruder; +int8_t MMU2::state = 0; +volatile int8_t MMU2::finda = 1; +volatile bool MMU2::finda_runout_valid; +int16_t MMU2::version = -1, MMU2::buildnr = -1; +millis_t MMU2::prev_request, MMU2::prev_P0_request; +char MMU2::rx_buffer[MMU_RX_SIZE], MMU2::tx_buffer[MMU_TX_SIZE]; + +struct E_Step { + float extrude; //!< extrude distance in mm + feedRate_t feedRate; //!< feed rate in mm/s +}; + +static constexpr E_Step + ramming_sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE } + , load_to_nozzle_sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE } + #if HAS_PRUSA_MMU2S + , can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE } + , can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE } + #endif +; + +MMU2::MMU2() { + rx_buffer[0] = '\0'; +} + +void MMU2::init() { + + set_runout_valid(false); + + #if PIN_EXISTS(MMU2_RST) + WRITE(MMU2_RST_PIN, HIGH); + SET_OUTPUT(MMU2_RST_PIN); + #endif + + MMU2_SERIAL.begin(MMU_BAUD); + extruder = MMU2_NO_TOOL; + + safe_delay(10); + reset(); + rx_buffer[0] = '\0'; + state = -1; +} + +void MMU2::reset() { + DEBUG_ECHOLNPGM("MMU <= reset"); + + #if PIN_EXISTS(MMU2_RST) + WRITE(MMU2_RST_PIN, LOW); + safe_delay(20); + WRITE(MMU2_RST_PIN, HIGH); + #else + MMU2_SEND("X0"); // Send soft reset + #endif +} + +uint8_t MMU2::get_current_tool() { + return extruder == MMU2_NO_TOOL ? -1 : extruder; +} + +#if EITHER(HAS_PRUSA_MMU2S, MMU_EXTRUDER_SENSOR) + #define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != TERN(ProUIex, HMI_data.Runout_active_state, FIL_RUNOUT1_STATE)) +#endif + +void mmu2_attn_buzz(const bool two=false) { + BUZZ(200, 404); + if (two) { BUZZ(10, 0); BUZZ(200, 404); } +} + +void MMU2::mmu_loop() { + + switch (state) { + + case 0: break; + + case -1: + if (rx_start()) { + prev_P0_request = millis(); // Initialize finda sensor timeout + DEBUG_ECHOLNPGM("MMU => 'start'"); + DEBUG_ECHOLNPGM("MMU <= 'S1'"); + MMU2_SEND("S1"); // Read Version + state = -2; + } + else if (millis() > 30000) { // 30sec after reset disable MMU + SERIAL_ECHOLNPGM("MMU not responding - DISABLED"); + state = 0; + } + break; + + case -2: + if (rx_ok()) { + sscanf(rx_buffer, "%huok\n", &version); + DEBUG_ECHOLNPGM("MMU => ", version, "\nMMU <= 'S2'"); + MMU2_SEND("S2"); // Read Build Number + state = -3; + } + break; + + case -3: + if (rx_ok()) { + sscanf(rx_buffer, "%huok\n", &buildnr); + + DEBUG_ECHOLNPGM("MMU => ", buildnr); + + check_version(); + + #if ENABLED(MMU2_MODE_12V) + DEBUG_ECHOLNPGM("MMU <= 'M1'"); + MMU2_SEND("M1"); // Stealth Mode + state = -5; + + #else + DEBUG_ECHOLNPGM("MMU <= 'P0'"); + MMU2_SEND("P0"); // Read FINDA + state = -4; + #endif + } + break; + + #if ENABLED(MMU2_MODE_12V) + case -5: + // response to M1 + if (rx_ok()) { + DEBUG_ECHOLNPGM("MMU => ok"); + DEBUG_ECHOLNPGM("MMU <= 'P0'"); + MMU2_SEND("P0"); // Read FINDA + state = -4; + } + break; + #endif + + case -4: + if (rx_ok()) { + sscanf(rx_buffer, "%hhuok\n", &finda); + + DEBUG_ECHOLNPGM("MMU => ", finda, "\nMMU - ENABLED"); + + _enabled = true; + state = 1; + TERN_(HAS_PRUSA_MMU2S, mmu2s_triggered = false); + } + break; + + case 1: + if (cmd) { + if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T0 + EXTRUDERS - 1)) { + // tool change + const int filament = cmd - MMU_CMD_T0; + DEBUG_ECHOLNPGM("MMU <= T", filament); + tx_printf(F("T%d\n"), filament); + TERN_(MMU_EXTRUDER_SENSOR, mmu_idl_sens = 1); // enable idler sensor, if any + state = 3; // wait for response + } + else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L0 + EXTRUDERS - 1)) { + // load + const int filament = cmd - MMU_CMD_L0; + DEBUG_ECHOLNPGM("MMU <= L", filament); + tx_printf(F("L%d\n"), filament); + state = 3; // wait for response + } + else if (cmd == MMU_CMD_C0) { + // continue loading + DEBUG_ECHOLNPGM("MMU <= 'C0'"); + MMU2_SEND("C0"); + state = 3; // wait for response + } + else if (cmd == MMU_CMD_U0) { + // unload current + DEBUG_ECHOLNPGM("MMU <= 'U0'"); + MMU2_SEND("U0"); + state = 3; // wait for response + } + else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E0 + EXTRUDERS - 1)) { + // eject filament + const int filament = cmd - MMU_CMD_E0; + DEBUG_ECHOLNPGM("MMU <= E", filament); + tx_printf(F("E%d\n"), filament); + state = 3; // wait for response + } + else if (cmd == MMU_CMD_R0) { + // recover after eject + DEBUG_ECHOLNPGM("MMU <= 'R0'"); + MMU2_SEND("R0"); + state = 3; // wait for response + } + else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F0 + EXTRUDERS - 1)) { + // filament type + const int filament = cmd - MMU_CMD_F0; + DEBUG_ECHOLNPGM("MMU <= F", filament, " ", cmd_arg); + tx_printf(F("F%d %d\n"), filament, cmd_arg); + state = 3; // wait for response + } + + last_cmd = cmd; + cmd = MMU_CMD_NONE; + } + else if (ELAPSED(millis(), prev_P0_request + 300)) { + MMU2_SEND("P0"); // Read FINDA + state = 2; // wait for response + } + + TERN_(HAS_PRUSA_MMU2S, check_filament()); + break; + + case 2: // response to command P0 + if (rx_ok()) { + sscanf(rx_buffer, "%hhuok\n", &finda); + + // This is super annoying. Only activate if necessary + // if (finda_runout_valid) DEBUG_ECHOLNPAIR_F("MMU <= 'P0'\nMMU => ", finda, 6); + + if (!finda && finda_runout_valid) filament_runout(); + if (cmd == MMU_CMD_NONE) ready = true; + state = 1; + } + else if (ELAPSED(millis(), prev_request + MMU_P0_TIMEOUT)) // Resend request after timeout (3s) + state = 1; + + TERN_(HAS_PRUSA_MMU2S, check_filament()); + break; + + case 3: // response to mmu commands + #if ENABLED(MMU_EXTRUDER_SENSOR) + if (mmu_idl_sens) { + if (FILAMENT_PRESENT() && mmu_loading_flag) { + DEBUG_ECHOLNPGM("MMU <= 'A'"); + MMU2_SEND("A"); // send 'abort' request + mmu_idl_sens = 0; + DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT"); + } + } + #endif + + if (rx_ok()) { + #if HAS_PRUSA_MMU2S + // Respond to C0 MMU command in MMU2S model + const bool keep_trying = !mmu2s_triggered && last_cmd == MMU_CMD_C0; + if (keep_trying) { + // MMU ok received but filament sensor not triggered, retrying... + DEBUG_ECHOLNPGM("MMU => 'ok' (no filament in gears)"); + DEBUG_ECHOLNPGM("MMU <= 'C0' (keep trying)"); + MMU2_SEND("C0"); + } + #else + constexpr bool keep_trying = false; + #endif + + if (!keep_trying) { + DEBUG_ECHOLNPGM("MMU => 'ok'"); + ready = true; + state = 1; + last_cmd = MMU_CMD_NONE; + } + } + else if (ELAPSED(millis(), prev_request + MMU_CMD_TIMEOUT)) { + // resend request after timeout + if (last_cmd) { + DEBUG_ECHOLNPGM("MMU retry"); + cmd = last_cmd; + last_cmd = MMU_CMD_NONE; + } + state = 1; + } + TERN_(HAS_PRUSA_MMU2S, check_filament()); + break; + } +} + +/** + * Check if MMU was started + */ +bool MMU2::rx_start() { + // check for start message + return MMU2_RECV("start"); +} + +/** + * Check if the data received ends with the given string. + */ +bool MMU2::rx_str(FSTR_P fstr) { + PGM_P pstr = FTOP(fstr); + + uint8_t i = strlen(rx_buffer); + + while (MMU2_SERIAL.available()) { + rx_buffer[i++] = MMU2_SERIAL.read(); + + if (i == sizeof(rx_buffer) - 1) { + DEBUG_ECHOLNPGM("rx buffer overrun"); + break; + } + } + rx_buffer[i] = '\0'; + + uint8_t len = strlen_P(pstr); + + if (i < len) return false; + + pstr += len; + + while (len--) { + char c0 = pgm_read_byte(pstr--), c1 = rx_buffer[i--]; + if (c0 == c1) continue; + if (c0 == '\r' && c1 == '\n') continue; // match cr as lf + if (c0 == '\n' && c1 == '\r') continue; // match lf as cr + return false; + } + return true; +} + +/** + * Transfer data to MMU, no argument + */ +void MMU2::tx_str(FSTR_P fstr) { + clear_rx_buffer(); + PGM_P pstr = FTOP(fstr); + while (const char c = pgm_read_byte(pstr)) { MMU2_SERIAL.write(c); pstr++; } + prev_request = millis(); +} + +/** + * Transfer data to MMU, single argument + */ +void MMU2::tx_printf(FSTR_P format, int argument = -1) { + clear_rx_buffer(); + const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument); + LOOP_L_N(i, len) MMU2_SERIAL.write(tx_buffer[i]); + prev_request = millis(); +} + +/** + * Transfer data to MMU, two arguments + */ +void MMU2::tx_printf(FSTR_P format, int argument1, int argument2) { + clear_rx_buffer(); + const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument1, argument2); + LOOP_L_N(i, len) MMU2_SERIAL.write(tx_buffer[i]); + prev_request = millis(); +} + +/** + * Empty the rx buffer + */ +void MMU2::clear_rx_buffer() { + while (MMU2_SERIAL.available()) MMU2_SERIAL.read(); + rx_buffer[0] = '\0'; +} + +/** + * Check if we received 'ok' from MMU + */ +bool MMU2::rx_ok() { + if (MMU2_RECV("ok")) { + prev_P0_request = millis(); + return true; + } + return false; +} + +/** + * Check if MMU has compatible firmware + */ +void MMU2::check_version() { + if (buildnr < MMU_REQUIRED_FW_BUILDNR) { + SERIAL_ERROR_MSG("Invalid MMU2 firmware. Version >= " STRINGIFY(MMU_REQUIRED_FW_BUILDNR) " required."); + kill(GET_TEXT_F(MSG_KILL_MMU2_FIRMWARE)); + } +} + +static void mmu2_not_responding() { + LCD_MESSAGE(MSG_MMU2_NOT_RESPONDING); + BUZZ(100, 659); + BUZZ(200, 698); + BUZZ(100, 659); + BUZZ(300, 440); + BUZZ(100, 659); +} + +#if HAS_PRUSA_MMU2S + + bool MMU2::load_to_gears() { + command(MMU_CMD_C0); + manage_response(true, true); + LOOP_L_N(i, MMU2_C0_RETRY) { // Keep loading until filament reaches gears + if (mmu2s_triggered) break; + command(MMU_CMD_C0); + manage_response(true, true); + check_filament(); + } + const bool success = mmu2s_triggered && can_load(); + if (!success) mmu2_not_responding(); + return success; + } + + /** + * Handle tool change + */ + void MMU2::tool_change(const uint8_t index) { + + if (!_enabled) return; + + set_runout_valid(false); + + if (index != extruder) { + + stepper.disable_extruder(); + ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1)); + + command(MMU_CMD_T0 + index); + manage_response(true, true); + + if (load_to_gears()) { + extruder = index; // filament change is finished + active_extruder = 0; + stepper.enable_extruder(); + SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder); + } + ui.reset_status(); + } + + set_runout_valid(true); + } + + /** + * Handle special T?/Tx/Tc commands + * + * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically + * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load. + * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated. + */ + void MMU2::tool_change(const char *special) { + if (!_enabled) return; + + set_runout_valid(false); + + switch (*special) { + case '?': { + #if ENABLED(MMU2_MENUS) + const uint8_t index = mmu2_choose_filament(); + while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); + load_filament_to_nozzle(index); + #else + ERR_BUZZ(); + #endif + } break; + + case 'x': { + #if ENABLED(MMU2_MENUS) + planner.synchronize(); + const uint8_t index = mmu2_choose_filament(); + stepper.disable_extruder(); + command(MMU_CMD_T0 + index); + manage_response(true, true); + + if (load_to_gears()) { + mmu_loop(); + stepper.enable_extruder(); + extruder = index; + active_extruder = 0; + } + #else + ERR_BUZZ(); + #endif + } break; + + case 'c': { + while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); + load_to_nozzle(); + } break; + } + + set_runout_valid(true); + } + +#elif ENABLED(MMU_EXTRUDER_SENSOR) + + /** + * Handle tool change + */ + void MMU2::tool_change(const uint8_t index) { + if (!_enabled) return; + + set_runout_valid(false); + + if (index != extruder) { + stepper.disable_extruder(); + if (FILAMENT_PRESENT()) { + DEBUG_ECHOLNPGM("Unloading\n"); + mmu_loading_flag = false; + command(MMU_CMD_U0); + manage_response(true, true); + } + ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1)); + mmu_loading_flag = true; + command(MMU_CMD_T0 + index); + manage_response(true, true); + mmu_continue_loading(); + //command(MMU_CMD_C0); + extruder = index; + active_extruder = 0; + + stepper.enable_extruder(); + SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder); + + ui.reset_status(); + } + + set_runout_valid(true); + } + + /** + * Handle special T?/Tx/Tc commands + * + * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically + * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load. + * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated. + */ + void MMU2::tool_change(const char *special) { + if (!_enabled) return; + + set_runout_valid(false); + + switch (*special) { + case '?': { + DEBUG_ECHOLNPGM("case ?\n"); + #if ENABLED(MMU2_MENUS) + uint8_t index = mmu2_choose_filament(); + while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); + load_filament_to_nozzle(index); + #else + ERR_BUZZ(); + #endif + } break; + + case 'x': { + DEBUG_ECHOLNPGM("case x\n"); + #if ENABLED(MMU2_MENUS) + planner.synchronize(); + uint8_t index = mmu2_choose_filament(); + stepper.disable_extruder(); + command(MMU_CMD_T0 + index); + manage_response(true, true); + mmu_continue_loading(); + command(MMU_CMD_C0); + mmu_loop(); + + stepper.enable_extruder(); + extruder = index; + active_extruder = 0; + #else + ERR_BUZZ(); + #endif + } break; + + case 'c': { + DEBUG_ECHOLNPGM("case c\n"); + while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); + execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence)); + } break; + } + + set_runout_valid(true); + } + + void MMU2::mmu_continue_loading() { + // Try to load the filament a limited number of times + bool fil_present = 0; + for (uint8_t i = 0; i < MMU_LOADING_ATTEMPTS_NR; i++) { + DEBUG_ECHOLNPGM("Load attempt #", i + 1); + + // Done as soon as filament is present + fil_present = FILAMENT_PRESENT(); + if (fil_present) break; + + // Attempt to load the filament, 1mm at a time, for 3s + command(MMU_CMD_C0); + stepper.enable_extruder(); + const millis_t expire_ms = millis() + 3000; + do { + current_position.e += 1; + line_to_current_position(MMU_LOAD_FEEDRATE); + planner.synchronize(); + // When (T0 rx->ok) load is ready, but in fact it did not load + // successfully or an overload created pressure in the extruder. + // Send (C0) to load more and move E_AXIS a little to release pressure. + if ((fil_present = FILAMENT_PRESENT())) MMU2_SEND("A"); + } while (!fil_present && PENDING(millis(), expire_ms)); + stepper.disable_extruder(); + manage_response(true, true); + } + + // Was the filament still missing in the last check? + if (!fil_present) { + DEBUG_ECHOLNPGM("Filament never reached sensor, runout"); + filament_runout(); + } + mmu_idl_sens = 0; + } + +#else // !HAS_PRUSA_MMU2S && !MMU_EXTRUDER_SENSOR + + /** + * Handle tool change + */ + void MMU2::tool_change(const uint8_t index) { + if (!_enabled) return; + + set_runout_valid(false); + + if (index != extruder) { + stepper.disable_extruder(); + ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1)); + command(MMU_CMD_T0 + index); + manage_response(true, true); + command(MMU_CMD_C0); + extruder = index; // Filament change is finished + active_extruder = 0; + stepper.enable_extruder(); + SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder); + ui.reset_status(); + } + + set_runout_valid(true); + } + + /** + * Handle special T?/Tx/Tc commands + * + * T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically + * Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load. + * Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated. + */ + void MMU2::tool_change(const char *special) { + if (!_enabled) return; + + set_runout_valid(false); + + switch (*special) { + case '?': { + DEBUG_ECHOLNPGM("case ?\n"); + #if ENABLED(MMU2_MENUS) + uint8_t index = mmu2_choose_filament(); + while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); + load_filament_to_nozzle(index); + #else + ERR_BUZZ(); + #endif + } break; + + case 'x': { + DEBUG_ECHOLNPGM("case x\n"); + #if ENABLED(MMU2_MENUS) + planner.synchronize(); + uint8_t index = mmu2_choose_filament(); + stepper.disable_extruder(); + command(MMU_CMD_T0 + index); + manage_response(true, true); + command(MMU_CMD_C0); + mmu_loop(); + + stepper.enable_extruder(); + extruder = index; + active_extruder = 0; + #else + ERR_BUZZ(); + #endif + } break; + + case 'c': { + DEBUG_ECHOLNPGM("case c\n"); + while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); + execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence)); + } break; + } + + set_runout_valid(true); + } + +#endif // HAS_PRUSA_MMU2S + +/** + * Set next command + */ +void MMU2::command(const uint8_t mmu_cmd) { + if (!_enabled) return; + cmd = mmu_cmd; + ready = false; +} + +/** + * Wait for response from MMU + */ +bool MMU2::get_response() { + while (cmd != MMU_CMD_NONE) idle(); + + while (!ready) { + idle(); + if (state != 3) break; + } + + const bool ret = ready; + ready = false; + + return ret; +} + +/** + * Wait for response and deal with timeout if necessary + */ +void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) { + + constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT; + bool response = false; + mmu_print_saved = false; + xyz_pos_t resume_position; + celsius_t resume_hotend_temp = thermalManager.degTargetHotend(active_extruder); + + KEEPALIVE_STATE(PAUSED_FOR_USER); + + while (!response) { + + response = get_response(); // wait for "ok" from mmu + + if (!response) { // No "ok" was received in reserved time frame, user will fix the issue on mmu unit + if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater. + + planner.synchronize(); + + mmu_print_saved = true; + + SERIAL_ECHOLNPGM("MMU not responding"); + + resume_hotend_temp = thermalManager.degTargetHotend(active_extruder); + resume_position = current_position; + + if (move_axes && all_axes_homed()) + nozzle.park(0, park_point /*= NOZZLE_PARK_POINT*/); + + if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder); + + mmu2_not_responding(); + } + } + else if (mmu_print_saved) { + SERIAL_ECHOLNPGM("MMU starts responding\n"); + + if (turn_off_nozzle && resume_hotend_temp) { + thermalManager.setTargetHotend(resume_hotend_temp, active_extruder); + LCD_MESSAGE(MSG_HEATING); + ERR_BUZZ(); + + while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(1000); + } + + LCD_MESSAGE(MSG_MMU2_RESUMING); + mmu2_attn_buzz(true); + + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wmaybe-uninitialized" + + if (move_axes && all_axes_homed()) { + // Move XY to starting position, then Z + do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE)); + + // Move Z_AXIS to saved position + do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE)); + } + + #pragma GCC diagnostic pop + } + } +} + +void MMU2::set_filament_type(const uint8_t index, const uint8_t filamentType) { + if (!_enabled) return; + + cmd_arg = filamentType; + command(MMU_CMD_F0 + index); + + manage_response(true, true); +} + +void MMU2::filament_runout() { + queue.inject(F(MMU2_FILAMENT_RUNOUT_SCRIPT)); + planner.synchronize(); +} + +#if HAS_PRUSA_MMU2S + + void MMU2::check_filament() { + const bool present = FILAMENT_PRESENT(); + if (cmd == MMU_CMD_NONE && last_cmd == MMU_CMD_C0) { + if (present && !mmu2s_triggered) { + DEBUG_ECHOLNPGM("MMU <= 'A'"); + MMU2_SEND("A"); + } + // Slowly spin the extruder during C0 + else { + while (planner.movesplanned() < 3) { + current_position.e += 0.25; + line_to_current_position(MMM_TO_MMS(120)); + } + } + } + mmu2s_triggered = present; + } + + bool MMU2::can_load() { + execute_extruder_sequence((const E_Step *)can_load_sequence, COUNT(can_load_sequence)); + + int filament_detected_count = 0; + const int steps = (MMU2_CAN_LOAD_RETRACT) / (MMU2_CAN_LOAD_INCREMENT); + DEBUG_ECHOLNPGM("MMU can_load:"); + LOOP_L_N(i, steps) { + execute_extruder_sequence((const E_Step *)can_load_increment_sequence, COUNT(can_load_increment_sequence)); + check_filament(); // Don't trust the idle function + DEBUG_CHAR(mmu2s_triggered ? 'O' : 'o'); + if (mmu2s_triggered) ++filament_detected_count; + } + + if (filament_detected_count <= steps - (MMU2_CAN_LOAD_DEVIATION) / (MMU2_CAN_LOAD_INCREMENT)) { + DEBUG_ECHOLNPGM(" failed."); + return false; + } + + DEBUG_ECHOLNPGM(" succeeded."); + return true; + } + +#endif + +// Load filament into MMU2 +void MMU2::load_filament(const uint8_t index) { + if (!_enabled) return; + + command(MMU_CMD_L0 + index); + manage_response(false, false); + mmu2_attn_buzz(); +} + +/** + * Switch material and load to nozzle + */ +bool MMU2::load_filament_to_nozzle(const uint8_t index) { + + if (!_enabled) return false; + + if (thermalManager.tooColdToExtrude(active_extruder)) { + mmu2_attn_buzz(); + LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD); + return false; + } + + stepper.disable_extruder(); + command(MMU_CMD_T0 + index); + manage_response(true, true); + + const bool success = load_to_gears(); + if (success) { + mmu_loop(); + extruder = index; + active_extruder = 0; + load_to_nozzle(); + mmu2_attn_buzz(); + } + return success; +} + +/** + * Load filament to nozzle of multimaterial printer + * + * This function is used only after T? (user select filament) and M600 (change filament). + * It is not used after T0 .. T4 command (select filament), in such case, G-code is responsible for loading + * filament to nozzle. + */ +void MMU2::load_to_nozzle() { + execute_extruder_sequence((const E_Step *)load_to_nozzle_sequence, COUNT(load_to_nozzle_sequence)); +} + +bool MMU2::eject_filament(const uint8_t index, const bool recover) { + + if (!_enabled) return false; + + if (thermalManager.tooColdToExtrude(active_extruder)) { + mmu2_attn_buzz(); + LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD); + return false; + } + + LCD_MESSAGE(MSG_MMU2_EJECTING_FILAMENT); + + stepper.enable_extruder(); + current_position.e -= MMU2_FILAMENTCHANGE_EJECT_FEED; + line_to_current_position(MMM_TO_MMS(2500)); + planner.synchronize(); + command(MMU_CMD_E0 + index); + manage_response(false, false); + + if (recover) { + LCD_MESSAGE(MSG_MMU2_EJECT_RECOVER); + mmu2_attn_buzz(); + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, F("MMU2 Eject Recover"), FPSTR(CONTINUE_STR))); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("MMU2 Eject Recover"))); + TERN_(HAS_RESUME_CONTINUE, wait_for_user_response()); + mmu2_attn_buzz(true); + + command(MMU_CMD_R0); + manage_response(false, false); + } + + ui.reset_status(); + + // no active tool + extruder = MMU2_NO_TOOL; + + set_runout_valid(false); + + mmu2_attn_buzz(); + + stepper.disable_extruder(); + + return true; +} + +/** + * Unload from hotend and retract to MMU + */ +bool MMU2::unload() { + + if (!_enabled) return false; + + if (thermalManager.tooColdToExtrude(active_extruder)) { + mmu2_attn_buzz(); + LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD); + return false; + } + + // Unload sequence to optimize shape of the tip of the unloaded filament + execute_extruder_sequence((const E_Step *)ramming_sequence, sizeof(ramming_sequence) / sizeof(E_Step)); + + command(MMU_CMD_U0); + manage_response(false, true); + + mmu2_attn_buzz(); + + // no active tool + extruder = MMU2_NO_TOOL; + + set_runout_valid(false); + + return true; +} + +void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) { + + planner.synchronize(); + stepper.enable_extruder(); + + const E_Step* step = sequence; + + LOOP_L_N(i, steps) { + const float es = pgm_read_float(&(step->extrude)); + const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate)); + + DEBUG_ECHO_MSG("E step ", es, "/", fr_mm_m); + + current_position.e += es; + line_to_current_position(MMM_TO_MMS(fr_mm_m)); + planner.synchronize(); + + step++; + } + + stepper.disable_extruder(); +} + +#endif // HAS_PRUSA_MMU2 diff --git a/Marlin/src/feature/mmu/mmu2.h b/Marlin/src/feature/mmu/mmu2.h new file mode 100644 index 0000000000..18d6d38a35 --- /dev/null +++ b/Marlin/src/feature/mmu/mmu2.h @@ -0,0 +1,112 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../inc/MarlinConfig.h" + +#if HAS_FILAMENT_SENSOR + #include "../runout.h" +#endif + +#if SERIAL_USB + #define MMU_RX_SIZE 256 + #define MMU_TX_SIZE 256 +#else + #define MMU_RX_SIZE 16 + #define MMU_TX_SIZE 16 +#endif + +struct E_Step; + +class MMU2 { +public: + MMU2(); + + static void init(); + static void reset(); + static bool enabled() { return _enabled; } + static void mmu_loop(); + static void tool_change(const uint8_t index); + static void tool_change(const char *special); + static uint8_t get_current_tool(); + static void set_filament_type(const uint8_t index, const uint8_t type); + + static bool unload(); + static void load_filament(uint8_t); + static void load_all(); + static bool load_filament_to_nozzle(const uint8_t index); + static bool eject_filament(const uint8_t index, const bool recover); + +private: + static bool rx_str(FSTR_P fstr); + static void tx_str(FSTR_P fstr); + static void tx_printf(FSTR_P ffmt, const int argument); + static void tx_printf(FSTR_P ffmt, const int argument1, const int argument2); + static void clear_rx_buffer(); + + static bool rx_ok(); + static bool rx_start(); + static void check_version(); + + static void command(const uint8_t cmd); + static bool get_response(); + static void manage_response(const bool move_axes, const bool turn_off_nozzle); + + static void load_to_nozzle(); + static void execute_extruder_sequence(const E_Step * sequence, int steps); + + static void filament_runout(); + + #if HAS_PRUSA_MMU2S + static bool mmu2s_triggered; + static void check_filament(); + static bool can_load(); + static bool load_to_gears(); + #else + FORCE_INLINE static bool load_to_gears() { return true; } + #endif + + #if ENABLED(MMU_EXTRUDER_SENSOR) + #define MMU_LOAD_FEEDRATE 19.02f // (mm/s) + static void mmu_continue_loading(); + #endif + + static bool _enabled, ready, mmu_print_saved; + + static uint8_t cmd, cmd_arg, last_cmd, extruder; + static int8_t state; + static volatile int8_t finda; + static volatile bool finda_runout_valid; + static int16_t version, buildnr; + static millis_t prev_request, prev_P0_request; + static char rx_buffer[MMU_RX_SIZE], tx_buffer[MMU_TX_SIZE]; + + static void set_runout_valid(const bool valid) { + finda_runout_valid = valid; + #if HAS_FILAMENT_SENSOR + if (valid) runout.reset(); + #endif + } + +}; + +extern MMU2 mmu2; diff --git a/Marlin/src/feature/password/password.cpp b/Marlin/src/feature/password/password.cpp new file mode 100644 index 0000000000..1d376cc586 --- /dev/null +++ b/Marlin/src/feature/password/password.cpp @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(PASSWORD_FEATURE) + +#include "password.h" +#include "../../gcode/gcode.h" +#include "../../core/serial.h" + +Password password; + +// public: +bool Password::is_set, Password::is_locked, Password::did_first_run; // = false +uint32_t Password::value, Password::value_entry; + +// +// Authenticate user with password. +// Called from Setup, after SD Prinitng Stops/Aborts, and M510 +// +void Password::lock_machine() { + is_locked = true; + TERN_(HAS_MARLINUI_MENU, authenticate_user(ui.status_screen, screen_password_entry)); +} + +// +// Authentication check +// +void Password::authentication_check() { + if (value_entry == value) { + is_locked = false; + did_first_run = true; + } + else { + is_locked = true; + SERIAL_ECHOLNPGM(STR_WRONG_PASSWORD); + } + TERN_(HAS_MARLINUI_MENU, authentication_done()); +} + +#endif // PASSWORD_FEATURE diff --git a/Marlin/src/feature/password/password.h b/Marlin/src/feature/password/password.h new file mode 100644 index 0000000000..208765b212 --- /dev/null +++ b/Marlin/src/feature/password/password.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../lcd/marlinui.h" + +class Password { +public: + static bool is_set, is_locked, did_first_run; + static uint32_t value, value_entry; + + Password() {} + + static void lock_machine(); + static void authentication_check(); + + #if HAS_MARLINUI_MENU + static void access_menu_password(); + static void authentication_done(); + static void media_gatekeeper(); + + private: + static void authenticate_user(const screenFunc_t, const screenFunc_t); + static void menu_password(); + static void menu_password_entry(); + static void screen_password_entry(); + static void screen_set_password(); + static void start_over(); + + static void digit_entered(); + static void set_password_done(const bool with_set=true); + static void menu_password_report(); + + static void remove_password(); + #endif +}; + +extern Password password; diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp new file mode 100644 index 0000000000..ca32d9b70f --- /dev/null +++ b/Marlin/src/feature/pause.cpp @@ -0,0 +1,717 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * feature/pause.cpp - Pause feature support functions + * This may be combined with related G-codes if features are consolidated. + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(ADVANCED_PAUSE_FEATURE) + +//#define DEBUG_PAUSE_RESUME + +#include "../MarlinCore.h" +#include "../gcode/gcode.h" +#include "../module/motion.h" +#include "../module/planner.h" +#include "../module/printcounter.h" +#include "../module/temperature.h" + +#if HAS_EXTRUDERS + #include "../module/stepper.h" +#endif + +#if ENABLED(AUTO_BED_LEVELING_UBL) + #include "bedlevel/bedlevel.h" +#endif + +#if ENABLED(FWRETRACT) + #include "fwretract.h" +#endif + +#if HAS_FILAMENT_SENSOR + #include "runout.h" +#endif + +#if ENABLED(HOST_ACTION_COMMANDS) + #include "host_actions.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#elif ENABLED(DWIN_LCD_PROUI) + #include "../lcd/e3v2/proui/dwin.h" +#endif + +#include "../lcd/marlinui.h" + +#if HAS_SOUND + #include "../libs/buzzer.h" +#endif + +#if ENABLED(POWER_LOSS_RECOVERY) + #include "powerloss.h" +#endif + +#include "../libs/nozzle.h" +#include "pause.h" + +#define DEBUG_OUT ENABLED(DEBUG_PAUSE_RESUME) +#include "../core/debug_out.h" + +// private: + +static xyze_pos_t resume_position; + +#if M600_PURGE_MORE_RESUMABLE + PauseMenuResponse pause_menu_response; + PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT; +#endif + +fil_change_settings_t fc_settings[EXTRUDERS]; + +#if ENABLED(SDSUPPORT) + #include "../sd/cardreader.h" +#endif + +#if ENABLED(EMERGENCY_PARSER) + #define _PMSG(L) L##_M108 +#else + #define _PMSG(L) L##_LCD +#endif + +#if HAS_SOUND + static void impatient_beep(const int8_t max_beep_count, const bool restart=false) { + + if (TERN0(HAS_MARLINUI_MENU, pause_mode == PAUSE_MODE_PAUSE_PRINT)) return; + + static millis_t next_buzz = 0; + static int8_t runout_beep = 0; + + if (restart) next_buzz = runout_beep = 0; + + const bool always = max_beep_count < 0; + + const millis_t ms = millis(); + if (ELAPSED(ms, next_buzz)) { + if (always || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to + next_buzz = ms + ((always || runout_beep < max_beep_count) ? 1000 : 500); + BUZZ(50, 880 - (runout_beep & 1) * 220); + runout_beep++; + } + } + } + inline void first_impatient_beep(const int8_t max_beep_count) { impatient_beep(max_beep_count, true); } +#else + inline void impatient_beep(const int8_t, const bool=false) {} + inline void first_impatient_beep(const int8_t) {} +#endif + +/** + * Ensure a safe temperature for extrusion + * + * - Fail if the TARGET temperature is too low + * - Display LCD placard with temperature status + * - Return when heating is done or aborted + * + * Returns 'true' if heating was completed, 'false' for abort + */ +static bool ensure_safe_temperature(const bool wait=true, const PauseMode mode=PAUSE_MODE_SAME) { + DEBUG_SECTION(est, "ensure_safe_temperature", true); + DEBUG_ECHOLNPGM("... wait:", wait, " mode:", mode); + + #if ENABLED(PREVENT_COLD_EXTRUSION) + if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder)) + thermalManager.setTargetHotend(thermalManager.extrude_min_temp, active_extruder); + #endif + + ui.pause_show_message(PAUSE_MESSAGE_HEATING, mode); UNUSED(mode); + + if (wait) return thermalManager.wait_for_hotend(active_extruder); + + // Allow interruption by Emergency Parser M108 + wait_for_heatup = TERN1(PREVENT_COLD_EXTRUSION, !thermalManager.allow_cold_extrude); + while (wait_for_heatup && ABS(thermalManager.wholeDegHotend(active_extruder) - thermalManager.degTargetHotend(active_extruder)) > (TEMP_WINDOW)) + idle(); + wait_for_heatup = false; + + #if ENABLED(PREVENT_COLD_EXTRUSION) + // A user can cancel wait-for-heating with M108 + if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder)) { + SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD); + return false; + } + #endif + + return true; +} + +/** + * Load filament into the hotend + * + * - Fail if the a safe temperature was not reached + * - If pausing for confirmation, wait for a click or M108 + * - Show "wait for load" placard + * - Load and purge filament + * - Show "Purge more" / "Continue" menu + * - Return when "Continue" is selected + * + * Returns 'true' if load was completed, 'false' for abort + */ +bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load_length/*=0*/, const_float_t purge_length/*=0*/, const int8_t max_beep_count/*=0*/, + const bool show_lcd/*=false*/, const bool pause_for_user/*=false*/, + const PauseMode mode/*=PAUSE_MODE_PAUSE_PRINT*/ + DXC_ARGS +) { + DEBUG_SECTION(lf, "load_filament", true); + DEBUG_ECHOLNPGM("... slowlen:", slow_load_length, " fastlen:", fast_load_length, " purgelen:", purge_length, " maxbeep:", max_beep_count, " showlcd:", show_lcd, " pauseforuser:", pause_for_user, " pausemode:", mode DXC_SAY); + + if (!ensure_safe_temperature(false, mode)) { + if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_STATUS, mode); + return false; + } + + if (pause_for_user) { + if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_INSERT, mode); + SERIAL_ECHO_MSG(_PMSG(STR_FILAMENT_CHANGE_INSERT)); + + first_impatient_beep(max_beep_count); + + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; // LCD click or M108 will clear this + + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("Load Filament"))); + + #if ENABLED(HOST_PROMPT_SUPPORT) + const char tool = '0' + TERN0(MULTI_FILAMENT_SENSOR, active_extruder); + hostui.prompt_do(PROMPT_USER_CONTINUE, F("Load Filament T"), tool, FPSTR(CONTINUE_STR)); + #endif + + while (wait_for_user) { + impatient_beep(max_beep_count); + #if BOTH(FILAMENT_CHANGE_RESUME_ON_INSERT, FILAMENT_RUNOUT_SENSOR) + #if MULTI_FILAMENT_SENSOR + #define _CASE_INSERTED(N) case N-1: if (READ(FIL_RUNOUT##N##_PIN) != FIL_RUNOUT##N##_STATE) wait_for_user = false; break; + switch (active_extruder) { + REPEAT_1(NUM_RUNOUT_SENSORS, _CASE_INSERTED) + } + #else + if (READ(FIL_RUNOUT_PIN) != TERN(ProUIex, HMI_data.Runout_active_state, FIL_RUNOUT_STATE)) wait_for_user = false; + #endif + #endif + idle_no_sleep(); + } + } + + if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_LOAD, mode); + + #if ENABLED(DUAL_X_CARRIAGE) + const int8_t saved_ext = active_extruder; + const bool saved_ext_dup_mode = extruder_duplication_enabled; + set_duplication_enabled(false, DXC_ext); + #endif + + TERN_(BELTPRINTER, do_blocking_move_to_xy(0.00, 50.00)); + + // Slow Load filament + if (slow_load_length) unscaled_e_move(slow_load_length, FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE); + + // Fast Load Filament + if (fast_load_length) { + #if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0 + const float saved_acceleration = planner.settings.retract_acceleration; + planner.settings.retract_acceleration = FILAMENT_CHANGE_FAST_LOAD_ACCEL; + #endif + + unscaled_e_move(fast_load_length, FILAMENT_CHANGE_FAST_LOAD_FEEDRATE); + + #if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0 + planner.settings.retract_acceleration = saved_acceleration; + #endif + } + + #if ENABLED(DUAL_X_CARRIAGE) // Tie the two extruders movement back together. + set_duplication_enabled(saved_ext_dup_mode, saved_ext); + #endif + + #if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE) + + if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_PURGE); + + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_FILAMENT_CHANGE_PURGE))); + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_FILAMENT_CHANGE_PURGE), FPSTR(CONTINUE_STR))); + wait_for_user = true; // A click or M108 breaks the purge_length loop + for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count) + unscaled_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE); + wait_for_user = false; + + #else + + do { + if (purge_length > 0) { + // "Wait for filament purge" + if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_PURGE); + + // Extrude filament to get into hotend + unscaled_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE); + } + + TERN_(HOST_PROMPT_SUPPORT, hostui.filament_load_prompt()); // Initiate another host prompt. + + #if M600_PURGE_MORE_RESUMABLE + if (show_lcd) { + // Show "Purge More" / "Resume" menu and wait for reply + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = false; + #if EITHER(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) + ui.pause_show_message(PAUSE_MESSAGE_OPTION); // Also sets PAUSE_RESPONSE_WAIT_FOR + #else + pause_menu_response = PAUSE_RESPONSE_WAIT_FOR; + #endif + while (pause_menu_response == PAUSE_RESPONSE_WAIT_FOR) idle_no_sleep(); + } + #endif + + // Keep looping if "Purge More" was selected + } while (TERN0(M600_PURGE_MORE_RESUMABLE, pause_menu_response == PAUSE_RESPONSE_EXTRUDE_MORE)); + + #endif + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_end()); + + return true; +} + +/** + * Disabling E steppers for manual filament change should be fine + * as long as users don't spin the E motor ridiculously fast and + * send current back to their board, potentially frying it. + */ +inline void disable_active_extruder() { + #if HAS_EXTRUDERS + stepper.DISABLE_EXTRUDER(active_extruder); + safe_delay(100); + #endif +} + +/** + * Unload filament from the hotend + * + * - Fail if the a safe temperature was not reached + * - Show "wait for unload" placard + * - Retract, pause, then unload filament + * - Disable E stepper (on most machines) + * + * Returns 'true' if unload was completed, 'false' for abort + */ +bool unload_filament(const_float_t unload_length, const bool show_lcd/*=false*/, + const PauseMode mode/*=PAUSE_MODE_PAUSE_PRINT*/ + #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + , const_float_t mix_multiplier/*=1.0*/ + #endif +) { + DEBUG_SECTION(uf, "unload_filament", true); + DEBUG_ECHOLNPGM("... unloadlen:", unload_length, " showlcd:", show_lcd, " mode:", mode + #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + , " mixmult:", mix_multiplier + #endif + ); + + #if !BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + constexpr float mix_multiplier = 1.0f; + #endif + + if (!ensure_safe_temperature(false, mode)) { + if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_STATUS); + return false; + } + + if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_UNLOAD, mode); + + // Retract filament + unscaled_e_move(-(FILAMENT_UNLOAD_PURGE_RETRACT) * mix_multiplier, (PAUSE_PARK_RETRACT_FEEDRATE) * mix_multiplier); + + // Wait for filament to cool + safe_delay(FILAMENT_UNLOAD_PURGE_DELAY); + + // Quickly purge + unscaled_e_move((FILAMENT_UNLOAD_PURGE_RETRACT + FILAMENT_UNLOAD_PURGE_LENGTH) * mix_multiplier, + (FILAMENT_UNLOAD_PURGE_FEEDRATE) * mix_multiplier); + + // Unload filament + #if FILAMENT_CHANGE_UNLOAD_ACCEL > 0 + const float saved_acceleration = planner.settings.retract_acceleration; + planner.settings.retract_acceleration = FILAMENT_CHANGE_UNLOAD_ACCEL; + #endif + + unscaled_e_move(unload_length * mix_multiplier, (FILAMENT_CHANGE_UNLOAD_FEEDRATE) * mix_multiplier); + + #if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0 + planner.settings.retract_acceleration = saved_acceleration; + #endif + + // Disable the Extruder for manual change + disable_active_extruder(); + + return true; +} + +// public: + +/** + * Pause procedure + * + * - Abort if already paused + * - Send host action for pause, if configured + * - Abort if TARGET temperature is too low + * - Display "wait for start of filament change" (if a length was specified) + * - Initial retract, if current temperature is hot enough + * - Park the nozzle at the given position + * - Call unload_filament (if a length was specified) + * + * Return 'true' if pause was completed, 'false' for abort + */ +uint8_t did_pause_print = 0; + +bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool show_lcd/*=false*/, const_float_t unload_length/*=0*/ DXC_ARGS) { + DEBUG_SECTION(pp, "pause_print", true); + DEBUG_ECHOLNPGM("... park.x:", park_point.x, " y:", park_point.y, " z:", park_point.z, " unloadlen:", unload_length, " showlcd:", show_lcd DXC_SAY); + + UNUSED(show_lcd); + + if (did_pause_print) return false; // already paused + + #if ENABLED(HOST_ACTION_COMMANDS) + #ifdef ACTION_ON_PAUSED + hostui.paused(); + #elif defined(ACTION_ON_PAUSE) + hostui.pause(); + #endif + #endif + + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_open(PROMPT_INFO, F("Pause"), FPSTR(DISMISS_STR))); + + // Indicate that the printer is paused + ++did_pause_print; + + // Pause the print job and timer + #if ENABLED(SDSUPPORT) + const bool was_sd_printing = IS_SD_PRINTING(); + if (was_sd_printing) { + card.pauseSDPrint(); + ++did_pause_print; // Indicate SD pause also + } + #endif + + print_job_timer.pause(); + + // Save current position + resume_position = current_position; + + // Will the nozzle be parking? + const bool do_park = !axes_should_home(); + + #if ENABLED(POWER_LOSS_RECOVERY) + // Save PLR info in case the power goes out while parked + const float park_raise = do_park ? nozzle.park_mode_0_height(park_point.z) - current_position.z : POWER_LOSS_ZRAISE; + if (was_sd_printing && recovery.enabled) recovery.save(true, park_raise, do_park); + #endif + + // Wait for buffered blocks to complete + planner.synchronize(); + + #if ENABLED(ADVANCED_PAUSE_FANS_PAUSE) && HAS_FAN + thermalManager.set_fans_paused(true); + #endif + + // Initial retract before move to filament change position + if (retract && thermalManager.hotEnoughToExtrude(active_extruder)) { + DEBUG_ECHOLNPGM("... retract:", retract); + + #if ENABLED(AUTO_BED_LEVELING_UBL) + const bool leveling_was_enabled = planner.leveling_active; // save leveling state + set_bed_leveling_enabled(false); // turn off leveling + #endif + + unscaled_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE); + + TERN_(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(leveling_was_enabled)); // restore leveling + } + + // If axes don't need to home then the nozzle can park + if (do_park) nozzle.park(0, park_point); // Park the nozzle by doing a Minimum Z Raise followed by an XY Move + TERN_(DWIN_LCD_PROUI, if (!do_park) ui.set_status(GET_TEXT_F(MSG_PARK_FAILED))); + + #if ENABLED(DUAL_X_CARRIAGE) + const int8_t saved_ext = active_extruder; + const bool saved_ext_dup_mode = extruder_duplication_enabled; + set_duplication_enabled(false, DXC_ext); + #endif + + // Unload the filament, if specified + if (unload_length) + unload_filament(unload_length, show_lcd, PAUSE_MODE_CHANGE_FILAMENT); + + TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext)); + + // Disable the Extruder for manual change + disable_active_extruder(); + + return true; +} + +/** + * For Paused Print: + * - Show "Press button (or M108) to resume" + * + * For Filament Change: + * - Show "Insert filament and press button to continue" + * + * - Wait for a click before returning + * - Heaters can time out and must reheat before continuing + * + * Used by M125 and M600 + */ + +void show_continue_prompt(const bool is_reload) { + DEBUG_SECTION(scp, "pause_print", true); + DEBUG_ECHOLNPGM("... is_reload:", is_reload); + + ui.pause_show_message(is_reload ? PAUSE_MESSAGE_INSERT : PAUSE_MESSAGE_WAITING); + SERIAL_ECHO_START(); + SERIAL_ECHOF(is_reload ? F(_PMSG(STR_FILAMENT_CHANGE_INSERT) "\n") : F(_PMSG(STR_FILAMENT_CHANGE_WAIT) "\n")); +} + +void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep_count/*=0*/ DXC_ARGS) { + DEBUG_SECTION(wfc, "wait_for_confirmation", true); + DEBUG_ECHOLNPGM("... is_reload:", is_reload, " maxbeep:", max_beep_count DXC_SAY); + + bool nozzle_timed_out = false; + + show_continue_prompt(is_reload); + + first_impatient_beep(max_beep_count); + + // Start the heater idle timers + const millis_t nozzle_timeout = SEC_TO_MS(PAUSE_PARK_NOZZLE_TIMEOUT); + + HOTEND_LOOP() thermalManager.heater_idle[e].start(nozzle_timeout); + + #if ENABLED(DUAL_X_CARRIAGE) + const int8_t saved_ext = active_extruder; + const bool saved_ext_dup_mode = extruder_duplication_enabled; + set_duplication_enabled(false, DXC_ext); + #endif + + // Wait for filament insert by user and press button + KEEPALIVE_STATE(PAUSED_FOR_USER); + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_NOZZLE_PARKED), FPSTR(CONTINUE_STR))); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_NOZZLE_PARKED))); + wait_for_user = true; // LCD click or M108 will clear this + while (wait_for_user) { + impatient_beep(max_beep_count); + + // If the nozzle has timed out... + if (!nozzle_timed_out) + HOTEND_LOOP() nozzle_timed_out |= thermalManager.heater_idle[e].timed_out; + + // Wait for the user to press the button to re-heat the nozzle, then + // re-heat the nozzle, re-show the continue prompt, restart idle timers, start over + if (nozzle_timed_out) { + ui.pause_show_message(PAUSE_MESSAGE_HEAT); + SERIAL_ECHO_MSG(_PMSG(STR_FILAMENT_CHANGE_HEAT)); + + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_HEATER_TIMEOUT), GET_TEXT_F(MSG_REHEAT))); + + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_HEATER_TIMEOUT))); + + TERN_(HAS_RESUME_CONTINUE, wait_for_user_response(0, true)); // Wait for LCD click or M108 + + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_INFO, GET_TEXT_F(MSG_REHEATING))); + + TERN_(EXTENSIBLE_UI, ExtUI::onStatusChanged(GET_TEXT_F(MSG_REHEATING))); + + TERN_(DWIN_LCD_PROUI, LCD_MESSAGE(MSG_REHEATING)); + + // Re-enable the heaters if they timed out + HOTEND_LOOP() thermalManager.reset_hotend_idle_timer(e); + + // Wait for the heaters to reach the target temperatures + ensure_safe_temperature(false); + + // Show the prompt to continue + show_continue_prompt(is_reload); + + // Start the heater idle timers + const millis_t nozzle_timeout = SEC_TO_MS(PAUSE_PARK_NOZZLE_TIMEOUT); + + HOTEND_LOOP() thermalManager.heater_idle[e].start(nozzle_timeout); + + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_REHEATDONE), FPSTR(CONTINUE_STR))); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_REHEATDONE))); + TERN_(DWIN_LCD_PROUI, LCD_MESSAGE(MSG_REHEATDONE)); + + IF_DISABLED(PAUSE_REHEAT_FAST_RESUME, wait_for_user = true); + + nozzle_timed_out = false; + first_impatient_beep(max_beep_count); + } + idle_no_sleep(); + } + TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext)); +} + +/** + * Resume or Start print procedure + * + * - If not paused, do nothing and return + * - Reset heater idle timers + * - Load filament if specified, but only if: + * - a nozzle timed out, or + * - the nozzle is already heated. + * - Display "wait for print to resume" + * - Retract to prevent oozing + * - Move the nozzle back to resume_position + * - Unretract + * - Re-prime the nozzle... + * - FWRETRACT: Recover/prime from the prior G10. + * - !FWRETRACT: Retract by resume_position.e, if negative. + * Not sure how this logic comes into use. + * - Sync the planner E to resume_position.e + * - Send host action for resume, if configured + * - Resume the current SD print job, if any + */ +void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_length/*=0*/, const_float_t purge_length/*=ADVANCED_PAUSE_PURGE_LENGTH*/, const int8_t max_beep_count/*=0*/, const celsius_t targetTemp/*=0*/ DXC_ARGS) { + DEBUG_SECTION(rp, "resume_print", true); + DEBUG_ECHOLNPGM("... slowlen:", slow_load_length, " fastlen:", fast_load_length, " purgelen:", purge_length, " maxbeep:", max_beep_count, " targetTemp:", targetTemp DXC_SAY); + + /* + SERIAL_ECHOLNPGM( + "start of resume_print()\ndual_x_carriage_mode:", dual_x_carriage_mode, + "\nextruder_duplication_enabled:", extruder_duplication_enabled, + "\nactive_extruder:", active_extruder, + "\n" + ); + //*/ + + if (!did_pause_print) return; + + // Re-enable the heaters if they timed out + bool nozzle_timed_out = false; + HOTEND_LOOP() { + nozzle_timed_out |= thermalManager.heater_idle[e].timed_out; + thermalManager.reset_hotend_idle_timer(e); + } + + if (targetTemp > thermalManager.degTargetHotend(active_extruder)) + thermalManager.setTargetHotend(targetTemp, active_extruder); + + // Load the new filament + load_filament(slow_load_length, fast_load_length, purge_length, max_beep_count, true, nozzle_timed_out, PAUSE_MODE_SAME DXC_PASS); + + if (targetTemp > 0) { + thermalManager.setTargetHotend(targetTemp, active_extruder); + thermalManager.wait_for_hotend(active_extruder, false); + } + + ui.pause_show_message(PAUSE_MESSAGE_RESUME); + + // Check Temperature before moving hotend + ensure_safe_temperature(DISABLED(BELTPRINTER)); + + // Retract to prevent oozing + unscaled_e_move(-(PAUSE_PARK_RETRACT_LENGTH), feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE)); + + if (!axes_should_home()) { + // Move XY back to saved position + destination.set(resume_position.x, resume_position.y, current_position.z, current_position.e); + prepare_internal_move_to_destination(NOZZLE_PARK_XY_FEEDRATE); + + // Move Z back to saved position + destination.z = resume_position.z; + prepare_internal_move_to_destination(NOZZLE_PARK_Z_FEEDRATE); + } + + #if ENABLED(AUTO_BED_LEVELING_UBL) + const bool leveling_was_enabled = planner.leveling_active; // save leveling state + set_bed_leveling_enabled(false); // turn off leveling + #endif + + // Unretract + unscaled_e_move(PAUSE_PARK_RETRACT_LENGTH, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE)); + + TERN_(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(leveling_was_enabled)); // restore leveling + + // Intelligent resuming + #if ENABLED(FWRETRACT) + // If retracted before goto pause + if (fwretract.retracted[active_extruder]) + unscaled_e_move(-fwretract.settings.retract_length, fwretract.settings.retract_feedrate_mm_s); + #endif + + // If resume_position is negative + if (resume_position.e < 0) unscaled_e_move(resume_position.e, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE)); + #ifdef ADVANCED_PAUSE_RESUME_PRIME + if (ADVANCED_PAUSE_RESUME_PRIME != 0) + unscaled_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE)); + #endif + + // Now all extrusion positions are resumed and ready to be confirmed + // Set extruder to saved position + planner.set_e_position_mm((destination.e = current_position.e = resume_position.e)); + + ui.pause_show_message(PAUSE_MESSAGE_STATUS); + + #ifdef ACTION_ON_RESUMED + hostui.resumed(); + #elif defined(ACTION_ON_RESUME) + hostui.resume(); + #endif + + --did_pause_print; + + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_open(PROMPT_INFO, F("Resuming"), FPSTR(DISMISS_STR))); + + // Resume the print job timer if it was running + if (print_job_timer.isPaused()) print_job_timer.start(); + + #if ENABLED(SDSUPPORT) + if (did_pause_print) { + --did_pause_print; + card.startOrResumeFilePrinting(); + // Write PLR now to update the z axis value + TERN_(POWER_LOSS_RECOVERY, if (recovery.enabled) recovery.save(true)); + } + #endif + + #if ENABLED(ADVANCED_PAUSE_FANS_PAUSE) && HAS_FAN + thermalManager.set_fans_paused(false); + #endif + + TERN_(HAS_FILAMENT_SENSOR, runout.reset()); + + ui.reset_status(); + ui.return_to_status(); +} + +#endif // ADVANCED_PAUSE_FEATURE diff --git a/Marlin/src/feature/pause.h b/Marlin/src/feature/pause.h new file mode 100644 index 0000000000..134b1d1b32 --- /dev/null +++ b/Marlin/src/feature/pause.h @@ -0,0 +1,129 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/pause.h - Pause feature support functions + * This may be combined with related G-codes if features are consolidated. + */ + +typedef struct { + float unload_length, load_length; +} fil_change_settings_t; + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(ADVANCED_PAUSE_FEATURE) + +#include "../libs/nozzle.h" + +enum PauseMode : char { + PAUSE_MODE_SAME, + PAUSE_MODE_PAUSE_PRINT, + PAUSE_MODE_CHANGE_FILAMENT, + PAUSE_MODE_LOAD_FILAMENT, + PAUSE_MODE_UNLOAD_FILAMENT +}; + +enum PauseMessage : char { + PAUSE_MESSAGE_PARKING, + PAUSE_MESSAGE_CHANGING, + PAUSE_MESSAGE_WAITING, + PAUSE_MESSAGE_UNLOAD, + PAUSE_MESSAGE_INSERT, + PAUSE_MESSAGE_LOAD, + PAUSE_MESSAGE_PURGE, + PAUSE_MESSAGE_OPTION, + PAUSE_MESSAGE_RESUME, + PAUSE_MESSAGE_STATUS, + PAUSE_MESSAGE_HEAT, + PAUSE_MESSAGE_HEATING +}; + +#if M600_PURGE_MORE_RESUMABLE + enum PauseMenuResponse : char { + PAUSE_RESPONSE_WAIT_FOR, + PAUSE_RESPONSE_EXTRUDE_MORE, + PAUSE_RESPONSE_RESUME_PRINT + }; + extern PauseMenuResponse pause_menu_response; + extern PauseMode pause_mode; +#endif + +extern fil_change_settings_t fc_settings[EXTRUDERS]; + +extern uint8_t did_pause_print; + +#define DXC_PARAMS OPTARG(DUAL_X_CARRIAGE, const int8_t DXC_ext=-1) +#define DXC_ARGS OPTARG(DUAL_X_CARRIAGE, const int8_t DXC_ext) +#define DXC_PASS OPTARG(DUAL_X_CARRIAGE, DXC_ext) +#define DXC_SAY OPTARG(DUAL_X_CARRIAGE, " dxc:", int(DXC_ext)) + +// Pause the print. If unload_length is set, do a Filament Unload +bool pause_print( + const_float_t retract, // (mm) Retraction length + const xyz_pos_t &park_point, // Parking XY Position and Z Raise + const bool show_lcd=false, // Set LCD status messages? + const_float_t unload_length=0 // (mm) Filament Change Unload Length - 0 to skip + DXC_PARAMS // Dual-X-Carriage extruder index +); + +void wait_for_confirmation( + const bool is_reload=false, // Reload Filament? (otherwise Resume Print) + const int8_t max_beep_count=0 // Beep alert for attention + DXC_PARAMS // Dual-X-Carriage extruder index +); + +void resume_print( + const_float_t slow_load_length=0, // (mm) Slow Load Length for finishing move + const_float_t fast_load_length=0, // (mm) Fast Load Length for initial move + const_float_t extrude_length=ADVANCED_PAUSE_PURGE_LENGTH, // (mm) Purge length + const int8_t max_beep_count=0, // Beep alert for attention + const celsius_t targetTemp=0 // (°C) A target temperature for the hotend + DXC_PARAMS // Dual-X-Carriage extruder index +); + +bool load_filament( + const_float_t slow_load_length=0, // (mm) Slow Load Length for finishing move + const_float_t fast_load_length=0, // (mm) Fast Load Length for initial move + const_float_t extrude_length=0, // (mm) Purge length + const int8_t max_beep_count=0, // Beep alert for attention + const bool show_lcd=false, // Set LCD status messages? + const bool pause_for_user=false, // Pause for user before returning? + const PauseMode mode=PAUSE_MODE_PAUSE_PRINT // Pause Mode to apply + DXC_PARAMS // Dual-X-Carriage extruder index +); + +bool unload_filament( + const_float_t unload_length, // (mm) Filament Unload Length - 0 to skip + const bool show_lcd=false, // Set LCD status messages? + const PauseMode mode=PAUSE_MODE_PAUSE_PRINT // Pause Mode to apply + #if BOTH(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER) + , const_float_t mix_multiplier=1.0f // Extrusion multiplier (for a Mixing Extruder) + #endif +); + +#else // !ADVANCED_PAUSE_FEATURE + + constexpr uint8_t did_pause_print = 0; + +#endif // !ADVANCED_PAUSE_FEATURE diff --git a/Marlin/src/feature/power.cpp b/Marlin/src/feature/power.cpp new file mode 100644 index 0000000000..8a16628bac --- /dev/null +++ b/Marlin/src/feature/power.cpp @@ -0,0 +1,252 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * power.cpp - power control + */ + +#include "../inc/MarlinConfigPre.h" + +#if EITHER(PSU_CONTROL, AUTO_POWER_CONTROL) + +#include "power.h" +#include "../module/planner.h" +#include "../module/stepper/indirection.h" // for restore_stepper_drivers +#include "../module/temperature.h" +#include "../MarlinCore.h" + +#if ENABLED(PS_OFF_SOUND) + #include "../libs/buzzer.h" +#endif + +#if defined(PSU_POWERUP_GCODE) || defined(PSU_POWEROFF_GCODE) + #include "../gcode/gcode.h" +#endif + +Power powerManager; +bool Power::psu_on; + +#if ENABLED(AUTO_POWER_CONTROL) + #include "../module/stepper.h" + #include "../module/temperature.h" + + #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) + #include "controllerfan.h" + #endif + + millis_t Power::lastPowerOn; +#endif + +/** + * Initialize pins & state for the power manager. + * + */ +void Power::init() { + psu_on = ENABLED(PSU_DEFAULT_OFF); // Set opposite state to get full power_off/on + TERN(PSU_DEFAULT_OFF, power_off(), power_on()); +} + +/** + * Power on if the power is currently off. + * Restores stepper drivers and processes any PSU_POWERUP_GCODE. + * + */ +void Power::power_on() { + #if ENABLED(AUTO_POWER_CONTROL) + const millis_t now = millis(); + lastPowerOn = now + !now; + #endif + + if (psu_on) return; + + #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + cancelAutoPowerOff(); + #endif + + OUT_WRITE(PS_ON_PIN, PSU_ACTIVE_STATE); + psu_on = true; + safe_delay(PSU_POWERUP_DELAY); + restore_stepper_drivers(); + TERN_(HAS_TRINAMIC_CONFIG, safe_delay(PSU_POWERUP_DELAY)); + + #ifdef PSU_POWERUP_GCODE + gcode.process_subcommands_now(F(PSU_POWERUP_GCODE)); + #endif +} + +/** + * Power off if the power is currently on. + * Processes any PSU_POWEROFF_GCODE and makes a PS_OFF_SOUND if enabled. + */ +void Power::power_off() { + SERIAL_ECHOLNPGM(STR_POWEROFF); + + TERN_(HAS_SUICIDE, suicide()); + + if (!psu_on) return; + + #ifdef PSU_POWEROFF_GCODE + gcode.process_subcommands_now(F(PSU_POWEROFF_GCODE)); + #endif + + #if ENABLED(PS_OFF_SOUND) + BUZZ(1000, 659); + #endif + + OUT_WRITE(PS_ON_PIN, !PSU_ACTIVE_STATE); + psu_on = false; + + #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + cancelAutoPowerOff(); + #endif +} + +#if EITHER(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN) + + bool Power::is_cooling_needed() { + #if HAS_HOTEND && AUTO_POWER_E_TEMP + HOTEND_LOOP() if (thermalManager.degHotend(e) >= (AUTO_POWER_E_TEMP)) return true; + #endif + + #if HAS_HEATED_CHAMBER && AUTO_POWER_CHAMBER_TEMP + if (thermalManager.degChamber() >= (AUTO_POWER_CHAMBER_TEMP)) return true; + #endif + + #if HAS_COOLER && AUTO_POWER_COOLER_TEMP + if (thermalManager.degCooler() >= (AUTO_POWER_COOLER_TEMP)) return true; + #endif + + return false; + } + +#endif + +#if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + + #if ENABLED(POWER_OFF_TIMER) + millis_t Power::power_off_time = 0; + void Power::setPowerOffTimer(const millis_t delay_ms) { power_off_time = millis() + delay_ms; } + #endif + + #if ENABLED(POWER_OFF_WAIT_FOR_COOLDOWN) + bool Power::power_off_on_cooldown = false; + void Power::setPowerOffOnCooldown(const bool ena) { power_off_on_cooldown = ena; } + #endif + + void Power::cancelAutoPowerOff() { + TERN_(POWER_OFF_TIMER, power_off_time = 0); + TERN_(POWER_OFF_WAIT_FOR_COOLDOWN, power_off_on_cooldown = false); + } + + void Power::checkAutoPowerOff() { + if (TERN1(POWER_OFF_TIMER, !power_off_time) && TERN1(POWER_OFF_WAIT_FOR_COOLDOWN, !power_off_on_cooldown)) return; + if (TERN0(POWER_OFF_WAIT_FOR_COOLDOWN, power_off_on_cooldown && is_cooling_needed())) return; + if (TERN0(POWER_OFF_TIMER, power_off_time && PENDING(millis(), power_off_time))) return; + power_off(); + } + +#endif // POWER_OFF_TIMER || POWER_OFF_WAIT_FOR_COOLDOWN + +#if ENABLED(AUTO_POWER_CONTROL) + + #ifndef POWER_TIMEOUT + #define POWER_TIMEOUT 0 + #endif + + /** + * Check all conditions that would signal power needing to be on. + * + * @returns bool if power is needed + */ + bool Power::is_power_needed() { + + // If any of the stepper drivers are enabled... + if (stepper.axis_enabled.bits) return true; + + if (printJobOngoing() || printingIsPaused()) return true; + + #if ENABLED(AUTO_POWER_FANS) + FANS_LOOP(i) if (thermalManager.fan_speed[i]) return true; + #endif + + #if ENABLED(AUTO_POWER_E_FANS) + HOTEND_LOOP() if (thermalManager.autofan_speed[e]) return true; + #endif + + #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) + if (controllerFan.state()) return true; + #endif + + if (TERN0(AUTO_POWER_CHAMBER_FAN, thermalManager.chamberfan_speed)) + return true; + + if (TERN0(AUTO_POWER_COOLER_FAN, thermalManager.coolerfan_speed)) + return true; + + #if HAS_HOTEND + HOTEND_LOOP() if (thermalManager.degTargetHotend(e) > 0 || thermalManager.temp_hotend[e].soft_pwm_amount > 0) return true; + #endif + + if (TERN0(HAS_HEATED_BED, thermalManager.degTargetBed() > 0 || thermalManager.temp_bed.soft_pwm_amount > 0)) return true; + + return is_cooling_needed(); + } + + /** + * Check if we should power off automatically (POWER_TIMEOUT elapsed, !is_power_needed). + * + * @param pause pause the 'timer' + */ + void Power::check(const bool pause) { + static millis_t nextPowerCheck = 0; + const millis_t now = millis(); + #if POWER_TIMEOUT > 0 + static bool _pause = false; + if (pause != _pause) { + lastPowerOn = now + !now; + _pause = pause; + } + if (pause) return; + #endif + if (ELAPSED(now, nextPowerCheck)) { + nextPowerCheck = now + 2500UL; + if (is_power_needed()) + power_on(); + else if (!lastPowerOn || (POWER_TIMEOUT > 0 && ELAPSED(now, lastPowerOn + SEC_TO_MS(POWER_TIMEOUT)))) + power_off(); + } + } + + #if POWER_OFF_DELAY > 0 + + /** + * Power off with a delay. Power off is triggered by check() after the delay. + */ + void Power::power_off_soon() { + lastPowerOn = millis() - SEC_TO_MS(POWER_TIMEOUT) + SEC_TO_MS(POWER_OFF_DELAY); + } + + #endif + +#endif // AUTO_POWER_CONTROL + +#endif // PSU_CONTROL || AUTO_POWER_CONTROL diff --git a/Marlin/src/feature/power.h b/Marlin/src/feature/power.h new file mode 100644 index 0000000000..839366ca60 --- /dev/null +++ b/Marlin/src/feature/power.h @@ -0,0 +1,72 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * power.h - power control + */ + +#if EITHER(AUTO_POWER_CONTROL, POWER_OFF_TIMER) + #include "../core/millis_t.h" +#endif + +class Power { + public: + static bool psu_on; + + static void init(); + static void power_on(); + static void power_off(); + + #if EITHER(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN) + #if ENABLED(POWER_OFF_TIMER) + static millis_t power_off_time; + static void setPowerOffTimer(const millis_t delay_ms); + #endif + #if ENABLED(POWER_OFF_WAIT_FOR_COOLDOWN) + static bool power_off_on_cooldown; + static void setPowerOffOnCooldown(const bool ena); + #endif + static void cancelAutoPowerOff(); + static void checkAutoPowerOff(); + #endif + + #if ENABLED(AUTO_POWER_CONTROL) && POWER_OFF_DELAY > 0 + static void power_off_soon(); + #else + static void power_off_soon() { power_off(); } + #endif + + #if ENABLED(AUTO_POWER_CONTROL) + static void check(const bool pause); + + private: + static millis_t lastPowerOn; + static bool is_power_needed(); + static bool is_cooling_needed(); + #elif ENABLED(POWER_OFF_WAIT_FOR_COOLDOWN) + private: + static bool is_cooling_needed(); + #endif +}; + +extern Power powerManager; diff --git a/Marlin/src/feature/power_monitor.cpp b/Marlin/src/feature/power_monitor.cpp new file mode 100644 index 0000000000..e3c3e58fc4 --- /dev/null +++ b/Marlin/src/feature/power_monitor.cpp @@ -0,0 +1,78 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if HAS_POWER_MONITOR + +#include "power_monitor.h" + +#if HAS_MARLINUI_MENU + #include "../lcd/marlinui.h" + #include "../lcd/lcdprint.h" +#endif + +#include "../libs/numtostr.h" + +uint8_t PowerMonitor::flags; // = 0 + +#if ENABLED(POWER_MONITOR_CURRENT) + pm_lpf_t PowerMonitor::amps; +#endif +#if ENABLED(POWER_MONITOR_VOLTAGE) + pm_lpf_t PowerMonitor::volts; +#endif + +millis_t PowerMonitor::display_item_ms; +uint8_t PowerMonitor::display_item; + +PowerMonitor power_monitor; // Single instance - this calls the constructor + +#if HAS_MARLINUI_U8GLIB + + #if ENABLED(POWER_MONITOR_CURRENT) + void PowerMonitor::draw_current() { + const float amps = getAmps(); + lcd_put_u8str(amps < 100 ? ftostr31ns(amps) : ui16tostr4rj((uint16_t)amps)); + lcd_put_u8str(F("A")); + } + #endif + + #if ENABLED(POWER_MONITOR_VOLTAGE) + void PowerMonitor::draw_voltage() { + const float volts = getVolts(); + lcd_put_u8str(volts < 100 ? ftostr31ns(volts) : ui16tostr4rj((uint16_t)volts)); + lcd_put_u8str(F("V")); + } + #endif + + #if HAS_POWER_MONITOR_WATTS + void PowerMonitor::draw_power() { + const float power = getPower(); + lcd_put_u8str(power < 100 ? ftostr31ns(power) : ui16tostr4rj((uint16_t)power)); + lcd_put_u8str(F("W")); + } + #endif + +#endif // HAS_MARLINUI_U8GLIB + +#endif // HAS_POWER_MONITOR diff --git a/Marlin/src/feature/power_monitor.h b/Marlin/src/feature/power_monitor.h new file mode 100644 index 0000000000..fa06909053 --- /dev/null +++ b/Marlin/src/feature/power_monitor.h @@ -0,0 +1,138 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +#define PM_SAMPLE_RANGE HAL_ADC_RANGE +#define PM_K_VALUE 6 +#define PM_K_SCALE 6 + +template +struct pm_lpf_t { + uint32_t filter_buf; + float value; + void add_sample(const uint16_t sample) { + filter_buf += (uint32_t(sample) << K_SCALE) - (filter_buf >> K_VALUE); + } + void capture() { + value = filter_buf * (SCALE * (1.0f / (1UL << (PM_K_VALUE + PM_K_SCALE)))); + } + void reset(uint16_t reset_value = 0) { + filter_buf = uint32_t(reset_value) << (K_VALUE + K_SCALE); + capture(); + } +}; + +class PowerMonitor { +private: + #if ENABLED(POWER_MONITOR_CURRENT) + static constexpr float amps_adc_scale = float(ADC_VREF) / (POWER_MONITOR_VOLTS_PER_AMP * PM_SAMPLE_RANGE); + static pm_lpf_t amps; + #endif + #if ENABLED(POWER_MONITOR_VOLTAGE) + static constexpr float volts_adc_scale = float(ADC_VREF) / (POWER_MONITOR_VOLTS_PER_VOLT * PM_SAMPLE_RANGE); + static pm_lpf_t volts; + #endif + +public: + static uint8_t flags; // M430 flags to display current + + static millis_t display_item_ms; + static uint8_t display_item; + + PowerMonitor() { reset(); } + + enum PM_Display_Bit : uint8_t { + PM_DISP_BIT_I, // Current display enable bit + PM_DISP_BIT_V, // Voltage display enable bit + PM_DISP_BIT_P // Power display enable bit + }; + + #if ENABLED(POWER_MONITOR_CURRENT) + FORCE_INLINE static float getAmps() { return amps.value + (POWER_MONITOR_CURRENT_OFFSET); } + void add_current_sample(const uint16_t value) { amps.add_sample(value); } + #endif + + #if ENABLED(POWER_MONITOR_VOLTAGE) + FORCE_INLINE static float getVolts() { return volts.value + (POWER_MONITOR_VOLTAGE_OFFSET); } + void add_voltage_sample(const uint16_t value) { volts.add_sample(value); } + #else + FORCE_INLINE static float getVolts() { return POWER_MONITOR_FIXED_VOLTAGE; } + #endif + + #if HAS_POWER_MONITOR_WATTS + FORCE_INLINE static float getPower() { return getAmps() * getVolts(); } + #endif + + #if HAS_WIRED_LCD + #if HAS_MARLINUI_U8GLIB && DISABLED(LIGHTWEIGHT_UI) + FORCE_INLINE static bool display_enabled() { return flags != 0x00; } + #endif + #if ENABLED(POWER_MONITOR_CURRENT) + static void draw_current(); + FORCE_INLINE static bool current_display_enabled() { return TEST(flags, PM_DISP_BIT_I); } + FORCE_INLINE static void set_current_display(const bool b) { SET_BIT_TO(flags, PM_DISP_BIT_I, b); } + FORCE_INLINE static void toggle_current_display() { TBI(flags, PM_DISP_BIT_I); } + #endif + #if ENABLED(POWER_MONITOR_VOLTAGE) + static void draw_voltage(); + FORCE_INLINE static bool voltage_display_enabled() { return TEST(flags, PM_DISP_BIT_V); } + FORCE_INLINE static void set_voltage_display(const bool b) { SET_BIT_TO(flags, PM_DISP_BIT_V, b); } + FORCE_INLINE static void toggle_voltage_display() { TBI(flags, PM_DISP_BIT_V); } + #endif + #if HAS_POWER_MONITOR_WATTS + static void draw_power(); + FORCE_INLINE static bool power_display_enabled() { return TEST(flags, PM_DISP_BIT_P); } + FORCE_INLINE static void set_power_display(const bool b) { SET_BIT_TO(flags, PM_DISP_BIT_P, b); } + FORCE_INLINE static void toggle_power_display() { TBI(flags, PM_DISP_BIT_P); } + #endif + #endif + + static void reset() { + flags = 0x00; + + #if ENABLED(POWER_MONITOR_CURRENT) + amps.reset(); + #endif + + #if ENABLED(POWER_MONITOR_VOLTAGE) + volts.reset(); + #endif + + #if ENABLED(SDSUPPORT) + display_item_ms = 0; + display_item = 0; + #endif + } + + static void capture_values() { + #if ENABLED(POWER_MONITOR_CURRENT) + amps.capture(); + #endif + #if ENABLED(POWER_MONITOR_VOLTAGE) + volts.capture(); + #endif + } +}; + +extern PowerMonitor power_monitor; diff --git a/Marlin/src/feature/powerloss.cpp b/Marlin/src/feature/powerloss.cpp new file mode 100644 index 0000000000..6a784791c9 --- /dev/null +++ b/Marlin/src/feature/powerloss.cpp @@ -0,0 +1,750 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * feature/powerloss.cpp - Resume an SD print after power-loss + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(POWER_LOSS_RECOVERY) + +#include "powerloss.h" +#include "../core/macros.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + +bool PrintJobRecovery::enabled; // Initialized by settings.load() + +MediaFile PrintJobRecovery::file; +job_recovery_info_t PrintJobRecovery::info; +const char PrintJobRecovery::filename[5] = "/PLR"; +uint8_t PrintJobRecovery::queue_index_r; +uint32_t PrintJobRecovery::cmd_sdpos, // = 0 + PrintJobRecovery::sdpos[BUFSIZE]; + +#if HAS_DWIN_E3V2_BASIC + bool PrintJobRecovery::dwin_flag; // = false +#endif + +#include "../sd/cardreader.h" +#include "../lcd/marlinui.h" +#include "../gcode/queue.h" +#include "../gcode/gcode.h" +#include "../module/motion.h" +#include "../module/planner.h" +#include "../module/printcounter.h" +#include "../module/temperature.h" +#include "../core/serial.h" + +#if HOMING_Z_WITH_PROBE + #include "../module/probe.h" +#endif + +#if ENABLED(FWRETRACT) + #include "fwretract.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_POWER_LOSS_RECOVERY) +#include "../core/debug_out.h" + +#if ENABLED(DWIN_LCD_PROUI) + #include "../lcd/e3v2/proui/dwin_popup.h" +#endif + +PrintJobRecovery recovery; + +#ifndef POWER_LOSS_PURGE_LEN + #define POWER_LOSS_PURGE_LEN 0 +#endif + +#if DISABLED(BACKUP_POWER_SUPPLY) + #undef POWER_LOSS_RETRACT_LEN // No retract at outage without backup power +#endif +#ifndef POWER_LOSS_RETRACT_LEN + #define POWER_LOSS_RETRACT_LEN 0 +#endif + +// Allow power-loss recovery to be aborted +#define PLR_CAN_ABORT +#if ENABLED(PLR_CAN_ABORT) + #define PROCESS_SUBCOMMANDS_NOW(cmd) do { if (card.flag.abort_sd_printing) return; gcode.process_subcommands_now(cmd); }while(0) +#else + #define PROCESS_SUBCOMMANDS_NOW(cmd) gcode.process_subcommands_now(cmd) +#endif + +/** + * Clear the recovery info + */ +void PrintJobRecovery::init() { memset(&info, 0, sizeof(info)); } + +/** + * Enable or disable then call changed() + */ +void PrintJobRecovery::enable(const bool onoff) { + enabled = onoff; + changed(); +} + +/** + * The enabled state was changed: + * - Enabled: Purge the job recovery file + * - Disabled: Write the job recovery file + */ +void PrintJobRecovery::changed() { + if (!enabled) + purge(); + else if (IS_SD_PRINTING()) + save(true); +} + +/** + * Check for Print Job Recovery during setup() + * + * If a saved state exists send 'M1000 S' to initiate job recovery. + */ +bool PrintJobRecovery::check() { + //if (!card.isMounted()) card.mount(); + bool success = false; + if (card.isMounted()) { + load(); + success = valid(); + if (!success) + cancel(); + else + queue.inject(F("M1000S")); + } + return success; +} + +/** + * Delete the recovery file and clear the recovery data + */ +void PrintJobRecovery::purge() { + init(); + card.removeJobRecoveryFile(); +} + +/** + * Load the recovery data, if it exists + */ +void PrintJobRecovery::load() { + if (exists()) { + open(true); + (void)file.read(&info, sizeof(info)); + close(); + } + debug(F("Load")); +} + +/** + * Set info fields that won't change + */ +void PrintJobRecovery::prepare() { + card.getAbsFilenameInCWD(info.sd_filename); // SD filename + cmd_sdpos = 0; +} + +/** + * Save the current machine state to the power-loss recovery file + */ +void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POWER_LOSS_ZRAISE*/, const bool raised/*=false*/) { + + // We don't check IS_SD_PRINTING here so a save may occur during a pause + + #if SAVE_INFO_INTERVAL_MS > 0 + static millis_t next_save_ms; // = 0 + millis_t ms = millis(); + #endif + + #ifndef POWER_LOSS_MIN_Z_CHANGE + #define POWER_LOSS_MIN_Z_CHANGE 0.05 // Vase-mode-friendly out of the box + #endif + + // Did Z change since the last call? + if (force + #if DISABLED(SAVE_EACH_CMD_MODE) // Always save state when enabled + #if SAVE_INFO_INTERVAL_MS > 0 // Save if interval is elapsed + || ELAPSED(ms, next_save_ms) + #endif + // Save if Z is above the last-saved position by some minimum height + || current_position.z > info.current_position.z + POWER_LOSS_MIN_Z_CHANGE + #endif + ) { + + #if SAVE_INFO_INTERVAL_MS > 0 + next_save_ms = ms + SAVE_INFO_INTERVAL_MS; + #endif + + // Set Head and Foot to matching non-zero values + if (!++info.valid_head) ++info.valid_head; // non-zero in sequence + //if (!IS_SD_PRINTING()) info.valid_head = 0; + info.valid_foot = info.valid_head; + + // Machine state + // info.sdpos and info.current_position are pre-filled from the Stepper ISR + + info.feedrate = uint16_t(MMS_TO_MMM(feedrate_mm_s)); + info.zraise = zraise; + info.flag.raised = raised; // Was Z raised before power-off? + + TERN_(GCODE_REPEAT_MARKERS, info.stored_repeat = repeat); + TERN_(HAS_HOME_OFFSET, info.home_offset = home_offset); + TERN_(HAS_POSITION_SHIFT, info.position_shift = position_shift); + E_TERN_(info.active_extruder = active_extruder); + + #if DISABLED(NO_VOLUMETRICS) + info.flag.volumetric_enabled = parser.volumetric_enabled; + #if HAS_MULTI_EXTRUDER + EXTRUDER_LOOP() info.filament_size[e] = planner.filament_size[e]; + #else + if (parser.volumetric_enabled) info.filament_size[0] = planner.filament_size[active_extruder]; + #endif + #endif + + #if HAS_EXTRUDERS + HOTEND_LOOP() info.target_temperature[e] = thermalManager.degTargetHotend(e); + #endif + + TERN_(HAS_HEATED_BED, info.target_temperature_bed = thermalManager.degTargetBed()); + + #if HAS_FAN + COPY(info.fan_speed, thermalManager.fan_speed); + #endif + + #if HAS_LEVELING + info.flag.leveling = planner.leveling_active; + info.fade = TERN0(ENABLE_LEVELING_FADE_HEIGHT, planner.z_fade_height); + #endif + + TERN_(GRADIENT_MIX, memcpy(&info.gradient, &mixer.gradient, sizeof(info.gradient))); + + #if ENABLED(FWRETRACT) + COPY(info.retract, fwretract.current_retract); + info.retract_hop = fwretract.current_hop; + #endif + + // Elapsed print job time + info.print_job_elapsed = print_job_timer.duration(); + + // Relative axis modes + info.axis_relative = gcode.axis_relative; + + // Misc. Marlin flags + info.flag.dryrun = !!(marlin_debug_flags & MARLIN_DEBUG_DRYRUN); + info.flag.allow_cold_extrusion = TERN0(PREVENT_COLD_EXTRUSION, thermalManager.allow_cold_extrude); + + write(); + } +} + +#if PIN_EXISTS(POWER_LOSS) + + #if ENABLED(BACKUP_POWER_SUPPLY) + + void PrintJobRecovery::retract_and_lift(const_float_t zraise) { + #if POWER_LOSS_RETRACT_LEN || POWER_LOSS_ZRAISE + + gcode.set_relative_mode(true); // Use relative coordinates + + #if POWER_LOSS_RETRACT_LEN + // Retract filament now + gcode.process_subcommands_now(F("G1 F3000 E-" STRINGIFY(POWER_LOSS_RETRACT_LEN))); + #endif + + #if POWER_LOSS_ZRAISE + // Raise the Z axis now + if (zraise) { + char cmd[20], str_1[16]; + sprintf_P(cmd, PSTR("G0Z%s"), dtostrf(zraise, 1, 3, str_1)); + gcode.process_subcommands_now(cmd); + } + #else + UNUSED(zraise); + #endif + + //gcode.axis_relative = info.axis_relative; + planner.synchronize(); + #endif + } + + #endif + +#endif // POWER_LOSS_PIN + +#if PIN_EXISTS(POWER_LOSS) || ENABLED(DEBUG_POWER_LOSS_RECOVERY) + + /** + * An outage was detected by a sensor pin. + * - If not SD printing, let the machine turn off on its own with no "KILL" screen + * - Disable all heaters first to save energy + * - Save the recovery data for the current instant + * - If backup power is available Retract E and Raise Z + * - Go to the KILL screen + */ + void PrintJobRecovery::_outage(TERN_(DEBUG_POWER_LOSS_RECOVERY, const bool simulated/*=false*/)) { + #if ENABLED(BACKUP_POWER_SUPPLY) + static bool lock = false; + if (lock) return; // No re-entrance from idle() during retract_and_lift() + lock = true; + #endif + + #if POWER_LOSS_ZRAISE + // Get the limited Z-raise to do now or on resume + const float zraise = _MAX(0, _MIN(current_position.z + POWER_LOSS_ZRAISE, Z_MAX_POS - 1) - current_position.z); + #else + constexpr float zraise = 0; + #endif + + // Save the current position, distance that Z was (or should be) raised, + // and a flag whether the raise was already done here. + if (IS_SD_PRINTING()) save(true, zraise, ENABLED(BACKUP_POWER_SUPPLY)); + + // Tell the LCD about the outage, even though it is about to die + TERN_(EXTENSIBLE_UI, ExtUI::onPowerLoss()); + + // Disable all heaters to reduce power loss + thermalManager.disable_all_heaters(); + + #if ENABLED(BACKUP_POWER_SUPPLY) + // Do a hard-stop of the steppers (with possibly a loud thud) + quickstop_stepper(); + // With backup power a retract and raise can be done now + retract_and_lift(zraise); + #endif + + if (TERN0(DEBUG_POWER_LOSS_RECOVERY, simulated)) { + card.fileHasFinished(); + current_position.reset(); + sync_plan_position(); + } + else + kill(GET_TEXT_F(MSG_OUTAGE_RECOVERY)); + } + +#endif // POWER_LOSS_PIN || DEBUG_POWER_LOSS_RECOVERY + +/** + * Save the recovery info the recovery file + */ +void PrintJobRecovery::write() { + + debug(F("Write")); + + open(false); + file.seekSet(0); + const int16_t ret = file.write(&info, sizeof(info)); + if (ret == -1) DEBUG_ECHOLNPGM("Power-loss file write failed."); + if (!file.close()) DEBUG_ECHOLNPGM("Power-loss file close failed."); +} + +/** + * Resume the saved print job + */ +void PrintJobRecovery::resume() { + + char cmd[MAX_CMD_SIZE+16], str_1[16], str_2[16]; + + const uint32_t resume_sdpos = info.sdpos; // Get here before the stepper ISR overwrites it + + // Apply the dry-run flag if enabled + if (info.flag.dryrun) marlin_debug_flags |= MARLIN_DEBUG_DRYRUN; + + #if ENABLED(DEBUG_POWER_LOSS_RECOVERY) + struct OnExit { + uint8_t old_flags; + OnExit() { + old_flags = marlin_debug_flags; + marlin_debug_flags |= MARLIN_DEBUG_ECHO; + } + ~OnExit() { marlin_debug_flags = old_flags; } + } on_exit; + #endif + + // Restore cold extrusion permission + TERN_(PREVENT_COLD_EXTRUSION, thermalManager.allow_cold_extrude = info.flag.allow_cold_extrusion); + + #if HAS_LEVELING + // Make sure leveling is off before any G92 and G28 + PROCESS_SUBCOMMANDS_NOW(F("M420S0")); + #endif + + #if HAS_HEATED_BED + const celsius_t bt = info.target_temperature_bed; + if (bt) { + // Restore the bed temperature + sprintf_P(cmd, PSTR("M190S%i"), bt); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + #endif + + // Heat hotend enough to soften material + #if HAS_HOTEND + HOTEND_LOOP() { + const celsius_t et = _MAX(info.target_temperature[e], 180); + if (et) { + #if HAS_MULTI_HOTEND + sprintf_P(cmd, PSTR("T%iS"), e); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + sprintf_P(cmd, PSTR("M109S%i"), et); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + } + #endif + + // Interpret the saved Z according to flags + const float z_print = info.current_position.z, + z_raised = z_print + info.zraise; + + // + // Home the axes that can safely be homed, and + // establish the current position as best we can. + // + + #if ENABLED(DWIN_LCD_PROUI) && DISABLED(NOZZLE_CLEAN_FEATURE) + xyze_pos_t save_pos = info.current_position; + #endif + + PROCESS_SUBCOMMANDS_NOW(F("G92.9E0")); // Reset E to 0 + + #if Z_HOME_TO_MAX + + float z_now = z_raised; + + // If Z homing goes to max then just move back to the "raised" position + sprintf_P(cmd, PSTR( + "G28R0\n" // Home all axes (no raise) + "G1Z%sF1200" // Move Z down to (raised) height + ), dtostrf(z_now, 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + + #elif DISABLED(BELTPRINTER) + + #if ENABLED(POWER_LOSS_RECOVER_ZHOME) && defined(POWER_LOSS_ZHOME_POS) + #define HOMING_Z_DOWN 1 + #endif + + float z_now = info.flag.raised ? z_raised : z_print; + + #if !HOMING_Z_DOWN + // Set Z to the real position + sprintf_P(cmd, PSTR("G92.9Z%s"), dtostrf(z_now, 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + + // Does Z need to be raised now? It should be raised before homing XY. + if (z_raised > z_now) { + z_now = z_raised; + sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_now, 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + + // Home XY with no Z raise + PROCESS_SUBCOMMANDS_NOW(F("G28R0XY")); // No raise during G28 + + #endif + + #if HOMING_Z_DOWN + // Move to a safe XY position and home Z while avoiding the print. + const xy_pos_t p = xy_pos_t(POWER_LOSS_ZHOME_POS) TERN_(HOMING_Z_WITH_PROBE, - probe.offset_xy); + sprintf_P(cmd, PSTR("G1X%sY%sF1000\nG28HZ"), dtostrf(p.x, 1, 3, str_1), dtostrf(p.y, 1, 3, str_2)); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + + // Mark all axes as having been homed (no effect on current_position) + set_all_homed(); + + #if HAS_LEVELING + // Restore Z fade and possibly re-enable bed leveling compensation. + // Leveling may already be enabled due to the ENABLE_LEVELING_AFTER_G28 option. + // TODO: Add a G28 parameter to leave leveling disabled. + sprintf_P(cmd, PSTR("M420S%cZ%s"), '0' + (char)info.flag.leveling, dtostrf(info.fade, 1, 1, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + + #if !HOMING_Z_DOWN + // The physical Z was adjusted at power-off so undo the M420S1 correction to Z with G92.9. + sprintf_P(cmd, PSTR("G92.9Z%s"), dtostrf(z_now, 1, 1, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + #endif + + #if ENABLED(DWIN_LCD_PROUI) && DISABLED(NOZZLE_CLEAN_FEATURE) + // Parking head to allow clean before of heating the hotend + gcode.process_subcommands_now(F("G27")); + DWIN_Popup_Continue(ICON_BLTouch, GET_TEXT_F(MSG_NOZZLE_PARKED), GET_TEXT_F(MSG_NOZZLE_CLEAN)); + wait_for_user_response(); + info.current_position = save_pos; + #endif + + #if ENABLED(POWER_LOSS_RECOVER_ZHOME) + // Z was homed down to the bed, so move up to the raised height. + z_now = z_raised; + sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_now, 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + + // Recover volumetric extrusion state + #if DISABLED(NO_VOLUMETRICS) + #if HAS_MULTI_EXTRUDER + EXTRUDER_LOOP() { + sprintf_P(cmd, PSTR("M200T%iD%s"), e, dtostrf(info.filament_size[e], 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + if (!info.flag.volumetric_enabled) { + sprintf_P(cmd, PSTR("M200T%iD0"), info.active_extruder); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + #else + if (info.flag.volumetric_enabled) { + sprintf_P(cmd, PSTR("M200D%s"), dtostrf(info.filament_size[0], 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + #endif + #endif + + // Restore all hotend temperatures + #if HAS_HOTEND + HOTEND_LOOP() { + const celsius_t et = info.target_temperature[e]; + if (et) { + #if HAS_MULTI_HOTEND + sprintf_P(cmd, PSTR("T%iS"), e); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + sprintf_P(cmd, PSTR("M109S%i"), et); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + } + #endif + + // Restore the previously active tool (with no_move) + #if HAS_MULTI_EXTRUDER || HAS_MULTI_HOTEND + sprintf_P(cmd, PSTR("T%i S"), info.active_extruder); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + + // Restore print cooling fan speeds + #if HAS_FAN + FANS_LOOP(i) { + const int f = info.fan_speed[i]; + if (f) { + sprintf_P(cmd, PSTR("M106P%iS%i"), i, f); + PROCESS_SUBCOMMANDS_NOW(cmd); + } + } + #endif + + // Restore retract and hop state from an active `G10` command + #if ENABLED(FWRETRACT) + EXTRUDER_LOOP() { + if (info.retract[e] != 0.0) { + fwretract.current_retract[e] = info.retract[e]; + fwretract.retracted.set(e); + } + } + fwretract.current_hop = info.retract_hop; + #endif + + #if ENABLED(GRADIENT_MIX) + memcpy(&mixer.gradient, &info.gradient, sizeof(info.gradient)); + #endif + + // Un-retract if there was a retract at outage + #if ENABLED(BACKUP_POWER_SUPPLY) && POWER_LOSS_RETRACT_LEN > 0 + PROCESS_SUBCOMMANDS_NOW(F("G1F3000E" STRINGIFY(POWER_LOSS_RETRACT_LEN))); + #endif + + // Additional purge on resume if configured + #if POWER_LOSS_PURGE_LEN + sprintf_P(cmd, PSTR("G1F3000E%d"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN)); + PROCESS_SUBCOMMANDS_NOW(cmd); + #endif + + #if ENABLED(NOZZLE_CLEAN_FEATURE) + PROCESS_SUBCOMMANDS_NOW(F("G12")); + #endif + + // Move back over to the saved XY + sprintf_P(cmd, PSTR("G1X%sY%sF3000"), + dtostrf(info.current_position.x, 1, 3, str_1), + dtostrf(info.current_position.y, 1, 3, str_2) + ); + PROCESS_SUBCOMMANDS_NOW(cmd); + DEBUG_ECHOLNPGM("Move XY : ",cmd); + + // Move back down to the saved Z for printing + sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_print, 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + DEBUG_ECHOLNPGM("Move Z : ",cmd); + + // Restore the feedrate + sprintf_P(cmd, PSTR("G1F%d"), info.feedrate); + PROCESS_SUBCOMMANDS_NOW(cmd); + DEBUG_ECHOLNPGM("Feedrate: ",cmd); + + // Restore E position with G92.9 + sprintf_P(cmd, PSTR("G92.9E%s"), dtostrf(info.current_position.e, 1, 3, str_1)); + PROCESS_SUBCOMMANDS_NOW(cmd); + DEBUG_ECHOLNPGM("Extruder : ",cmd); + + TERN_(GCODE_REPEAT_MARKERS, repeat = info.stored_repeat); + TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset); + TERN_(HAS_POSITION_SHIFT, position_shift = info.position_shift); + #if HAS_HOME_OFFSET || HAS_POSITION_SHIFT + LOOP_NUM_AXES(i) update_workspace_offset((AxisEnum)i); + #endif + + // Relative axis modes + gcode.axis_relative = info.axis_relative; + + // Continue to apply PLR when a file is resumed! + enable(true); + + // Resume the SD file from the last position + sprintf_P(cmd, M23_STR, &info.sd_filename[0]); + PROCESS_SUBCOMMANDS_NOW(cmd); + sprintf_P(cmd, PSTR("M24S%ldT%ld"), resume_sdpos, info.print_job_elapsed); + PROCESS_SUBCOMMANDS_NOW(cmd); +} + +#if ENABLED(DEBUG_POWER_LOSS_RECOVERY) + + void PrintJobRecovery::debug(FSTR_P const prefix) { + DEBUG_ECHOF(prefix); + DEBUG_ECHOLNPGM(" Job Recovery Info...\nvalid_head:", info.valid_head, " valid_foot:", info.valid_foot); + if (info.valid_head) { + if (info.valid_head == info.valid_foot) { + DEBUG_ECHOPGM("current_position: "); + LOOP_LOGICAL_AXES(i) { + if (i) DEBUG_CHAR(','); + DEBUG_DECIMAL(info.current_position[i]); + } + DEBUG_EOL(); + + DEBUG_ECHOLNPGM("feedrate: ", info.feedrate); + + DEBUG_ECHOLNPGM("zraise: ", info.zraise, " ", info.flag.raised ? "(before)" : ""); + + #if ENABLED(GCODE_REPEAT_MARKERS) + DEBUG_ECHOLNPGM("repeat index: ", info.stored_repeat.index); + LOOP_L_N(i, info.stored_repeat.index) + DEBUG_ECHOLNPGM("..... sdpos: ", info.stored_repeat.marker.sdpos, " count: ", info.stored_repeat.marker.counter); + #endif + + #if HAS_HOME_OFFSET + DEBUG_ECHOPGM("home_offset: "); + LOOP_NUM_AXES(i) { + if (i) DEBUG_CHAR(','); + DEBUG_DECIMAL(info.home_offset[i]); + } + DEBUG_EOL(); + #endif + + #if HAS_POSITION_SHIFT + DEBUG_ECHOPGM("position_shift: "); + LOOP_NUM_AXES(i) { + if (i) DEBUG_CHAR(','); + DEBUG_DECIMAL(info.position_shift[i]); + } + DEBUG_EOL(); + #endif + + #if HAS_MULTI_EXTRUDER + DEBUG_ECHOLNPGM("active_extruder: ", info.active_extruder); + #endif + + #if DISABLED(NO_VOLUMETRICS) + DEBUG_ECHOPGM("filament_size:"); + EXTRUDER_LOOP() DEBUG_ECHOLNPGM(" ", info.filament_size[e]); + DEBUG_EOL(); + #endif + + #if HAS_HOTEND + DEBUG_ECHOPGM("target_temperature: "); + HOTEND_LOOP() { + DEBUG_ECHO(info.target_temperature[e]); + if (e < HOTENDS - 1) DEBUG_CHAR(','); + } + DEBUG_EOL(); + #endif + + #if HAS_HEATED_BED + DEBUG_ECHOLNPGM("target_temperature_bed: ", info.target_temperature_bed); + #endif + + #if HAS_FAN + DEBUG_ECHOPGM("fan_speed: "); + FANS_LOOP(i) { + DEBUG_ECHO(info.fan_speed[i]); + if (i < FAN_COUNT - 1) DEBUG_CHAR(','); + } + DEBUG_EOL(); + #endif + + #if HAS_LEVELING + DEBUG_ECHOLNPGM("leveling: ", info.flag.leveling ? "ON" : "OFF", " fade: ", info.fade); + #endif + + #if ENABLED(FWRETRACT) + DEBUG_ECHOPGM("retract: "); + EXTRUDER_LOOP() { + DEBUG_ECHO(info.retract[e]); + if (e < EXTRUDERS - 1) DEBUG_CHAR(','); + } + DEBUG_EOL(); + DEBUG_ECHOLNPGM("retract_hop: ", info.retract_hop); + #endif + + // Mixing extruder and gradient + #if BOTH(MIXING_EXTRUDER, GRADIENT_MIX) + DEBUG_ECHOLNPGM("gradient: ", info.gradient.enabled ? "ON" : "OFF"); + #endif + + DEBUG_ECHOLNPGM("sd_filename: ", info.sd_filename); + DEBUG_ECHOLNPGM("sdpos: ", info.sdpos); + DEBUG_ECHOLNPGM("print_job_elapsed: ", info.print_job_elapsed); + + DEBUG_ECHOPGM("axis_relative:"); + if (TEST(info.axis_relative, REL_X)) DEBUG_ECHOPGM(" REL_X"); + if (TEST(info.axis_relative, REL_Y)) DEBUG_ECHOPGM(" REL_Y"); + if (TEST(info.axis_relative, REL_Z)) DEBUG_ECHOPGM(" REL_Z"); + if (TEST(info.axis_relative, REL_E)) DEBUG_ECHOPGM(" REL_E"); + if (TEST(info.axis_relative, E_MODE_ABS)) DEBUG_ECHOPGM(" E_MODE_ABS"); + if (TEST(info.axis_relative, E_MODE_REL)) DEBUG_ECHOPGM(" E_MODE_REL"); + DEBUG_EOL(); + + DEBUG_ECHOLNPGM("flag.dryrun: ", AS_DIGIT(info.flag.dryrun)); + DEBUG_ECHOLNPGM("flag.allow_cold_extrusion: ", AS_DIGIT(info.flag.allow_cold_extrusion)); + DEBUG_ECHOLNPGM("flag.volumetric_enabled: ", AS_DIGIT(info.flag.volumetric_enabled)); + } + else + DEBUG_ECHOLNPGM("INVALID DATA"); + } + DEBUG_ECHOLNPGM("---"); + } + +#endif // DEBUG_POWER_LOSS_RECOVERY + +#endif // POWER_LOSS_RECOVERY diff --git a/Marlin/src/feature/powerloss.h b/Marlin/src/feature/powerloss.h new file mode 100644 index 0000000000..d241fdb74c --- /dev/null +++ b/Marlin/src/feature/powerloss.h @@ -0,0 +1,228 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/powerloss.h - Resume an SD print after power-loss + */ + +#include "../sd/cardreader.h" +#include "../gcode/gcode.h" + +#include "../inc/MarlinConfig.h" + +#if ENABLED(GCODE_REPEAT_MARKERS) + #include "../feature/repeat.h" +#endif + +#if ENABLED(MIXING_EXTRUDER) + #include "../feature/mixing.h" +#endif + +#if !defined(POWER_LOSS_STATE) && PIN_EXISTS(POWER_LOSS) + #define POWER_LOSS_STATE HIGH +#endif + +#ifndef POWER_LOSS_ZRAISE + #define POWER_LOSS_ZRAISE 2 +#endif + +//#define DEBUG_POWER_LOSS_RECOVERY +//#define SAVE_EACH_CMD_MODE +//#define SAVE_INFO_INTERVAL_MS 0 + +typedef struct { + uint8_t valid_head; + + // Machine state + xyze_pos_t current_position; + uint16_t feedrate; + + float zraise; + + // Repeat information + #if ENABLED(GCODE_REPEAT_MARKERS) + Repeat stored_repeat; + #endif + + #if HAS_HOME_OFFSET + xyz_pos_t home_offset; + #endif + #if HAS_POSITION_SHIFT + xyz_pos_t position_shift; + #endif + #if HAS_MULTI_EXTRUDER + uint8_t active_extruder; + #endif + + #if DISABLED(NO_VOLUMETRICS) + float filament_size[EXTRUDERS]; + #endif + + #if HAS_HOTEND + celsius_t target_temperature[HOTENDS]; + #endif + #if HAS_HEATED_BED + celsius_t target_temperature_bed; + #endif + #if HAS_FAN + uint8_t fan_speed[FAN_COUNT]; + #endif + + #if HAS_LEVELING + float fade; + #endif + + #if ENABLED(FWRETRACT) + float retract[EXTRUDERS], retract_hop; + #endif + + // Mixing extruder and gradient + #if ENABLED(MIXING_EXTRUDER) + //uint_fast8_t selected_vtool; + //mixer_comp_t color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS]; + #if ENABLED(GRADIENT_MIX) + gradient_t gradient; + #endif + #endif + + // SD Filename and position + char sd_filename[MAXPATHNAMELENGTH]; + volatile uint32_t sdpos; + + // Job elapsed time + millis_t print_job_elapsed; + + // Relative axis modes + uint8_t axis_relative; + + // Misc. Marlin flags + struct { + bool raised:1; // Raised before saved + bool dryrun:1; // M111 S8 + bool allow_cold_extrusion:1; // M302 P1 + #if HAS_LEVELING + bool leveling:1; // M420 S + #endif + #if DISABLED(NO_VOLUMETRICS) + bool volumetric_enabled:1; // M200 S D + #endif + } flag; + + uint8_t valid_foot; + + bool valid() { return valid_head && valid_head == valid_foot; } + +} job_recovery_info_t; + +class PrintJobRecovery { + public: + static const char filename[5]; + + static MediaFile file; + static job_recovery_info_t info; + + static uint8_t queue_index_r; //!< Queue index of the active command + static uint32_t cmd_sdpos, //!< SD position of the next command + sdpos[BUFSIZE]; //!< SD positions of queued commands + + #if HAS_DWIN_E3V2_BASIC + static bool dwin_flag; + #endif + + static void init(); + static void prepare(); + + static void setup() { + #if PIN_EXISTS(OUTAGECON) + OUT_WRITE(OUTAGECON_PIN, HIGH); + #endif + #if PIN_EXISTS(POWER_LOSS) + #if ENABLED(POWER_LOSS_PULLUP) + SET_INPUT_PULLUP(POWER_LOSS_PIN); + #elif ENABLED(POWER_LOSS_PULLDOWN) + SET_INPUT_PULLDOWN(POWER_LOSS_PIN); + #else + SET_INPUT(POWER_LOSS_PIN); + #endif + #endif + } + + // Track each command's file offsets + static uint32_t command_sdpos() { return sdpos[queue_index_r]; } + static void commit_sdpos(const uint8_t index_w) { sdpos[index_w] = cmd_sdpos; } + + static bool enabled; + static void enable(const bool onoff); + static void changed(); + + static bool exists() { return card.jobRecoverFileExists(); } + static void open(const bool read) { card.openJobRecoveryFile(read); } + static void close() { file.close(); } + + static bool check(); + static void resume(); + static void purge(); + + static void cancel() { purge(); } + + static void load(); + static void save(const bool force=ENABLED(SAVE_EACH_CMD_MODE), const float zraise=POWER_LOSS_ZRAISE, const bool raised=false); + + #if PIN_EXISTS(POWER_LOSS) + static void outage() { + static constexpr uint8_t OUTAGE_THRESHOLD = 3; + static uint8_t outage_counter = 0; + if (enabled && READ(POWER_LOSS_PIN) == POWER_LOSS_STATE) { + outage_counter++; + if (outage_counter >= OUTAGE_THRESHOLD) _outage(); + } + else + outage_counter = 0; + } + #endif + + // The referenced file exists + static bool interrupted_file_exists() { return card.fileExists(info.sd_filename); } + + static bool valid() { return info.valid() && interrupted_file_exists(); } + + #if ENABLED(DEBUG_POWER_LOSS_RECOVERY) + static void debug(FSTR_P const prefix); + #else + static void debug(FSTR_P const) {} + #endif + + private: + static void write(); + + #if ENABLED(BACKUP_POWER_SUPPLY) + static void retract_and_lift(const_float_t zraise); + #endif + + #if PIN_EXISTS(POWER_LOSS) || ENABLED(DEBUG_POWER_LOSS_RECOVERY) + friend class GcodeSuite; + static void _outage(TERN_(DEBUG_POWER_LOSS_RECOVERY, const bool simulated=false)); + #endif +}; + +extern PrintJobRecovery recovery; diff --git a/Marlin/src/feature/probe_temp_comp.cpp b/Marlin/src/feature/probe_temp_comp.cpp new file mode 100644 index 0000000000..b5f636e698 --- /dev/null +++ b/Marlin/src/feature/probe_temp_comp.cpp @@ -0,0 +1,257 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if HAS_PTC + +//#define DEBUG_PTC // Print extra debug output with 'M871' + +#include "probe_temp_comp.h" +#include +#include "../module/temperature.h" + +ProbeTempComp ptc; + +#if ENABLED(PTC_PROBE) + constexpr int16_t z_offsets_probe_default[PTC_PROBE_COUNT] = PTC_PROBE_ZOFFS; + int16_t ProbeTempComp::z_offsets_probe[PTC_PROBE_COUNT] = PTC_PROBE_ZOFFS; +#endif + +#if ENABLED(PTC_BED) + constexpr int16_t z_offsets_bed_default[PTC_BED_COUNT] = PTC_BED_ZOFFS; + int16_t ProbeTempComp::z_offsets_bed[PTC_BED_COUNT] = PTC_BED_ZOFFS; +#endif + +#if ENABLED(PTC_HOTEND) + constexpr int16_t z_offsets_hotend_default[PTC_HOTEND_COUNT] = PTC_HOTEND_ZOFFS; + int16_t ProbeTempComp::z_offsets_hotend[PTC_HOTEND_COUNT] = PTC_HOTEND_ZOFFS; +#endif + +int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = { + #if ENABLED(PTC_PROBE) + ProbeTempComp::z_offsets_probe, + #endif + #if ENABLED(PTC_BED) + ProbeTempComp::z_offsets_bed, + #endif + #if ENABLED(PTC_HOTEND) + ProbeTempComp::z_offsets_hotend, + #endif +}; + +constexpr temp_calib_t ProbeTempComp::cali_info[TSI_COUNT]; + +uint8_t ProbeTempComp::calib_idx; // = 0 +float ProbeTempComp::init_measurement; // = 0.0 +bool ProbeTempComp::enabled = true; + +void ProbeTempComp::reset() { + TERN_(PTC_PROBE, LOOP_L_N(i, PTC_PROBE_COUNT) z_offsets_probe[i] = z_offsets_probe_default[i]); + TERN_(PTC_BED, LOOP_L_N(i, PTC_BED_COUNT) z_offsets_bed[i] = z_offsets_bed_default[i]); + TERN_(PTC_HOTEND, LOOP_L_N(i, PTC_HOTEND_COUNT) z_offsets_hotend[i] = z_offsets_hotend_default[i]); +} + +void ProbeTempComp::clear_offsets(const TempSensorID tsi) { + LOOP_L_N(i, cali_info[tsi].measurements) + sensor_z_offsets[tsi][i] = 0; + calib_idx = 0; +} + +bool ProbeTempComp::set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset) { + if (idx >= cali_info[tsi].measurements) return false; + sensor_z_offsets[tsi][idx] = offset; + return true; +} + +void ProbeTempComp::print_offsets() { + LOOP_L_N(s, TSI_COUNT) { + celsius_t temp = cali_info[s].start_temp; + for (int16_t i = -1; i < cali_info[s].measurements; ++i) { + SERIAL_ECHOF( + TERN_(PTC_BED, s == TSI_BED ? F("Bed") :) + TERN_(PTC_HOTEND, s == TSI_EXT ? F("Extruder") :) + F("Probe") + ); + SERIAL_ECHOLNPGM( + " temp: ", temp, + "C; Offset: ", i < 0 ? 0.0f : sensor_z_offsets[s][i], " um" + ); + temp += cali_info[s].temp_resolution; + } + } + #if ENABLED(DEBUG_PTC) + float meas[4] = { 0, 0, 0, 0 }; + compensate_measurement(TSI_PROBE, 27.5, meas[0]); + compensate_measurement(TSI_PROBE, 32.5, meas[1]); + compensate_measurement(TSI_PROBE, 77.5, meas[2]); + compensate_measurement(TSI_PROBE, 82.5, meas[3]); + SERIAL_ECHOLNPGM("DEBUG_PTC 27.5:", meas[0], " 32.5:", meas[1], " 77.5:", meas[2], " 82.5:", meas[3]); + #endif +} + +void ProbeTempComp::prepare_new_calibration(const_float_t init_meas_z) { + calib_idx = 0; + init_measurement = init_meas_z; +} + +void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const_float_t meas_z) { + if (calib_idx >= cali_info[tsi].measurements) return; + sensor_z_offsets[tsi][calib_idx++] = static_cast((meas_z - init_measurement) * 1000.0f); +} + +bool ProbeTempComp::finish_calibration(const TempSensorID tsi) { + if (!calib_idx) { + SERIAL_ECHOLNPGM("!No measurements."); + clear_offsets(tsi); + return false; + } + + const uint8_t measurements = cali_info[tsi].measurements; + const celsius_t start_temp = cali_info[tsi].start_temp, + res_temp = cali_info[tsi].temp_resolution; + int16_t * const data = sensor_z_offsets[tsi]; + + // Extrapolate + float k, d; + if (calib_idx < measurements) { + SERIAL_ECHOLNPGM("Got ", calib_idx, " measurements. "); + if (linear_regression(tsi, k, d)) { + SERIAL_ECHOPGM("Applying linear extrapolation"); + for (; calib_idx < measurements; ++calib_idx) { + const celsius_float_t temp = start_temp + float(calib_idx + 1) * res_temp; + data[calib_idx] = static_cast(k * temp + d); + } + } + else { + // Simply use the last measured value for higher temperatures + SERIAL_ECHOPGM("Failed to extrapolate"); + const int16_t last_val = data[calib_idx-1]; + for (; calib_idx < measurements; ++calib_idx) + data[calib_idx] = last_val; + } + SERIAL_ECHOLNPGM(" for higher temperatures."); + } + + // Sanity check + for (calib_idx = 0; calib_idx < measurements; ++calib_idx) { + // Restrict the max. offset + if (ABS(data[calib_idx]) > 2000) { + SERIAL_ECHOLNPGM("!Invalid Z-offset detected (0-2)."); + clear_offsets(tsi); + return false; + } + // Restrict the max. offset difference between two probings + if (calib_idx > 0 && ABS(data[calib_idx - 1] - data[calib_idx]) > 800) { + SERIAL_ECHOLNPGM("!Invalid Z-offset between two probings detected (0-0.8)."); + clear_offsets(tsi); + return false; + } + } + + return true; +} + +void ProbeTempComp::apply_compensation(float &meas_z) { + if (!enabled) return; + TERN_(PTC_BED, compensate_measurement(TSI_BED, thermalManager.degBed(), meas_z)); + TERN_(PTC_PROBE, compensate_measurement(TSI_PROBE, thermalManager.degProbe(), meas_z)); + TERN_(PTC_HOTEND, compensate_measurement(TSI_EXT, thermalManager.degHotend(0), meas_z)); +} + +void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const celsius_t temp, float &meas_z) { + const uint8_t measurements = cali_info[tsi].measurements; + const celsius_t start_temp = cali_info[tsi].start_temp, + res_temp = cali_info[tsi].temp_resolution, + end_temp = start_temp + measurements * res_temp; + const int16_t * const data = sensor_z_offsets[tsi]; + + // Given a data index, return { celsius, zoffset } in the form { x, y } + auto tpoint = [&](uint8_t i) -> xy_float_t { + return xy_float_t({ static_cast(start_temp) + i * res_temp, i ? static_cast(data[i - 1]) : 0.0f }); + }; + + // Interpolate Z based on a temperature being within a given range + auto linear_interp = [](const_float_t x, xy_float_t p1, xy_float_t p2) { + // zoffs1 + zoffset_per_toffset * toffset + return p1.y + (p2.y - p1.y) / (p2.x - p1.x) * (x - p1.x); + }; + + // offset in µm + float offset = 0.0f; + + #if PTC_LINEAR_EXTRAPOLATION + if (temp < start_temp) + offset = linear_interp(temp, tpoint(0), tpoint(PTC_LINEAR_EXTRAPOLATION)); + else if (temp >= end_temp) + offset = linear_interp(temp, tpoint(measurements - PTC_LINEAR_EXTRAPOLATION), tpoint(measurements)); + #else + if (temp < start_temp) + offset = 0.0f; + else if (temp >= end_temp) + offset = static_cast(data[measurements - 1]); + #endif + else { + // Linear interpolation + const int8_t idx = static_cast((temp - start_temp) / res_temp); + offset = linear_interp(temp, tpoint(idx), tpoint(idx + 1)); + } + + // convert offset to mm and apply it + meas_z -= offset / 1000.0f; +} + +bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) { + if (!WITHIN(calib_idx, 1, cali_info[tsi].measurements)) return false; + + const celsius_t start_temp = cali_info[tsi].start_temp, + res_temp = cali_info[tsi].temp_resolution; + const int16_t * const data = sensor_z_offsets[tsi]; + + float sum_x = start_temp, + sum_x2 = sq(start_temp), + sum_xy = 0, sum_y = 0; + + float xi = static_cast(start_temp); + LOOP_L_N(i, calib_idx) { + const float yi = static_cast(data[i]); + xi += res_temp; + sum_x += xi; + sum_x2 += sq(xi); + sum_xy += xi * yi; + sum_y += yi; + } + + const float denom = static_cast(calib_idx + 1) * sum_x2 - sq(sum_x); + if (fabs(denom) <= 10e-5) { + // Singularity - unable to solve + k = d = 0.0; + return false; + } + + k = (static_cast(calib_idx + 1) * sum_xy - sum_x * sum_y) / denom; + d = (sum_y - k * sum_x) / static_cast(calib_idx + 1); + + return true; +} + +#endif // HAS_PTC diff --git a/Marlin/src/feature/probe_temp_comp.h b/Marlin/src/feature/probe_temp_comp.h new file mode 100644 index 0000000000..42348db684 --- /dev/null +++ b/Marlin/src/feature/probe_temp_comp.h @@ -0,0 +1,116 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" + +enum TempSensorID : uint8_t { + #if ENABLED(PTC_PROBE) + TSI_PROBE, + #endif + #if ENABLED(PTC_BED) + TSI_BED, + #endif + #if ENABLED(PTC_HOTEND) + TSI_EXT, + #endif + TSI_COUNT +}; + +typedef struct { + uint8_t measurements; // Max. number of measurements to be stored (35 - 80°C) + celsius_t temp_resolution, // Resolution in °C between measurements + start_temp; // Base measurement; z-offset == 0 +} temp_calib_t; + +/** + * Probe temperature compensation implementation. + * Z-probes like the P.I.N.D.A V2 allow for compensation of + * measurement errors/shifts due to changed temperature. + */ + +class ProbeTempComp { + public: + + static constexpr temp_calib_t cali_info[TSI_COUNT] = { + #if ENABLED(PTC_PROBE) + { PTC_PROBE_COUNT, PTC_PROBE_RES, PTC_PROBE_START }, // Probe + #endif + #if ENABLED(PTC_BED) + { PTC_BED_COUNT, PTC_BED_RES, PTC_BED_START }, // Bed + #endif + #if ENABLED(PTC_HOTEND) + { PTC_HOTEND_COUNT, PTC_HOTEND_RES, PTC_HOTEND_START }, // Extruder + #endif + }; + + static int16_t *sensor_z_offsets[TSI_COUNT]; + #if ENABLED(PTC_PROBE) + static int16_t z_offsets_probe[PTC_PROBE_COUNT]; // (µm) + #endif + #if ENABLED(PTC_BED) + static int16_t z_offsets_bed[PTC_BED_COUNT]; // (µm) + #endif + #if ENABLED(PTC_HOTEND) + static int16_t z_offsets_hotend[PTC_HOTEND_COUNT]; // (µm) + #endif + + static void reset_index() { calib_idx = 0; }; + static uint8_t get_index() { return calib_idx; } + static void reset(); + static void clear_all_offsets() { + TERN_(PTC_PROBE, clear_offsets(TSI_PROBE)); + TERN_(PTC_BED, clear_offsets(TSI_BED)); + TERN_(PTC_HOTEND, clear_offsets(TSI_EXT)); + } + static bool set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset); + static void print_offsets(); + static void prepare_new_calibration(const_float_t init_meas_z); + static void push_back_new_measurement(const TempSensorID tsi, const_float_t meas_z); + static bool finish_calibration(const TempSensorID tsi); + static void set_enabled(const bool ena) { enabled = ena; } + + // Apply all temperature compensation adjustments + static void apply_compensation(float &meas_z); + + private: + static uint8_t calib_idx; + static bool enabled; + + static void clear_offsets(const TempSensorID tsi); + + /** + * Base value. Temperature compensation values will be deltas + * to this value, set at first probe. + */ + static float init_measurement; + + /** + * Fit a linear function in measured temperature offsets + * to allow generating values of higher temperatures. + */ + static bool linear_regression(const TempSensorID tsi, float &k, float &d); + + static void compensate_measurement(const TempSensorID tsi, const celsius_t temp, float &meas_z); +}; + +extern ProbeTempComp ptc; diff --git a/Marlin/src/feature/repeat.cpp b/Marlin/src/feature/repeat.cpp new file mode 100644 index 0000000000..fed7ac0908 --- /dev/null +++ b/Marlin/src/feature/repeat.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(GCODE_REPEAT_MARKERS) + +//#define DEBUG_GCODE_REPEAT_MARKERS + +#include "repeat.h" + +#include "../gcode/gcode.h" +#include "../sd/cardreader.h" + +#define DEBUG_OUT ENABLED(DEBUG_GCODE_REPEAT_MARKERS) +#include "../core/debug_out.h" + +repeat_marker_t Repeat::marker[MAX_REPEAT_NESTING]; +uint8_t Repeat::index; + +void Repeat::add_marker(const uint32_t sdpos, const uint16_t count) { + if (index >= MAX_REPEAT_NESTING) + SERIAL_ECHO_MSG("!Too many markers."); + else { + marker[index].sdpos = sdpos; + marker[index].counter = count ? count - 1 : -1; + index++; + DEBUG_ECHOLNPGM("Add Marker ", index, " at ", sdpos, " (", count, ")"); + } +} + +void Repeat::loop() { + if (!index) // No marker? + SERIAL_ECHO_MSG("!No marker set."); // Inform the user. + else { + const uint8_t ind = index - 1; // Active marker's index + if (!marker[ind].counter) { // Did its counter run out? + DEBUG_ECHOLNPGM("Pass Marker ", index); + index--; // Carry on. Previous marker on the next 'M808'. + } + else { + card.setIndex(marker[ind].sdpos); // Loop back to the marker. + if (marker[ind].counter > 0) // Ignore a negative (or zero) counter. + --marker[ind].counter; // Decrement the counter. If zero this 'M808' will be skipped next time. + DEBUG_ECHOLNPGM("Goto Marker ", index, " at ", marker[ind].sdpos, " (", marker[ind].counter, ")"); + } + } +} + +void Repeat::cancel() { LOOP_L_N(i, index) marker[i].counter = 0; } + +void Repeat::early_parse_M808(char * const cmd) { + if (is_command_M808(cmd)) { + DEBUG_ECHOLNPGM("Parsing \"", cmd, "\""); + parser.parse(cmd); + if (parser.seen('L')) + add_marker(card.getIndex(), parser.value_ushort()); + else + Repeat::loop(); + } +} + +#endif // GCODE_REPEAT_MARKERS diff --git a/Marlin/src/feature/repeat.h b/Marlin/src/feature/repeat.h new file mode 100644 index 0000000000..fc11e4a9e2 --- /dev/null +++ b/Marlin/src/feature/repeat.h @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" +#include "../gcode/parser.h" + +#include + +#define MAX_REPEAT_NESTING 10 + +typedef struct { + uint32_t sdpos; // The repeat file position + int16_t counter; // The counter for looping +} repeat_marker_t; + +class Repeat { +private: + static repeat_marker_t marker[MAX_REPEAT_NESTING]; + static uint8_t index; +public: + static void reset() { index = 0; } + static bool is_active() { + LOOP_L_N(i, index) if (marker[i].counter) return true; + return false; + } + static bool is_command_M808(char * const cmd) { return cmd[0] == 'M' && cmd[1] == '8' && cmd[2] == '0' && cmd[3] == '8' && !NUMERIC(cmd[4]); } + static void early_parse_M808(char * const cmd); + static void add_marker(const uint32_t sdpos, const uint16_t count); + static void loop(); + static void cancel(); +}; + +extern Repeat repeat; diff --git a/Marlin/src/feature/runout.cpp b/Marlin/src/feature/runout.cpp new file mode 100644 index 0000000000..f08bf9756b --- /dev/null +++ b/Marlin/src/feature/runout.cpp @@ -0,0 +1,149 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * feature/runout.cpp - Runout sensor support + */ + +#include "../inc/MarlinConfigPre.h" + +#if HAS_FILAMENT_SENSOR + +#include "runout.h" + +FilamentMonitor runout; + +bool FilamentMonitorBase::enabled = true, + FilamentMonitorBase::filament_ran_out; // = false + +#if ENABLED(HOST_ACTION_COMMANDS) + bool FilamentMonitorBase::host_handling; // = false +#endif + +#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + #include "../module/tool_change.h" + #define DEBUG_OUT ENABLED(DEBUG_TOOLCHANGE_MIGRATION_FEATURE) + #include "../core/debug_out.h" +#endif + +#if HAS_FILAMENT_RUNOUT_DISTANCE + float RunoutResponseDelayed::runout_distance_mm = FILAMENT_RUNOUT_DISTANCE_MM; + volatile float RunoutResponseDelayed::runout_mm_countdown[NUM_RUNOUT_SENSORS]; + #if ProUIex + uint8_t FilamentSensorDevice::motion_detected; + #elif ENABLED(FILAMENT_MOTION_SENSOR) + uint8_t FilamentSensorEncoder::motion_detected; + #endif +#else + int8_t RunoutResponseDebounced::runout_count[NUM_RUNOUT_SENSORS]; // = 0 +#endif + +// +// Filament Runout event handler +// +#include "../MarlinCore.h" +#include "../feature/pause.h" +#include "../gcode/queue.h" + +#if ENABLED(HOST_ACTION_COMMANDS) + #include "host_actions.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#elif ENABLED(DWIN_LCD_PROUI) + #include "../lcd/e3v2/proui/dwin.h" +#endif + +void event_filament_runout(const uint8_t extruder) { + + if (did_pause_print) return; // Action already in progress. Purge triggered repeated runout. + + #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + if (migration.in_progress) { + DEBUG_ECHOLNPGM("Migration Already In Progress"); + return; // Action already in progress. Purge triggered repeated runout. + } + if (migration.automode) { + DEBUG_ECHOLNPGM("Migration Starting"); + if (extruder_migration()) return; + } + #endif + + TERN_(EXTENSIBLE_UI, ExtUI::onFilamentRunout(ExtUI::getTool(extruder))); + TERN_(DWIN_LCD_PROUI, DWIN_FilamentRunout(extruder)); + + #if ANY(HOST_PROMPT_SUPPORT, HOST_ACTION_COMMANDS, MULTI_FILAMENT_SENSOR) + const char tool = '0' + TERN0(MULTI_FILAMENT_SENSOR, extruder); + #endif + + //action:out_of_filament + #if ENABLED(HOST_PROMPT_SUPPORT) + hostui.prompt_do(PROMPT_FILAMENT_RUNOUT, F("FilamentRunout T"), tool); //action:out_of_filament + #endif + + const bool run_runout_script = !runout.host_handling; + + #if ENABLED(HOST_ACTION_COMMANDS) + if (run_runout_script + && ( strstr(FILAMENT_RUNOUT_SCRIPT, "M600") + || strstr(FILAMENT_RUNOUT_SCRIPT, "M125") + || TERN0(ADVANCED_PAUSE_FEATURE, strstr(FILAMENT_RUNOUT_SCRIPT, "M25")) + ) + ) { + hostui.paused(false); + } + else { + // Legacy Repetier command for use until newer version supports standard dialog + // To be removed later when pause command also triggers dialog + #ifdef ACTION_ON_FILAMENT_RUNOUT + hostui.action(F(ACTION_ON_FILAMENT_RUNOUT " T"), false); + SERIAL_CHAR(tool); + SERIAL_EOL(); + #endif + + hostui.pause(false); + } + SERIAL_ECHOPGM(" " ACTION_REASON_ON_FILAMENT_RUNOUT " "); + SERIAL_CHAR(tool); + SERIAL_EOL(); + #endif // HOST_ACTION_COMMANDS + + if (run_runout_script) { + #if MULTI_FILAMENT_SENSOR + char script[strlen(FILAMENT_RUNOUT_SCRIPT) + 1]; + sprintf_P(script, PSTR(FILAMENT_RUNOUT_SCRIPT), tool); + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + SERIAL_ECHOLNPGM("Runout Command: ", script); + #endif + queue.inject(script); + #else + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + SERIAL_ECHOPGM("Runout Command: "); + SERIAL_ECHOLNPGM(FILAMENT_RUNOUT_SCRIPT); + #endif + queue.inject(F(FILAMENT_RUNOUT_SCRIPT)); + #endif + } +} + +#endif // HAS_FILAMENT_SENSOR diff --git a/Marlin/src/feature/runout.h b/Marlin/src/feature/runout.h new file mode 100644 index 0000000000..97f50ba4af --- /dev/null +++ b/Marlin/src/feature/runout.h @@ -0,0 +1,443 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/runout.h - Runout sensor support + */ + +#include "../sd/cardreader.h" +#include "../module/printcounter.h" +#include "../module/planner.h" +#include "../module/stepper.h" // for block_t +#include "../gcode/queue.h" +#include "../feature/pause.h" + +#include "../inc/MarlinConfig.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + +#if ProUIex + #include "../lcd/e3v2/proui/proui.h" +#endif + +//#define FILAMENT_RUNOUT_SENSOR_DEBUG +#ifndef FILAMENT_RUNOUT_THRESHOLD + #define FILAMENT_RUNOUT_THRESHOLD 5 +#endif + +void event_filament_runout(const uint8_t extruder); + +template +class TFilamentMonitor; +#if ProUIex + class FilamentSensorDevice; +#else + class FilamentSensorEncoder; + class FilamentSensorSwitch; +#endif +class RunoutResponseDelayed; +class RunoutResponseDebounced; + +/********************************* TEMPLATE SPECIALIZATION *********************************/ + +typedef TFilamentMonitor< + TERN(HAS_FILAMENT_RUNOUT_DISTANCE, RunoutResponseDelayed, RunoutResponseDebounced), + #if ProUIex + FilamentSensorDevice + #else + TERN(FILAMENT_MOTION_SENSOR, FilamentSensorEncoder, FilamentSensorSwitch) + #endif + > FilamentMonitor; + +extern FilamentMonitor runout; + +/*******************************************************************************************/ + +class FilamentMonitorBase { + public: + static bool enabled, filament_ran_out; + + #if ENABLED(HOST_ACTION_COMMANDS) + static bool host_handling; + #else + static constexpr bool host_handling = false; + #endif +}; + +template +class TFilamentMonitor : public FilamentMonitorBase { + private: + typedef RESPONSE_T response_t; + typedef SENSOR_T sensor_t; + static response_t response; + static sensor_t sensor; + + public: + static void setup() { + sensor.setup(); + reset(); + } + + static void reset() { + filament_ran_out = false; + response.reset(); + } + + // Call this method when filament is present, + // so the response can reset its counter. + static void filament_present(const uint8_t extruder) { + response.filament_present(extruder); + } + + #if HAS_FILAMENT_RUNOUT_DISTANCE + static float& runout_distance() { return response.runout_distance_mm; } + static void set_runout_distance(const_float_t mm) { response.runout_distance_mm = mm; } + #endif + + // Handle a block completion. RunoutResponseDelayed uses this to + // add up the length of filament moved while the filament is out. + static void block_completed(const block_t * const b) { + if (enabled) { + response.block_completed(b); + sensor.block_completed(b); + } + } + + // Give the response a chance to update its counter. + static void run() { + if (enabled && !filament_ran_out && (printingIsActive() || did_pause_print)) { + TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, cli()); // Prevent RunoutResponseDelayed::block_completed from accumulating here + response.run(); + sensor.run(); + const uint8_t runout_flags = response.has_run_out(); + TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, sei()); + #if MULTI_FILAMENT_SENSOR + #if ENABLED(WATCH_ALL_RUNOUT_SENSORS) + const bool ran_out = !!runout_flags; // any sensor triggers + uint8_t extruder = 0; + if (ran_out) { + uint8_t bitmask = runout_flags; + while (!(bitmask & 1)) { + bitmask >>= 1; + extruder++; + } + } + #else + const bool ran_out = TEST(runout_flags, active_extruder); // suppress non active extruders + uint8_t extruder = active_extruder; + #endif + #else + const bool ran_out = !!runout_flags; + uint8_t extruder = active_extruder; + #endif + + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + if (runout_flags) { + SERIAL_ECHOPGM("Runout Sensors: "); + LOOP_L_N(i, 8) SERIAL_ECHO('0' + TEST(runout_flags, i)); + SERIAL_ECHOPGM(" -> ", extruder); + if (ran_out) SERIAL_ECHOPGM(" RUN OUT"); + SERIAL_EOL(); + } + #endif + + if (ran_out) { + filament_ran_out = true; + event_filament_runout(extruder); + planner.synchronize(); + } + } + } +}; + +/*************************** FILAMENT PRESENCE SENSORS ***************************/ + +class FilamentSensorBase { + protected: + /** + * Called by FilamentSensorSwitch::run when filament is detected. + * Called by FilamentSensorEncoder::block_completed when motion is detected. + */ + static void filament_present(const uint8_t extruder) { + runout.filament_present(extruder); // ...which calls response.filament_present(extruder) + } + + public: + static void setup() { + #define _INIT_RUNOUT_PIN(P,S,U,D) do{ if (ENABLED(U)) SET_INPUT_PULLUP(P); else if (ENABLED(D)) SET_INPUT_PULLDOWN(P); else SET_INPUT(P); }while(0) + #define INIT_RUNOUT_PIN(N) _INIT_RUNOUT_PIN(FIL_RUNOUT##N##_PIN, FIL_RUNOUT##N##_STATE, FIL_RUNOUT##N##_PULLUP, FIL_RUNOUT##N##_PULLDOWN) + #if NUM_RUNOUT_SENSORS >= 1 + #if ProUIex + ProEx.SetRunoutState(FIL_RUNOUT1_PIN); + #else + INIT_RUNOUT_PIN(1); + #endif + #endif + #if NUM_RUNOUT_SENSORS >= 2 + INIT_RUNOUT_PIN(2); + #endif + #if NUM_RUNOUT_SENSORS >= 3 + INIT_RUNOUT_PIN(3); + #endif + #if NUM_RUNOUT_SENSORS >= 4 + INIT_RUNOUT_PIN(4); + #endif + #if NUM_RUNOUT_SENSORS >= 5 + INIT_RUNOUT_PIN(5); + #endif + #if NUM_RUNOUT_SENSORS >= 6 + INIT_RUNOUT_PIN(6); + #endif + #if NUM_RUNOUT_SENSORS >= 7 + INIT_RUNOUT_PIN(7); + #endif + #if NUM_RUNOUT_SENSORS >= 8 + INIT_RUNOUT_PIN(8); + #endif + #undef _INIT_RUNOUT_PIN + #undef INIT_RUNOUT_PIN + } + + // Return a bitmask of runout pin states + static uint8_t poll_runout_pins() { + #define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0) + return (0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_RUNOUT)); + #undef _OR_RUNOUT + } + + #if !ProUIex + // Return a bitmask of runout flag states (1 bits always indicates runout) + static uint8_t poll_runout_states() { + return poll_runout_pins() ^ uint8_t(0 + #if NUM_RUNOUT_SENSORS >= 1 + | (FIL_RUNOUT1_STATE ? 0 : _BV(1 - 1)) + #endif + #if NUM_RUNOUT_SENSORS >= 2 + | (FIL_RUNOUT2_STATE ? 0 : _BV(2 - 1)) + #endif + #if NUM_RUNOUT_SENSORS >= 3 + | (FIL_RUNOUT3_STATE ? 0 : _BV(3 - 1)) + #endif + #if NUM_RUNOUT_SENSORS >= 4 + | (FIL_RUNOUT4_STATE ? 0 : _BV(4 - 1)) + #endif + #if NUM_RUNOUT_SENSORS >= 5 + | (FIL_RUNOUT5_STATE ? 0 : _BV(5 - 1)) + #endif + #if NUM_RUNOUT_SENSORS >= 6 + | (FIL_RUNOUT6_STATE ? 0 : _BV(6 - 1)) + #endif + #if NUM_RUNOUT_SENSORS >= 7 + | (FIL_RUNOUT7_STATE ? 0 : _BV(7 - 1)) + #endif + #if NUM_RUNOUT_SENSORS >= 8 + | (FIL_RUNOUT8_STATE ? 0 : _BV(8 - 1)) + #endif + ); + } + #endif +}; + +#if ProUIex + + class FilamentSensorDevice : public FilamentSensorBase { + private: + static uint8_t motion_detected; + static void poll_motion_sensor(); + public: + static bool poll_runout_state(const uint8_t extruder); + static void block_completed(const block_t * const b); + static void run(); + }; + +#elif ENABLED(FILAMENT_MOTION_SENSOR) + + /** + * This sensor uses a magnetic encoder disc and a Hall effect + * sensor (or a slotted disc and optical sensor). The state + * will toggle between 0 and 1 on filament movement. It can detect + * filament runout and stripouts or jams. + */ + class FilamentSensorEncoder : public FilamentSensorBase { + private: + static uint8_t motion_detected; + + static void poll_motion_sensor() { + static uint8_t old_state; + const uint8_t new_state = poll_runout_pins(), + change = old_state ^ new_state; + old_state = new_state; + + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + if (change) { + SERIAL_ECHOPGM("Motion detected:"); + LOOP_L_N(e, NUM_RUNOUT_SENSORS) + if (TEST(change, e)) SERIAL_CHAR(' ', '0' + e); + SERIAL_EOL(); + } + #endif + + motion_detected |= change; + } + + public: + static void block_completed(const block_t * const b) { + // If the sensor wheel has moved since the last call to + // this method reset the runout counter for the extruder. + if (TEST(motion_detected, b->extruder)) + filament_present(b->extruder); + + // Clear motion triggers for next block + motion_detected = 0; + } + + static void run() { poll_motion_sensor(); } + }; + +#else + + /** + * This is a simple endstop switch in the path of the filament. + * It can detect filament runout, but not stripouts or jams. + */ + class FilamentSensorSwitch : public FilamentSensorBase { + private: + static bool poll_runout_state(const uint8_t extruder) { + const uint8_t runout_states = poll_runout_states(); + #if MULTI_FILAMENT_SENSOR + if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating()) + && !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled) + ) return TEST(runout_states, extruder); // A specific extruder ran out + #else + UNUSED(extruder); + #endif + return !!runout_states; // Any extruder ran out + } + + public: + static void block_completed(const block_t * const) {} + + static void run() { + LOOP_L_N(s, NUM_RUNOUT_SENSORS) { + const bool out = poll_runout_state(s); + if (!out) filament_present(s); + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + static uint8_t was_out; // = 0 + if (out != TEST(was_out, s)) { + TBI(was_out, s); + SERIAL_ECHOLNF(F("Filament Sensor "), AS_DIGIT(s), out ? F(" OUT") : F(" IN")); + } + #endif + } + } + }; + + +#endif // !FILAMENT_MOTION_SENSOR + +/********************************* RESPONSE TYPE *********************************/ + +#if HAS_FILAMENT_RUNOUT_DISTANCE + + // RunoutResponseDelayed triggers a runout event only if the length + // of filament specified by FILAMENT_RUNOUT_DISTANCE_MM has been fed + // during a runout condition. + class RunoutResponseDelayed { + private: + static volatile float runout_mm_countdown[NUM_RUNOUT_SENSORS]; + + public: + static float runout_distance_mm; + + static void reset() { + LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i); + } + + static void run() { + #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) + static millis_t t = 0; + const millis_t ms = millis(); + if (ELAPSED(ms, t)) { + t = millis() + 1000UL; + LOOP_L_N(i, NUM_RUNOUT_SENSORS) + SERIAL_ECHOF(i ? F(", ") : F("Remaining mm: "), runout_mm_countdown[i]); + SERIAL_EOL(); + } + #endif + } + + static uint8_t has_run_out() { + uint8_t runout_flags = 0; + LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_mm_countdown[i] < 0) SBI(runout_flags, i); + return runout_flags; + } + + static void filament_present(const uint8_t extruder) { + runout_mm_countdown[extruder] = runout_distance_mm; + } + + static void block_completed(const block_t * const b) { + if (b->steps.x || b->steps.y || b->steps.z || did_pause_print) { // Allow pause purge move to re-trigger runout state + // Only trigger on extrusion with XYZ movement to allow filament change and retract/recover. + const uint8_t e = b->extruder; + const int32_t steps = b->steps.e; + runout_mm_countdown[e] -= (TEST(b->direction_bits, E_AXIS) ? -steps : steps) * planner.mm_per_step[E_AXIS_N(e)]; + } + } + }; + +#else // !HAS_FILAMENT_RUNOUT_DISTANCE + + // RunoutResponseDebounced triggers a runout event after a runout + // condition has been detected runout_threshold times in a row. + + class RunoutResponseDebounced { + private: + static constexpr int8_t runout_threshold = FILAMENT_RUNOUT_THRESHOLD; + static int8_t runout_count[NUM_RUNOUT_SENSORS]; + + public: + static void reset() { + LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i); + } + + static void run() { + LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_count[i] >= 0) runout_count[i]--; + } + + static uint8_t has_run_out() { + uint8_t runout_flags = 0; + LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_count[i] < 0) SBI(runout_flags, i); + return runout_flags; + } + + static void block_completed(const block_t * const) { } + + static void filament_present(const uint8_t extruder) { + runout_count[extruder] = runout_threshold; + } + }; + +#endif // !HAS_FILAMENT_RUNOUT_DISTANCE diff --git a/Marlin/src/feature/solenoid.cpp b/Marlin/src/feature/solenoid.cpp new file mode 100644 index 0000000000..861e44ed05 --- /dev/null +++ b/Marlin/src/feature/solenoid.cpp @@ -0,0 +1,55 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL) + +#include "solenoid.h" + +#include "../module/motion.h" // for active_extruder +#include "../module/tool_change.h" + +// Used primarily with MANUAL_SOLENOID_CONTROL +static void set_solenoid(const uint8_t num, const uint8_t state) { + #define _SOL_CASE(N) case N: TERN_(HAS_SOLENOID_##N, OUT_WRITE(SOL##N##_PIN, state)); break; + switch (num) { + REPEAT(8, _SOL_CASE) + default: SERIAL_ECHO_MSG(STR_INVALID_SOLENOID); break; + } + + #if ENABLED(PARKING_EXTRUDER) + if (state == LOW && active_extruder == num) // If active extruder's solenoid is disabled, carriage is considered parked + parking_extruder_set_parked(true); + #endif +} + +// PARKING_EXTRUDER options alter the default behavior of solenoids to ensure compliance of M380-381 +void enable_solenoid(const uint8_t num) { set_solenoid(num, TERN1(PARKING_EXTRUDER, PE_MAGNET_ON_STATE)); } +void disable_solenoid(const uint8_t num) { set_solenoid(num, TERN0(PARKING_EXTRUDER, !PE_MAGNET_ON_STATE)); } + +void disable_all_solenoids() { + #define _SOL_DISABLE(N) TERN_(HAS_SOLENOID_##N, disable_solenoid(N)); + REPEAT(8, _SOL_DISABLE) +} + +#endif // EXT_SOLENOID || MANUAL_SOLENOID_CONTROL diff --git a/Marlin/src/feature/solenoid.h b/Marlin/src/feature/solenoid.h new file mode 100644 index 0000000000..3131aeb868 --- /dev/null +++ b/Marlin/src/feature/solenoid.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +void disable_all_solenoids(); +void enable_solenoid(const uint8_t num); +void disable_solenoid(const uint8_t num); diff --git a/Marlin/src/feature/spindle_laser.cpp b/Marlin/src/feature/spindle_laser.cpp new file mode 100644 index 0000000000..c0635c7220 --- /dev/null +++ b/Marlin/src/feature/spindle_laser.cpp @@ -0,0 +1,185 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * feature/spindle_laser.cpp + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_CUTTER + +#include "spindle_laser.h" + +#if ENABLED(SPINDLE_SERVO) + #include "../module/servo.h" +#endif + +#if ENABLED(I2C_AMMETER) + #include "../feature/ammeter.h" +#endif + +SpindleLaser cutter; +bool SpindleLaser::enable_state; // Virtual enable state, controls enable pin if present and or apply power if > 0 +uint8_t SpindleLaser::power, // Actual power output 0-255 ocr or "0 = off" > 0 = "on" + SpindleLaser::last_power_applied; // = 0 // Basic power state tracking + +#if ENABLED(LASER_FEATURE) + cutter_test_pulse_t SpindleLaser::testPulse = 50; // (ms) Test fire pulse default duration + uint8_t SpindleLaser::last_block_power; // = 0 // Track power changes for dynamic inline power + feedRate_t SpindleLaser::feedrate_mm_m = 1500, + SpindleLaser::last_feedrate_mm_m; // = 0 // (mm/min) Track feedrate changes for dynamic power +#endif + +bool SpindleLaser::isReadyForUI = false; // Ready to apply power setting from the UI to OCR +CutterMode SpindleLaser::cutter_mode = CUTTER_MODE_STANDARD; // Default is standard mode + +constexpr cutter_cpower_t SpindleLaser::power_floor; +cutter_power_t SpindleLaser::menuPower = 0, // Power value via LCD menu in PWM, PERCENT, or RPM based on configured format set by CUTTER_POWER_UNIT. + SpindleLaser::unitPower = 0; // Unit power is in PWM, PERCENT, or RPM based on CUTTER_POWER_UNIT. + +cutter_frequency_t SpindleLaser::frequency; // PWM frequency setting; range: 2K - 50K + +#define SPINDLE_LASER_PWM_OFF TERN(SPINDLE_LASER_PWM_INVERT, 255, 0) + +/** + * Init the cutter to a safe OFF state + */ +void SpindleLaser::init() { + #if ENABLED(SPINDLE_SERVO) + servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN); + #elif PIN_EXISTS(SPINDLE_LASER_ENA) + OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off + #endif + #if ENABLED(SPINDLE_CHANGE_DIR) + OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR); // Init rotation to clockwise (M3) + #endif + #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY + frequency = SPINDLE_LASER_FREQUENCY; + hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY); + #endif + #if ENABLED(SPINDLE_LASER_USE_PWM) + SET_PWM(SPINDLE_LASER_PWM_PIN); + hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed + #endif + #if ENABLED(AIR_EVACUATION) + OUT_WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE); // Init Vacuum/Blower OFF + #endif + #if ENABLED(AIR_ASSIST) + OUT_WRITE(AIR_ASSIST_PIN, !AIR_ASSIST_ACTIVE); // Init Air Assist OFF + #endif + TERN_(I2C_AMMETER, ammeter.init()); // Init I2C Ammeter +} + +#if ENABLED(SPINDLE_LASER_USE_PWM) + /** + * Set the cutter PWM directly to the given ocr value + * + * @param ocr Power value + */ + void SpindleLaser::_set_ocr(const uint8_t ocr) { + #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY + hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); + #endif + hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF); + } + + void SpindleLaser::set_ocr(const uint8_t ocr) { + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_STATE); // Cutter ON + #endif + _set_ocr(ocr); + } + + void SpindleLaser::ocr_off() { + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF + #endif + _set_ocr(0); + } +#endif // SPINDLE_LASER_USE_PWM + +/** + * Apply power for Laser or Spindle + * + * Apply cutter power value for PWM, Servo, and on/off pin. + * + * @param opwr Power value. Range 0 to MAX. + */ +void SpindleLaser::apply_power(const uint8_t opwr) { + if (enabled() || opwr == 0) { // 0 check allows us to disable where no ENA pin exists + // Test and set the last power used to improve performance + if (opwr == last_power_applied) return; + last_power_applied = opwr; + // Handle PWM driven or just simple on/off + #if ENABLED(SPINDLE_LASER_USE_PWM) + if (CUTTER_UNIT_IS(RPM) && unitPower == 0) + ocr_off(); + else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled() || opwr == 0) { + set_ocr(opwr); + isReadyForUI = true; + } + else + ocr_off(); + #elif ENABLED(SPINDLE_SERVO) + servo[SPINDLE_SERVO_NR].move(opwr); + #else + WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); + isReadyForUI = true; + #endif + } + else { + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); + #endif + isReadyForUI = false; // Only used for UI display updates. + TERN_(SPINDLE_LASER_USE_PWM, ocr_off()); + } +} + +#if ENABLED(SPINDLE_CHANGE_DIR) + /** + * Set the spindle direction and apply immediately + * Stop on direction change if SPINDLE_STOP_ON_DIR_CHANGE is enabled + */ + void SpindleLaser::set_reverse(const bool reverse) { + const bool dir_state = (reverse == SPINDLE_INVERT_DIR); // Forward (M3) HIGH when not inverted + if (TERN0(SPINDLE_STOP_ON_DIR_CHANGE, enabled()) && READ(SPINDLE_DIR_PIN) != dir_state) disable(); + WRITE(SPINDLE_DIR_PIN, dir_state); + } +#endif + +#if ENABLED(AIR_EVACUATION) + // Enable / disable Cutter Vacuum or Laser Blower motor + void SpindleLaser::air_evac_enable() { WRITE(AIR_EVACUATION_PIN, AIR_EVACUATION_ACTIVE); } // Turn ON + void SpindleLaser::air_evac_disable() { WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE); } // Turn OFF + void SpindleLaser::air_evac_toggle() { TOGGLE(AIR_EVACUATION_PIN); } // Toggle state +#endif + +#if ENABLED(AIR_ASSIST) + // Enable / disable air assist + void SpindleLaser::air_assist_enable() { WRITE(AIR_ASSIST_PIN, AIR_ASSIST_ACTIVE); } // Turn ON + void SpindleLaser::air_assist_disable() { WRITE(AIR_ASSIST_PIN, !AIR_ASSIST_ACTIVE); } // Turn OFF + void SpindleLaser::air_assist_toggle() { TOGGLE(AIR_ASSIST_PIN); } // Toggle state +#endif + +#endif // HAS_CUTTER diff --git a/Marlin/src/feature/spindle_laser.h b/Marlin/src/feature/spindle_laser.h new file mode 100644 index 0000000000..a49e5611a4 --- /dev/null +++ b/Marlin/src/feature/spindle_laser.h @@ -0,0 +1,329 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/spindle_laser.h + * Support for Laser Power or Spindle Power & Direction + */ + +#include "../inc/MarlinConfig.h" + +#include "spindle_laser_types.h" + +#include "../libs/buzzer.h" + +// Inline laser power +#include "../module/planner.h" + +#define PCT_TO_PWM(X) ((X) * 255 / 100) +#define PCT_TO_SERVO(X) ((X) * 180 / 100) + + +// Laser/Cutter operation mode +enum CutterMode : int8_t { + CUTTER_MODE_ERROR = -1, + CUTTER_MODE_STANDARD, // M3 power is applied directly and waits for planner moves to sync. + CUTTER_MODE_CONTINUOUS, // M3 or G1/2/3 move power is controlled within planner blocks, set with 'M3 I', cleared with 'M5 I'. + CUTTER_MODE_DYNAMIC // M4 laser power is proportional to the feed rate, set with 'M4 I', cleared with 'M5 I'. +}; + +class SpindleLaser { +public: + static CutterMode cutter_mode; + + static constexpr uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); } + + // cpower = configured values (e.g., SPEED_POWER_MAX) + // Convert configured power range to a percentage + static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0); + static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) { + return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0; + } + + // Convert config defines from RPM to %, angle or PWM when in Spindle mode + // and convert from PERCENT to PWM when in Laser mode + static constexpr cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power + return ( + #if ENABLED(SPINDLE_FEATURE) + // Spindle configured define values are in RPM + #if CUTTER_UNIT_IS(RPM) + cpwr // to same + #elif CUTTER_UNIT_IS(PERCENT) + cpwr_to_pct(cpwr) // to Percent + #elif CUTTER_UNIT_IS(SERVO) + PCT_TO_SERVO(cpwr_to_pct(cpwr)) // to SERVO angle + #else + PCT_TO_PWM(cpwr_to_pct(cpwr)) // to PWM + #endif + #else + // Laser configured define values are in Percent + #if CUTTER_UNIT_IS(PWM255) + PCT_TO_PWM(cpwr) // to PWM + #else + cpwr // to same + #endif + #endif + ); + } + + static constexpr cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); } + static constexpr cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); } + + #if ENABLED(LASER_FEATURE) + static cutter_test_pulse_t testPulse; // (ms) Test fire pulse duration + static uint8_t last_block_power; // Track power changes for dynamic power + + static feedRate_t feedrate_mm_m, last_feedrate_mm_m; // (mm/min) Track feedrate changes for dynamic power + static bool laser_feedrate_changed() { + const bool changed = last_feedrate_mm_m != feedrate_mm_m; + if (changed) last_feedrate_mm_m = feedrate_mm_m; + return changed; + } + #endif + + static bool isReadyForUI; // Ready to apply power setting from the UI to OCR + static bool enable_state; + static uint8_t power, + last_power_applied; // Basic power state tracking + + static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K + + static cutter_power_t menuPower, // Power as set via LCD menu in PWM, Percentage or RPM + unitPower; // Power as displayed status in PWM, Percentage or RPM + + static void init(); + + #if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY + static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); } + #endif + + // Modifying this function should update everywhere + static bool enabled(const cutter_power_t opwr) { return opwr > 0; } + static bool enabled() { return enable_state; } + + static void apply_power(const uint8_t inpow); + + FORCE_INLINE static void refresh() { apply_power(power); } + + #if ENABLED(SPINDLE_LASER_USE_PWM) + + private: + + static void _set_ocr(const uint8_t ocr); + + public: + + static void set_ocr(const uint8_t ocr); + static void ocr_off(); + + /** + * Update output for power->OCR translation + */ + static uint8_t upower_to_ocr(const cutter_power_t upwr) { + return uint8_t( + #if CUTTER_UNIT_IS(PWM255) + upwr + #elif CUTTER_UNIT_IS(PERCENT) + pct_to_ocr(upwr) + #else + pct_to_ocr(cpwr_to_pct(upwr)) + #endif + ); + } + + #endif // SPINDLE_LASER_USE_PWM + + /** + * Correct power to configured range + */ + static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) { + static constexpr float + min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)), + max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX); + if (pwr <= 0) return 0; + cutter_power_t upwr; + switch (pwrUnit) { + case _CUTTER_POWER_PWM255: { // PWM + const uint8_t pmin = pct_to_ocr(min_pct), pmax = pct_to_ocr(max_pct); + upwr = cutter_power_t(constrain(pwr, pmin, pmax)); + } break; + case _CUTTER_POWER_PERCENT: // Percent + upwr = cutter_power_t(constrain(pwr, min_pct, max_pct)); + break; + case _CUTTER_POWER_RPM: // Calculate OCR value + upwr = cutter_power_t(constrain(pwr, SPEED_POWER_MIN, SPEED_POWER_MAX)); + break; + default: break; + } + return upwr; + } + + /** + * Enable Laser or Spindle output. + * It's important to prevent changing the power output value during inline cutter operation. + * Inline power is adjusted in the planner to support LASER_TRAP_POWER and CUTTER_MODE_DYNAMIC mode. + * + * This method accepts one of the following control states: + * + * - For CUTTER_MODE_STANDARD the cutter power is either full on/off or ocr-based and it will apply + * SPEED_POWER_STARTUP if no value is assigned. + * + * - For CUTTER_MODE_CONTINUOUS inline and power remains where last set and the cutter output enable flag is set. + * + * - CUTTER_MODE_DYNAMIC is also inline-based and it just sets the enable output flag. + * + * - For CUTTER_MODE_ERROR set the output enable_state flag directly and set power to 0 for any mode. + * This mode allows a global power shutdown action to occur. + */ + static void set_enabled(bool enable) { + switch (cutter_mode) { + case CUTTER_MODE_STANDARD: + apply_power(enable ? TERN(SPINDLE_LASER_USE_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0); + break; + case CUTTER_MODE_CONTINUOUS: + TERN_(LASER_FEATURE, set_inline_enabled(enable)); + break; + case CUTTER_MODE_DYNAMIC: + TERN_(LASER_FEATURE, set_inline_enabled(enable)); + break; + case CUTTER_MODE_ERROR: // Error mode, no enable and kill power. + enable = false; + apply_power(0); + } + #if SPINDLE_LASER_ENA_PIN + WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); + #endif + enable_state = enable; + } + + static void disable() { isReadyForUI = false; set_enabled(false); } + + // Wait for spindle/laser to startup or shutdown + static void power_delay(const bool on) { + safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY); + } + + #if ENABLED(SPINDLE_CHANGE_DIR) + static void set_reverse(const bool reverse); + static bool is_reverse() { return READ(SPINDLE_DIR_PIN) == SPINDLE_INVERT_DIR; } + #else + static void set_reverse(const bool) {} + static bool is_reverse() { return false; } + #endif + + #if ENABLED(AIR_EVACUATION) + static void air_evac_enable(); // Turn On Cutter Vacuum or Laser Blower motor + static void air_evac_disable(); // Turn Off Cutter Vacuum or Laser Blower motor + static void air_evac_toggle(); // Toggle Cutter Vacuum or Laser Blower motor + static bool air_evac_state() { // Get current state + return (READ(AIR_EVACUATION_PIN) == AIR_EVACUATION_ACTIVE); + } + #endif + + #if ENABLED(AIR_ASSIST) + static void air_assist_enable(); // Turn on air assist + static void air_assist_disable(); // Turn off air assist + static void air_assist_toggle(); // Toggle air assist + static bool air_assist_state() { // Get current state + return (READ(AIR_ASSIST_PIN) == AIR_ASSIST_ACTIVE); + } + #endif + + #if HAS_MARLINUI_MENU + + #if ENABLED(SPINDLE_FEATURE) + static void enable_with_dir(const bool reverse) { + isReadyForUI = true; + const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255); + if (menuPower) + power = ocr; + else + menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP); + unitPower = menuPower; + set_reverse(reverse); + set_enabled(true); + } + FORCE_INLINE static void enable_forward() { enable_with_dir(false); } + FORCE_INLINE static void enable_reverse() { enable_with_dir(true); } + FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); } + #endif // SPINDLE_FEATURE + + #if ENABLED(SPINDLE_LASER_USE_PWM) + static void update_from_mpower() { + if (isReadyForUI) power = upower_to_ocr(menuPower); + unitPower = menuPower; + } + #endif + + #if ENABLED(LASER_FEATURE) + // Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry. + static void menu_set_enabled(const bool state) { + set_enabled(state); + if (state) { + if (!menuPower) menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP); + power = upower_to_ocr(menuPower); + apply_power(power); + } else + apply_power(0); + } + + /** + * Test fire the laser using the testPulse ms duration + * Also fires with any PWM power that was previous set + * If not set defaults to 80% power + */ + static void test_fire_pulse() { + BUZZ(30, 3000); + cutter_mode = CUTTER_MODE_STANDARD; // Menu needs standard mode. + menu_set_enabled(true); // Laser On + delay(testPulse); // Delay for time set by user in pulse ms menu screen. + menu_set_enabled(false); // Laser Off + } + #endif // LASER_FEATURE + + #endif // HAS_MARLINUI_MENU + + #if ENABLED(LASER_FEATURE) + + // Dynamic mode rate calculation + static uint8_t calc_dynamic_power() { + if (feedrate_mm_m > 65535) return 255; // Too fast, go always on + uint16_t rate = uint16_t(feedrate_mm_m); // 16 bits from the G-code parser float input + rate >>= 8; // Take the G-code input e.g. F40000 and shift off the lower bits to get an OCR value from 1-255 + return uint8_t(rate); + } + + // Inline modes of all other functions; all enable planner inline power control + static void set_inline_enabled(const bool enable) { planner.laser_inline.status.isEnabled = enable; } + + // Set the power for subsequent movement blocks + static void inline_power(const cutter_power_t cpwr) { + TERN(SPINDLE_LASER_USE_PWM, power = planner.laser_inline.power = cpwr, planner.laser_inline.power = cpwr > 0 ? 255 : 0); + } + + #endif // LASER_FEATURE + + static void kill() { disable(); } +}; + +extern SpindleLaser cutter; diff --git a/Marlin/src/feature/spindle_laser_types.h b/Marlin/src/feature/spindle_laser_types.h new file mode 100644 index 0000000000..4e5e4d06f6 --- /dev/null +++ b/Marlin/src/feature/spindle_laser_types.h @@ -0,0 +1,83 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/spindle_laser_types.h + * Support for Laser Power or Spindle Power & Direction + */ + +#include "../inc/MarlinConfigPre.h" + +#define MSG_CUTTER(M) _MSG_CUTTER(M) + +#ifndef SPEED_POWER_INTERCEPT + #define SPEED_POWER_INTERCEPT 0 +#endif +#if ENABLED(SPINDLE_FEATURE) + #define _MSG_CUTTER(M) MSG_SPINDLE_##M + #ifndef SPEED_POWER_MIN + #define SPEED_POWER_MIN 5000 + #endif + #ifndef SPEED_POWER_MAX + #define SPEED_POWER_MAX 30000 + #endif + #ifndef SPEED_POWER_STARTUP + #define SPEED_POWER_STARTUP 25000 + #endif +#else + #define _MSG_CUTTER(M) MSG_LASER_##M + #ifndef SPEED_POWER_MIN + #define SPEED_POWER_MIN 0 + #endif + #ifndef SPEED_POWER_MAX + #define SPEED_POWER_MAX 255 + #endif + #ifndef SPEED_POWER_STARTUP + #define SPEED_POWER_STARTUP 255 + #endif +#endif + +typedef uvalue_t(SPEED_POWER_MAX) cutter_cpower_t; + +#if CUTTER_UNIT_IS(RPM) && SPEED_POWER_MAX > 255 + typedef uint16_t cutter_power_t; + #define CUTTER_MENU_POWER_TYPE uint16_5 + #define cutter_power2str ui16tostr5rj +#else + typedef uint8_t cutter_power_t; + #if CUTTER_UNIT_IS(PERCENT) + #define CUTTER_MENU_POWER_TYPE percent_3 + #define cutter_power2str pcttostrpctrj + #else + #define CUTTER_MENU_POWER_TYPE uint8 + #define cutter_power2str ui8tostr3rj + #endif +#endif + +typedef uint16_t cutter_frequency_t; + +#if ENABLED(LASER_FEATURE) + typedef uint16_t cutter_test_pulse_t; + #define CUTTER_MENU_PULSE_TYPE uint16_3 + #define CUTTER_MENU_FREQUENCY_TYPE uint16_5 +#endif diff --git a/Marlin/src/feature/stepper_driver_safety.cpp b/Marlin/src/feature/stepper_driver_safety.cpp new file mode 100644 index 0000000000..d3fc161486 --- /dev/null +++ b/Marlin/src/feature/stepper_driver_safety.cpp @@ -0,0 +1,123 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../inc/MarlinConfig.h" +#include "../lcd/marlinui.h" + +#if HAS_DRIVER_SAFE_POWER_PROTECT + +#include "stepper_driver_safety.h" + +static uint32_t axis_plug_backward = 0; + +void stepper_driver_backward_error(FSTR_P const fstr) { + SERIAL_ERROR_START(); + SERIAL_ECHOF(fstr); + SERIAL_ECHOLNPGM(" driver is backward!"); + ui.status_printf(2, F(S_FMT S_FMT), FTOP(fstr), GET_TEXT(MSG_DRIVER_BACKWARD)); +} + +void stepper_driver_backward_check() { + + OUT_WRITE(SAFE_POWER_PIN, LOW); + + #define _TEST_BACKWARD(AXIS, BIT) do { \ + SET_INPUT(AXIS##_ENABLE_PIN); \ + OUT_WRITE(AXIS##_STEP_PIN, false); \ + delay(20); \ + if (READ(AXIS##_ENABLE_PIN) == LOW) { \ + SBI(axis_plug_backward, BIT); \ + stepper_driver_backward_error(F(STRINGIFY(AXIS))); \ + } \ + }while(0) + + #define TEST_BACKWARD(AXIS, BIT) TERN_(HAS_##AXIS##_ENABLE, _TEST_BACKWARD(AXIS, BIT)) + + TEST_BACKWARD(X, 0); + TEST_BACKWARD(X2, 1); + + TEST_BACKWARD(Y, 2); + TEST_BACKWARD(Y2, 3); + + TEST_BACKWARD(Z, 4); + TEST_BACKWARD(Z2, 5); + TEST_BACKWARD(Z3, 6); + TEST_BACKWARD(Z4, 7); + + TEST_BACKWARD(I, 8); + TEST_BACKWARD(J, 9); + TEST_BACKWARD(K, 10); + TEST_BACKWARD(U, 11); + TEST_BACKWARD(V, 12); + TEST_BACKWARD(W, 13); + + TEST_BACKWARD(E0, 14); + TEST_BACKWARD(E1, 15); + TEST_BACKWARD(E2, 16); + TEST_BACKWARD(E3, 17); + TEST_BACKWARD(E4, 18); + TEST_BACKWARD(E5, 19); + TEST_BACKWARD(E6, 20); + TEST_BACKWARD(E7, 21); + + if (!axis_plug_backward) + WRITE(SAFE_POWER_PIN, HIGH); +} + +void stepper_driver_backward_report() { + if (!axis_plug_backward) return; + + auto _report_if_backward = [](FSTR_P const axis, uint8_t bit) { + if (TEST(axis_plug_backward, bit)) + stepper_driver_backward_error(axis); + }; + + #define REPORT_BACKWARD(axis, bit) TERN_(HAS_##axis##_ENABLE, _report_if_backward(F(STRINGIFY(axis)), bit)) + + REPORT_BACKWARD(X, 0); + REPORT_BACKWARD(X2, 1); + + REPORT_BACKWARD(Y, 2); + REPORT_BACKWARD(Y2, 3); + + REPORT_BACKWARD(Z, 4); + REPORT_BACKWARD(Z2, 5); + REPORT_BACKWARD(Z3, 6); + REPORT_BACKWARD(Z4, 7); + + REPORT_BACKWARD(I, 8); + REPORT_BACKWARD(J, 9); + REPORT_BACKWARD(K, 10); + REPORT_BACKWARD(U, 11); + REPORT_BACKWARD(V, 12); + REPORT_BACKWARD(W, 13); + + REPORT_BACKWARD(E0, 14); + REPORT_BACKWARD(E1, 15); + REPORT_BACKWARD(E2, 16); + REPORT_BACKWARD(E3, 17); + REPORT_BACKWARD(E4, 18); + REPORT_BACKWARD(E5, 19); + REPORT_BACKWARD(E6, 20); + REPORT_BACKWARD(E7, 21); +} + +#endif // HAS_DRIVER_SAFE_POWER_PROTECT diff --git a/Marlin/src/feature/stepper_driver_safety.h b/Marlin/src/feature/stepper_driver_safety.h new file mode 100644 index 0000000000..46edf3390d --- /dev/null +++ b/Marlin/src/feature/stepper_driver_safety.h @@ -0,0 +1,28 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + + +#include "../inc/MarlinConfigPre.h" + +void stepper_driver_backward_check(); +void stepper_driver_backward_report(); diff --git a/Marlin/src/feature/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp new file mode 100644 index 0000000000..0867686363 --- /dev/null +++ b/Marlin/src/feature/tmc_util.cpp @@ -0,0 +1,1393 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_TRINAMIC_CONFIG + +#include "tmc_util.h" +#include "../MarlinCore.h" + +#include "../module/stepper/indirection.h" +#include "../module/printcounter.h" +#include "../libs/duration_t.h" +#include "../gcode/gcode.h" + +#if ENABLED(TMC_DEBUG) + #include "../libs/hex_print.h" + #if ENABLED(MONITOR_DRIVER_STATUS) + static uint16_t report_tmc_status_interval; // = 0 + #endif +#endif + +/** + * Check for over temperature or short to ground error flags. + * Report and log warning of overtemperature condition. + * Reduce driver current in a persistent otpw condition. + * Keep track of otpw counter so we don't reduce current on a single instance, + * and so we don't repeatedly report warning before the condition is cleared. + */ +#if ENABLED(MONITOR_DRIVER_STATUS) + + struct TMC_driver_data { + uint32_t drv_status; + bool is_otpw:1, + is_ot:1, + is_s2g:1, + is_error:1 + #if ENABLED(TMC_DEBUG) + , is_stall:1 + , is_stealth:1 + , is_standstill:1 + #if HAS_STALLGUARD + , sg_result_reasonable:1 + #endif + #endif + ; + #if ENABLED(TMC_DEBUG) + #if HAS_TMCX1X0 || HAS_TMC220x + uint8_t cs_actual; + #endif + #if HAS_STALLGUARD + uint16_t sg_result; + #endif + #endif + }; + + #if HAS_TMCX1X0 + + #if ENABLED(TMC_DEBUG) + static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); } + #endif + + static TMC_driver_data get_driver_data(TMC2130Stepper &st) { + constexpr uint8_t OT_bp = 25, OTPW_bp = 26; + constexpr uint32_t S2G_bm = 0x18000000; + #if ENABLED(TMC_DEBUG) + constexpr uint16_t SG_RESULT_bm = 0x3FF; // 0:9 + constexpr uint8_t STEALTH_bp = 14; + constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20 + constexpr uint8_t STALL_GUARD_bp = 24; + constexpr uint8_t STST_bp = 31; + #endif + TMC_driver_data data; + const auto ds = data.drv_status = st.DRV_STATUS(); + #ifdef __AVR__ + + // 8-bit optimization saves up to 70 bytes of PROGMEM per axis + uint8_t spart; + #if ENABLED(TMC_DEBUG) + data.sg_result = ds & SG_RESULT_bm; + spart = ds >> 8; + data.is_stealth = TEST(spart, STEALTH_bp - 8); + spart = ds >> 16; + data.cs_actual = spart & (CS_ACTUAL_bm >> 16); + #endif + spart = ds >> 24; + data.is_ot = TEST(spart, OT_bp - 24); + data.is_otpw = TEST(spart, OTPW_bp - 24); + data.is_s2g = !!(spart & (S2G_bm >> 24)); + #if ENABLED(TMC_DEBUG) + data.is_stall = TEST(spart, STALL_GUARD_bp - 24); + data.is_standstill = TEST(spart, STST_bp - 24); + data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill + #endif + + #else // !__AVR__ + + data.is_ot = TEST(ds, OT_bp); + data.is_otpw = TEST(ds, OTPW_bp); + data.is_s2g = !!(ds & S2G_bm); + #if ENABLED(TMC_DEBUG) + constexpr uint8_t CS_ACTUAL_sb = 16; + data.sg_result = ds & SG_RESULT_bm; + data.is_stealth = TEST(ds, STEALTH_bp); + data.cs_actual = (ds & CS_ACTUAL_bm) >> CS_ACTUAL_sb; + data.is_stall = TEST(ds, STALL_GUARD_bp); + data.is_standstill = TEST(ds, STST_bp); + data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill + #endif + + #endif // !__AVR__ + + return data; + } + + #endif // HAS_TMCX1X0 + + #if HAS_TMC220x + + #if ENABLED(TMC_DEBUG) + static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); } + #endif + + static TMC_driver_data get_driver_data(TMC2208Stepper &st) { + constexpr uint8_t OTPW_bp = 0, OT_bp = 1; + constexpr uint8_t S2G_bm = 0b111100; // 2..5 + TMC_driver_data data; + const auto ds = data.drv_status = st.DRV_STATUS(); + data.is_otpw = TEST(ds, OTPW_bp); + data.is_ot = TEST(ds, OT_bp); + data.is_s2g = !!(ds & S2G_bm); + #if ENABLED(TMC_DEBUG) + constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20 + constexpr uint8_t STEALTH_bp = 30, STST_bp = 31; + #ifdef __AVR__ + // 8-bit optimization saves up to 12 bytes of PROGMEM per axis + uint8_t spart = ds >> 16; + data.cs_actual = spart & (CS_ACTUAL_bm >> 16); + spart = ds >> 24; + data.is_stealth = TEST(spart, STEALTH_bp - 24); + data.is_standstill = TEST(spart, STST_bp - 24); + #else + constexpr uint8_t CS_ACTUAL_sb = 16; + data.cs_actual = (ds & CS_ACTUAL_bm) >> CS_ACTUAL_sb; + data.is_stealth = TEST(ds, STEALTH_bp); + data.is_standstill = TEST(ds, STST_bp); + #endif + TERN_(HAS_STALLGUARD, data.sg_result_reasonable = false); + #endif + return data; + } + + #endif // TMC2208 || TMC2209 + + #if HAS_DRIVER(TMC2660) + + #if ENABLED(TMC_DEBUG) + static uint32_t get_pwm_scale(TMC2660Stepper) { return 0; } + #endif + + static TMC_driver_data get_driver_data(TMC2660Stepper &st) { + constexpr uint8_t OT_bp = 1, OTPW_bp = 2; + constexpr uint8_t S2G_bm = 0b11000; + TMC_driver_data data; + const auto ds = data.drv_status = st.DRVSTATUS(); + uint8_t spart = ds & 0xFF; + data.is_otpw = TEST(spart, OTPW_bp); + data.is_ot = TEST(spart, OT_bp); + data.is_s2g = !!(ds & S2G_bm); + #if ENABLED(TMC_DEBUG) + constexpr uint8_t STALL_GUARD_bp = 0; + constexpr uint8_t STST_bp = 7, SG_RESULT_sp = 10; + constexpr uint32_t SG_RESULT_bm = 0xFFC00; // 10:19 + data.is_stall = TEST(spart, STALL_GUARD_bp); + data.is_standstill = TEST(spart, STST_bp); + data.sg_result = (ds & SG_RESULT_bm) >> SG_RESULT_sp; + data.sg_result_reasonable = true; + #endif + return data; + } + + #endif // TMC2660 + + #if ENABLED(STOP_ON_ERROR) + void report_driver_error(const TMC_driver_data &data) { + SERIAL_ECHOPGM(" driver error detected: 0x"); + SERIAL_PRINTLN(data.drv_status, PrintBase::Hex); + if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature"); + if (data.is_s2g) SERIAL_ECHOLNPGM("coil short circuit"); + TERN_(TMC_DEBUG, tmc_report_all()); + kill(F("Driver error")); + } + #endif + + template + void report_driver_otpw(TMC &st) { + char timestamp[14]; + duration_t elapsed = print_job_timer.duration(); + const bool has_days = (elapsed.value > 60*60*24L); + (void)elapsed.toDigital(timestamp, has_days); + SERIAL_EOL(); + SERIAL_ECHO(timestamp); + SERIAL_ECHOPGM(": "); + st.printLabel(); + SERIAL_ECHOLNPGM(" driver overtemperature warning! (", st.getMilliamps(), "mA)"); + } + + template + void report_polled_driver_data(TMC &st, const TMC_driver_data &data) { + const uint32_t pwm_scale = get_pwm_scale(st); + st.printLabel(); + SERIAL_CHAR(':'); SERIAL_ECHO(pwm_scale); + #if ENABLED(TMC_DEBUG) + #if HAS_TMCX1X0 || HAS_TMC220x + SERIAL_CHAR('/'); SERIAL_ECHO(data.cs_actual); + #endif + #if HAS_STALLGUARD + SERIAL_CHAR('/'); + if (data.sg_result_reasonable) + SERIAL_ECHO(data.sg_result); + else + SERIAL_CHAR('-'); + #endif + #endif + SERIAL_CHAR('|'); + if (st.error_count) SERIAL_CHAR('E'); // Error + if (data.is_ot) SERIAL_CHAR('O'); // Over-temperature + if (data.is_otpw) SERIAL_CHAR('W'); // over-temperature pre-Warning + #if ENABLED(TMC_DEBUG) + if (data.is_stall) SERIAL_CHAR('G'); // stallGuard + if (data.is_stealth) SERIAL_CHAR('T'); // stealthChop + if (data.is_standstill) SERIAL_CHAR('I'); // standstIll + #endif + if (st.flag_otpw) SERIAL_CHAR('F'); // otpw Flag + SERIAL_CHAR('|'); + if (st.otpw_count > 0) SERIAL_ECHO(st.otpw_count); + SERIAL_CHAR('\t'); + } + + #if CURRENT_STEP_DOWN > 0 + + template + void step_current_down(TMC &st) { + if (st.isEnabled()) { + const uint16_t I_rms = st.getMilliamps() - (CURRENT_STEP_DOWN); + if (I_rms > 50) { + st.rms_current(I_rms); + #if ENABLED(REPORT_CURRENT_CHANGE) + st.printLabel(); + SERIAL_ECHOLNPGM(" current decreased to ", I_rms); + #endif + } + } + } + + #else + + #define step_current_down(...) + + #endif + + template + bool monitor_tmc_driver(TMC &st, const bool need_update_error_counters, const bool need_debug_reporting) { + TMC_driver_data data = get_driver_data(st); + if (data.drv_status == 0xFFFFFFFF || data.drv_status == 0x0) return false; + + bool should_step_down = false; + + if (need_update_error_counters) { + if (data.is_ot | data.is_s2g) st.error_count++; + else if (st.error_count > 0) st.error_count--; + + #if ENABLED(STOP_ON_ERROR) + if (st.error_count >= 10) { + SERIAL_EOL(); + st.printLabel(); + report_driver_error(data); + } + #endif + + // Report if a warning was triggered + if (data.is_otpw && st.otpw_count == 0) + report_driver_otpw(st); + + #if CURRENT_STEP_DOWN > 0 + // Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings + if (data.is_otpw && st.otpw_count > 4 && st.isEnabled()) + should_step_down = true; + #endif + + if (data.is_otpw) { + st.otpw_count++; + st.flag_otpw = true; + } + else if (st.otpw_count > 0) st.otpw_count = 0; + } + + #if ENABLED(TMC_DEBUG) + if (need_debug_reporting) report_polled_driver_data(st, data); + #endif + + return should_step_down; + } + + void monitor_tmc_drivers() { + const millis_t ms = millis(); + + // Poll TMC drivers at the configured interval + static millis_t next_poll = 0; + const bool need_update_error_counters = ELAPSED(ms, next_poll); + if (need_update_error_counters) next_poll = ms + MONITOR_DRIVER_STATUS_INTERVAL_MS; + + // Also poll at intervals for debugging + #if ENABLED(TMC_DEBUG) + static millis_t next_debug_reporting = 0; + const bool need_debug_reporting = report_tmc_status_interval && ELAPSED(ms, next_debug_reporting); + if (need_debug_reporting) next_debug_reporting = ms + report_tmc_status_interval; + #else + constexpr bool need_debug_reporting = false; + #endif + + if (need_update_error_counters || need_debug_reporting) { + + #if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2) + { + bool result = false; + #if AXIS_IS_TMC(X) + if (monitor_tmc_driver(stepperX, need_update_error_counters, need_debug_reporting)) result = true; + #endif + #if AXIS_IS_TMC(X2) + if (monitor_tmc_driver(stepperX2, need_update_error_counters, need_debug_reporting)) result = true; + #endif + if (result) { + #if AXIS_IS_TMC(X) + step_current_down(stepperX); + #endif + #if AXIS_IS_TMC(X2) + step_current_down(stepperX2); + #endif + } + } + #endif + + #if AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2) + { + bool result = false; + #if AXIS_IS_TMC(Y) + if (monitor_tmc_driver(stepperY, need_update_error_counters, need_debug_reporting)) result = true; + #endif + #if AXIS_IS_TMC(Y2) + if (monitor_tmc_driver(stepperY2, need_update_error_counters, need_debug_reporting)) result = true; + #endif + if (result) { + #if AXIS_IS_TMC(Y) + step_current_down(stepperY); + #endif + #if AXIS_IS_TMC(Y2) + step_current_down(stepperY2); + #endif + } + } + #endif + + #if AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4) + { + bool result = false; + #if AXIS_IS_TMC(Z) + if (monitor_tmc_driver(stepperZ, need_update_error_counters, need_debug_reporting)) result = true; + #endif + #if AXIS_IS_TMC(Z2) + if (monitor_tmc_driver(stepperZ2, need_update_error_counters, need_debug_reporting)) result = true; + #endif + #if AXIS_IS_TMC(Z3) + if (monitor_tmc_driver(stepperZ3, need_update_error_counters, need_debug_reporting)) result = true; + #endif + #if AXIS_IS_TMC(Z4) + if (monitor_tmc_driver(stepperZ4, need_update_error_counters, need_debug_reporting)) result = true; + #endif + if (result) { + #if AXIS_IS_TMC(Z) + step_current_down(stepperZ); + #endif + #if AXIS_IS_TMC(Z2) + step_current_down(stepperZ2); + #endif + #if AXIS_IS_TMC(Z3) + step_current_down(stepperZ3); + #endif + #if AXIS_IS_TMC(Z4) + step_current_down(stepperZ4); + #endif + } + } + #endif + + #if AXIS_IS_TMC(I) + if (monitor_tmc_driver(stepperI, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperI); + #endif + #if AXIS_IS_TMC(J) + if (monitor_tmc_driver(stepperJ, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperJ); + #endif + #if AXIS_IS_TMC(K) + if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperK); + #endif + #if AXIS_IS_TMC(U) + if (monitor_tmc_driver(stepperU, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperU); + #endif + #if AXIS_IS_TMC(V) + if (monitor_tmc_driver(stepperV, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperV); + #endif + #if AXIS_IS_TMC(W) + if (monitor_tmc_driver(stepperW, need_update_error_counters, need_debug_reporting)) + step_current_down(stepperW); + #endif + + #if AXIS_IS_TMC(E0) + (void)monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting); + #endif + #if AXIS_IS_TMC(E1) + (void)monitor_tmc_driver(stepperE1, need_update_error_counters, need_debug_reporting); + #endif + #if AXIS_IS_TMC(E2) + (void)monitor_tmc_driver(stepperE2, need_update_error_counters, need_debug_reporting); + #endif + #if AXIS_IS_TMC(E3) + (void)monitor_tmc_driver(stepperE3, need_update_error_counters, need_debug_reporting); + #endif + #if AXIS_IS_TMC(E4) + (void)monitor_tmc_driver(stepperE4, need_update_error_counters, need_debug_reporting); + #endif + #if AXIS_IS_TMC(E5) + (void)monitor_tmc_driver(stepperE5, need_update_error_counters, need_debug_reporting); + #endif + #if AXIS_IS_TMC(E6) + (void)monitor_tmc_driver(stepperE6, need_update_error_counters, need_debug_reporting); + #endif + #if AXIS_IS_TMC(E7) + (void)monitor_tmc_driver(stepperE7, need_update_error_counters, need_debug_reporting); + #endif + + if (TERN0(TMC_DEBUG, need_debug_reporting)) SERIAL_EOL(); + } + } + +#endif // MONITOR_DRIVER_STATUS + +#if ENABLED(TMC_DEBUG) + + /** + * M122 [S<0|1>] [Pnnn] Enable periodic status reports + */ + #if ENABLED(MONITOR_DRIVER_STATUS) + void tmc_set_report_interval(const uint16_t update_interval) { + if ((report_tmc_status_interval = update_interval)) + SERIAL_ECHOLNPGM("axis:pwm_scale" + TERN_(HAS_STEALTHCHOP, "/curr_scale") + TERN_(HAS_STALLGUARD, "/mech_load") + "|flags|warncount" + ); + } + #endif + + enum TMC_debug_enum : char { + TMC_CODES, + TMC_UART_ADDR, + TMC_ENABLED, + TMC_CURRENT, + TMC_RMS_CURRENT, + TMC_MAX_CURRENT, + TMC_IRUN, + TMC_IHOLD, + TMC_GLOBAL_SCALER, + TMC_CS_ACTUAL, + TMC_PWM_SCALE, + TMC_PWM_SCALE_SUM, + TMC_PWM_SCALE_AUTO, + TMC_PWM_OFS_AUTO, + TMC_PWM_GRAD_AUTO, + TMC_VSENSE, + TMC_STEALTHCHOP, + TMC_MICROSTEPS, + TMC_TSTEP, + TMC_TPWMTHRS, + TMC_TPWMTHRS_MMS, + TMC_OTPW, + TMC_OTPW_TRIGGERED, + TMC_TOFF, + TMC_TBL, + TMC_HEND, + TMC_HSTRT, + TMC_SGT, + TMC_MSCNT, + TMC_INTERPOLATE + }; + enum TMC_drv_status_enum : char { + TMC_DRV_CODES, + TMC_STST, + TMC_OLB, + TMC_OLA, + TMC_S2GB, + TMC_S2GA, + TMC_DRV_OTPW, + TMC_OT, + TMC_STALLGUARD, + TMC_DRV_CS_ACTUAL, + TMC_FSACTIVE, + TMC_SG_RESULT, + TMC_DRV_STATUS_HEX, + TMC_T157, + TMC_T150, + TMC_T143, + TMC_T120, + TMC_STEALTH, + TMC_S2VSB, + TMC_S2VSA + }; + enum TMC_get_registers_enum : char { + TMC_AXIS_CODES, + TMC_GET_GCONF, + TMC_GET_IHOLD_IRUN, + TMC_GET_GSTAT, + TMC_GET_IOIN, + TMC_GET_TPOWERDOWN, + TMC_GET_TSTEP, + TMC_GET_TPWMTHRS, + TMC_GET_TCOOLTHRS, + TMC_GET_THIGH, + TMC_GET_CHOPCONF, + TMC_GET_COOLCONF, + TMC_GET_PWMCONF, + TMC_GET_PWM_SCALE, + TMC_GET_DRV_STATUS, + TMC_GET_DRVCONF, + TMC_GET_DRVCTRL, + TMC_GET_DRVSTATUS, + TMC_GET_SGCSCONF, + TMC_GET_SMARTEN + }; + + template + static void print_vsense(TMC &st) { SERIAL_ECHOF(st.vsense() ? F("1=.18") : F("0=.325")); } + + #if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC5130) + static void _tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) { + switch (i) { + case TMC_PWM_SCALE: SERIAL_ECHO(st.PWM_SCALE()); break; + case TMC_SGT: SERIAL_ECHO(st.sgt()); break; + case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break; + case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break; + default: break; + } + } + #endif + #if HAS_TMCX1X0 + static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) { + switch (i) { + case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('*'); break; + case TMC_SG_RESULT: SERIAL_ECHO(st.sg_result()); break; + case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('*'); break; + case TMC_DRV_CS_ACTUAL: SERIAL_ECHO(st.cs_actual()); break; + default: break; + } + } + #endif + + #if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160) + template + void print_vsense(TMCMarlin &) { } + + template + void print_vsense(TMCMarlin &) { } + + static void _tmc_status(TMC2160Stepper &st, const TMC_debug_enum i) { + switch (i) { + case TMC_PWM_SCALE: SERIAL_ECHO(st.PWM_SCALE()); break; + case TMC_SGT: SERIAL_ECHO(st.sgt()); break; + case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break; + case TMC_GLOBAL_SCALER: + { + uint16_t value = st.GLOBAL_SCALER(); + SERIAL_ECHO(value ? value : 256); + SERIAL_ECHOPGM("/256"); + } + break; + case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break; + default: break; + } + } + #endif + + #if HAS_TMC220x + static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) { + switch (i) { + case TMC_PWM_SCALE_SUM: SERIAL_ECHO(st.pwm_scale_sum()); break; + case TMC_PWM_SCALE_AUTO: SERIAL_ECHO(st.pwm_scale_auto()); break; + case TMC_PWM_OFS_AUTO: SERIAL_ECHO(st.pwm_ofs_auto()); break; + case TMC_PWM_GRAD_AUTO: SERIAL_ECHO(st.pwm_grad_auto()); break; + case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break; + case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break; + default: break; + } + } + + #if HAS_DRIVER(TMC2209) + template + static void _tmc_status(TMCMarlin &st, const TMC_debug_enum i) { + switch (i) { + case TMC_SGT: SERIAL_ECHO(st.SGTHRS()); break; + case TMC_UART_ADDR: SERIAL_ECHO(st.get_address()); break; + default: + TMC2208Stepper *parent = &st; + _tmc_status(*parent, i); + break; + } + } + #endif + + static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) { + switch (i) { + case TMC_T157: if (st.t157()) SERIAL_CHAR('*'); break; + case TMC_T150: if (st.t150()) SERIAL_CHAR('*'); break; + case TMC_T143: if (st.t143()) SERIAL_CHAR('*'); break; + case TMC_T120: if (st.t120()) SERIAL_CHAR('*'); break; + case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break; + case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break; + case TMC_DRV_CS_ACTUAL: SERIAL_ECHO(st.cs_actual()); break; + default: break; + } + } + + #if HAS_DRIVER(TMC2209) + static void _tmc_parse_drv_status(TMC2209Stepper &st, const TMC_drv_status_enum i) { + switch (i) { + case TMC_SG_RESULT: SERIAL_ECHO(st.SG_RESULT()); break; + default: _tmc_parse_drv_status(static_cast(st), i); break; + } + } + #endif + #endif + + #if HAS_DRIVER(TMC2660) + static void _tmc_parse_drv_status(TMC2660Stepper, const TMC_drv_status_enum) { } + static void _tmc_status(TMC2660Stepper &st, const TMC_debug_enum i) { + switch (i) { + case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break; + default: break; + } + } + #endif + + template + static void tmc_status(TMC &st, const TMC_debug_enum i) { + SERIAL_CHAR('\t'); + switch (i) { + case TMC_CODES: st.printLabel(); break; + case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break; + case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break; + case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break; + case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break; + case TMC_IRUN: + SERIAL_ECHO(st.irun()); + SERIAL_ECHOPGM("/31"); + break; + case TMC_IHOLD: + SERIAL_ECHO(st.ihold()); + SERIAL_ECHOPGM("/31"); + break; + case TMC_CS_ACTUAL: + SERIAL_ECHO(st.cs_actual()); + SERIAL_ECHOPGM("/31"); + break; + case TMC_VSENSE: print_vsense(st); break; + case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break; + case TMC_TSTEP: { + const uint32_t tstep_value = st.TSTEP(); + if (tstep_value != 0xFFFFF) SERIAL_ECHO(tstep_value); else SERIAL_ECHOPGM("max"); + } break; + #if ENABLED(HYBRID_THRESHOLD) + case TMC_TPWMTHRS: SERIAL_ECHO(uint32_t(st.TPWMTHRS())); break; + case TMC_TPWMTHRS_MMS: { + const uint32_t tpwmthrs_val = st.get_pwm_thrs(); + if (tpwmthrs_val) SERIAL_ECHO(tpwmthrs_val); else SERIAL_CHAR('-'); + } break; + #endif + case TMC_OTPW: serialprint_truefalse(st.otpw()); break; + #if ENABLED(MONITOR_DRIVER_STATUS) + case TMC_OTPW_TRIGGERED: serialprint_truefalse(st.getOTPW()); break; + #endif + case TMC_TOFF: SERIAL_ECHO(st.toff()); break; + case TMC_TBL: SERIAL_ECHO(st.blank_time()); break; + case TMC_HEND: SERIAL_ECHO(st.hysteresis_end()); break; + case TMC_HSTRT: SERIAL_ECHO(st.hysteresis_start()); break; + case TMC_MSCNT: SERIAL_ECHO(st.get_microstep_counter()); break; + default: _tmc_status(st, i); break; + } + } + + #if HAS_DRIVER(TMC2660) + template + void tmc_status(TMCMarlin &st, const TMC_debug_enum i) { + SERIAL_CHAR('\t'); + switch (i) { + case TMC_CODES: st.printLabel(); break; + case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break; + case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break; + case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break; + case TMC_MAX_CURRENT: SERIAL_PRINT((float)st.rms_current() * 1.41, 0); break; + case TMC_IRUN: + SERIAL_ECHO(st.cs()); + SERIAL_ECHOPGM("/31"); + break; + case TMC_VSENSE: SERIAL_ECHOF(st.vsense() ? F("1=.165") : F("0=.310")); break; + case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break; + //case TMC_OTPW: serialprint_truefalse(st.otpw()); break; + //case TMC_OTPW_TRIGGERED: serialprint_truefalse(st.getOTPW()); break; + case TMC_SGT: SERIAL_ECHO(st.sgt()); break; + case TMC_TOFF: SERIAL_ECHO(st.toff()); break; + case TMC_TBL: SERIAL_ECHO(st.blank_time()); break; + case TMC_HEND: SERIAL_ECHO(st.hysteresis_end()); break; + case TMC_HSTRT: SERIAL_ECHO(st.hysteresis_start()); break; + default: break; + } + } + #endif + + template + static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) { + SERIAL_CHAR('\t'); + switch (i) { + case TMC_DRV_CODES: st.printLabel(); break; + case TMC_STST: if (!st.stst()) SERIAL_CHAR('*'); break; + case TMC_OLB: if (st.olb()) SERIAL_CHAR('*'); break; + case TMC_OLA: if (st.ola()) SERIAL_CHAR('*'); break; + case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('*'); break; + case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('*'); break; + case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('*'); break; + case TMC_OT: if (st.ot()) SERIAL_CHAR('*'); break; + case TMC_DRV_STATUS_HEX: { + const uint32_t drv_status = st.DRV_STATUS(); + SERIAL_CHAR('\t'); + st.printLabel(); + SERIAL_CHAR('\t'); + print_hex_long(drv_status, ':'); + if (drv_status == 0xFFFFFFFF || drv_status == 0) SERIAL_ECHOPGM("\t Bad response!"); + SERIAL_EOL(); + break; + } + default: _tmc_parse_drv_status(st, i); break; + } + } + + static void tmc_debug_loop(const TMC_debug_enum n, LOGICAL_AXIS_ARGS(const bool)) { + if (x) { + #if AXIS_IS_TMC(X) + tmc_status(stepperX, n); + #endif + #if AXIS_IS_TMC(X2) + tmc_status(stepperX2, n); + #endif + } + + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + tmc_status(stepperY, n); + #endif + #if AXIS_IS_TMC(Y2) + tmc_status(stepperY2, n); + #endif + } + + if (TERN0(HAS_Z_AXIS, z)) { + #if AXIS_IS_TMC(Z) + tmc_status(stepperZ, n); + #endif + #if AXIS_IS_TMC(Z2) + tmc_status(stepperZ2, n); + #endif + #if AXIS_IS_TMC(Z3) + tmc_status(stepperZ3, n); + #endif + #if AXIS_IS_TMC(Z4) + tmc_status(stepperZ4, n); + #endif + } + + #if AXIS_IS_TMC(I) + if (i) tmc_status(stepperI, n); + #endif + #if AXIS_IS_TMC(J) + if (j) tmc_status(stepperJ, n); + #endif + #if AXIS_IS_TMC(K) + if (k) tmc_status(stepperK, n); + #endif + #if AXIS_IS_TMC(U) + if (u) tmc_status(stepperU, n); + #endif + #if AXIS_IS_TMC(V) + if (v) tmc_status(stepperV, n); + #endif + #if AXIS_IS_TMC(W) + if (w) tmc_status(stepperW, n); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { + #if AXIS_IS_TMC(E0) + tmc_status(stepperE0, n); + #endif + #if AXIS_IS_TMC(E1) + tmc_status(stepperE1, n); + #endif + #if AXIS_IS_TMC(E2) + tmc_status(stepperE2, n); + #endif + #if AXIS_IS_TMC(E3) + tmc_status(stepperE3, n); + #endif + #if AXIS_IS_TMC(E4) + tmc_status(stepperE4, n); + #endif + #if AXIS_IS_TMC(E5) + tmc_status(stepperE5, n); + #endif + #if AXIS_IS_TMC(E6) + tmc_status(stepperE6, n); + #endif + #if AXIS_IS_TMC(E7) + tmc_status(stepperE7, n); + #endif + } + + SERIAL_EOL(); + } + + static void drv_status_loop(const TMC_drv_status_enum n, LOGICAL_AXIS_ARGS(const bool)) { + if (x) { + #if AXIS_IS_TMC(X) + tmc_parse_drv_status(stepperX, n); + #endif + #if AXIS_IS_TMC(X2) + tmc_parse_drv_status(stepperX2, n); + #endif + } + + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + tmc_parse_drv_status(stepperY, n); + #endif + #if AXIS_IS_TMC(Y2) + tmc_parse_drv_status(stepperY2, n); + #endif + } + + if (TERN0(HAS_Z_AXIS, z)) { + #if AXIS_IS_TMC(Z) + tmc_parse_drv_status(stepperZ, n); + #endif + #if AXIS_IS_TMC(Z2) + tmc_parse_drv_status(stepperZ2, n); + #endif + #if AXIS_IS_TMC(Z3) + tmc_parse_drv_status(stepperZ3, n); + #endif + #if AXIS_IS_TMC(Z4) + tmc_parse_drv_status(stepperZ4, n); + #endif + } + + #if AXIS_IS_TMC(I) + if (i) tmc_parse_drv_status(stepperI, n); + #endif + #if AXIS_IS_TMC(J) + if (j) tmc_parse_drv_status(stepperJ, n); + #endif + #if AXIS_IS_TMC(K) + if (k) tmc_parse_drv_status(stepperK, n); + #endif + #if AXIS_IS_TMC(U) + if (u) tmc_parse_drv_status(stepperU, n); + #endif + #if AXIS_IS_TMC(V) + if (v) tmc_parse_drv_status(stepperV, n); + #endif + #if AXIS_IS_TMC(W) + if (w) tmc_parse_drv_status(stepperW, n); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { + #if AXIS_IS_TMC(E0) + tmc_parse_drv_status(stepperE0, n); + #endif + #if AXIS_IS_TMC(E1) + tmc_parse_drv_status(stepperE1, n); + #endif + #if AXIS_IS_TMC(E2) + tmc_parse_drv_status(stepperE2, n); + #endif + #if AXIS_IS_TMC(E3) + tmc_parse_drv_status(stepperE3, n); + #endif + #if AXIS_IS_TMC(E4) + tmc_parse_drv_status(stepperE4, n); + #endif + #if AXIS_IS_TMC(E5) + tmc_parse_drv_status(stepperE5, n); + #endif + #if AXIS_IS_TMC(E6) + tmc_parse_drv_status(stepperE6, n); + #endif + #if AXIS_IS_TMC(E7) + tmc_parse_drv_status(stepperE7, n); + #endif + } + + SERIAL_EOL(); + } + + /** + * M122 report functions + */ + + void tmc_report_all(LOGICAL_AXIS_ARGS(const bool)) { + #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0) + #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, LOGICAL_AXIS_ARGS()); }while(0) + + TMC_REPORT("\t", TMC_CODES); + #if HAS_DRIVER(TMC2209) + TMC_REPORT("Address\t", TMC_UART_ADDR); + #endif + TMC_REPORT("Enabled\t", TMC_ENABLED); + TMC_REPORT("Set current", TMC_CURRENT); + TMC_REPORT("RMS current", TMC_RMS_CURRENT); + TMC_REPORT("MAX current", TMC_MAX_CURRENT); + TMC_REPORT("Run current", TMC_IRUN); + TMC_REPORT("Hold current", TMC_IHOLD); + #if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160) + TMC_REPORT("Global scaler", TMC_GLOBAL_SCALER); + #endif + TMC_REPORT("CS actual", TMC_CS_ACTUAL); + TMC_REPORT("PWM scale", TMC_PWM_SCALE); + #if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2224) || HAS_DRIVER(TMC2660) || HAS_TMC220x + TMC_REPORT("vsense\t", TMC_VSENSE); + #endif + TMC_REPORT("stealthChop", TMC_STEALTHCHOP); + TMC_REPORT("msteps\t", TMC_MICROSTEPS); + TMC_REPORT("interp\t", TMC_INTERPOLATE); + TMC_REPORT("tstep\t", TMC_TSTEP); + TMC_REPORT("PWM thresh.", TMC_TPWMTHRS); + TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS); + TMC_REPORT("OT prewarn", TMC_OTPW); + #if ENABLED(MONITOR_DRIVER_STATUS) + TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED); + #endif + + #if HAS_TMC220x + TMC_REPORT("pwm scale sum", TMC_PWM_SCALE_SUM); + TMC_REPORT("pwm scale auto", TMC_PWM_SCALE_AUTO); + TMC_REPORT("pwm offset auto", TMC_PWM_OFS_AUTO); + TMC_REPORT("pwm grad auto", TMC_PWM_GRAD_AUTO); + #endif + + TMC_REPORT("off time", TMC_TOFF); + TMC_REPORT("blank time", TMC_TBL); + TMC_REPORT("hysteresis\n -end\t", TMC_HEND); + TMC_REPORT(" -start\t", TMC_HSTRT); + TMC_REPORT("Stallguard thrs", TMC_SGT); + TMC_REPORT("uStep count", TMC_MSCNT); + DRV_REPORT("DRVSTATUS", TMC_DRV_CODES); + #if HAS_TMCX1X0 || HAS_TMC220x + DRV_REPORT("sg_result", TMC_SG_RESULT); + #endif + #if HAS_TMCX1X0 + DRV_REPORT("stallguard", TMC_STALLGUARD); + DRV_REPORT("fsactive", TMC_FSACTIVE); + #endif + DRV_REPORT("stst\t", TMC_STST); + DRV_REPORT("olb\t", TMC_OLB); + DRV_REPORT("ola\t", TMC_OLA); + DRV_REPORT("s2gb\t", TMC_S2GB); + DRV_REPORT("s2ga\t", TMC_S2GA); + DRV_REPORT("otpw\t", TMC_DRV_OTPW); + DRV_REPORT("ot\t", TMC_OT); + #if HAS_TMC220x + DRV_REPORT("157C\t", TMC_T157); + DRV_REPORT("150C\t", TMC_T150); + DRV_REPORT("143C\t", TMC_T143); + DRV_REPORT("120C\t", TMC_T120); + DRV_REPORT("s2vsa\t", TMC_S2VSA); + DRV_REPORT("s2vsb\t", TMC_S2VSB); + #endif + DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX); + SERIAL_EOL(); + } + + #define PRINT_TMC_REGISTER(REG_CASE) case TMC_GET_##REG_CASE: print_hex_long(st.REG_CASE(), ':'); break + + #if HAS_TMCX1X0 + static void tmc_get_ic_registers(TMC2130Stepper &st, const TMC_get_registers_enum i) { + switch (i) { + PRINT_TMC_REGISTER(TCOOLTHRS); + PRINT_TMC_REGISTER(THIGH); + PRINT_TMC_REGISTER(COOLCONF); + default: SERIAL_CHAR('\t'); break; + } + } + #endif + #if HAS_TMC220x + static void tmc_get_ic_registers(TMC2208Stepper, const TMC_get_registers_enum) { SERIAL_CHAR('\t'); } + #endif + + #if HAS_TRINAMIC_CONFIG + template + static void tmc_get_registers(TMC &st, const TMC_get_registers_enum i) { + switch (i) { + case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break; + PRINT_TMC_REGISTER(GCONF); + PRINT_TMC_REGISTER(IHOLD_IRUN); + PRINT_TMC_REGISTER(GSTAT); + PRINT_TMC_REGISTER(IOIN); + PRINT_TMC_REGISTER(TPOWERDOWN); + PRINT_TMC_REGISTER(TSTEP); + PRINT_TMC_REGISTER(TPWMTHRS); + PRINT_TMC_REGISTER(CHOPCONF); + PRINT_TMC_REGISTER(PWMCONF); + PRINT_TMC_REGISTER(PWM_SCALE); + PRINT_TMC_REGISTER(DRV_STATUS); + default: tmc_get_ic_registers(st, i); break; + } + SERIAL_CHAR('\t'); + } + #endif + #if HAS_DRIVER(TMC2660) + template + static void tmc_get_registers(TMCMarlin &st, const TMC_get_registers_enum i) { + switch (i) { + case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break; + PRINT_TMC_REGISTER(DRVCONF); + PRINT_TMC_REGISTER(DRVCTRL); + PRINT_TMC_REGISTER(CHOPCONF); + PRINT_TMC_REGISTER(DRVSTATUS); + PRINT_TMC_REGISTER(SGCSCONF); + PRINT_TMC_REGISTER(SMARTEN); + default: SERIAL_CHAR('\t'); break; + } + SERIAL_CHAR('\t'); + } + #endif + + static void tmc_get_registers(TMC_get_registers_enum n, LOGICAL_AXIS_ARGS(const bool)) { + if (x) { + #if AXIS_IS_TMC(X) + tmc_get_registers(stepperX, n); + #endif + #if AXIS_IS_TMC(X2) + tmc_get_registers(stepperX2, n); + #endif + } + + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + tmc_get_registers(stepperY, n); + #endif + #if AXIS_IS_TMC(Y2) + tmc_get_registers(stepperY2, n); + #endif + } + + if (TERN0(HAS_Z_AXIS, z)) { + #if AXIS_IS_TMC(Z) + tmc_get_registers(stepperZ, n); + #endif + #if AXIS_IS_TMC(Z2) + tmc_get_registers(stepperZ2, n); + #endif + #if AXIS_IS_TMC(Z3) + tmc_get_registers(stepperZ3, n); + #endif + #if AXIS_IS_TMC(Z4) + tmc_get_registers(stepperZ4, n); + #endif + } + + #if AXIS_IS_TMC(I) + if (i) tmc_get_registers(stepperI, n); + #endif + #if AXIS_IS_TMC(J) + if (j) tmc_get_registers(stepperJ, n); + #endif + #if AXIS_IS_TMC(K) + if (k) tmc_get_registers(stepperK, n); + #endif + #if AXIS_IS_TMC(U) + if (u) tmc_get_registers(stepperU, n); + #endif + #if AXIS_IS_TMC(V) + if (v) tmc_get_registers(stepperV, n); + #endif + #if AXIS_IS_TMC(W) + if (w) tmc_get_registers(stepperW, n); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { + #if AXIS_IS_TMC(E0) + tmc_get_registers(stepperE0, n); + #endif + #if AXIS_IS_TMC(E1) + tmc_get_registers(stepperE1, n); + #endif + #if AXIS_IS_TMC(E2) + tmc_get_registers(stepperE2, n); + #endif + #if AXIS_IS_TMC(E3) + tmc_get_registers(stepperE3, n); + #endif + #if AXIS_IS_TMC(E4) + tmc_get_registers(stepperE4, n); + #endif + #if AXIS_IS_TMC(E5) + tmc_get_registers(stepperE5, n); + #endif + #if AXIS_IS_TMC(E6) + tmc_get_registers(stepperE6, n); + #endif + #if AXIS_IS_TMC(E7) + tmc_get_registers(stepperE7, n); + #endif + } + + SERIAL_EOL(); + } + + void tmc_get_registers(LOGICAL_AXIS_ARGS(bool)) { + #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, LOGICAL_AXIS_ARGS()); }while(0) + #define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME) + _TMC_GET_REG("\t", TMC_AXIS_CODES); + TMC_GET_REG(GCONF, "\t\t"); + TMC_GET_REG(IHOLD_IRUN, "\t"); + TMC_GET_REG(GSTAT, "\t\t"); + TMC_GET_REG(IOIN, "\t\t"); + TMC_GET_REG(TPOWERDOWN, "\t"); + TMC_GET_REG(TSTEP, "\t\t"); + TMC_GET_REG(TPWMTHRS, "\t"); + TMC_GET_REG(TCOOLTHRS, "\t"); + TMC_GET_REG(THIGH, "\t\t"); + TMC_GET_REG(CHOPCONF, "\t"); + TMC_GET_REG(COOLCONF, "\t"); + TMC_GET_REG(PWMCONF, "\t"); + TMC_GET_REG(PWM_SCALE, "\t"); + TMC_GET_REG(DRV_STATUS, "\t"); + } + +#endif // TMC_DEBUG + +#if USE_SENSORLESS + + bool tmc_enable_stallguard(TMC2130Stepper &st) { + const bool stealthchop_was_enabled = st.en_pwm_mode(); + + st.TCOOLTHRS(0xFFFFF); + st.en_pwm_mode(false); + st.diag1_stall(true); + + return stealthchop_was_enabled; + } + void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth) { + st.TCOOLTHRS(0); + st.en_pwm_mode(restore_stealth); + st.diag1_stall(false); + } + + bool tmc_enable_stallguard(TMC2209Stepper &st) { + const bool stealthchop_was_enabled = !st.en_spreadCycle(); + + st.TCOOLTHRS(0xFFFFF); + st.en_spreadCycle(false); + return stealthchop_was_enabled; + } + void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth) { + st.en_spreadCycle(!restore_stealth); + st.TCOOLTHRS(0); + } + + bool tmc_enable_stallguard(TMC2660Stepper) { + // TODO + return false; + } + void tmc_disable_stallguard(TMC2660Stepper, const bool) {}; + +#endif // USE_SENSORLESS + +template +static bool test_connection(TMC &st) { + SERIAL_ECHOPGM("Testing "); + st.printLabel(); + SERIAL_ECHOPGM(" connection... "); + const uint8_t test_result = st.test_connection(); + + if (test_result > 0) SERIAL_ECHOPGM("Error: All "); + + FSTR_P stat; + switch (test_result) { + default: + case 0: stat = F("OK"); break; + case 1: stat = F("HIGH"); break; + case 2: stat = F("LOW"); break; + } + SERIAL_ECHOLNF(stat); + + return test_result; +} + +void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) { + uint8_t axis_connection = 0; + + if (x) { + #if AXIS_IS_TMC(X) + axis_connection += test_connection(stepperX); + #endif + #if AXIS_IS_TMC(X2) + axis_connection += test_connection(stepperX2); + #endif + } + + if (TERN0(HAS_Y_AXIS, y)) { + #if AXIS_IS_TMC(Y) + axis_connection += test_connection(stepperY); + #endif + #if AXIS_IS_TMC(Y2) + axis_connection += test_connection(stepperY2); + #endif + } + + if (TERN0(HAS_Z_AXIS, z)) { + #if AXIS_IS_TMC(Z) + axis_connection += test_connection(stepperZ); + #endif + #if AXIS_IS_TMC(Z2) + axis_connection += test_connection(stepperZ2); + #endif + #if AXIS_IS_TMC(Z3) + axis_connection += test_connection(stepperZ3); + #endif + #if AXIS_IS_TMC(Z4) + axis_connection += test_connection(stepperZ4); + #endif + } + + #if AXIS_IS_TMC(I) + if (i) axis_connection += test_connection(stepperI); + #endif + #if AXIS_IS_TMC(J) + if (j) axis_connection += test_connection(stepperJ); + #endif + #if AXIS_IS_TMC(K) + if (k) axis_connection += test_connection(stepperK); + #endif + #if AXIS_IS_TMC(U) + if (u) axis_connection += test_connection(stepperU); + #endif + #if AXIS_IS_TMC(V) + if (v) axis_connection += test_connection(stepperV); + #endif + #if AXIS_IS_TMC(W) + if (w) axis_connection += test_connection(stepperW); + #endif + + if (TERN0(HAS_EXTRUDERS, e)) { + #if AXIS_IS_TMC(E0) + axis_connection += test_connection(stepperE0); + #endif + #if AXIS_IS_TMC(E1) + axis_connection += test_connection(stepperE1); + #endif + #if AXIS_IS_TMC(E2) + axis_connection += test_connection(stepperE2); + #endif + #if AXIS_IS_TMC(E3) + axis_connection += test_connection(stepperE3); + #endif + #if AXIS_IS_TMC(E4) + axis_connection += test_connection(stepperE4); + #endif + #if AXIS_IS_TMC(E5) + axis_connection += test_connection(stepperE5); + #endif + #if AXIS_IS_TMC(E6) + axis_connection += test_connection(stepperE6); + #endif + #if AXIS_IS_TMC(E7) + axis_connection += test_connection(stepperE7); + #endif + } + + if (axis_connection) LCD_MESSAGE(MSG_ERROR_TMC); +} + +#endif // HAS_TRINAMIC_CONFIG + +#if HAS_TMC_SPI + #define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH) + void tmc_init_cs_pins() { + #if AXIS_HAS_SPI(X) + SET_CS_PIN(X); + #endif + #if AXIS_HAS_SPI(Y) + SET_CS_PIN(Y); + #endif + #if AXIS_HAS_SPI(Z) + SET_CS_PIN(Z); + #endif + #if AXIS_HAS_SPI(X2) + SET_CS_PIN(X2); + #endif + #if AXIS_HAS_SPI(Y2) + SET_CS_PIN(Y2); + #endif + #if AXIS_HAS_SPI(Z2) + SET_CS_PIN(Z2); + #endif + #if AXIS_HAS_SPI(Z3) + SET_CS_PIN(Z3); + #endif + #if AXIS_HAS_SPI(Z4) + SET_CS_PIN(Z4); + #endif + #if AXIS_HAS_SPI(I) + SET_CS_PIN(I); + #endif + #if AXIS_HAS_SPI(J) + SET_CS_PIN(J); + #endif + #if AXIS_HAS_SPI(K) + SET_CS_PIN(K); + #endif + #if AXIS_HAS_SPI(U) + SET_CS_PIN(U); + #endif + #if AXIS_HAS_SPI(V) + SET_CS_PIN(V); + #endif + #if AXIS_HAS_SPI(W) + SET_CS_PIN(W); + #endif + #if AXIS_HAS_SPI(E0) + SET_CS_PIN(E0); + #endif + #if AXIS_HAS_SPI(E1) + SET_CS_PIN(E1); + #endif + #if AXIS_HAS_SPI(E2) + SET_CS_PIN(E2); + #endif + #if AXIS_HAS_SPI(E3) + SET_CS_PIN(E3); + #endif + #if AXIS_HAS_SPI(E4) + SET_CS_PIN(E4); + #endif + #if AXIS_HAS_SPI(E5) + SET_CS_PIN(E5); + #endif + #if AXIS_HAS_SPI(E6) + SET_CS_PIN(E6); + #endif + #if AXIS_HAS_SPI(E7) + SET_CS_PIN(E7); + #endif + } +#endif // HAS_TMC_SPI diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h new file mode 100644 index 0000000000..8238dc6d89 --- /dev/null +++ b/Marlin/src/feature/tmc_util.h @@ -0,0 +1,389 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" +#include "../lcd/marlinui.h" + +#if HAS_TRINAMIC_CONFIG + +#include +#include "../module/planner.h" + +#define CHOPPER_DEFAULT_12V { 3, -1, 1 } +#define CHOPPER_DEFAULT_19V { 4, 1, 1 } +#define CHOPPER_DEFAULT_24V { 4, 2, 1 } +#define CHOPPER_DEFAULT_36V { 5, 2, 4 } +#define CHOPPER_PRUSAMK3_24V { 3, -2, 6 } +#define CHOPPER_MARLIN_119 { 5, 2, 3 } +#define CHOPPER_09STEP_24V { 3, -1, 5 } + +#if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS) + #define MONITOR_DRIVER_STATUS_INTERVAL_MS 500U +#endif + +constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) { + return 12650000UL * msteps / (256 * thrs * spmm); +} + +typedef struct { + uint8_t toff; + int8_t hend; + uint8_t hstrt; +} chopper_timing_t; + +template +class TMCStorage { + protected: + // Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class" + TMCStorage() {} + + public: + uint16_t val_mA = 0; + + #if ENABLED(MONITOR_DRIVER_STATUS) + uint8_t otpw_count = 0, + error_count = 0; + bool flag_otpw = false; + bool getOTPW() { return flag_otpw; } + void clear_otpw() { flag_otpw = 0; } + #endif + + uint16_t getMilliamps() { return val_mA; } + + void printLabel() { + SERIAL_CHAR(AXIS_LETTER); + if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID); + } + + struct { + OPTCODE(HAS_STEALTHCHOP, bool stealthChop_enabled = false) + OPTCODE(HYBRID_THRESHOLD, uint8_t hybrid_thrs = 0) + OPTCODE(USE_SENSORLESS, int16_t homing_thrs = 0) + } stored; +}; + +template +class TMCMarlin : public TMC, public TMCStorage { + public: + TMCMarlin(const uint16_t cs_pin, const float RS) : + TMC(cs_pin, RS) + {} + TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t axis_chain_index) : + TMC(cs_pin, RS, axis_chain_index) + {} + TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) : + TMC(CS, RS, pinMOSI, pinMISO, pinSCK) + {} + TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) : + TMC(CS, RS, pinMOSI, pinMISO, pinSCK, axis_chain_index) + {} + uint16_t rms_current() { return TMC::rms_current(); } + void rms_current(uint16_t mA) { + this->val_mA = mA; + TMC::rms_current(mA); + } + void rms_current(const uint16_t mA, const float mult) { + this->val_mA = mA; + TMC::rms_current(mA, mult); + } + uint16_t get_microstep_counter() { return TMC::MSCNT(); } + + #if HAS_STEALTHCHOP + bool get_stealthChop() { return this->en_pwm_mode(); } + bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } + void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); } + void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } + bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); } + #endif + + void set_chopper_times(const chopper_timing_t &ct) { + TMC::toff(ct.toff); + TMC::hysteresis_end(ct.hend); + TMC::hysteresis_start(ct.hstrt); + } + + #if ENABLED(HYBRID_THRESHOLD) + uint32_t get_pwm_thrs() { + return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]); + } + void set_pwm_thrs(const uint32_t thrs) { + TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID])); + TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs); + } + #endif + + #if USE_SENSORLESS + int16_t homing_threshold() { return TMC::sgt(); } + void homing_threshold(int16_t sgt_val) { + sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max); + TMC::sgt(sgt_val); + TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val); + } + #if ENABLED(SPI_ENDSTOPS) + bool test_stall_status(); + #endif + #endif + + #if EITHER(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) + void refresh_stepper_current() { rms_current(this->val_mA); } + + #if ENABLED(HYBRID_THRESHOLD) + void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + #endif + #if USE_SENSORLESS + void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + #endif + #endif + + static constexpr int8_t sgt_min = -64, + sgt_max = 63; +}; + +template +class TMCMarlin : public TMC2208Stepper, public TMCStorage { + public: + TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) : + TMC2208Stepper(SerialPort, RS) + {} + TMCMarlin(Stream * SerialPort, const float RS, uint8_t addr, const uint16_t mul_pin1, const uint16_t mul_pin2) : + TMC2208Stepper(SerialPort, RS, addr, mul_pin1, mul_pin2) + {} + TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t) : + TMC2208Stepper(RX, TX, RS) + {} + + uint16_t rms_current() { return TMC2208Stepper::rms_current(); } + void rms_current(const uint16_t mA) { + this->val_mA = mA; + TMC2208Stepper::rms_current(mA); + } + void rms_current(const uint16_t mA, const float mult) { + this->val_mA = mA; + TMC2208Stepper::rms_current(mA, mult); + } + uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); } + + #if HAS_STEALTHCHOP + bool get_stealthChop() { return !this->en_spreadCycle(); } + bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } + void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); } + void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } + bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); } + #endif + + void set_chopper_times(const chopper_timing_t &ct) { + TMC2208Stepper::toff(ct.toff); + TMC2208Stepper::hysteresis_end(ct.hend); + TMC2208Stepper::hysteresis_start(ct.hstrt); + } + + #if ENABLED(HYBRID_THRESHOLD) + uint32_t get_pwm_thrs() { + return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]); + } + void set_pwm_thrs(const uint32_t thrs) { + TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID])); + TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs); + } + #endif + + #if EITHER(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) + void refresh_stepper_current() { rms_current(this->val_mA); } + + #if ENABLED(HYBRID_THRESHOLD) + void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + #endif + #endif +}; + +template +class TMCMarlin : public TMC2209Stepper, public TMCStorage { + public: + TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) : + TMC2209Stepper(SerialPort, RS, addr) + {} + TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr) : + TMC2209Stepper(RX, TX, RS, addr) + {} + uint8_t get_address() { return slave_address; } + uint16_t rms_current() { return TMC2209Stepper::rms_current(); } + void rms_current(const uint16_t mA) { + this->val_mA = mA; + TMC2209Stepper::rms_current(mA); + } + void rms_current(const uint16_t mA, const float mult) { + this->val_mA = mA; + TMC2209Stepper::rms_current(mA, mult); + } + uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); } + + #if HAS_STEALTHCHOP + bool get_stealthChop() { return !this->en_spreadCycle(); } + bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } + void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); } + void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } + bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); } + #endif + + void set_chopper_times(const chopper_timing_t &ct) { + TMC2209Stepper::toff(ct.toff); + TMC2209Stepper::hysteresis_end(ct.hend); + TMC2209Stepper::hysteresis_start(ct.hstrt); + } + + #if ENABLED(HYBRID_THRESHOLD) + uint32_t get_pwm_thrs() { + return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]); + } + void set_pwm_thrs(const uint32_t thrs) { + TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID])); + TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs); + } + #endif + #if USE_SENSORLESS + int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); } + void homing_threshold(int16_t sgt_val) { + sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max); + TMC2209Stepper::SGTHRS(sgt_val); + TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val); + } + #endif + + #if EITHER(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) + void refresh_stepper_current() { rms_current(this->val_mA); } + + #if ENABLED(HYBRID_THRESHOLD) + void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + #endif + #if USE_SENSORLESS + void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + #endif + #endif + + static constexpr uint8_t sgt_min = 0, + sgt_max = 255; +}; + +template +class TMCMarlin : public TMC2660Stepper, public TMCStorage { + public: + TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t) : + TMC2660Stepper(cs_pin, RS) + {} + TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) : + TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK) + {} + uint16_t rms_current() { return TMC2660Stepper::rms_current(); } + void rms_current(const uint16_t mA) { + this->val_mA = mA; + TMC2660Stepper::rms_current(mA); + } + uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); } + + void set_chopper_times(const chopper_timing_t &ct) { + TMC2660Stepper::toff(ct.toff); + TMC2660Stepper::hysteresis_end(ct.hend); + TMC2660Stepper::hysteresis_start(ct.hstrt); + } + + #if USE_SENSORLESS + int16_t homing_threshold() { return TMC2660Stepper::sgt(); } + void homing_threshold(int16_t sgt_val) { + sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max); + TMC2660Stepper::sgt(sgt_val); + TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val); + } + #endif + + #if EITHER(HAS_MARLINUI_MENU, DWIN_LCD_PROUI) + void refresh_stepper_current() { rms_current(this->val_mA); } + + #if USE_SENSORLESS + void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + #endif + #endif + + static constexpr int8_t sgt_min = -64, + sgt_max = 63; +}; + +void monitor_tmc_drivers(); +void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true)); + +#if ENABLED(TMC_DEBUG) + #if ENABLED(MONITOR_DRIVER_STATUS) + void tmc_set_report_interval(const uint16_t update_interval); + #endif + void tmc_report_all(LOGICAL_AXIS_DECL(const bool, true)); + void tmc_get_registers(LOGICAL_AXIS_ARGS(const bool)); +#endif + +/** + * TMC2130-specific sensorless homing using stallGuard2. + * stallGuard2 only works when in spreadCycle mode. + * spreadCycle and stealthChop are mutually-exclusive. + * + * Defined here because of limitations with templates and headers. + */ +#if USE_SENSORLESS + + // Track enabled status of stealthChop and only re-enable where applicable + struct sensorless_t { bool NUM_AXIS_ARGS(), x2, y2, z2, z3, z4; }; + + #if ENABLED(IMPROVE_HOMING_RELIABILITY) + extern millis_t sg_guard_period; + constexpr uint16_t default_sg_guard_duration = 400; + #endif + + bool tmc_enable_stallguard(TMC2130Stepper &st); + void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth); + + bool tmc_enable_stallguard(TMC2209Stepper &st); + void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth); + + bool tmc_enable_stallguard(TMC2660Stepper); + void tmc_disable_stallguard(TMC2660Stepper, const bool); + + #if ENABLED(SPI_ENDSTOPS) + + template + bool TMCMarlin::test_stall_status() { + this->switchCSpin(LOW); + + // read stallGuard flag from TMC library, will handle HW and SW SPI + TMC2130_n::DRV_STATUS_t drv_status{0}; + drv_status.sr = this->DRV_STATUS(); + + this->switchCSpin(HIGH); + + return drv_status.stallGuard; + } + #endif // SPI_ENDSTOPS + +#endif // USE_SENSORLESS + +#endif // HAS_TRINAMIC_CONFIG + +#if HAS_TMC_SPI + void tmc_init_cs_pins(); +#endif diff --git a/Marlin/src/feature/tramming.cpp b/Marlin/src/feature/tramming.cpp new file mode 100644 index 0000000000..3721c5eb81 --- /dev/null +++ b/Marlin/src/feature/tramming.cpp @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(ASSISTED_TRAMMING) + +#include "tramming.h" + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../core/debug_out.h" + +#define _TRAM_NAME_DEF(N) PGMSTR(point_name_##N, TRAMMING_POINT_NAME_##N); +#define _TRAM_NAME_ITEM(N) point_name_##N +REPEAT_1(_NR_TRAM_NAMES, _TRAM_NAME_DEF) + +PGM_P const tramming_point_name[] PROGMEM = { REPLIST_1(_NR_TRAM_NAMES, _TRAM_NAME_ITEM) }; + +#ifdef ASSISTED_TRAMMING_WAIT_POSITION + + // Move to the defined wait position + void move_to_tramming_wait_pos() { + constexpr xyz_pos_t wait_pos = ASSISTED_TRAMMING_WAIT_POSITION; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Moving away"); + do_blocking_move_to(wait_pos, XY_PROBE_FEEDRATE_MM_S); + } + +#endif + +#endif // ASSISTED_TRAMMING diff --git a/Marlin/src/feature/tramming.h b/Marlin/src/feature/tramming.h new file mode 100644 index 0000000000..c8f20f0010 --- /dev/null +++ b/Marlin/src/feature/tramming.h @@ -0,0 +1,69 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfig.h" +#include "../module/probe.h" + +#if !WITHIN(TRAMMING_SCREW_THREAD, 30, 51) || TRAMMING_SCREW_THREAD % 10 > 1 + #error "TRAMMING_SCREW_THREAD must be equal to 30, 31, 40, 41, 50, or 51." +#endif + +constexpr xy_pos_t tramming_points[] = TRAMMING_POINT_XY; + +#define G35_PROBE_COUNT COUNT(tramming_points) +static_assert(WITHIN(G35_PROBE_COUNT, 3, 9), "TRAMMING_POINT_XY requires between 3 and 9 XY positions."); + +#ifdef TRAMMING_POINT_NAME_9 + #define _NR_TRAM_NAMES 9 +#elif defined(TRAMMING_POINT_NAME_8) + #define _NR_TRAM_NAMES 8 +#elif defined(TRAMMING_POINT_NAME_7) + #define _NR_TRAM_NAMES 7 +#elif defined(TRAMMING_POINT_NAME_6) + #define _NR_TRAM_NAMES 6 +#elif defined(TRAMMING_POINT_NAME_5) + #define _NR_TRAM_NAMES 5 +#elif defined(TRAMMING_POINT_NAME_4) + #define _NR_TRAM_NAMES 4 +#elif defined(TRAMMING_POINT_NAME_3) + #define _NR_TRAM_NAMES 3 +#else + #define _NR_TRAM_NAMES 0 +#endif + +static_assert(_NR_TRAM_NAMES >= G35_PROBE_COUNT, "Define enough TRAMMING_POINT_NAME_s for all TRAMMING_POINT_XY entries."); + +#define _TRAM_NAME_PTR(N) point_name_##N[] +extern const char REPLIST_1(_NR_TRAM_NAMES, _TRAM_NAME_PTR); + +#define _CHECK_TRAM_POINT(N) static_assert(Probe::build_time::can_reach(tramming_points[N]), "TRAMMING_POINT_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN."); +REPEAT(_NR_TRAM_NAMES, _CHECK_TRAM_POINT) +#undef _CHECK_TRAM_POINT + +extern PGM_P const tramming_point_name[]; + +#ifdef ASSISTED_TRAMMING_WAIT_POSITION + void move_to_tramming_wait_pos(); +#else + inline void move_to_tramming_wait_pos() {} +#endif diff --git a/Marlin/src/feature/twibus.cpp b/Marlin/src/feature/twibus.cpp new file mode 100644 index 0000000000..9aec6b0305 --- /dev/null +++ b/Marlin/src/feature/twibus.cpp @@ -0,0 +1,237 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(EXPERIMENTAL_I2CBUS) + +#include "twibus.h" + +#include + +#include "../libs/hex_print.h" + +TWIBus i2c; + +TWIBus::TWIBus() { + #if I2C_SLAVE_ADDRESS == 0 + + #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM) + Wire.setSDA(pin_t(I2C_SDA_PIN)); + Wire.setSCL(pin_t(I2C_SCL_PIN)); + #endif + + Wire.begin(); // No address joins the BUS as the master + + #else + + Wire.begin(I2C_SLAVE_ADDRESS); // Join the bus as a slave + + #endif + reset(); +} + +void TWIBus::reset() { + buffer_s = 0; + buffer[0] = 0x00; +} + +void TWIBus::address(const uint8_t adr) { + if (!WITHIN(adr, 8, 127)) + SERIAL_ECHO_MSG("Bad I2C address (8-127)"); + + addr = adr; + + debug(F("address"), adr); +} + +void TWIBus::addbyte(const char c) { + if (buffer_s >= COUNT(buffer)) return; + buffer[buffer_s++] = c; + debug(F("addbyte"), c); +} + +void TWIBus::addbytes(char src[], uint8_t bytes) { + debug(F("addbytes"), bytes); + while (bytes--) addbyte(*src++); +} + +void TWIBus::addstring(char str[]) { + debug(F("addstring"), str); + while (char c = *str++) addbyte(c); +} + +void TWIBus::send() { + debug(F("send"), addr); + + Wire.beginTransmission(I2C_ADDRESS(addr)); + Wire.write(buffer, buffer_s); + Wire.endTransmission(); + + reset(); +} + +// static +void TWIBus::echoprefix(uint8_t bytes, FSTR_P const pref, uint8_t adr) { + SERIAL_ECHO_START(); + SERIAL_ECHOF(pref); + SERIAL_ECHOPGM(": from:", adr, " bytes:", bytes, " data:"); +} + +// static +void TWIBus::echodata(uint8_t bytes, FSTR_P const pref, uint8_t adr, const uint8_t style/*=0*/) { + union TwoBytesToInt16 { uint8_t bytes[2]; int16_t integervalue; }; + TwoBytesToInt16 ConversionUnion; + + echoprefix(bytes, pref, adr); + + while (bytes-- && Wire.available()) { + int value = Wire.read(); + switch (style) { + + // Style 1, HEX DUMP + case 1: + SERIAL_CHAR(hex_nybble((value & 0xF0) >> 4)); + SERIAL_CHAR(hex_nybble(value & 0x0F)); + if (bytes) SERIAL_CHAR(' '); + break; + + // Style 2, signed two byte integer (int16) + case 2: + if (bytes == 1) + ConversionUnion.bytes[1] = (uint8_t)value; + else if (bytes == 0) { + ConversionUnion.bytes[0] = (uint8_t)value; + // Output value in base 10 (standard decimal) + SERIAL_ECHO(ConversionUnion.integervalue); + } + break; + + // Style 3, unsigned byte, base 10 (uint8) + case 3: + SERIAL_ECHO(value); + if (bytes) SERIAL_CHAR(' '); + break; + + // Default style (zero), raw serial output + default: + // This can cause issues with some serial consoles, Pronterface is an example where things go wrong + SERIAL_CHAR(value); + break; + } + } + + SERIAL_EOL(); +} + +void TWIBus::echobuffer(FSTR_P const prefix, uint8_t adr) { + echoprefix(buffer_s, prefix, adr); + LOOP_L_N(i, buffer_s) SERIAL_CHAR(buffer[i]); + SERIAL_EOL(); +} + +bool TWIBus::request(const uint8_t bytes) { + if (!addr) return false; + + debug(F("request"), bytes); + + // requestFrom() is a blocking function + if (Wire.requestFrom(I2C_ADDRESS(addr), bytes) == 0) { + debug(F("request fail"), I2C_ADDRESS(addr)); + return false; + } + + return true; +} + +void TWIBus::relay(const uint8_t bytes, const uint8_t style/*=0*/) { + debug(F("relay"), bytes); + + if (request(bytes)) + echodata(bytes, F("i2c-reply"), addr, style); +} + +uint8_t TWIBus::capture(char *dst, const uint8_t bytes) { + reset(); + uint8_t count = 0; + while (count < bytes && Wire.available()) + dst[count++] = Wire.read(); + + debug(F("capture"), count); + + return count; +} + +// static +void TWIBus::flush() { + while (Wire.available()) Wire.read(); +} + +#if I2C_SLAVE_ADDRESS > 0 + + void TWIBus::receive(uint8_t bytes) { + debug(F("receive"), bytes); + echodata(bytes, F("i2c-receive"), 0); + } + + void TWIBus::reply(char str[]/*=nullptr*/) { + debug(F("reply"), str); + + if (str) { + reset(); + addstring(str); + } + + Wire.write(buffer, buffer_s); + + reset(); + } + + void i2c_on_receive(int bytes) { // just echo all bytes received to serial + i2c.receive(bytes); + } + + void i2c_on_request() { // just send dummy data for now + i2c.reply("Hello World!\n"); + } + +#endif + +#if ENABLED(DEBUG_TWIBUS) + + // static + void TWIBus::prefix(FSTR_P const func) { + SERIAL_ECHOPGM("TWIBus::", func, ": "); + } + void TWIBus::debug(FSTR_P const func, uint32_t adr) { + if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(adr); } + } + void TWIBus::debug(FSTR_P const func, char c) { + if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(c); } + } + void TWIBus::debug(FSTR_P const func, char str[]) { + if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(str); } + } + +#endif + +#endif // EXPERIMENTAL_I2CBUS diff --git a/Marlin/src/feature/twibus.h b/Marlin/src/feature/twibus.h new file mode 100644 index 0000000000..806e2a147a --- /dev/null +++ b/Marlin/src/feature/twibus.h @@ -0,0 +1,254 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../core/macros.h" + +#include + +// Print debug messages with M111 S2 (Uses 236 bytes of PROGMEM) +//#define DEBUG_TWIBUS + +typedef void (*twiReceiveFunc_t)(int bytes); +typedef void (*twiRequestFunc_t)(); + +/** + * For a light i2c protocol that runs on two boards running Marlin see: + * See https://github.com/MarlinFirmware/Marlin/issues/4776#issuecomment-246262879 + */ +#if I2C_SLAVE_ADDRESS > 0 + + void i2c_on_receive(int bytes); // Demo i2c onReceive handler + void i2c_on_request(); // Demo i2c onRequest handler + +#endif + +#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 + * - https://marlinfw.org/docs/gcode/M260.html + * - https://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. + */ + uint8_t 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, FSTR_P const 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 + * @param style Output format for the bytes, 0 = Raw byte [default], 1 = Hex characters, 2 = uint16_t + */ + static void echodata(uint8_t bytes, FSTR_P const prefix, uint8_t adr, const uint8_t style=0); + + /** + * @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(FSTR_P const 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. + * @style Output format for the bytes, 0 = raw byte [default], 1 = Hex characters, 2 = uint16_t + * + * @param bytes the number of bytes to request + */ + void relay(const uint8_t bytes, const uint8_t style=0); + + #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[]=nullptr); + inline void reply(const char str[]) { 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(FSTR_P const func); + static void debug(FSTR_P const func, uint32_t adr); + static void debug(FSTR_P const func, char c); + static void debug(FSTR_P const func, char adr[]); + #else + static void debug(FSTR_P const, uint32_t) {} + static void debug(FSTR_P const, char) {} + static void debug(FSTR_P const, char[]) {} + #endif + static void debug(FSTR_P const func, uint8_t v) { debug(func, (uint32_t)v); } +}; + +extern TWIBus i2c; diff --git a/Marlin/src/feature/x_twist.cpp b/Marlin/src/feature/x_twist.cpp new file mode 100644 index 0000000000..b5ad25cba8 --- /dev/null +++ b/Marlin/src/feature/x_twist.cpp @@ -0,0 +1,67 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#include "../inc/MarlinConfig.h" + +#if ENABLED(X_AXIS_TWIST_COMPENSATION) + +#include "x_twist.h" +#include "../module/probe.h" + +XATC xatc; + +bool XATC::enabled; +float XATC::spacing, XATC::start; +xatc_array_t XATC::z_offset; // Initialized by settings.load() + +void XATC::reset() { + constexpr float xzo[] = XATC_Z_OFFSETS; + static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size."); + COPY(z_offset, xzo); + start = probe.min_x(); + spacing = (probe.max_x() - start) / (XATC_MAX_POINTS - 1); + enabled = true; +} + +void XATC::print_points() { + SERIAL_ECHOLNPGM(" X-Twist Correction:"); + LOOP_L_N(x, XATC_MAX_POINTS) { + SERIAL_CHAR(' '); + if (!isnan(z_offset[x])) + serial_offset(z_offset[x]); + else + LOOP_L_N(i, 6) SERIAL_CHAR(i ? '=' : ' '); + } + SERIAL_EOL(); +} + +float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); } + +float XATC::compensation(const xy_pos_t &raw) { + if (!enabled) return 0; + if (NEAR_ZERO(spacing)) return 0; + float t = (raw.x - start) / spacing; + const int i = constrain(FLOOR(t), 0, XATC_MAX_POINTS - 2); + t -= i; + return lerp(t, z_offset[i], z_offset[i + 1]); +} + +#endif // X_AXIS_TWIST_COMPENSATION diff --git a/Marlin/src/feature/x_twist.h b/Marlin/src/feature/x_twist.h new file mode 100644 index 0000000000..6a2ff27901 --- /dev/null +++ b/Marlin/src/feature/x_twist.h @@ -0,0 +1,40 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" + +typedef float xatc_array_t[XATC_MAX_POINTS]; + +class XATC { + static bool enabled; +public: + static float spacing, start; + static xatc_array_t z_offset; + + static void reset(); + static void set_enabled(const bool ena) { enabled = ena; } + static float compensation(const xy_pos_t &raw); + static void print_points(); +}; + +extern XATC xatc; diff --git a/Marlin/src/feature/z_stepper_align.cpp b/Marlin/src/feature/z_stepper_align.cpp new file mode 100644 index 0000000000..9dba21d821 --- /dev/null +++ b/Marlin/src/feature/z_stepper_align.cpp @@ -0,0 +1,121 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * feature/z_stepper_align.cpp + */ + +#include "../inc/MarlinConfigPre.h" + +#if ENABLED(Z_STEPPER_AUTO_ALIGN) + +#include "z_stepper_align.h" +#include "../module/probe.h" + +ZStepperAlign z_stepper_align; + +xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPERS]; + +#if HAS_Z_STEPPER_ALIGN_STEPPER_XY + xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPERS]; +#endif + +void ZStepperAlign::reset_to_default() { + #ifdef Z_STEPPER_ALIGN_XY + + constexpr xy_pos_t xy_init[] = Z_STEPPER_ALIGN_XY; + static_assert(COUNT(xy_init) == NUM_Z_STEPPERS, + "Z_STEPPER_ALIGN_XY requires " + #if NUM_Z_STEPPERS == 4 + "four {X,Y} entries (Z, Z2, Z3, and Z4)." + #elif NUM_Z_STEPPERS == 3 + "three {X,Y} entries (Z, Z2, and Z3)." + #else + "two {X,Y} entries (Z and Z2)." + #endif + ); + + #define VALIDATE_ALIGN_POINT(N) static_assert(N >= NUM_Z_STEPPERS || Probe::build_time::can_reach(xy_init[N]), \ + "Z_STEPPER_ALIGN_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.") + VALIDATE_ALIGN_POINT(0); VALIDATE_ALIGN_POINT(1); VALIDATE_ALIGN_POINT(2); VALIDATE_ALIGN_POINT(3); + + #else // !Z_STEPPER_ALIGN_XY + + const xy_pos_t xy_init[] = { + #if NUM_Z_STEPPERS >= 3 // First probe point... + #if !Z_STEPPERS_ORIENTATION + { probe.min_x(), probe.min_y() }, // SW + #elif Z_STEPPERS_ORIENTATION == 1 + { probe.min_x(), probe.max_y() }, // NW + #elif Z_STEPPERS_ORIENTATION == 2 + { probe.max_x(), probe.max_y() }, // NE + #elif Z_STEPPERS_ORIENTATION == 3 + { probe.max_x(), probe.min_y() }, // SE + #else + #error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)." + #endif + #if NUM_Z_STEPPERS == 4 // 3 more points... + #if !Z_STEPPERS_ORIENTATION + { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() } // SW + #elif Z_STEPPERS_ORIENTATION == 1 + { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() } // NW + #elif Z_STEPPERS_ORIENTATION == 2 + { probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() } // NE + #elif Z_STEPPERS_ORIENTATION == 3 + { probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() } // SE + #endif + #elif !Z_STEPPERS_ORIENTATION // or 2 more points... + { probe.max_x(), probe.min_y() }, { X_CENTER, probe.max_y() } // SW + #elif Z_STEPPERS_ORIENTATION == 1 + { probe.min_x(), probe.min_y() }, { probe.max_x(), Y_CENTER } // NW + #elif Z_STEPPERS_ORIENTATION == 2 + { probe.min_x(), probe.max_y() }, { X_CENTER, probe.min_y() } // NE + #elif Z_STEPPERS_ORIENTATION == 3 + { probe.max_x(), probe.max_y() }, { probe.min_x(), Y_CENTER } // SE + #endif + #elif Z_STEPPERS_ORIENTATION + { X_CENTER, probe.min_y() }, { X_CENTER, probe.max_y() } + #else + { probe.min_x(), Y_CENTER }, { probe.max_x(), Y_CENTER } + #endif + }; + + #endif // !Z_STEPPER_ALIGN_XY + + COPY(xy, xy_init); + + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY + constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY; + static_assert( + COUNT(stepper_xy_init) == NUM_Z_STEPPERS, + "Z_STEPPER_ALIGN_STEPPER_XY requires " + #if NUM_Z_STEPPERS == 4 + "four {X,Y} entries (Z, Z2, Z3, and Z4)." + #elif NUM_Z_STEPPERS == 3 + "three {X,Y} entries (Z, Z2, and Z3)." + #endif + ); + COPY(stepper_xy, stepper_xy_init); + #endif +} + +#endif // Z_STEPPER_AUTO_ALIGN diff --git a/Marlin/src/feature/z_stepper_align.h b/Marlin/src/feature/z_stepper_align.h new file mode 100644 index 0000000000..f3f9abb845 --- /dev/null +++ b/Marlin/src/feature/z_stepper_align.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * feature/z_stepper_align.h + */ + +#include "../inc/MarlinConfig.h" + +class ZStepperAlign { + public: + static xy_pos_t xy[NUM_Z_STEPPERS]; + + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY + static xy_pos_t stepper_xy[NUM_Z_STEPPERS]; + #endif + + static void reset_to_default(); +}; + +extern ZStepperAlign z_stepper_align; diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp new file mode 100644 index 0000000000..aa6e0c1f0c --- /dev/null +++ b/Marlin/src/gcode/bedlevel/G26.cpp @@ -0,0 +1,876 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * 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 behavior 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. + * + * I # Preset Heat the Nozzle and Bed based on a Material Preset (if material presets are defined). + * + * 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.) During G26 retraction will use the length + * specified by this parameter (1mm by default). Recover will be 1.2x the retract distance. + * + * 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 + * un-drawn circle is still done. But the distance to the location for each circle has a + * random number of the specified size added to it. Specifying S50 will give an interesting + * deviation from the normal behavior 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. + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(G26_MESH_VALIDATION) + +#define G26_OK false +#define G26_ERR true + +#include "../../gcode/gcode.h" +#include "../../feature/bedlevel/bedlevel.h" + +#include "../../MarlinCore.h" +#include "../../module/planner.h" +#include "../../module/motion.h" +#include "../../module/tool_change.h" +#include "../../module/temperature.h" +#include "../../lcd/marlinui.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../lcd/extui/ui_api.h" +#endif + +#if ENABLED(UBL_HILBERT_CURVE) + #include "../../feature/bedlevel/hilbert_curve.h" +#endif + +#define EXTRUSION_MULTIPLIER 1.0 +#define PRIME_LENGTH 10.0 +#define OOZE_AMOUNT 0.3 + +#define INTERSECTION_CIRCLE_RADIUS 5 +#define CROSSHAIRS_SIZE 3 + +#ifndef G26_RETRACT_MULTIPLIER + #define G26_RETRACT_MULTIPLIER 1.0 // x 1mm +#endif + +#ifndef G26_XY_FEEDRATE + #define G26_XY_FEEDRATE (PLANNER_XY_FEEDRATE() / 3.0) +#endif + +#ifndef G26_XY_FEEDRATE_TRAVEL + #define G26_XY_FEEDRATE_TRAVEL (PLANNER_XY_FEEDRATE() / 1.5) +#endif + +#if CROSSHAIRS_SIZE >= INTERSECTION_CIRCLE_RADIUS + #error "CROSSHAIRS_SIZE must be less than INTERSECTION_CIRCLE_RADIUS." +#endif + +#define G26_OK false +#define G26_ERR true + +#if ENABLED(ARC_SUPPORT) + void plan_arc(const xyze_pos_t&, const ab_float_t&, const bool, const uint8_t); +#endif + +constexpr float g26_e_axis_feedrate = 0.025; + +static MeshFlags circle_flags; +float g26_random_deviation = 0.0; + +#if HAS_MARLINUI_MENU + + /** + * If the LCD is clicked, cancel, wait for release, return true + */ + bool user_canceled() { + if (!ui.button_pressed()) return false; // Return if the button isn't pressed + ui.set_status(GET_TEXT_F(MSG_G26_CANCELED), 99); + TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); + ui.wait_for_release(); + return true; + } + +#endif + +void move_to(const_float_t rx, const_float_t ry, const_float_t z, const_float_t e_delta) { + static float last_z = -999.99; + + const xy_pos_t dest = { rx, ry }; + + const bool has_xy_component = dest != current_position, // Check if X or Y is involved in the movement. + has_e_component = e_delta != 0.0; + + if (z != last_z) { + last_z = z; + destination.set(current_position.x, current_position.y, z, current_position.e); + const feedRate_t fr_mm_s = planner.settings.max_feedrate_mm_s[Z_AXIS] * 0.5f; // Use half of the Z_AXIS max feed rate + prepare_internal_move_to_destination(fr_mm_s); + } + + // If X or Y in combination with E is involved do a 'normal' move. + // If X or Y with no E is involved do a 'fast' move + // Otherwise retract/recover/hop. + destination = dest; + destination.e += e_delta; + const feedRate_t fr_mm_s = has_xy_component + ? (has_e_component ? feedRate_t(G26_XY_FEEDRATE) : feedRate_t(G26_XY_FEEDRATE_TRAVEL)) + : planner.settings.max_feedrate_mm_s[E_AXIS] * 0.666f; + prepare_internal_move_to_destination(fr_mm_s); +} + +void move_to(const xyz_pos_t &where, const_float_t de) { move_to(where.x, where.y, where.z, de); } + +typedef struct { + float extrusion_multiplier = EXTRUSION_MULTIPLIER, + retraction_multiplier = G26_RETRACT_MULTIPLIER, + layer_height = MESH_TEST_LAYER_HEIGHT, + prime_length = PRIME_LENGTH; + + celsius_t bed_temp = MESH_TEST_BED_TEMP, + hotend_temp = MESH_TEST_HOTEND_TEMP; + + float nozzle = MESH_TEST_NOZZLE_SIZE, + filament_diameter = DEFAULT_NOMINAL_FILAMENT_DIA, + ooze_amount; // 'O' ... OOZE_AMOUNT + + bool continue_with_closest, // 'C' + keep_heaters_on; // 'K' + + xy_pos_t xy_pos; // = { 0, 0 } + + int8_t prime_flag = 0; + + bool g26_retracted = false; // Track the retracted state during G26 so mismatched + // retracts/recovers don't result in a bad state. + + void retract_filament(const xyz_pos_t &where) { + if (!g26_retracted) { // Only retract if we are not already retracted! + g26_retracted = true; + move_to(where, -1.0f * retraction_multiplier); + } + } + + // TODO: Parameterize the Z lift with a define + void retract_lift_move(const xyz_pos_t &s) { + retract_filament(destination); + move_to(current_position.x, current_position.y, current_position.z + 0.5f, 0.0f); // Z lift to minimize scraping + move_to(s.x, s.y, s.z + 0.5f, 0.0f); // Get to the starting point with no extrusion while lifted + } + + void recover_filament(const xyz_pos_t &where) { + if (g26_retracted) { // Only un-retract if we are retracted. + move_to(where, 1.2f * 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 print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) { + + // Distances to the start / end of the line + xy_float_t svec = current_position - s, evec = current_position - e; + + const float dist_start = HYPOT2(svec.x, svec.y), + dist_end = HYPOT2(evec.x, evec.y), + line_length = HYPOT(e.x - s.x, e.y - s.y); + + // 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 && (INTERSECTION_CIRCLE_RADIUS) < ABS(line_length)) + return print_line_from_here_to_there(e, s); + + // Decide whether to retract & lift + if (dist_start > 2.0) retract_lift_move(s); + + move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift + + const float e_pos_delta = line_length * g26_e_axis_feedrate * extrusion_multiplier; + + recover_filament(destination); + move_to(e, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion + } + + void connect_neighbor_with_line(const xy_int8_t &p1, int8_t dx, int8_t dy) { + xy_int8_t p2; + p2.x = p1.x + dx; + p2.y = p1.y + dy; + + if (p2.x < 0 || p2.x >= (GRID_MAX_POINTS_X)) return; + if (p2.y < 0 || p2.y >= (GRID_MAX_POINTS_Y)) return; + + if (circle_flags.marked(p1.x, p1.y) && circle_flags.marked(p2.x, p2.y)) { + xyz_pos_t s, e; + s.x = bedlevel.get_mesh_x(p1.x) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; + e.x = bedlevel.get_mesh_x(p2.x) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; + s.y = bedlevel.get_mesh_y(p1.y) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; + e.y = bedlevel.get_mesh_y(p2.y) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; + s.z = e.z = layer_height; + + #if HAS_ENDSTOPS + LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1); + LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1); + LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1); + LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1); + #endif + + if (position_is_reachable(s) && position_is_reachable(e)) + print_line_from_here_to_there(s, e); + } + } + + /** + * Turn on the bed and nozzle heat and + * wait for them to get up to temperature. + */ + bool turn_on_heaters() { + + SERIAL_ECHOLNPGM("Waiting for heatup."); + + #if HAS_HEATED_BED + + if (bed_temp > 25) { + #if HAS_WIRED_LCD + ui.set_status(GET_TEXT_F(MSG_G26_HEATING_BED), 99); + ui.quick_feedback(); + TERN_(HAS_MARLINUI_MENU, ui.capture()); + #endif + thermalManager.setTargetBed(bed_temp); + + // Wait for the temperature to stabilize + if (!thermalManager.wait_for_bed(true OPTARG(G26_CLICK_CAN_CANCEL, true))) + return G26_ERR; + } + + #else + + UNUSED(bed_temp); + + #endif // HAS_HEATED_BED + + // Start heating the active nozzle + #if HAS_WIRED_LCD + ui.set_status(GET_TEXT_F(MSG_G26_HEATING_NOZZLE), 99); + ui.quick_feedback(); + #endif + thermalManager.setTargetHotend(hotend_temp, active_extruder); + + // Wait for the temperature to stabilize + if (!thermalManager.wait_for_hotend(active_extruder, true OPTARG(G26_CLICK_CAN_CANCEL, true))) + return G26_ERR; + + #if HAS_WIRED_LCD + ui.reset_status(); + ui.quick_feedback(); + #endif + + return G26_OK; + } + + /** + * Prime the nozzle if needed. Return true on error. + */ + bool prime_nozzle() { + + const feedRate_t fr_slow_e = planner.settings.max_feedrate_mm_s[E_AXIS] / 15.0f; + #if HAS_MARLINUI_MENU && !HAS_TOUCH_BUTTONS // ui.button_pressed issue with touchscreen + #if ENABLED(PREVENT_LENGTHY_EXTRUDE) + float Total_Prime = 0.0; + #endif + + if (prime_flag == -1) { // The user wants to control how much filament gets purged + ui.capture(); + ui.set_status(GET_TEXT_F(MSG_G26_MANUAL_PRIME), 99); + ui.chirp(); + + destination = current_position; + + recover_filament(destination); // Make sure G26 doesn't think the filament is retracted(). + + while (!ui.button_pressed()) { + ui.chirp(); + destination.e += 0.25; + #if ENABLED(PREVENT_LENGTHY_EXTRUDE) + Total_Prime += 0.25; + if (Total_Prime >= EXTRUDE_MAXLENGTH) { + ui.release(); + return G26_ERR; + } + #endif + prepare_internal_move_to_destination(fr_slow_e); + destination = current_position; + planner.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'. + } + + ui.wait_for_release(); + + ui.set_status(GET_TEXT_F(MSG_G26_PRIME_DONE), 99); + ui.quick_feedback(); + ui.release(); + } + else + #endif + { + #if HAS_WIRED_LCD + ui.set_status(GET_TEXT_F(MSG_G26_FIXED_LENGTH), 99); + ui.quick_feedback(); + #endif + destination = current_position; + destination.e += prime_length; + prepare_internal_move_to_destination(fr_slow_e); + destination.e -= prime_length; + retract_filament(destination); + } + + return G26_OK; + } + + /** + * Find the nearest point at which to print a circle + */ + mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) { + + mesh_index_pair out_point; + out_point.pos = -1; + + #if ENABLED(UBL_HILBERT_CURVE) + + auto test_func = [](uint8_t i, uint8_t j, void *data) -> bool { + if (!circle_flags.marked(i, j)) { + mesh_index_pair *out_point = (mesh_index_pair*)data; + out_point->pos.set(i, j); // Save its data + return true; + } + return false; + }; + + hilbert_curve::search_from_closest(pos, test_func, &out_point); + + #else + + float closest = 99999.99; + + GRID_LOOP(i, j) { + if (!circle_flags.marked(i, j)) { + // We found a circle that needs to be printed + const xy_pos_t m = { bedlevel.get_mesh_x(i), bedlevel.get_mesh_y(j) }; + + // Get the distance to this intersection + float f = (pos - m).magnitude(); + + // 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 += (xy_pos - m).magnitude() / 15.0f; + + // Add the specified amount of Random Noise to our search + if (g26_random_deviation > 1.0) f += random(0.0, g26_random_deviation); + + if (f < closest) { + closest = f; // Found a closer un-printed location + out_point.pos.set(i, j); // Save its data + out_point.distance = closest; + } + } + } + + #endif + + circle_flags.mark(out_point); // Mark this location as done. + return out_point; + } + +} g26_helper_t; + +/** + * G26: Mesh Validation Pattern generation. + * + * Used to interactively edit the mesh by placing the + * nozzle in a problem area and doing a G29 P4 R command. + * + * Parameters: + * + * B Bed Temperature + * C Continue from the Closest mesh point + * D Disable leveling before starting + * F Filament diameter + * H Hotend Temperature + * K Keep heaters on when completed + * L Layer Height + * O Ooze extrusion length + * P Prime length + * Q Retraction multiplier + * R Repetitions (number of grid points) + * S Nozzle Size (diameter) in mm + * T Tool index to change to, if included + * U Random deviation (50 if no value given) + * X X position + * Y Y position + */ +void GcodeSuite::G26() { + SERIAL_ECHOLNPGM("G26 starting..."); + + // Don't allow Mesh Validation without homing first, + // or if the parameter parsing did not go OK, abort + if (homing_needed_error()) return; + + // Change the tool first, if specified + if (parser.seenval('T')) tool_change(parser.value_int()); + + g26_helper_t g26; + + g26.ooze_amount = parser.linearval('O', OOZE_AMOUNT); + g26.continue_with_closest = parser.boolval('C'); + g26.keep_heaters_on = parser.boolval('K'); + + // Accept 'I' if temperature presets are defined + #if HAS_PREHEAT + const uint8_t preset_index = parser.seenval('I') ? _MIN(parser.value_byte(), PREHEAT_COUNT - 1) + 1 : 0; + #endif + + #if HAS_HEATED_BED + + // Get a temperature from 'I' or 'B' + celsius_t bedtemp = 0; + + // Use the 'I' index if temperature presets are defined + #if HAS_PREHEAT + if (preset_index) bedtemp = ui.material_preset[preset_index - 1].bed_temp; + #endif + + // Look for 'B' Bed Temperature + if (parser.seenval('B')) bedtemp = parser.value_celsius(); + + if (bedtemp) { + if (!WITHIN(bedtemp, 40, BED_MAX_TARGET)) { + SERIAL_ECHOLNPGM("?Specified bed temperature not plausible (40-", BED_MAX_TARGET, "C)."); + return; + } + g26.bed_temp = bedtemp; + } + + #endif // HAS_HEATED_BED + + if (parser.seenval('L')) { + g26.layer_height = parser.value_linear_units(); + if (!WITHIN(g26.layer_height, 0.0, 2.0)) { + SERIAL_ECHOLNPGM("?Specified layer height not plausible."); + return; + } + } + + if (parser.seen('Q')) { + if (parser.has_value()) { + g26.retraction_multiplier = parser.value_float(); + if (!WITHIN(g26.retraction_multiplier, 0.05, 15.0)) { + SERIAL_ECHOLNPGM("?Specified Retraction Multiplier not plausible."); + return; + } + } + else { + SERIAL_ECHOLNPGM("?Retraction Multiplier must be specified."); + return; + } + } + + if (parser.seenval('S')) { + g26.nozzle = parser.value_float(); + if (!WITHIN(g26.nozzle, 0.1, 2.0)) { + SERIAL_ECHOLNPGM("?Specified nozzle size not plausible."); + return; + } + } + + if (parser.seen('P')) { + if (!parser.has_value()) { + #if HAS_MARLINUI_MENU + g26.prime_flag = -1; + #else + SERIAL_ECHOLNPGM("?Prime length must be specified when not using an LCD."); + return; + #endif + } + else { + g26.prime_flag++; + g26.prime_length = parser.value_linear_units(); + if (!WITHIN(g26.prime_length, 0.0, 25.0)) { + SERIAL_ECHOLNPGM("?Specified prime length not plausible."); + return; + } + } + } + + if (parser.seenval('F')) { + g26.filament_diameter = parser.value_linear_units(); + if (!WITHIN(g26.filament_diameter, 1.0, 4.0)) { + SERIAL_ECHOLNPGM("?Specified filament size not plausible."); + return; + } + } + 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 + + // Get a temperature from 'I' or 'H' + celsius_t noztemp = 0; + + // Accept 'I' if temperature presets are defined + #if HAS_PREHEAT + if (preset_index) noztemp = ui.material_preset[preset_index - 1].hotend_temp; + #endif + + // Look for 'H' Hotend Temperature + if (parser.seenval('H')) noztemp = parser.value_celsius(); + + // If any preset or temperature was specified + if (noztemp) { + if (!WITHIN(noztemp, 165, (HEATER_0_MAXTEMP) - (HOTEND_OVERSHOOT))) { + SERIAL_ECHOLNPGM("?Specified nozzle temperature not plausible."); + return; + } + g26.hotend_temp = noztemp; + } + + // 'U' to Randomize and optionally set circle deviation + if (parser.seen('U')) { + randomSeed(millis()); + // This setting will persist for the next G26 + g26_random_deviation = parser.has_value() ? parser.value_float() : 50.0; + } + + // Get repeat from 'R', otherwise do one full circuit + int16_t g26_repeats; + #if HAS_MARLINUI_MENU + g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1); + #else + if (parser.seen('R')) + g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1; + else { + SERIAL_ECHOLNPGM("?(R)epeat must be specified when not using an LCD."); + return; + } + #endif + if (g26_repeats < 1) { + SERIAL_ECHOLNPGM("?(R)epeat value not plausible; must be at least 1."); + return; + } + + // Set a position with 'X' and/or 'Y'. Default: current_position + g26.xy_pos.set(parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position.x, + parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position.y); + if (!position_is_reachable(g26.xy_pos)) { + SERIAL_ECHOLNPGM("?Specified X,Y coordinate out of bounds."); + return; + } + + /** + * Wait until all parameters are verified before altering the state! + */ + set_bed_leveling_enabled(!parser.seen_test('D')); + + do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); + + #if DISABLED(NO_VOLUMETRICS) + bool volumetric_was_enabled = parser.volumetric_enabled; + parser.volumetric_enabled = false; + planner.calculate_volumetric_multipliers(); + #endif + + if (g26.turn_on_heaters() != G26_OK) goto LEAVE; + + current_position.e = 0.0; + sync_plan_position_e(); + + if (g26.prime_flag && g26.prime_nozzle() != G26_OK) goto LEAVE; + + /** + * Bed is preheated + * + * Nozzle is at temperature + * + * Filament is primed! + * + * It's "Show Time" !!! + */ + + circle_flags.reset(); + + // Move nozzle to the specified height for the first layer + destination = current_position; + destination.z = g26.layer_height; + move_to(destination, 0.0); + move_to(destination, g26.ooze_amount); + + TERN_(HAS_MARLINUI_MENU, ui.capture()); + + #if DISABLED(ARC_SUPPORT) + + /** + * Pre-generate radius offset values at 30 degree intervals to reduce CPU load. + */ + #define A_INT 30 + #define _ANGS (360 / A_INT) + #define A_CNT (_ANGS / 2) + #define _IND(A) ((A + _ANGS * 8) % _ANGS) + #define _COS(A) (trig_table[_IND(A) % A_CNT] * (_IND(A) >= A_CNT ? -1 : 1)) + #define _SIN(A) (-_COS((A + A_CNT / 2) % _ANGS)) + #if A_CNT & 1 + #error "A_CNT must be a positive value. Please change A_INT." + #endif + float trig_table[A_CNT]; + LOOP_L_N(i, A_CNT) + trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT)); + + #endif // !ARC_SUPPORT + + mesh_index_pair location; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_START)); + do { + // Find the nearest confluence + location = g26.find_closest_circle_to_print(g26.continue_with_closest ? xy_pos_t(current_position) : g26.xy_pos); + + if (location.valid()) { + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_POINT_START)); + const xy_pos_t circle = { bedlevel.get_mesh_x(location.pos.a), bedlevel.get_mesh_y(location.pos.b) }; + + // If this mesh location is outside the printable radius, skip it. + if (!position_is_reachable(circle)) continue; + + // Determine where to start and end the circle, + // which is always drawn counter-clockwise. + const xy_int8_t st = location; + const bool f = st.y == 0, + r = st.x >= (GRID_MAX_POINTS_X) - 1, + b = st.y >= (GRID_MAX_POINTS_Y) - 1; + + #if ENABLED(ARC_SUPPORT) + + #define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2) + #define INTERSECTION_CIRCLE_DIAM ((INTERSECTION_CIRCLE_RADIUS) * 2) + + xy_float_t e = { circle.x + INTERSECTION_CIRCLE_RADIUS, circle.y }; + xyz_float_t s = e; + + // Figure out where to start and end the arc - we always print counterclockwise + float arc_length = ARC_LENGTH(4); + if (st.x == 0) { // left edge + if (!f) { s.x = circle.x; s.y -= INTERSECTION_CIRCLE_RADIUS; } + if (!b) { e.x = circle.x; e.y += INTERSECTION_CIRCLE_RADIUS; } + arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2); + } + else if (r) { // right edge + if (b) s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y); + else s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS); + if (f) e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y); + else e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS)); + arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2); + } + else if (f) { + e.x -= INTERSECTION_CIRCLE_DIAM; + arc_length = ARC_LENGTH(2); + } + else if (b) { + s.x -= INTERSECTION_CIRCLE_DIAM; + arc_length = ARC_LENGTH(2); + } + + const ab_float_t arc_offset = circle - s; + const xy_float_t dist = current_position - s; // Distance from the start of the actual circle + const float dist_start = HYPOT2(dist.x, dist.y); + const xyze_pos_t endpoint = { + e.x, e.y, g26.layer_height, + current_position.e + (arc_length * g26_e_axis_feedrate * g26.extrusion_multiplier) + }; + + if (dist_start > 2.0) { + s.z = g26.layer_height + 0.5f; + g26.retract_lift_move(s); + } + + s.z = g26.layer_height; + move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift + + g26.recover_filament(destination); + + { REMEMBER(fr, feedrate_mm_s, PLANNER_XY_FEEDRATE() * 0.1f); + plan_arc(endpoint, arc_offset, false, 0); // Draw a counter-clockwise arc + destination = current_position; + } + + if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE; // Check if the user wants to stop the Mesh Validation + + #else // !ARC_SUPPORT + + int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00) + if (st.x == 0) { // Left edge? Just right half. + start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left + end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left + } + else if (r) { // Right edge? Just left half. + start_ind = b ? 6 : 3; // 12:00 to 09:00 for front-right + end_ind = f ? 5 : 8; // 09:00 to 06:00 for back-right + } + else if (f) { // Front edge? Just back half. + start_ind = 0; // 03:00 + end_ind = 5; // 09:00 + } + else if (b) { // Back edge? Just front half. + start_ind = 6; // 09:00 + end_ind = 11; // 03:00 + } + + for (int8_t ind = start_ind; ind <= end_ind; ind++) { + + if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE; // Check if the user wants to stop the Mesh Validation + + xyz_float_t p = { circle.x + _COS(ind ), circle.y + _SIN(ind ), g26.layer_height }, + q = { circle.x + _COS(ind + 1), circle.y + _SIN(ind + 1), g26.layer_height }; + + #if IS_KINEMATIC + // Check to make sure this segment is entirely on the bed, skip if not. + if (!position_is_reachable(p) || !position_is_reachable(q)) continue; + #elif HAS_ENDSTOPS + LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops + LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1); + LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1); + LIMIT(q.y, Y_MIN_POS + 1, Y_MAX_POS - 1); + #endif + + g26.print_line_from_here_to_there(p, q); + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + } + + #endif // !ARC_SUPPORT + + g26.connect_neighbor_with_line(location.pos, -1, 0); + g26.connect_neighbor_with_line(location.pos, 1, 0); + g26.connect_neighbor_with_line(location.pos, 0, -1); + g26.connect_neighbor_with_line(location.pos, 0, 1); + planner.synchronize(); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_POINT_FINISH)); + if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE; + } + + SERIAL_FLUSH(); // Prevent host M105 buffer overrun. + + } while (--g26_repeats && location.valid()); + + LEAVE: + ui.set_status(GET_TEXT_F(MSG_G26_LEAVING), -1); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, ExtUI::G26_FINISH)); + + g26.retract_filament(destination); + destination.z = Z_CLEARANCE_BETWEEN_PROBES; + move_to(destination, 0); // Raise the nozzle + + #if DISABLED(NO_VOLUMETRICS) + parser.volumetric_enabled = volumetric_was_enabled; + planner.calculate_volumetric_multipliers(); + #endif + + TERN_(HAS_MARLINUI_MENU, ui.release()); // Give back control of the LCD + + if (!g26.keep_heaters_on) { + TERN_(HAS_HEATED_BED, thermalManager.setTargetBed(0)); + thermalManager.setTargetHotend(active_extruder, 0); + } +} + +#endif // G26_MESH_VALIDATION diff --git a/Marlin/src/gcode/bedlevel/G35.cpp b/Marlin/src/gcode/bedlevel/G35.cpp new file mode 100644 index 0000000000..dd828bf0c8 --- /dev/null +++ b/Marlin/src/gcode/bedlevel/G35.cpp @@ -0,0 +1,175 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(ASSISTED_TRAMMING) + +#include "../gcode.h" +#include "../../module/planner.h" +#include "../../module/probe.h" +#include "../../feature/bedlevel/bedlevel.h" + +#if HAS_MULTI_HOTEND + #include "../../module/tool_change.h" +#endif + +#if ENABLED(BLTOUCH) + #include "../../feature/bltouch.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +// +// Define tramming point names. +// + +#include "../../feature/tramming.h" + +/** + * G35: Read bed corners to help adjust bed screws + * + * S + * + * Screw thread: 30 - Clockwise M3 + * 31 - Counter-Clockwise M3 + * 40 - Clockwise M4 + * 41 - Counter-Clockwise M4 + * 50 - Clockwise M5 + * 51 - Counter-Clockwise M5 + **/ +void GcodeSuite::G35() { + DEBUG_SECTION(log_G35, "G35", DEBUGGING(LEVELING)); + + if (DEBUGGING(LEVELING)) log_machine_info(); + + float z_measured[G35_PROBE_COUNT] = { 0 }; + + const uint8_t screw_thread = parser.byteval('S', TRAMMING_SCREW_THREAD); + if (!WITHIN(screw_thread, 30, 51) || screw_thread % 10 > 1) { + SERIAL_ECHOLNPGM("?(S)crew thread must be 30, 31, 40, 41, 50, or 51."); + return; + } + + // Wait for planner moves to finish! + planner.synchronize(); + + // Disable the leveling matrix before auto-aligning + #if HAS_LEVELING + #if ENABLED(RESTORE_LEVELING_AFTER_G35) + const bool leveling_was_active = planner.leveling_active; + #endif + set_bed_leveling_enabled(false); + #endif + + #if ENABLED(CNC_WORKSPACE_PLANES) + workspace_plane = PLANE_XY; + #endif + + // Always home with tool 0 active + #if HAS_MULTI_HOTEND + const uint8_t old_tool_index = active_extruder; + tool_change(0, true); + #endif + + // Disable duplication mode on homing + TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); + + // Home only Z axis when X and Y is trusted, otherwise all axes, if needed before this procedure + if (!all_axes_trusted()) process_subcommands_now(F("G28Z")); + + bool err_break = false; + + // Probe all positions + LOOP_L_N(i, G35_PROBE_COUNT) { + + // In BLTOUCH HS mode, the probe travels in a deployed state. + // Users of G35 might have a badly misaligned bed, so raise Z by the + // length of the deployed pin (BLTOUCH stroke < 7mm) + + // Unsure if this is even required. The probe seems to lift correctly after probe done. + do_blocking_move_to_z(SUM_TERN(BLTOUCH, Z_CLEARANCE_BETWEEN_PROBES, bltouch.z_extra_clearance())); + const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE, 0, true); + + if (isnan(z_probed_height)) { + SERIAL_ECHOPGM("G35 failed at point ", i + 1, " ("); + SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i])); + SERIAL_CHAR(')'); + SERIAL_ECHOLNPGM_P(SP_X_STR, tramming_points[i].x, SP_Y_STR, tramming_points[i].y); + err_break = true; + break; + } + + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOPGM("Probing point ", i + 1, " ("); + DEBUG_ECHOF(FPSTR(pgm_read_ptr(&tramming_point_name[i]))); + DEBUG_CHAR(')'); + DEBUG_ECHOLNPGM_P(SP_X_STR, tramming_points[i].x, SP_Y_STR, tramming_points[i].y, SP_Z_STR, z_probed_height); + } + + z_measured[i] = z_probed_height; + } + + if (!err_break) { + const float threads_factor[] = { 0.5, 0.7, 0.8 }; + + // Calculate adjusts + LOOP_S_L_N(i, 1, G35_PROBE_COUNT) { + const float diff = z_measured[0] - z_measured[i], + adjust = ABS(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10]; + + const int full_turns = trunc(adjust); + const float decimal_part = adjust - float(full_turns); + const int minutes = trunc(decimal_part * 60.0f); + + SERIAL_ECHOPGM("Turn "); + SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i])); + SERIAL_ECHOPGM(" ", (screw_thread & 1) == (adjust > 0) ? "CCW" : "CW", " by ", ABS(full_turns), " turns"); + if (minutes) SERIAL_ECHOPGM(" and ", ABS(minutes), " minutes"); + if (ENABLED(REPORT_TRAMMING_MM)) SERIAL_ECHOPGM(" (", -diff, "mm)"); + SERIAL_EOL(); + } + } + else + SERIAL_ECHOLNPGM("G35 aborted."); + + // Restore the active tool after homing + #if HAS_MULTI_HOTEND + if (old_tool_index != 0) tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER + #endif + + #if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35) + set_bed_leveling_enabled(leveling_was_active); + #endif + + // Stow the probe, as the last call to probe.probe_at_point(...) left + // the probe deployed if it was successful. + probe.stow(); + + move_to_tramming_wait_pos(); + + // After this operation the Z position needs correction + set_axis_never_homed(Z_AXIS); +} + +#endif // ASSISTED_TRAMMING diff --git a/Marlin/src/gcode/bedlevel/G42.cpp b/Marlin/src/gcode/bedlevel/G42.cpp new file mode 100644 index 0000000000..cb5ed97406 --- /dev/null +++ b/Marlin/src/gcode/bedlevel/G42.cpp @@ -0,0 +1,73 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_MESH + +#include "../gcode.h" +#include "../../MarlinCore.h" // for IsRunning() +#include "../../module/motion.h" +#include "../../module/probe.h" // for probe.offset +#include "../../feature/bedlevel/bedlevel.h" + +/** + * G42: Move X & Y axes to mesh coordinates (I & J) + */ +void GcodeSuite::G42() { + if (MOTION_CONDITIONS) { + const bool hasI = parser.seenval('I'); + const int8_t ix = hasI ? parser.value_int() : 0; + const bool hasJ = parser.seenval('J'); + const int8_t iy = hasJ ? parser.value_int() : 0; + + if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) { + SERIAL_ECHOLNPGM(STR_ERR_MESH_XY); + return; + } + + // Move to current_position, as modified by I, J, P parameters + destination = current_position; + + if (hasI) destination.x = bedlevel.get_mesh_x(ix); + if (hasJ) destination.y = bedlevel.get_mesh_y(iy); + + #if HAS_PROBE_XY_OFFSET + if (parser.boolval('P')) { + if (hasI) destination.x -= probe.offset_xy.x; + if (hasJ) destination.y -= probe.offset_xy.y; + } + #endif + + const feedRate_t fval = parser.linearval('F'), + fr_mm_s = MMM_TO_MMS(fval > 0 ? fval : 0.0f); + + // SCARA kinematic has "safe" XY raw moves + #if IS_SCARA + prepare_internal_fast_move_to_destination(fr_mm_s); + #else + prepare_internal_move_to_destination(fr_mm_s); + #endif + } +} + +#endif // HAS_MESH diff --git a/Marlin/src/gcode/bedlevel/M420.cpp b/Marlin/src/gcode/bedlevel/M420.cpp new file mode 100644 index 0000000000..277f95b9ff --- /dev/null +++ b/Marlin/src/gcode/bedlevel/M420.cpp @@ -0,0 +1,261 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_LEVELING + +#include "../gcode.h" +#include "../../feature/bedlevel/bedlevel.h" +#include "../../module/planner.h" +#include "../../module/probe.h" + +#if ENABLED(EEPROM_SETTINGS) + #include "../../module/settings.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../../lcd/extui/ui_api.h" +#endif + +//#define M420_C_USE_MEAN + +/** + * M420: Enable/Disable Bed Leveling and/or set the Z fade height. + * + * S[bool] Turns leveling on or off + * Z[height] Sets the Z fade height (0 or none to disable) + * V[bool] Verbose - Print the leveling grid + * + * With AUTO_BED_LEVELING_UBL only: + * + * L[index] Load UBL mesh from index (0 is default) + * T[map] 0:Human-readable 1:CSV 2:"LCD" 4:Compact + * + * With mesh-based leveling only: + * + * C Center mesh on the mean of the lowest and highest + * + * With MARLIN_DEV_MODE: + * S2 Create a simple random mesh and enable + */ +void GcodeSuite::M420() { + const bool seen_S = parser.seen('S'), + to_enable = seen_S ? parser.value_bool() : planner.leveling_active; + + #if ENABLED(MARLIN_DEV_MODE) + if (parser.intval('S') == 2) { + const float x_min = probe.min_x(), x_max = probe.max_x(), + y_min = probe.min_y(), y_max = probe.max_y(); + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + xy_pos_t start, spacing; + start.set(x_min, y_min); + spacing.set((x_max - x_min) / (GRID_MAX_CELLS_X), + (y_max - y_min) / (GRID_MAX_CELLS_Y)); + bedlevel.set_grid(spacing, start); + #endif + GRID_LOOP(x, y) { + bedlevel.z_values[x][y] = 0.001 * random(-200, 200); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y])); + } + TERN_(AUTO_BED_LEVELING_BILINEAR, bedlevel.refresh_bed_level()); + SERIAL_ECHOPGM("Simulated " STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh "); + SERIAL_ECHOPGM(" (", x_min); + SERIAL_CHAR(','); SERIAL_ECHO(y_min); + SERIAL_ECHOPGM(")-(", x_max); + SERIAL_CHAR(','); SERIAL_ECHO(y_max); + SERIAL_ECHOLNPGM(")"); + } + #endif + + xyz_pos_t oldpos = current_position; + + // If disabling leveling do it right away + // (Don't disable for just M420 or M420 V) + if (seen_S && !to_enable) set_bed_leveling_enabled(false); + + #if ENABLED(AUTO_BED_LEVELING_UBL) + + // L to load a mesh from the EEPROM + if (parser.seen('L')) { + + set_bed_leveling_enabled(false); + + #if ENABLED(EEPROM_SETTINGS) + const int8_t storage_slot = parser.has_value() ? parser.value_int() : bedlevel.storage_slot; + const int16_t a = settings.calc_num_meshes(); + + if (!a) { + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + return; + } + + if (!WITHIN(storage_slot, 0, a - 1)) { + SERIAL_ECHOLNPGM("?Invalid storage slot."); + SERIAL_ECHOLNPGM("?Use 0 to ", a - 1); + return; + } + + settings.load_mesh(storage_slot); + bedlevel.storage_slot = storage_slot; + + #else + + SERIAL_ECHOLNPGM("?EEPROM storage not available."); + return; + + #endif + } + + // L or V display the map info + if (parser.seen("LV")) { + bedlevel.display_map(parser.byteval('T')); + SERIAL_ECHOPGM("Mesh is "); + if (!bedlevel.mesh_is_valid()) SERIAL_ECHOPGM("in"); + SERIAL_ECHOLNPGM("valid\nStorage slot: ", bedlevel.storage_slot); + } + + #endif // AUTO_BED_LEVELING_UBL + + const bool seenV = parser.seen_test('V'); + + #if HAS_MESH + + if (leveling_is_valid()) { + + // Subtract the given value or the mean from all mesh values + if (parser.seen('C')) { + const float cval = parser.value_float(); + #if ENABLED(AUTO_BED_LEVELING_UBL) + + set_bed_leveling_enabled(false); + bedlevel.adjust_mesh_to_mean(true, cval); + + #else + + #if ENABLED(M420_C_USE_MEAN) + + // Get the sum and average of all mesh values + float mesh_sum = 0; + GRID_LOOP(x, y) mesh_sum += bedlevel.z_values[x][y]; + const float zmean = mesh_sum / float(GRID_MAX_POINTS); + + #else // midrange + + // Find the low and high mesh values. + float lo_val = 100, hi_val = -100; + GRID_LOOP(x, y) { + const float z = bedlevel.z_values[x][y]; + NOMORE(lo_val, z); + NOLESS(hi_val, z); + } + // Get the midrange plus C value. (The median may be better.) + const float zmean = (lo_val + hi_val) / 2.0 + cval; + + #endif + + // If not very close to 0, adjust the mesh + if (!NEAR_ZERO(zmean)) { + set_bed_leveling_enabled(false); + // Subtract the mean from all values + GRID_LOOP(x, y) { + bedlevel.z_values[x][y] -= zmean; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y])); + } + TERN_(AUTO_BED_LEVELING_BILINEAR, bedlevel.refresh_bed_level()); + } + + #endif + } + + } + else if (to_enable || seenV) { + SERIAL_ECHO_MSG("Invalid mesh."); + goto EXIT_M420; + } + + #endif // HAS_MESH + + // V to print the matrix or mesh + if (seenV) { + #if ABL_PLANAR + planner.bed_level_matrix.debug(F("Bed Level Correction Matrix:")); + #else + if (leveling_is_valid()) { + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + bedlevel.print_leveling_grid(); + #elif ENABLED(MESH_BED_LEVELING) + SERIAL_ECHOLNPGM("Mesh Bed Level data:"); + bedlevel.report_mesh(); + #endif + } + #endif + } + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units(), false); + #endif + + // Enable leveling if specified, or if previously active + set_bed_leveling_enabled(to_enable); + + #if HAS_MESH + EXIT_M420: + #endif + + // Error if leveling failed to enable or reenable + if (to_enable && !planner.leveling_active) + SERIAL_ERROR_MSG(STR_ERR_M420_FAILED); + + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Bed Leveling "); + serialprintln_onoff(planner.leveling_active); + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Fade Height "); + if (planner.z_fade_height > 0.0) + SERIAL_ECHOLN(planner.z_fade_height); + else + SERIAL_ECHOLNPGM(STR_OFF); + #endif + + // Report change in position + if (oldpos != current_position) + report_current_position(); +} + +void GcodeSuite::M420_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F( + TERN(MESH_BED_LEVELING, "Mesh Bed Leveling", TERN(AUTO_BED_LEVELING_UBL, "Unified Bed Leveling", "Auto Bed Leveling")) + )); + SERIAL_ECHOF( + F(" M420 S"), planner.leveling_active + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + , FPSTR(SP_Z_STR), LINEAR_UNIT(planner.z_fade_height) + #endif + , F(" ; Leveling ") + ); + serialprintln_onoff(planner.leveling_active); +} + +#endif // HAS_LEVELING diff --git a/Marlin/src/gcode/bedlevel/abl/G29.cpp b/Marlin/src/gcode/bedlevel/abl/G29.cpp new file mode 100644 index 0000000000..0d1496b6d1 --- /dev/null +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -0,0 +1,967 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * G29.cpp - Auto Bed Leveling + */ + +#include "../../../inc/MarlinConfig.h" + +#if HAS_ABL_NOT_UBL + +#include "../../gcode.h" +#include "../../../feature/bedlevel/bedlevel.h" +#include "../../../module/motion.h" +#include "../../../module/planner.h" +#include "../../../module/probe.h" +#include "../../queue.h" + +#if ENABLED(AUTO_BED_LEVELING_LINEAR) + #include "../../../libs/least_squares_fit.h" +#endif + +#if ABL_PLANAR + #include "../../../libs/vector_3.h" +#endif + +#include "../../../lcd/marlinui.h" +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#elif ENABLED(DWIN_CREALITY_LCD) + #include "../../../lcd/e3v2/creality/dwin.h" +#elif ENABLED(DWIN_LCD_PROUI) + #include "../../../lcd/e3v2/proui/dwin.h" +#endif + +#if HAS_MULTI_HOTEND + #include "../../../module/tool_change.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../../core/debug_out.h" + +#if ABL_USES_GRID + #if ENABLED(PROBE_Y_FIRST) + #define PR_OUTER_VAR abl.meshCount.x + #define PR_OUTER_SIZE abl.grid_points.x + #define PR_INNER_VAR abl.meshCount.y + #define PR_INNER_SIZE abl.grid_points.y + #else + #define PR_OUTER_VAR abl.meshCount.y + #define PR_OUTER_SIZE abl.grid_points.y + #define PR_INNER_VAR abl.meshCount.x + #define PR_INNER_SIZE abl.grid_points.x + #endif +#endif + +static void pre_g29_return(const bool retry, const bool did) { + if (!retry) { + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE, false)); + } + if (did) { + TERN_(HAS_DWIN_E3V2_BASIC, DWIN_LevelingDone()); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + } +} + +#define G29_RETURN(retry, did) do{ \ + pre_g29_return(TERN0(G29_RETRY_AND_RECOVER, retry), did); \ + return TERN_(G29_RETRY_AND_RECOVER, retry); \ +}while(0) + +// For manual probing values persist over multiple G29 +class G29_State { +public: + int verbose_level; + xy_pos_t probePos; + float measured_z; + bool dryrun, + reenable; + + #if HAS_MULTI_HOTEND + uint8_t tool_index; + #endif + + #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR) + int abl_probe_index; + #endif + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + int abl_points; + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + static constexpr int abl_points = 3; + #elif ABL_USES_GRID + TERN(ProUIex, const, static constexpr) int abl_points = GRID_MAX_POINTS; + #endif + + #if ABL_USES_GRID + + xy_int8_t meshCount; + + xy_pos_t probe_position_lf, + probe_position_rb; + + xy_float_t gridSpacing; // = { 0.0f, 0.0f } + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + bool topography_map; + xy_uint8_t grid_points; + #else // Bilinear + #if ProUIex + xy_uint8_t grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y }; + #else + static constexpr xy_uint8_t grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y }; + #endif + #endif + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + float Z_offset; + bed_mesh_t z_values; + #endif + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + float eqnAMatrix[(GRID_MAX_POINTS) * 3], // "A" matrix of the linear system of equations + eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points + mean; + #endif + #endif +}; + +#if ABL_USES_GRID && EITHER(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_BILINEAR) + #if !ProUIex + constexpr xy_uint8_t G29_State::grid_points; + constexpr int G29_State::abl_points; + #endif +#endif + +/** + * G29: Detailed Z probe, probes the bed at 3 or more points. + * Will fail if the printer has not been homed with G28. + * + * Enhanced G29 Auto Bed Leveling Probe Routine + * + * O Auto-level only if needed + * + * D Dry-Run mode. Just evaluate the bed Topology - Don't apply + * or alter the bed level data. Useful to check the topology + * after a first run of G29. + * + * J Jettison current bed leveling data + * + * V Set the verbose level (0-4). Example: "G29 V3" + * + * Parameters With LINEAR leveling only: + * + * P Set the size of the grid that will be probed (P x P points). + * Example: "G29 P4" + * + * X Set the X size of the grid that will be probed (X x Y points). + * Example: "G29 X7 Y5" + * + * Y Set the Y size of the grid that will be probed (X x Y points). + * + * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. + * This is useful for manual bed leveling and finding flaws in the bed (to + * assist with part placement). + * Not supported by non-linear delta printer bed leveling. + * + * Parameters With LINEAR and BILINEAR leveling only: + * + * S Set the XY travel speed between probe points (in units/min) + * + * H Set bounds to a centered square H x H units in size + * + * -or- + * + * F Set the Front limit of the probing grid + * B Set the Back limit of the probing grid + * L Set the Left limit of the probing grid + * R Set the Right limit of the probing grid + * + * Parameters with DEBUG_LEVELING_FEATURE only: + * + * C Make a totally fake grid with no actual probing. + * For use in testing when no probing is possible. + * + * Parameters with BILINEAR leveling only: + * + * Z Supply an additional Z probe offset + * + * Extra parameters with PROBE_MANUALLY: + * + * To do manual probing simply repeat G29 until the procedure is complete. + * The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort. + * + * Q Query leveling and G29 state + * + * A Abort current leveling procedure + * + * Extra parameters with BILINEAR only: + * + * W Write a mesh point. (If G29 is idle.) + * I X index for mesh point + * J Y index for mesh point + * X X for mesh point, overrides I + * Y Y for mesh point, overrides J + * Z Z for mesh point. Otherwise, raw current Z. + * + * Without PROBE_MANUALLY: + * + * E By default G29 will engage the Z probe, test the bed, then disengage. + * Include "E" to engage/disengage the Z probe for each sample. + * There's no extra effect if you have a fixed Z probe. + */ +G29_TYPE GcodeSuite::G29() { + DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING)); + + // Leveling state is persistent when done manually with multiple G29 commands + TERN_(PROBE_MANUALLY, static) G29_State abl; + + // Keep powered steppers from timing out + reset_stepper_timeout(); + + // Q = Query leveling and G29 state + const bool seenQ = EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen_test('Q'); + + // G29 Q is also available if debugging + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (seenQ || DEBUGGING(LEVELING)) log_machine_info(); + if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false, false); + #endif + + // A = Abort manual probing + // C = Generate fake probe points (DEBUG_LEVELING_FEATURE) + const bool seenA = TERN0(PROBE_MANUALLY, parser.seen_test('A')), + no_action = seenA || seenQ, + faux = ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) ? parser.boolval('C') : no_action; + + // O = Don't level if leveling is already active + if (!no_action && planner.leveling_active && parser.boolval('O')) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip"); + G29_RETURN(false, false); + } + + // Send 'N' to force homing before G29 (internal only) + if (parser.seen_test('N')) + process_subcommands_now(TERN(CAN_SET_LEVELING_AFTER_G28, F("G28L0"), FPSTR(G28_STR))); + + // Don't allow auto-leveling without homing first + if (homing_needed_error()) G29_RETURN(false, false); + + // 3-point leveling gets points from the probe class + #if ENABLED(AUTO_BED_LEVELING_3POINT) + vector_3 points[3]; + probe.get_three_points(points); + #endif + + // Storage for ABL Linear results + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + struct linear_fit_data lsf_results; + #endif + + // Set and report "probing" state to host + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE, false)); + + /** + * On the initial G29 fetch command parameters. + */ + if (!g29_in_progress) { + + #if HAS_MULTI_HOTEND + abl.tool_index = active_extruder; + if (active_extruder != 0) tool_change(0, true); + #endif + + #if EITHER(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR) + abl.abl_probe_index = -1; + #endif + + abl.reenable = planner.leveling_active; + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + const bool seen_w = parser.seen_test('W'); + if (seen_w) { + if (!leveling_is_valid()) { + SERIAL_ERROR_MSG("No bilinear grid"); + G29_RETURN(false, false); + } + + const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position.z; + if (!WITHIN(rz, -10, 10)) { + SERIAL_ERROR_MSG("Bad Z value"); + G29_RETURN(false, false); + } + + const float rx = RAW_X_POSITION(parser.linearval('X', NAN)), + ry = RAW_Y_POSITION(parser.linearval('Y', NAN)); + int8_t i = parser.byteval('I', -1), j = parser.byteval('J', -1); + + #pragma GCC diagnostic push + #pragma GCC diagnostic ignored "-Wmaybe-uninitialized" + + if (!isnan(rx) && !isnan(ry)) { + // Get nearest i / j from rx / ry + i = (rx - bedlevel.grid_start.x) / bedlevel.grid_spacing.x + 0.5f; + j = (ry - bedlevel.grid_start.y) / bedlevel.grid_spacing.y + 0.5f; + LIMIT(i, 0, (GRID_MAX_POINTS_X) - 1); + LIMIT(j, 0, (GRID_MAX_POINTS_Y) - 1); + } + + #pragma GCC diagnostic pop + + if (WITHIN(i, 0, (GRID_MAX_POINTS_X) - 1) && WITHIN(j, 0, (GRID_MAX_POINTS_Y) - 1)) { + set_bed_leveling_enabled(false); + bedlevel.z_values[i][j] = rz; + bedlevel.refresh_bed_level(); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, rz)); + if (abl.reenable) { + set_bed_leveling_enabled(true); + report_current_position(); + } + } + G29_RETURN(false, false); + } // parser.seen_test('W') + + #else + + constexpr bool seen_w = false; + + #endif + + // Jettison bed leveling data + if (!seen_w && parser.seen_test('J')) { + reset_bed_level(); + G29_RETURN(false, false); + } + + abl.verbose_level = parser.intval('V'); + if (!WITHIN(abl.verbose_level, 0, 4)) { + SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4)."); + G29_RETURN(false, false); + } + + abl.dryrun = parser.boolval('D') || TERN0(PROBE_MANUALLY, no_action); + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + incremental_LSF_reset(&lsf_results); + + abl.topography_map = abl.verbose_level > 2 || parser.boolval('T'); + + // X and Y specify points in each direction, overriding the default + // These values may be saved with the completed mesh + abl.grid_points.set( + parser.byteval('X', GRID_MAX_POINTS_X), + parser.byteval('Y', GRID_MAX_POINTS_Y) + ); + if (parser.seenval('P')) abl.grid_points.x = abl.grid_points.y = parser.value_int(); + + if (!WITHIN(abl.grid_points.x, 2, GRID_MAX_POINTS_X)) { + SERIAL_ECHOLNPGM("?Probe points (X) implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ")."); + G29_RETURN(false, false); + } + if (!WITHIN(abl.grid_points.y, 2, GRID_MAX_POINTS_Y)) { + SERIAL_ECHOLNPGM("?Probe points (Y) implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ")."); + G29_RETURN(false, false); + } + + abl.abl_points = abl.grid_points.x * abl.grid_points.y; + abl.mean = 0; + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + abl.Z_offset = parser.linearval('Z'); + + #endif + + #if ABL_USES_GRID + + xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_FEEDRATE)); + + const float x_min = probe.min_x(), x_max = probe.max_x(), + y_min = probe.min_y(), y_max = probe.max_y(); + + if (parser.seen('H')) { + const int16_t size = (int16_t)parser.value_linear_units(); + abl.probe_position_lf.set(_MAX((X_CENTER) - size / 2, x_min), _MAX((Y_CENTER) - size / 2, y_min)); + abl.probe_position_rb.set(_MIN(abl.probe_position_lf.x + size, x_max), _MIN(abl.probe_position_lf.y + size, y_max)); + } + else { + abl.probe_position_lf.set(parser.linearval('L', x_min), parser.linearval('F', y_min)); + abl.probe_position_rb.set(parser.linearval('R', x_max), parser.linearval('B', y_max)); + } + + if (!probe.good_bounds(abl.probe_position_lf, abl.probe_position_rb)) { + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOLNPGM("G29 L", abl.probe_position_lf.x, " R", abl.probe_position_rb.x, + " F", abl.probe_position_lf.y, " B", abl.probe_position_rb.y); + } + SERIAL_ECHOLNPGM("? (L,R,F,B) out of bounds."); + G29_RETURN(false, false); + } + + // Probe at the points of a lattice grid + abl.gridSpacing.set((abl.probe_position_rb.x - abl.probe_position_lf.x) / (abl.grid_points.x - 1), + (abl.probe_position_rb.y - abl.probe_position_lf.y) / (abl.grid_points.y - 1)); + + #endif // ABL_USES_GRID + + if (abl.verbose_level > 0) { + SERIAL_ECHOPGM("G29 Auto Bed Leveling"); + if (abl.dryrun) SERIAL_ECHOPGM(" (DRYRUN)"); + SERIAL_EOL(); + } + + planner.synchronize(); + + #if ENABLED(AUTO_BED_LEVELING_3POINT) + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> 3-point Leveling"); + points[0].z = points[1].z = points[2].z = 0; // Probe at 3 arbitrary points + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + TERN_(DWIN_LCD_PROUI, DWIN_LevelingStart()); + #endif + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); + + if (!faux) { + remember_feedrate_scaling_off(); + + #if ENABLED(PREHEAT_BEFORE_LEVELING) + if (!abl.dryrun) probe.preheat_for_probing(LEVELING_NOZZLE_TEMP, + #if BOTH(DWIN_LCD_PROUI, HAS_HEATED_BED) + HMI_data.BedLevT + #else + LEVELING_BED_TEMP + #endif + ); + #endif + } + + // Position bed horizontally and Z probe vertically. + #if HAS_SAFE_BED_LEVELING + xyze_pos_t safe_position = current_position; + #ifdef SAFE_BED_LEVELING_START_X + safe_position.x = SAFE_BED_LEVELING_START_X; + #endif + #ifdef SAFE_BED_LEVELING_START_Y + safe_position.y = SAFE_BED_LEVELING_START_Y; + #endif + #ifdef SAFE_BED_LEVELING_START_Z + safe_position.z = SAFE_BED_LEVELING_START_Z; + #endif + #ifdef SAFE_BED_LEVELING_START_I + safe_position.i = SAFE_BED_LEVELING_START_I; + #endif + #ifdef SAFE_BED_LEVELING_START_J + safe_position.j = SAFE_BED_LEVELING_START_J; + #endif + #ifdef SAFE_BED_LEVELING_START_K + safe_position.k = SAFE_BED_LEVELING_START_K; + #endif + #ifdef SAFE_BED_LEVELING_START_U + safe_position.u = SAFE_BED_LEVELING_START_U; + #endif + #ifdef SAFE_BED_LEVELING_START_V + safe_position.v = SAFE_BED_LEVELING_START_V; + #endif + #ifdef SAFE_BED_LEVELING_START_W + safe_position.w = SAFE_BED_LEVELING_START_W; + #endif + + do_blocking_move_to(safe_position); + #endif // HAS_SAFE_BED_LEVELING + + // Disable auto bed leveling during G29. + // Be formal so G29 can be done successively without G28. + if (!no_action) set_bed_leveling_enabled(false); + + // Deploy certain probes before starting probing + #if ENABLED(BLTOUCH) + do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE); + #elif HAS_BED_PROBE + if (probe.deploy()) { // (returns true on deploy failure) + set_bed_leveling_enabled(abl.reenable); + G29_RETURN(false, true); + } + #endif + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + if (!abl.dryrun + && (abl.gridSpacing != bedlevel.grid_spacing || abl.probe_position_lf != bedlevel.grid_start) + ) { + // Reset grid to 0.0 or "not probed". (Also disables ABL) + reset_bed_level(); + + // Can't re-enable (on error) until the new grid is written + abl.reenable = false; + } + + // Pre-populate local Z values from the stored mesh + TERN_(IS_KINEMATIC, COPY(abl.z_values, bedlevel.z_values)); + + #endif // AUTO_BED_LEVELING_BILINEAR + + } // !g29_in_progress + + #if ENABLED(PROBE_MANUALLY) + + // For manual probing, get the next index to probe now. + // On the first probe this will be incremented to 0. + if (!no_action) { + ++abl.abl_probe_index; + g29_in_progress = true; + } + + // Abort current G29 procedure, go back to idle state + if (seenA && g29_in_progress) { + SERIAL_ECHOLNPGM("Manual G29 aborted"); + SET_SOFT_ENDSTOP_LOOSE(false); + set_bed_leveling_enabled(abl.reenable); + g29_in_progress = false; + TERN_(LCD_BED_LEVELING, ui.wait_for_move = false); + } + + // Query G29 status + if (abl.verbose_level || seenQ) { + SERIAL_ECHOPGM("Manual G29 "); + if (g29_in_progress) + SERIAL_ECHOLNPGM("point ", _MIN(abl.abl_probe_index + 1, abl.abl_points), " of ", abl.abl_points); + else + SERIAL_ECHOLNPGM("idle"); + } + + // For 'A' or 'Q' exit with success state + if (no_action) G29_RETURN(false, true); + + if (abl.abl_probe_index == 0) { + // For the initial G29 S2 save software endstop state + SET_SOFT_ENDSTOP_LOOSE(true); + // Move close to the bed before the first point + do_blocking_move_to_z(0); + } + else { + + #if EITHER(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_3POINT) + const uint16_t index = abl.abl_probe_index - 1; + #endif + + // For G29 after adjusting Z. + // Save the previous Z before going to the next point + abl.measured_z = current_position.z; + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + abl.mean += abl.measured_z; + abl.eqnBVector[index] = abl.measured_z; + abl.eqnAMatrix[index + 0 * abl.abl_points] = abl.probePos.x; + abl.eqnAMatrix[index + 1 * abl.abl_points] = abl.probePos.y; + abl.eqnAMatrix[index + 2 * abl.abl_points] = 1; + + incremental_LSF(&lsf_results, abl.probePos, abl.measured_z); + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + points[index].z = abl.measured_z; + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + const float newz = abl.measured_z + abl.Z_offset; + abl.z_values[abl.meshCount.x][abl.meshCount.y] = newz; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, newz)); + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(PSTR("Save X"), abl.meshCount.x, SP_Y_STR, abl.meshCount.y, SP_Z_STR, abl.measured_z + abl.Z_offset); + + #endif + } + + // + // If there's another point to sample, move there with optional lift. + // + + #if ABL_USES_GRID + + // Skip any unreachable points + while (abl.abl_probe_index < abl.abl_points) { + + // Set abl.meshCount.x, abl.meshCount.y based on abl.abl_probe_index, with zig-zag + PR_OUTER_VAR = abl.abl_probe_index / PR_INNER_SIZE; + PR_INNER_VAR = abl.abl_probe_index - (PR_OUTER_VAR * PR_INNER_SIZE); + + // Probe in reverse order for every other row/column + const bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_SIZE) & 1); + if (zig) PR_INNER_VAR = (PR_INNER_SIZE - 1) - PR_INNER_VAR; + + abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat(); + + TERN_(AUTO_BED_LEVELING_LINEAR, abl.indexIntoAB[abl.meshCount.x][abl.meshCount.y] = abl.abl_probe_index); + + // Keep looping till a reachable point is found + if (position_is_reachable(abl.probePos)) break; + ++abl.abl_probe_index; + } + + // Is there a next point to move to? + if (abl.abl_probe_index < abl.abl_points) { + _manual_goto_xy(abl.probePos); // Can be used here too! + // Disable software endstops to allow manual adjustment + // If G29 is not completed, they will not be re-enabled + SET_SOFT_ENDSTOP_LOOSE(true); + G29_RETURN(false, true); + } + else { + // Leveling done! Fall through to G29 finishing code below + SERIAL_ECHOLNPGM("Grid probing done."); + // Re-enable software endstops, if needed + SET_SOFT_ENDSTOP_LOOSE(false); + } + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + // Probe at 3 arbitrary points + if (abl.abl_probe_index < abl.abl_points) { + abl.probePos = xy_pos_t(points[abl.abl_probe_index]); + _manual_goto_xy(abl.probePos); + // Disable software endstops to allow manual adjustment + // If G29 is not completed, they will not be re-enabled + SET_SOFT_ENDSTOP_LOOSE(true); + G29_RETURN(false, true); + } + else { + + SERIAL_ECHOLNPGM("3-point probing done."); + + // Re-enable software endstops, if needed + SET_SOFT_ENDSTOP_LOOSE(false); + + if (!abl.dryrun) { + vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); + if (planeNormal.z < 0) planeNormal *= -1; + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + // Can't re-enable (on error) until the new grid is written + abl.reenable = false; + } + + } + + #endif // AUTO_BED_LEVELING_3POINT + + #else // !PROBE_MANUALLY + { + const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE; + + abl.measured_z = 0; + + #if ABL_USES_GRID + + bool zig = PR_OUTER_SIZE & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION + + // Outer loop is X with PROBE_Y_FIRST enabled + // Outer loop is Y with PROBE_Y_FIRST disabled + for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_SIZE && !isnan(abl.measured_z); PR_OUTER_VAR++) { + + int8_t inStart, inStop, inInc; + + TERN_(ProUIex, if (ProEx.QuitLeveling()) break; ) + + if (zig) { // Zig away from origin + inStart = 0; // Left or front + inStop = PR_INNER_SIZE; // Right or back + inInc = 1; // Zig right + } + else { // Zag towards origin + inStart = PR_INNER_SIZE - 1; // Right or back + inStop = -1; // Left or front + inInc = -1; // Zag left + } + + zig ^= true; // zag + + // An index to print current state + uint8_t pt_index = (PR_OUTER_VAR) * (PR_INNER_SIZE) + 1; + + // Inner loop is Y with PROBE_Y_FIRST enabled + // Inner loop is X with PROBE_Y_FIRST disabled + for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; pt_index++, PR_INNER_VAR += inInc) { + + abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat(); + + TERN_(AUTO_BED_LEVELING_LINEAR, abl.indexIntoAB[abl.meshCount.x][abl.meshCount.y] = ++abl.abl_probe_index); // 0... + + // Avoid probing outside the round or hexagonal area + if (TERN0(IS_KINEMATIC, !probe.can_reach(abl.probePos))) continue; + + if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing mesh point ", pt_index, "/", abl.abl_points, "."); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), int(pt_index), int(abl.abl_points))); + + abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level); + + if (isnan(abl.measured_z)) { + set_bed_leveling_enabled(abl.reenable); + break; // Breaks out of both loops + } + + #if ENABLED(AUTO_BED_LEVELING_LINEAR) + + abl.mean += abl.measured_z; + abl.eqnBVector[abl.abl_probe_index] = abl.measured_z; + abl.eqnAMatrix[abl.abl_probe_index + 0 * abl.abl_points] = abl.probePos.x; + abl.eqnAMatrix[abl.abl_probe_index + 1 * abl.abl_points] = abl.probePos.y; + abl.eqnAMatrix[abl.abl_probe_index + 2 * abl.abl_points] = 1; + + incremental_LSF(&lsf_results, abl.probePos, abl.measured_z); + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + const float z = abl.measured_z + abl.Z_offset; + abl.z_values[abl.meshCount.x][abl.meshCount.y] = z; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z)); + TERN_(ProUIex, ProEx.MeshUpdate(abl.meshCount.x, abl.meshCount.y, z)); + + #endif + + abl.reenable = false; // Don't re-enable after modifying the mesh + idle_no_sleep(); + TERN_(ProUIex, if (ProEx.QuitLeveling()) break; ) + + } // inner + } // outer + + #elif ENABLED(AUTO_BED_LEVELING_3POINT) + + // Probe at 3 arbitrary points + + LOOP_L_N(i, 3) { + if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing point ", i + 1, "/3."); + TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT(MSG_PROBING_POINT), int(i + 1))); + + // Retain the last probe position + abl.probePos = xy_pos_t(points[i]); + abl.measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level); + if (isnan(abl.measured_z)) { + set_bed_leveling_enabled(abl.reenable); + break; + } + points[i].z = abl.measured_z; + } + + if (!abl.dryrun && !isnan(abl.measured_z)) { + vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal(); + if (planeNormal.z < 0) planeNormal *= -1; + planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal); + + // Can't re-enable (on error) until the new grid is written + abl.reenable = false; + } + + #endif // AUTO_BED_LEVELING_3POINT + + TERN_(HAS_STATUS_MESSAGE, ui.reset_status()); + + // Stow the probe. No raise for FIX_MOUNTED_PROBE. + if (probe.stow()) { + set_bed_leveling_enabled(abl.reenable); + abl.measured_z = NAN; + } + } + #endif // !PROBE_MANUALLY + + // + // G29 Finishing Code + // + // Unless this is a dry run, auto bed leveling will + // definitely be enabled after this point. + // + // If code above wants to continue leveling, it should + // return or loop before this point. + // + + if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position); + + #if ENABLED(PROBE_MANUALLY) + g29_in_progress = false; + TERN_(LCD_BED_LEVELING, ui.wait_for_move = false); + #endif + + // Calculate leveling, print reports, correct the position + if (!isnan(abl.measured_z)) { + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + + if (abl.dryrun) + bedlevel.print_leveling_grid(&abl.z_values); + else { + bedlevel.set_grid(abl.gridSpacing, abl.probe_position_lf); + COPY(bedlevel.z_values, abl.z_values); + TERN_(IS_KINEMATIC, bedlevel.extrapolate_unprobed_bed_level()); + bedlevel.refresh_bed_level(); + + bedlevel.print_leveling_grid(); + } + + #elif ENABLED(AUTO_BED_LEVELING_LINEAR) + + // For LINEAR leveling calculate matrix, print reports, correct the position + + /** + * solve the plane equation ax + by + d = z + * A is the matrix with rows [x y 1] for all the probed points + * B is the vector of the Z positions + * the normal vector to the plane is formed by the coefficients of the + * plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 + * so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z + */ + struct { float a, b, d; } plane_equation_coefficients; + + finish_incremental_LSF(&lsf_results); + plane_equation_coefficients.a = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below + plane_equation_coefficients.b = -lsf_results.B; // but that is not yet tested. + plane_equation_coefficients.d = -lsf_results.D; + + abl.mean /= abl.abl_points; + + if (abl.verbose_level) { + SERIAL_ECHOPAIR_F("Eqn coefficients: a: ", plane_equation_coefficients.a, 8); + SERIAL_ECHOPAIR_F(" b: ", plane_equation_coefficients.b, 8); + SERIAL_ECHOPAIR_F(" d: ", plane_equation_coefficients.d, 8); + if (abl.verbose_level > 2) + SERIAL_ECHOPAIR_F("\nMean of sampled points: ", abl.mean, 8); + SERIAL_EOL(); + } + + // Create the matrix but don't correct the position yet + if (!abl.dryrun) + planner.bed_level_matrix = matrix_3x3::create_look_at( + vector_3(-plane_equation_coefficients.a, -plane_equation_coefficients.b, 1) // We can eliminate the '-' here and up above + ); + + // Show the Topography map if enabled + if (abl.topography_map) { + + float min_diff = 999; + + auto print_topo_map = [&](FSTR_P const title, const bool get_min) { + SERIAL_ECHOF(title); + for (int8_t yy = abl.grid_points.y - 1; yy >= 0; yy--) { + LOOP_L_N(xx, abl.grid_points.x) { + const int ind = abl.indexIntoAB[xx][yy]; + xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points], + abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 }; + planner.bed_level_matrix.apply_rotation_xyz(tmp.x, tmp.y, tmp.z); + if (get_min) NOMORE(min_diff, abl.eqnBVector[ind] - tmp.z); + const float subval = get_min ? abl.mean : tmp.z + min_diff, + diff = abl.eqnBVector[ind] - subval; + SERIAL_CHAR(' '); if (diff >= 0.0) SERIAL_CHAR('+'); // Include + for column alignment + SERIAL_ECHO_F(diff, 5); + } // xx + SERIAL_EOL(); + } // yy + SERIAL_EOL(); + }; + + print_topo_map(F("\nBed Height Topography:\n" + " +--- BACK --+\n" + " | |\n" + " L | (+) | R\n" + " E | | I\n" + " F | (-) N (+) | G\n" + " T | | H\n" + " | (-) | T\n" + " | |\n" + " O-- FRONT --+\n" + " (0,0)\n"), true); + if (abl.verbose_level > 3) + print_topo_map(F("\nCorrected Bed Height vs. Bed Topology:\n"), false); + + } // abl.topography_map + + #endif // AUTO_BED_LEVELING_LINEAR + + #if ABL_PLANAR + + // For LINEAR and 3POINT leveling correct the current position + + if (abl.verbose_level > 0) + planner.bed_level_matrix.debug(F("\n\nBed Level Correction Matrix:")); + + if (!abl.dryrun) { + // + // Correct the current XYZ position based on the tilted plane. + // + + if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position); + + xyze_pos_t converted = current_position; + planner.force_unapply_leveling(converted); // use conversion machinery + + // Use the last measured distance to the bed, if possible + if ( NEAR(current_position.x, abl.probePos.x - probe.offset_xy.x) + && NEAR(current_position.y, abl.probePos.y - probe.offset_xy.y) + ) { + const float simple_z = current_position.z - abl.measured_z; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z); + converted.z = simple_z; + } + + // The rotated XY and corrected Z are now current_position + current_position = converted; + + if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position); + + abl.reenable = true; + } + + // Auto Bed Leveling is complete! Enable if possible. + if (abl.reenable) { + planner.leveling_active = true; + sync_plan_position(); + } + + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + // Auto Bed Leveling is complete! Enable if possible. + if (!abl.dryrun || abl.reenable) set_bed_leveling_enabled(true); + + #endif + + } // !isnan(abl.measured_z) + + // Restore state after probing + if (!faux) restore_feedrate_and_scaling(); + + TERN_(HAS_BED_PROBE, probe.move_z_after_probing()); + + #ifdef Z_PROBE_END_SCRIPT + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Probe End Script: ", Z_PROBE_END_SCRIPT); + planner.synchronize(); + process_subcommands_now(F(Z_PROBE_END_SCRIPT)); + #endif + + TERN_(HAS_MULTI_HOTEND, if (abl.tool_index != 0) tool_change(abl.tool_index)); + + report_current_position(); + + G29_RETURN(isnan(abl.measured_z), true); +} + +#endif // HAS_ABL_NOT_UBL diff --git a/Marlin/src/gcode/bedlevel/abl/M421.cpp b/Marlin/src/gcode/bedlevel/abl/M421.cpp new file mode 100644 index 0000000000..3272ea1bd2 --- /dev/null +++ b/Marlin/src/gcode/bedlevel/abl/M421.cpp @@ -0,0 +1,74 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * M421.cpp - Auto Bed Leveling + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_BILINEAR) + +#include "../../gcode.h" +#include "../../../feature/bedlevel/bedlevel.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#endif + +/** + * M421: Set one or more Mesh Bed Leveling Z coordinates + * + * Usage: + * M421 I J Z + * M421 I J Q + * + * - If I is omitted, set the entire row + * - If J is omitted, set the entire column + * - If both I and J are omitted, set all + */ +void GcodeSuite::M421() { + int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1); + const bool hasZ = parser.seenval('Z'), + hasQ = !hasZ && parser.seenval('Q'); + + if (hasZ || hasQ) { + if (WITHIN(ix, -1, GRID_MAX_POINTS_X - 1) && WITHIN(iy, -1, GRID_MAX_POINTS_Y - 1)) { + const float zval = parser.value_linear_units(); + uint8_t sx = ix >= 0 ? ix : 0, ex = ix >= 0 ? ix : GRID_MAX_POINTS_X - 1, + sy = iy >= 0 ? iy : 0, ey = iy >= 0 ? iy : GRID_MAX_POINTS_Y - 1; + LOOP_S_LE_N(x, sx, ex) { + LOOP_S_LE_N(y, sy, ey) { + bedlevel.z_values[x][y] = zval + (hasQ ? bedlevel.z_values[x][y] : 0); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y])); + } + } + bedlevel.refresh_bed_level(); + } + else + SERIAL_ERROR_MSG(STR_ERR_MESH_XY); + } + else + SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS); +} + +#endif // AUTO_BED_LEVELING_BILINEAR diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp new file mode 100644 index 0000000000..e3e96a7960 --- /dev/null +++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp @@ -0,0 +1,264 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * G29.cpp - Mesh Bed Leveling + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(MESH_BED_LEVELING) + +#include "../../../feature/bedlevel/bedlevel.h" + +#include "../../gcode.h" +#include "../../queue.h" + +#include "../../../libs/buzzer.h" +#include "../../../lcd/marlinui.h" +#include "../../../module/motion.h" +#include "../../../module/planner.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#elif ENABLED(DWIN_LCD_PROUI) + #include "../../../lcd/e3v2/proui/dwin.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../../core/debug_out.h" + +// Save 130 bytes with non-duplication of PSTR +inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM(" not entered."); } + +/** + * G29: Mesh-based Z probe, probes a grid and produces a + * mesh to compensate for variable bed height + * + * Parameters With MESH_BED_LEVELING: + * + * S0 Report the current mesh values + * S1 Start probing mesh points + * S2 Probe the next mesh point + * S3 In Jn Zn.nn Manually modify a single point + * S4 Zn.nn Set z offset. Positive away from bed, negative closer to bed. + * S5 Reset and disable mesh + */ +void GcodeSuite::G29() { + DEBUG_SECTION(log_G29, "G29", true); + + // G29 Q is also available if debugging + #if ENABLED(DEBUG_LEVELING_FEATURE) + const bool seenQ = parser.seen_test('Q'); + if (seenQ || DEBUGGING(LEVELING)) { + log_machine_info(); + if (seenQ) return; + } + #endif + + static int mbl_probe_index = -1; + + MeshLevelingState state = (MeshLevelingState)parser.byteval('S', (int8_t)MeshReport); + if (!WITHIN(state, 0, 5)) { + SERIAL_ECHOLNPGM("S out of range (0-5)."); + return; + } + + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE)); + + int8_t ix, iy; + ix = iy = 0; + + switch (state) { + case MeshReport: + SERIAL_ECHOPGM("Mesh Bed Leveling "); + if (leveling_is_valid()) { + serialprintln_onoff(planner.leveling_active); + bedlevel.report_mesh(); + } + else + SERIAL_ECHOLNPGM("has no data."); + break; + + case MeshStart: + bedlevel.reset(); + mbl_probe_index = 0; + if (!ui.wait_for_move) { + queue.inject(parser.seen_test('N') ? F("G28" TERN(CAN_SET_LEVELING_AFTER_G28, "L0", "") "\nG29S2") : F("G29S2")); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart()); + TERN_(DWIN_LCD_PROUI, DWIN_LevelingStart()); + + // Position bed horizontally and Z probe vertically. + #if HAS_SAFE_BED_LEVELING + xyze_pos_t safe_position = current_position; + #ifdef SAFE_BED_LEVELING_START_X + safe_position.x = SAFE_BED_LEVELING_START_X; + #endif + #ifdef SAFE_BED_LEVELING_START_Y + safe_position.y = SAFE_BED_LEVELING_START_Y; + #endif + #ifdef SAFE_BED_LEVELING_START_Z + safe_position.z = SAFE_BED_LEVELING_START_Z; + #endif + #ifdef SAFE_BED_LEVELING_START_I + safe_position.i = SAFE_BED_LEVELING_START_I; + #endif + #ifdef SAFE_BED_LEVELING_START_J + safe_position.j = SAFE_BED_LEVELING_START_J; + #endif + #ifdef SAFE_BED_LEVELING_START_K + safe_position.k = SAFE_BED_LEVELING_START_K; + #endif + #ifdef SAFE_BED_LEVELING_START_U + safe_position.u = SAFE_BED_LEVELING_START_U; + #endif + #ifdef SAFE_BED_LEVELING_START_V + safe_position.v = SAFE_BED_LEVELING_START_V; + #endif + #ifdef SAFE_BED_LEVELING_START_W + safe_position.w = SAFE_BED_LEVELING_START_W; + #endif + + do_blocking_move_to(safe_position); + #endif // HAS_SAFE_BED_LEVELING + + return; + } + state = MeshNext; + + case MeshNext: + if (mbl_probe_index < 0) { + SERIAL_ECHOLNPGM("Start mesh probing with \"G29 S1\" first."); + return; + } + // For each G29 S2... + if (mbl_probe_index == 0) { + // Move close to the bed before the first point + do_blocking_move_to_z( + #ifdef MANUAL_PROBE_START_Z + MANUAL_PROBE_START_Z + #else + 0.4f + #endif + ); + } + else { + // Save Z for the previous mesh position + bedlevel.set_zigzag_z(mbl_probe_index - 1, current_position.z); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, current_position.z)); + TERN_(DWIN_LCD_PROUI, DWIN_MeshUpdate(_MIN(mbl_probe_index, GRID_MAX_POINTS), int(GRID_MAX_POINTS), current_position.z)); + SET_SOFT_ENDSTOP_LOOSE(false); + } + // If there's another point to sample, move there with optional lift. + if (mbl_probe_index < (GRID_MAX_POINTS)) { + // Disable software endstops to allow manual adjustment + // If G29 is left hanging without completion they won't be re-enabled! + SET_SOFT_ENDSTOP_LOOSE(true); + bedlevel.zigzag(mbl_probe_index++, ix, iy); + _manual_goto_xy({ bedlevel.index_to_xpos[ix], bedlevel.index_to_ypos[iy] }); + } + else { + // Move to the after probing position + current_position.z = ( + #ifdef Z_AFTER_PROBING + Z_AFTER_PROBING + #else + Z_CLEARANCE_BETWEEN_MANUAL_PROBES + #endif + ); + line_to_current_position(); + planner.synchronize(); + + // After recording the last point, activate home and activate + mbl_probe_index = -1; + SERIAL_ECHOLNPGM("Mesh probing done."); + TERN_(HAS_STATUS_MESSAGE, LCD_MESSAGE(MSG_MESH_DONE)); + OKAY_BUZZ(); + + home_all_axes(); + set_bed_leveling_enabled(true); + + #if ENABLED(MESH_G28_REST_ORIGIN) + current_position.z = 0; + line_to_current_position(homing_feedrate(Z_AXIS)); + planner.synchronize(); + #endif + + TERN_(LCD_BED_LEVELING, ui.wait_for_move = false); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + } + break; + + case MeshSet: + if (parser.seenval('I')) { + ix = parser.value_int(); + if (!WITHIN(ix, 0, (GRID_MAX_POINTS_X) - 1)) { + SERIAL_ECHOLNPGM("I out of range (0-", (GRID_MAX_POINTS_X) - 1, ")"); + return; + } + } + else + return echo_not_entered('J'); + + if (parser.seenval('J')) { + iy = parser.value_int(); + if (!WITHIN(iy, 0, (GRID_MAX_POINTS_Y) - 1)) { + SERIAL_ECHOLNPGM("J out of range (0-", (GRID_MAX_POINTS_Y) - 1, ")"); + return; + } + } + else + return echo_not_entered('J'); + + if (parser.seenval('Z')) { + bedlevel.z_values[ix][iy] = parser.value_linear_units(); + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, bedlevel.z_values[ix][iy])); + TERN_(DWIN_LCD_PROUI, DWIN_MeshUpdate(ix, iy, bedlevel.z_values[ix][iy])); + } + else + return echo_not_entered('Z'); + break; + + case MeshSetZOffset: + if (parser.seenval('Z')) + bedlevel.z_offset = parser.value_linear_units(); + else + return echo_not_entered('Z'); + break; + + case MeshReset: + reset_bed_level(); + break; + + } // switch(state) + + if (state == MeshNext) { + SERIAL_ECHOLNPGM("MBL G29 point ", _MIN(mbl_probe_index, GRID_MAX_POINTS), " of ", GRID_MAX_POINTS); + if (mbl_probe_index > 0) TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_POINT), _MIN(mbl_probe_index, GRID_MAX_POINTS), int(GRID_MAX_POINTS))); + } + + report_current_position(); + + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE)); +} + +#endif // MESH_BED_LEVELING diff --git a/Marlin/src/gcode/bedlevel/mbl/M421.cpp b/Marlin/src/gcode/bedlevel/mbl/M421.cpp new file mode 100644 index 0000000000..e23683d55f --- /dev/null +++ b/Marlin/src/gcode/bedlevel/mbl/M421.cpp @@ -0,0 +1,59 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * M421.cpp - Mesh Bed Leveling + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(MESH_BED_LEVELING) + +#include "../../gcode.h" +#include "../../../module/motion.h" +#include "../../../feature/bedlevel/mbl/mesh_bed_leveling.h" + +/** + * M421: Set a single Mesh Bed Leveling Z coordinate + * + * Usage: + * M421 X Y Z + * M421 X Y Q + * M421 I J Z + * M421 I J Q + */ +void GcodeSuite::M421() { + const bool hasX = parser.seen('X'), hasI = parser.seen('I'); + const int8_t ix = hasI ? parser.value_int() : hasX ? bedlevel.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1; + const bool hasY = parser.seen('Y'), hasJ = parser.seen('J'); + const int8_t iy = hasJ ? parser.value_int() : hasY ? bedlevel.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1; + const bool hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q'); + + if (int(hasI && hasJ) + int(hasX && hasY) != 1 || !(hasZ || hasQ)) + SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS); + else if (ix < 0 || iy < 0) + SERIAL_ERROR_MSG(STR_ERR_MESH_XY); + else + bedlevel.set_z(ix, iy, parser.value_linear_units() + (hasQ ? bedlevel.z_values[ix][iy] : 0)); +} + +#endif // MESH_BED_LEVELING diff --git a/Marlin/src/gcode/bedlevel/ubl/G29.cpp b/Marlin/src/gcode/bedlevel/ubl/G29.cpp new file mode 100644 index 0000000000..90deab3d2e --- /dev/null +++ b/Marlin/src/gcode/bedlevel/ubl/G29.cpp @@ -0,0 +1,47 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * G29.cpp - Unified Bed Leveling + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) + +#include "../../gcode.h" +#include "../../../feature/bedlevel/bedlevel.h" + +#if ENABLED(FULL_REPORT_TO_HOST_FEATURE) + #include "../../../module/motion.h" +#endif + +void GcodeSuite::G29() { + + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE)); + + bedlevel.G29(); + + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE)); +} + +#endif // AUTO_BED_LEVELING_UBL diff --git a/Marlin/src/gcode/bedlevel/ubl/M421.cpp b/Marlin/src/gcode/bedlevel/ubl/M421.cpp new file mode 100644 index 0000000000..ff74f4c6f7 --- /dev/null +++ b/Marlin/src/gcode/bedlevel/ubl/M421.cpp @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * M421.cpp - Unified Bed Leveling + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) + +#include "../../gcode.h" +#include "../../../feature/bedlevel/bedlevel.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../../lcd/extui/ui_api.h" +#elif ENABLED(DWIN_LCD_PROUI) + #include "../../../lcd/e3v2/proui/dwin.h" +#endif + +/** + * M421: Set a single Mesh Bed Leveling Z coordinate + * + * Usage: + * M421 I J Z : Set the Mesh Point IJ to the Z value + * M421 I J Q : Add the Q value to the Mesh Point IJ + * M421 I J N : Set the Mesh Point IJ to NAN (not set) + * M421 C Z : Set the closest Mesh Point to the Z value + * M421 C Q : Add the Q value to the closest Mesh Point + */ +void GcodeSuite::M421() { + xy_int8_t ij = { int8_t(parser.intval('I', -1)), int8_t(parser.intval('J', -1)) }; + const bool hasI = ij.x >= 0, + hasJ = ij.y >= 0, + hasC = parser.seen_test('C'), + hasN = parser.seen_test('N'), + hasZ = parser.seen('Z'), + hasQ = !hasZ && parser.seen('Q'); + + if (hasC) ij = bedlevel.find_closest_mesh_point_of_type(CLOSEST, current_position); + + // Test for bad parameter combinations + if (int(hasC) + int(hasI && hasJ) != 1 || !(hasZ || hasQ || hasN)) + SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS); + + // Test for I J out of range + else if (!WITHIN(ij.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(ij.y, 0, GRID_MAX_POINTS_Y - 1)) + SERIAL_ERROR_MSG(STR_ERR_MESH_XY); + else { + float &zval = bedlevel.z_values[ij.x][ij.y]; // Altering this Mesh Point + zval = hasN ? NAN : parser.value_linear_units() + (hasQ ? zval : 0); // N=NAN, Z=NEWVAL, or Q=ADDVAL + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ij.x, ij.y, zval)); // Ping ExtUI in case it's showing the mesh + TERN_(DWIN_LCD_PROUI, DWIN_MeshUpdate(ij.x, ij.y, zval)); + } +} + +#endif // AUTO_BED_LEVELING_UBL diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp new file mode 100644 index 0000000000..b29913f891 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -0,0 +1,614 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#include "../gcode.h" + +#include "../../module/endstops.h" +#include "../../module/planner.h" +#include "../../module/stepper.h" // for various + +#if HAS_MULTI_HOTEND + #include "../../module/tool_change.h" +#endif + +#if HAS_LEVELING + #include "../../feature/bedlevel/bedlevel.h" +#endif + +#if ENABLED(BD_SENSOR) + #include "../../feature/bedlevel/bdl/bdl.h" +#endif + +#if ENABLED(SENSORLESS_HOMING) + #include "../../feature/tmc_util.h" +#endif + +#include "../../module/probe.h" + +#if ENABLED(BLTOUCH) + #include "../../feature/bltouch.h" +#endif + +#include "../../lcd/marlinui.h" + +#if ENABLED(EXTENSIBLE_UI) + #include "../../lcd/extui/ui_api.h" +#elif ENABLED(DWIN_CREALITY_LCD) + #include "../../lcd/e3v2/creality/dwin.h" +#elif ENABLED(DWIN_LCD_PROUI) + #include "../../lcd/e3v2/proui/dwin.h" +#endif + +#if ENABLED(LASER_FEATURE) + #include "../../feature/spindle_laser.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +#if ENABLED(QUICK_HOME) + + static void quick_home_xy() { + + // Pretend the current position is 0,0 + current_position.set(0.0, 0.0); + sync_plan_position(); + + const int x_axis_home_dir = TOOL_X_HOME_DIR(active_extruder); + + // Use a higher diagonal feedrate so axes move at homing speed + const float minfr = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)), + fr_mm_s = HYPOT(minfr, minfr); + + #if ENABLED(SENSORLESS_HOMING) + sensorless_t stealth_states { + NUM_AXIS_LIST( + TERN0(X_SENSORLESS, tmc_enable_stallguard(stepperX)), + TERN0(Y_SENSORLESS, tmc_enable_stallguard(stepperY)), + false, false, false, false, false, false, false + ) + , TERN0(X2_SENSORLESS, tmc_enable_stallguard(stepperX2)) + , TERN0(Y2_SENSORLESS, tmc_enable_stallguard(stepperY2)) + }; + #endif + + do_blocking_move_to_xy(1.5 * max_length(X_AXIS) * x_axis_home_dir, 1.5 * max_length(Y_AXIS) * Y_HOME_DIR, fr_mm_s); + + endstops.validate_homing_move(); + + current_position.set(0.0, 0.0); + + #if ENABLED(SENSORLESS_HOMING) && DISABLED(ENDSTOPS_ALWAYS_ON_DEFAULT) + TERN_(X_SENSORLESS, tmc_disable_stallguard(stepperX, stealth_states.x)); + TERN_(X2_SENSORLESS, tmc_disable_stallguard(stepperX2, stealth_states.x2)); + TERN_(Y_SENSORLESS, tmc_disable_stallguard(stepperY, stealth_states.y)); + TERN_(Y2_SENSORLESS, tmc_disable_stallguard(stepperY2, stealth_states.y2)); + #endif + } + +#endif // QUICK_HOME + +#if ENABLED(Z_SAFE_HOMING) + + inline void home_z_safely() { + DEBUG_SECTION(log_G28, "home_z_safely", DEBUGGING(LEVELING)); + + // Disallow Z homing if X or Y homing is needed + if (homing_needed_error(_BV(X_AXIS) | _BV(Y_AXIS))) return; + + sync_plan_position(); + + /** + * Move the Z probe (or just the nozzle) to the safe homing point + * (Z is already at the right height) + */ + TERN(ProUIex, , constexpr) xy_float_t safe_homing_xy = { Z_SAFE_HOMING_X_POINT, Z_SAFE_HOMING_Y_POINT }; + #if HAS_HOME_OFFSET + xy_float_t okay_homing_xy = safe_homing_xy; + okay_homing_xy -= home_offset; + #else + TERN(ProUIex, , constexpr) xy_float_t okay_homing_xy = safe_homing_xy; + #endif + + destination.set(okay_homing_xy, current_position.z); + + TERN_(HOMING_Z_WITH_PROBE, destination -= probe.offset_xy); + + if (position_is_reachable(destination)) { + + if (DEBUGGING(LEVELING)) DEBUG_POS("home_z_safely", destination); + + // Free the active extruder for movement + TERN_(DUAL_X_CARRIAGE, idex_set_parked(false)); + + TERN_(SENSORLESS_HOMING, safe_delay(500)); // Short delay needed to settle + + do_blocking_move_to_xy(destination); + homeaxis(Z_AXIS); + } + else { + LCD_MESSAGE(MSG_ZPROBE_OUT); + SERIAL_ECHO_MSG(STR_ZPROBE_OUT_SER); + } + } + +#endif // Z_SAFE_HOMING + +#if ENABLED(IMPROVE_HOMING_RELIABILITY) + + motion_state_t begin_slow_homing() { + motion_state_t motion_state{0}; + motion_state.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS], + planner.settings.max_acceleration_mm_per_s2[Y_AXIS] + OPTARG(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS]) + ); + planner.settings.max_acceleration_mm_per_s2[X_AXIS] = 100; + planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = 100; + TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = 100); + #if HAS_CLASSIC_JERK + motion_state.jerk_state = planner.max_jerk; + planner.max_jerk.set(0, 0 OPTARG(DELTA, 0)); + #endif + planner.refresh_acceleration_rates(); + return motion_state; + } + + void end_slow_homing(const motion_state_t &motion_state) { + planner.settings.max_acceleration_mm_per_s2[X_AXIS] = motion_state.acceleration.x; + planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = motion_state.acceleration.y; + TERN_(DELTA, planner.settings.max_acceleration_mm_per_s2[Z_AXIS] = motion_state.acceleration.z); + TERN_(HAS_CLASSIC_JERK, planner.max_jerk = motion_state.jerk_state); + planner.refresh_acceleration_rates(); + } + +#endif // IMPROVE_HOMING_RELIABILITY + +/** + * G28: Home all axes according to settings + * + * Parameters + * + * None Home to all axes with no parameters. + * With QUICK_HOME enabled XY will home together, then Z. + * + * L Force leveling state ON (if possible) or OFF after homing (Requires RESTORE_LEVELING_AFTER_G28 or ENABLE_LEVELING_AFTER_G28) + * O Home only if the position is not known and trusted + * R Raise by n mm/inches before homing + * + * Cartesian/SCARA parameters + * + * X Home to the X endstop + * Y Home to the Y endstop + * Z Home to the Z endstop + */ +void GcodeSuite::G28() { + DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING)); + if (DEBUGGING(LEVELING)) log_machine_info(); + + TERN_(BD_SENSOR, bdl.config_state = 0); + + /** + * Set the laser power to false to stop the planner from processing the current power setting. + */ + #if ENABLED(LASER_FEATURE) + planner.laser_inline.status.isPowered = false; + #endif + + #if ENABLED(DUAL_X_CARRIAGE) + bool IDEX_saved_duplication_state = extruder_duplication_enabled; + DualXMode IDEX_saved_mode = dual_x_carriage_mode; + #endif + + #if ENABLED(MARLIN_DEV_MODE) + if (parser.seen_test('S')) { + LOOP_NUM_AXES(a) set_axis_is_at_home((AxisEnum)a); + sync_plan_position(); + SERIAL_ECHOLNPGM("Simulated Homing"); + report_current_position(); + return; + } + #endif + + // Home (O)nly if position is unknown + if (!axes_should_home() && parser.seen_test('O')) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip"); + return; + } + + #if ENABLED(FULL_REPORT_TO_HOST_FEATURE) + const M_StateEnum old_grblstate = M_State_grbl; + set_and_report_grblstate(M_HOMING); + #endif + + TERN_(HAS_DWIN_E3V2_BASIC, DWIN_HomingStart()); + TERN_(EXTENSIBLE_UI, ExtUI::onHomingStart()); + + planner.synchronize(); // Wait for planner moves to finish! + + SET_SOFT_ENDSTOP_LOOSE(false); // Reset a leftover 'loose' motion state + + // Disable the leveling matrix before homing + #if CAN_SET_LEVELING_AFTER_G28 + const bool leveling_restore_state = parser.boolval('L', TERN1(RESTORE_LEVELING_AFTER_G28, planner.leveling_active)); + #endif + + // Cancel any prior G29 session + TERN_(PROBE_MANUALLY, g29_in_progress = false); + + // Disable leveling before homing + TERN_(HAS_LEVELING, set_bed_leveling_enabled(false)); + + // Reset to the XY plane + TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY); + + // Count this command as movement / activity + reset_stepper_timeout(); + + #define HAS_CURRENT_HOME(N) (defined(N##_CURRENT_HOME) && N##_CURRENT_HOME != N##_CURRENT) + #if HAS_CURRENT_HOME(X) || HAS_CURRENT_HOME(X2) || HAS_CURRENT_HOME(Y) || HAS_CURRENT_HOME(Y2) || (ENABLED(DELTA) && HAS_CURRENT_HOME(Z)) || HAS_CURRENT_HOME(I) || HAS_CURRENT_HOME(J) || HAS_CURRENT_HOME(K) || HAS_CURRENT_HOME(U) || HAS_CURRENT_HOME(V) || HAS_CURRENT_HOME(W) + #define HAS_HOMING_CURRENT 1 + #endif + + #if HAS_HOMING_CURRENT + auto debug_current = [](FSTR_P const s, const int16_t a, const int16_t b) { + DEBUG_ECHOF(s); DEBUG_ECHOLNPGM(" current: ", a, " -> ", b); + }; + #if HAS_CURRENT_HOME(X) + const int16_t tmc_save_current_X = stepperX.getMilliamps(); + stepperX.rms_current(X_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_X), tmc_save_current_X, X_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(X2) + const int16_t tmc_save_current_X2 = stepperX2.getMilliamps(); + stepperX2.rms_current(X2_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_X2), tmc_save_current_X2, X2_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(Y) + const int16_t tmc_save_current_Y = stepperY.getMilliamps(); + stepperY.rms_current(Y_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_Y), tmc_save_current_Y, Y_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(Y2) + const int16_t tmc_save_current_Y2 = stepperY2.getMilliamps(); + stepperY2.rms_current(Y2_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_Y2), tmc_save_current_Y2, Y2_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA) + const int16_t tmc_save_current_Z = stepperZ.getMilliamps(); + stepperZ.rms_current(Z_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_Z), tmc_save_current_Z, Z_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(I) + const int16_t tmc_save_current_I = stepperI.getMilliamps(); + stepperI.rms_current(I_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_I), tmc_save_current_I, I_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(J) + const int16_t tmc_save_current_J = stepperJ.getMilliamps(); + stepperJ.rms_current(J_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_J), tmc_save_current_J, J_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(K) + const int16_t tmc_save_current_K = stepperK.getMilliamps(); + stepperK.rms_current(K_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_K), tmc_save_current_K, K_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(U) + const int16_t tmc_save_current_U = stepperU.getMilliamps(); + stepperU.rms_current(U_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_U), tmc_save_current_U, U_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(V) + const int16_t tmc_save_current_V = stepperV.getMilliamps(); + stepperV.rms_current(V_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_V), tmc_save_current_V, V_CURRENT_HOME); + #endif + #if HAS_CURRENT_HOME(W) + const int16_t tmc_save_current_W = stepperW.getMilliamps(); + stepperW.rms_current(W_CURRENT_HOME); + if (DEBUGGING(LEVELING)) debug_current(F(STR_W), tmc_save_current_W, W_CURRENT_HOME); + #endif + #if SENSORLESS_STALLGUARD_DELAY + safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle + #endif + #endif + + #if ENABLED(IMPROVE_HOMING_RELIABILITY) + motion_state_t saved_motion_state = begin_slow_homing(); + #endif + + // Always home with tool 0 active + #if HAS_MULTI_HOTEND + #if DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE) + const uint8_t old_tool_index = active_extruder; + #endif + // PARKING_EXTRUDER homing requires different handling of movement / solenoid activation, depending on the side of homing + #if ENABLED(PARKING_EXTRUDER) + const bool pe_final_change_must_unpark = parking_extruder_unpark_after_homing(old_tool_index, X_HOME_DIR + 1 == old_tool_index * 2); + #endif + tool_change(0, true); + #endif + + TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); + + remember_feedrate_scaling_off(); + + endstops.enable(true); // Enable endstops for next homing move + + #if ENABLED(DELTA) + + constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a DELTA + + home_delta(); + + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); + + #elif ENABLED(AXEL_TPARA) + + constexpr bool doZ = true; // for NANODLP_Z_SYNC if your DLP is on a TPARA + + home_TPARA(); + + #else + + #define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS)))) + + const bool homeZ = TERN0(HAS_Z_AXIS, parser.seen_test('Z')), + NUM_AXIS_LIST( // Other axes should be homed before Z safe-homing + needX = _UNSAFE(X), needY = _UNSAFE(Y), needZ = false, // UNUSED + needI = _UNSAFE(I), needJ = _UNSAFE(J), needK = _UNSAFE(K), + needU = _UNSAFE(U), needV = _UNSAFE(V), needW = _UNSAFE(W) + ), + NUM_AXIS_LIST( // Home each axis if needed or flagged + homeX = needX || parser.seen_test('X'), + homeY = needY || parser.seen_test('Y'), + homeZZ = homeZ, + homeI = needI || parser.seen_test(AXIS4_NAME), homeJ = needJ || parser.seen_test(AXIS5_NAME), + homeK = needK || parser.seen_test(AXIS6_NAME), homeU = needU || parser.seen_test(AXIS7_NAME), + homeV = needV || parser.seen_test(AXIS8_NAME), homeW = needW || parser.seen_test(AXIS9_NAME) + ), + home_all = NUM_AXIS_GANG( // Home-all if all or none are flagged + homeX == homeX, && homeY == homeX, && homeZ == homeX, + && homeI == homeX, && homeJ == homeX, && homeK == homeX, + && homeU == homeX, && homeV == homeX, && homeW == homeX + ), + NUM_AXIS_LIST( + doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ, + doI = home_all || homeI, doJ = home_all || homeJ, doK = home_all || homeK, + doU = home_all || homeU, doV = home_all || homeV, doW = home_all || homeW + ); + + #if HAS_Z_AXIS + UNUSED(needZ); UNUSED(homeZZ); + #else + constexpr bool doZ = false; + #if !HAS_Y_AXIS + constexpr bool doY = false; + #endif + #endif + + TERN_(HOME_Z_FIRST, if (doZ) homeaxis(Z_AXIS)); + + const bool seenR = parser.seenval('R'); + const float z_homing_height = seenR ? parser.value_linear_units() : Z_HOMING_HEIGHT; + + if (z_homing_height && (seenR || NUM_AXIS_GANG(doX, || doY, || TERN0(Z_SAFE_HOMING, doZ), || doI, || doJ, || doK, || doU, || doV, || doW))) { + // Raise Z before homing any other axes and z is not already high enough (never lower z) + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z (before homing) by ", z_homing_height); + do_z_clearance(z_homing_height); + TERN_(BLTOUCH, bltouch.init()); + } + + // Diagonal move first if both are homing + TERN_(QUICK_HOME, if (doX && doY) quick_home_xy()); + + #if HAS_Y_AXIS + // Home Y (before X) + if (ENABLED(HOME_Y_BEFORE_X) && (doY || TERN0(CODEPENDENT_XY_HOMING, doX))) + homeaxis(Y_AXIS); + #endif + + // Home X + if (doX || (doY && ENABLED(CODEPENDENT_XY_HOMING) && DISABLED(HOME_Y_BEFORE_X))) { + + #if ENABLED(DUAL_X_CARRIAGE) + + // Always home the 2nd (right) extruder first + active_extruder = 1; + homeaxis(X_AXIS); + + // Remember this extruder's position for later tool change + inactive_extruder_x = current_position.x; + + // Home the 1st (left) extruder + active_extruder = 0; + homeaxis(X_AXIS); + + // Consider the active extruder to be in its "parked" position + idex_set_parked(); + + #else + + homeaxis(X_AXIS); + + #endif + } + + #if BOTH(FOAMCUTTER_XYUV, HAS_I_AXIS) + // Home I (after X) + if (doI) homeaxis(I_AXIS); + #endif + + #if HAS_Y_AXIS + // Home Y (after X) + if (DISABLED(HOME_Y_BEFORE_X) && doY) + homeaxis(Y_AXIS); + #endif + + #if BOTH(FOAMCUTTER_XYUV, HAS_J_AXIS) + // Home J (after Y) + if (doJ) homeaxis(J_AXIS); + #endif + + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); + + #if ENABLED(FOAMCUTTER_XYUV) + // skip homing of unused Z axis for foamcutters + if (doZ) set_axis_is_at_home(Z_AXIS); + #else + // Home Z last if homing towards the bed + #if HAS_Z_AXIS && DISABLED(HOME_Z_FIRST) + if (doZ) { + #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + stepper.set_all_z_lock(false); + stepper.set_separate_multi_axis(false); + #endif + + #if ENABLED(Z_SAFE_HOMING) + if (TERN1(POWER_LOSS_RECOVERY, !parser.seen_test('H'))) home_z_safely(); else homeaxis(Z_AXIS); + #else + homeaxis(Z_AXIS); + #endif + probe.move_z_after_homing(); + } + #endif + + SECONDARY_AXIS_CODE( + if (doI) homeaxis(I_AXIS), + if (doJ) homeaxis(J_AXIS), + if (doK) homeaxis(K_AXIS), + if (doU) homeaxis(U_AXIS), + if (doV) homeaxis(V_AXIS), + if (doW) homeaxis(W_AXIS) + ); + #endif + + sync_plan_position(); + + #endif + + /** + * Preserve DXC mode across a G28 for IDEX printers in DXC_DUPLICATION_MODE. + * This is important because it lets a user use the LCD Panel to set an IDEX Duplication mode, and + * then print a standard GCode file that contains a single print that does a G28 and has no other + * IDEX specific commands in it. + */ + #if ENABLED(DUAL_X_CARRIAGE) + + if (idex_is_duplicating()) { + + TERN_(IMPROVE_HOMING_RELIABILITY, saved_motion_state = begin_slow_homing()); + + // Always home the 2nd (right) extruder first + active_extruder = 1; + homeaxis(X_AXIS); + + // Remember this extruder's position for later tool change + inactive_extruder_x = current_position.x; + + // Home the 1st (left) extruder + active_extruder = 0; + homeaxis(X_AXIS); + + // Consider the active extruder to be parked + idex_set_parked(); + + dual_x_carriage_mode = IDEX_saved_mode; + set_duplication_enabled(IDEX_saved_duplication_state); + + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); + } + + #endif // DUAL_X_CARRIAGE + + endstops.not_homing(); + + // Clear endstop state for polled stallGuard endstops + TERN_(SPI_ENDSTOPS, endstops.clear_endstop_state()); + + // Move to a height where we can use the full xy-area + TERN_(DELTA_HOME_TO_SAFE_ZONE, do_blocking_move_to_z(delta_clip_start_height)); + + TERN_(CAN_SET_LEVELING_AFTER_G28, if (leveling_restore_state) set_bed_leveling_enabled()); + + restore_feedrate_and_scaling(); + + // Restore the active tool after homing + #if HAS_MULTI_HOTEND && (DISABLED(DELTA) || ENABLED(DELTA_HOME_TO_SAFE_ZONE)) + tool_change(old_tool_index, TERN(PARKING_EXTRUDER, !pe_final_change_must_unpark, DISABLED(DUAL_X_CARRIAGE))); // Do move if one of these + #endif + + #if HAS_HOMING_CURRENT + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore driver current..."); + #if HAS_CURRENT_HOME(X) + stepperX.rms_current(tmc_save_current_X); + #endif + #if HAS_CURRENT_HOME(X2) + stepperX2.rms_current(tmc_save_current_X2); + #endif + #if HAS_CURRENT_HOME(Y) + stepperY.rms_current(tmc_save_current_Y); + #endif + #if HAS_CURRENT_HOME(Y2) + stepperY2.rms_current(tmc_save_current_Y2); + #endif + #if HAS_CURRENT_HOME(Z) && ENABLED(DELTA) + stepperZ.rms_current(tmc_save_current_Z); + #endif + #if HAS_CURRENT_HOME(I) + stepperI.rms_current(tmc_save_current_I); + #endif + #if HAS_CURRENT_HOME(J) + stepperJ.rms_current(tmc_save_current_J); + #endif + #if HAS_CURRENT_HOME(K) + stepperK.rms_current(tmc_save_current_K); + #endif + #if HAS_CURRENT_HOME(U) + stepperU.rms_current(tmc_save_current_U); + #endif + #if HAS_CURRENT_HOME(V) + stepperV.rms_current(tmc_save_current_V); + #endif + #if HAS_CURRENT_HOME(W) + stepperW.rms_current(tmc_save_current_W); + #endif + #if SENSORLESS_STALLGUARD_DELAY + safe_delay(SENSORLESS_STALLGUARD_DELAY); // Short delay needed to settle + #endif + #endif // HAS_HOMING_CURRENT + + ui.refresh(); + + TERN_(HAS_DWIN_E3V2_BASIC, DWIN_HomingDone()); + TERN_(EXTENSIBLE_UI, ExtUI::onHomingDone()); + + report_current_position(); + + if (ENABLED(NANODLP_Z_SYNC) && (doZ || ENABLED(NANODLP_ALL_AXIS))) + SERIAL_ECHOLNPGM(STR_Z_MOVE_COMP); + + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(old_grblstate)); + +} diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp new file mode 100644 index 0000000000..656c23cb78 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -0,0 +1,698 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(DELTA_AUTO_CALIBRATION) + +#include "../gcode.h" +#include "../../module/delta.h" +#include "../../module/motion.h" +#include "../../module/planner.h" +#include "../../module/endstops.h" +#include "../../lcd/marlinui.h" + +#if HAS_BED_PROBE + #include "../../module/probe.h" +#endif + +#if HAS_MULTI_HOTEND + #include "../../module/tool_change.h" +#endif + +#if HAS_LEVELING + #include "../../feature/bedlevel/bedlevel.h" +#endif + +constexpr uint8_t _7P_STEP = 1, // 7-point step - to change number of calibration points + _4P_STEP = _7P_STEP * 2, // 4-point step + NPP = _7P_STEP * 6; // number of calibration points on the radius +enum CalEnum : char { // the 7 main calibration points - add definitions if needed + CEN = 0, + __A = 1, + _AB = __A + _7P_STEP, + __B = _AB + _7P_STEP, + _BC = __B + _7P_STEP, + __C = _BC + _7P_STEP, + _CA = __C + _7P_STEP, +}; + +#define LOOP_CAL_PT(VAR, S, N) for (uint8_t VAR=S; VAR<=NPP; VAR+=N) +#define F_LOOP_CAL_PT(VAR, S, N) for (float VAR=S; VARCEN+0.9999; VAR-=N) +#define LOOP_CAL_ALL(VAR) LOOP_CAL_PT(VAR, CEN, 1) +#define LOOP_CAL_RAD(VAR) LOOP_CAL_PT(VAR, __A, _7P_STEP) +#define LOOP_CAL_ACT(VAR, _4P, _OP) LOOP_CAL_PT(VAR, _OP ? _AB : __A, _4P ? _4P_STEP : _7P_STEP) + +#if HAS_MULTI_HOTEND + const uint8_t old_tool_index = active_extruder; +#endif + +float lcd_probe_pt(const xy_pos_t &xy); + +void ac_home() { + endstops.enable(true); + TERN_(SENSORLESS_HOMING, endstops.set_homing_current(true)); + home_delta(); + TERN_(SENSORLESS_HOMING, endstops.set_homing_current(false)); + endstops.not_homing(); +} + +void ac_setup(const bool reset_bed) { + TERN_(HAS_MULTI_HOTEND, tool_change(0, true)); + + planner.synchronize(); + remember_feedrate_scaling_off(); + + #if HAS_LEVELING + if (reset_bed) reset_bed_level(); // After full calibration bed-level data is no longer valid + #endif +} + +void ac_cleanup(TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index)) { + TERN_(DELTA_HOME_TO_SAFE_ZONE, do_blocking_move_to_z(delta_clip_start_height)); + TERN_(HAS_BED_PROBE, probe.stow()); + restore_feedrate_and_scaling(); + TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, true)); +} + +void print_signed_float(FSTR_P const prefix, const_float_t f) { + SERIAL_ECHOPGM(" "); + SERIAL_ECHOF(prefix, AS_CHAR(':')); + serial_offset(f); +} + +/** + * - Print the delta settings + */ +static void print_calibration_settings(const bool end_stops, const bool tower_angles) { + SERIAL_ECHOPGM(".Height:", delta_height); + if (end_stops) { + print_signed_float(F("Ex"), delta_endstop_adj.a); + print_signed_float(F("Ey"), delta_endstop_adj.b); + print_signed_float(F("Ez"), delta_endstop_adj.c); + } + if (end_stops && tower_angles) { + SERIAL_ECHOLNPGM(" Radius:", delta_radius); + SERIAL_CHAR('.'); + SERIAL_ECHO_SP(13); + } + if (tower_angles) { + print_signed_float(F("Tx"), delta_tower_angle_trim.a); + print_signed_float(F("Ty"), delta_tower_angle_trim.b); + print_signed_float(F("Tz"), delta_tower_angle_trim.c); + } + if (end_stops != tower_angles) + SERIAL_ECHOPGM(" Radius:", delta_radius); + + SERIAL_EOL(); +} + +/** + * - Print the probe results + */ +static void print_calibration_results(const float z_pt[NPP + 1], const bool tower_points, const bool opposite_points) { + SERIAL_ECHOPGM(". "); + print_signed_float(F("c"), z_pt[CEN]); + if (tower_points) { + print_signed_float(F(" x"), z_pt[__A]); + print_signed_float(F(" y"), z_pt[__B]); + print_signed_float(F(" z"), z_pt[__C]); + } + if (tower_points && opposite_points) { + SERIAL_EOL(); + SERIAL_CHAR('.'); + SERIAL_ECHO_SP(13); + } + if (opposite_points) { + print_signed_float(F("yz"), z_pt[_BC]); + print_signed_float(F("zx"), z_pt[_CA]); + print_signed_float(F("xy"), z_pt[_AB]); + } + SERIAL_EOL(); +} + +/** + * - Calculate the standard deviation from the zero plane + */ +static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool _1p_cal, const bool _4p_cal, const bool _4p_opp) { + if (!_0p_cal) { + float S2 = sq(z_pt[CEN]); + int16_t N = 1; + if (!_1p_cal) { // std dev from zero plane + LOOP_CAL_ACT(rad, _4p_cal, _4p_opp) { + S2 += sq(z_pt[rad]); + N++; + } + return LROUND(SQRT(S2 / N) * 1000.0f) / 1000.0f + 0.00001f; + } + } + return 0.00001f; +} + +/** + * - Probe a point + */ +static float calibration_probe(const xy_pos_t &xy, const bool stow, const bool probe_at_offset) { + #if HAS_BED_PROBE + return probe.probe_at_point(xy, stow ? PROBE_PT_STOW : PROBE_PT_RAISE, 0, probe_at_offset, false); + #else + UNUSED(stow); + return lcd_probe_pt(xy); + #endif +} + +/** + * - Probe a grid + */ +static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const float dcr, const bool towers_set, const bool stow_after_each, const bool probe_at_offset) { + const bool _0p_calibration = probe_points == 0, + _1p_calibration = probe_points == 1 || probe_points == -1, + _4p_calibration = probe_points == 2, + _4p_opposite_points = _4p_calibration && !towers_set, + _7p_calibration = probe_points >= 3, + _7p_no_intermediates = probe_points == 3, + _7p_1_intermediates = probe_points == 4, + _7p_2_intermediates = probe_points == 5, + _7p_4_intermediates = probe_points == 6, + _7p_6_intermediates = probe_points == 7, + _7p_8_intermediates = probe_points == 8, + _7p_11_intermediates = probe_points == 9, + _7p_14_intermediates = probe_points == 10, + _7p_intermed_points = probe_points >= 4, + _7p_6_center = probe_points >= 5 && probe_points <= 7, + _7p_9_center = probe_points >= 8; + + LOOP_CAL_ALL(rad) z_pt[rad] = 0.0f; + + if (!_0p_calibration) { + + if (!_7p_no_intermediates && !_7p_4_intermediates && !_7p_11_intermediates) { // probe the center + const xy_pos_t center{0}; + z_pt[CEN] += calibration_probe(center, stow_after_each, probe_at_offset); + if (isnan(z_pt[CEN])) return false; + } + + if (_7p_calibration) { // probe extra center points + const float start = _7p_9_center ? float(_CA) + _7P_STEP / 3.0f : _7p_6_center ? float(_CA) : float(__C), + steps = _7p_9_center ? _4P_STEP / 3.0f : _7p_6_center ? _7P_STEP : _4P_STEP; + I_LOOP_CAL_PT(rad, start, steps) { + const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), + r = dcr * 0.1; + const xy_pos_t vec = { cos(a), sin(a) }; + z_pt[CEN] += calibration_probe(vec * r, stow_after_each, probe_at_offset); + if (isnan(z_pt[CEN])) return false; + } + z_pt[CEN] /= float(_7p_2_intermediates ? 7 : probe_points); + } + + if (!_1p_calibration) { // probe the radius + const CalEnum start = _4p_opposite_points ? _AB : __A; + const float steps = _7p_14_intermediates ? _7P_STEP / 15.0f : // 15r * 6 + 10c = 100 + _7p_11_intermediates ? _7P_STEP / 12.0f : // 12r * 6 + 9c = 81 + _7p_8_intermediates ? _7P_STEP / 9.0f : // 9r * 6 + 10c = 64 + _7p_6_intermediates ? _7P_STEP / 7.0f : // 7r * 6 + 7c = 49 + _7p_4_intermediates ? _7P_STEP / 5.0f : // 5r * 6 + 6c = 36 + _7p_2_intermediates ? _7P_STEP / 3.0f : // 3r * 6 + 7c = 25 + _7p_1_intermediates ? _7P_STEP / 2.0f : // 2r * 6 + 4c = 16 + _7p_no_intermediates ? _7P_STEP : // 1r * 6 + 3c = 9 + _4P_STEP; // .5r * 6 + 1c = 4 + bool zig_zag = true; + F_LOOP_CAL_PT(rad, start, _7p_9_center ? steps * 3 : steps) { + const int8_t offset = _7p_9_center ? 2 : 0; + for (int8_t circle = 0; circle <= offset; circle++) { + const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), + r = dcr * (1 - 0.1 * (zig_zag ? offset - circle : circle)), + interpol = FMOD(rad, 1); + const xy_pos_t vec = { cos(a), sin(a) }; + const float z_temp = calibration_probe(vec * r, stow_after_each, probe_at_offset); + if (isnan(z_temp)) return false; + // split probe point to neighbouring calibration points + z_pt[uint8_t(LROUND(rad - interpol + NPP - 1)) % NPP + 1] += z_temp * sq(cos(RADIANS(interpol * 90))); + z_pt[uint8_t(LROUND(rad - interpol)) % NPP + 1] += z_temp * sq(sin(RADIANS(interpol * 90))); + } + zig_zag = !zig_zag; + } + if (_7p_intermed_points) + LOOP_CAL_RAD(rad) + z_pt[rad] /= _7P_STEP / steps; + + do_blocking_move_to_xy(0.0f, 0.0f); + } + } + return true; +} + +/** + * kinematics routines and auto tune matrix scaling parameters: + * see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for + * - formulae for approximative forward kinematics in the end-stop displacement matrix + * - definition of the matrix scaling parameters + */ +static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_at_pt_axis[NPP + 1], const float dcr) { + xyz_pos_t pos{0}; + + LOOP_CAL_ALL(rad) { + const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), + r = (rad == CEN ? 0.0f : dcr); + pos.set(cos(a) * r, sin(a) * r, z_pt[rad]); + inverse_kinematics(pos); + mm_at_pt_axis[rad] = delta; + } +} + +static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1], const float dcr) { + const float r_quot = dcr / delta_radius; + + #define ZPP(N,I,A) (((1.0f + r_quot * (N)) / 3.0f) * mm_at_pt_axis[I].A) + #define Z00(I, A) ZPP( 0, I, A) + #define Zp1(I, A) ZPP(+1, I, A) + #define Zm1(I, A) ZPP(-1, I, A) + #define Zp2(I, A) ZPP(+2, I, A) + #define Zm2(I, A) ZPP(-2, I, A) + + z_pt[CEN] = Z00(CEN, a) + Z00(CEN, b) + Z00(CEN, c); + z_pt[__A] = Zp2(__A, a) + Zm1(__A, b) + Zm1(__A, c); + z_pt[__B] = Zm1(__B, a) + Zp2(__B, b) + Zm1(__B, c); + z_pt[__C] = Zm1(__C, a) + Zm1(__C, b) + Zp2(__C, c); + z_pt[_BC] = Zm2(_BC, a) + Zp1(_BC, b) + Zp1(_BC, c); + z_pt[_CA] = Zp1(_CA, a) + Zm2(_CA, b) + Zp1(_CA, c); + z_pt[_AB] = Zp1(_AB, a) + Zp1(_AB, b) + Zm2(_AB, c); +} + +static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], const float dcr, abc_float_t delta_e, const float delta_r, abc_float_t delta_t) { + const float z_center = z_pt[CEN]; + abc_float_t diff_mm_at_pt_axis[NPP + 1], new_mm_at_pt_axis[NPP + 1]; + + reverse_kinematics_probe_points(z_pt, diff_mm_at_pt_axis, dcr); + + delta_radius += delta_r; + delta_tower_angle_trim += delta_t; + recalc_delta_settings(); + reverse_kinematics_probe_points(z_pt, new_mm_at_pt_axis, dcr); + + LOOP_CAL_ALL(rad) diff_mm_at_pt_axis[rad] -= new_mm_at_pt_axis[rad] + delta_e; + forward_kinematics_probe_points(diff_mm_at_pt_axis, z_pt, dcr); + + LOOP_CAL_RAD(rad) z_pt[rad] -= z_pt[CEN] - z_center; + z_pt[CEN] = z_center; + + delta_radius -= delta_r; + delta_tower_angle_trim -= delta_t; + recalc_delta_settings(); +} + +static float auto_tune_h(const float dcr) { + const float r_quot = dcr / delta_radius; + return RECIPROCAL(r_quot / (2.0f / 3.0f)); // (2/3)/CR +} + +static float auto_tune_r(const float dcr) { + constexpr float diff = 0.01f, delta_r = diff; + float r_fac = 0.0f, z_pt[NPP + 1] = { 0.0f }; + abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f }; + + calc_kinematics_diff_probe_points(z_pt, dcr, delta_e, delta_r, delta_t); + r_fac = -(z_pt[__A] + z_pt[__B] + z_pt[__C] + z_pt[_BC] + z_pt[_CA] + z_pt[_AB]) / 6.0f; + r_fac = diff / r_fac / 3.0f; // 1/(3*delta_Z) + return r_fac; +} + +static float auto_tune_a(const float dcr) { + constexpr float diff = 0.01f, delta_r = 0.0f; + float a_fac = 0.0f, z_pt[NPP + 1] = { 0.0f }; + abc_float_t delta_e = { 0.0f }, delta_t = { 0.0f }; + + delta_t.reset(); + LOOP_NUM_AXES(axis) { + delta_t[axis] = diff; + calc_kinematics_diff_probe_points(z_pt, dcr, delta_e, delta_r, delta_t); + delta_t[axis] = 0; + a_fac += z_pt[uint8_t((axis * _4P_STEP) - _7P_STEP + NPP) % NPP + 1] / 6.0f; + a_fac -= z_pt[uint8_t((axis * _4P_STEP) + 1 + _7P_STEP)] / 6.0f; + } + a_fac = diff / a_fac / 3.0f; // 1/(3*delta_Z) + return a_fac; +} + +/** + * G33 - Delta '1-4-7-point' Auto-Calibration + * Calibrate height, z_offset, endstops, delta radius, and tower angles. + * + * Parameters: + * + * Pn Number of probe points: + * P0 Normalizes calibration. + * P1 Calibrates height only with center probe. + * P2 Probe center and towers. Calibrate height, endstops and delta radius. + * P3 Probe all positions: center, towers and opposite towers. Calibrate all. + * P4-P10 Probe all positions at different intermediate locations and average them. + * + * Rn.nn Temporary reduce the probe grid by the specified amount (mm) + * + * T Don't calibrate tower angle corrections + * + * Cn.nn Calibration precision; when omitted calibrates to maximum precision + * + * Fn Force to run at least n iterations and take the best result + * + * Vn Verbose level: + * V0 Dry-run mode. Report settings and probe results. No calibration. + * V1 Report start and end settings only + * V2 Report settings at each iteration + * V3 Report settings and probe results + * + * E Engage the probe for each point + * + * O Probe at offsetted probe positions (this is wrong but it seems to work) + * + * With SENSORLESS_PROBING: + * Use these flags to calibrate stall sensitivity: (e.g., `G33 P1 Y Z` to calibrate X only.) + * X Don't activate stallguard on X. + * Y Don't activate stallguard on Y. + * Z Don't activate stallguard on Z. + * + * S Save offset_sensorless_adj + */ +void GcodeSuite::G33() { + + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE)); + + const int8_t probe_points = parser.intval('P', DELTA_CALIBRATION_DEFAULT_POINTS); + if (!WITHIN(probe_points, 0, 10)) { + SERIAL_ECHOLNPGM("?(P)oints implausible (0-10)."); + return; + } + + const bool probe_at_offset = TERN0(HAS_PROBE_XY_OFFSET, parser.seen_test('O')), + towers_set = !parser.seen_test('T'); + + // The calibration radius is set to a calculated value + float dcr = probe_at_offset ? DELTA_PRINTABLE_RADIUS : DELTA_PRINTABLE_RADIUS - PROBING_MARGIN; + #if HAS_PROBE_XY_OFFSET + const float total_offset = HYPOT(probe.offset_xy.x, probe.offset_xy.y); + dcr -= probe_at_offset ? _MAX(total_offset, PROBING_MARGIN) : total_offset; + #endif + NOMORE(dcr, DELTA_PRINTABLE_RADIUS); + if (parser.seenval('R')) dcr -= _MAX(parser.value_float(), 0.0f); + TERN_(HAS_DELTA_SENSORLESS_PROBING, dcr *= sensorless_radius_factor); + + const float calibration_precision = parser.floatval('C', 0.0f); + if (calibration_precision < 0) { + SERIAL_ECHOLNPGM("?(C)alibration precision implausible (>=0)."); + return; + } + + const int8_t force_iterations = parser.intval('F', 0); + if (!WITHIN(force_iterations, 0, 30)) { + SERIAL_ECHOLNPGM("?(F)orce iteration implausible (0-30)."); + return; + } + + const int8_t verbose_level = parser.byteval('V', 1); + if (!WITHIN(verbose_level, 0, 3)) { + SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-3)."); + return; + } + + const bool stow_after_each = parser.seen_test('E'); + + #if HAS_DELTA_SENSORLESS_PROBING + probe.test_sensitivity = { !parser.seen_test('X'), !parser.seen_test('Y'), !parser.seen_test('Z') }; + const bool do_save_offset_adj = parser.seen_test('S'); + #endif + + const bool _0p_calibration = probe_points == 0, + _1p_calibration = probe_points == 1 || probe_points == -1, + _4p_calibration = probe_points == 2, + _4p_opposite_points = _4p_calibration && !towers_set, + _7p_9_center = probe_points >= 8, + _tower_results = (_4p_calibration && towers_set) || probe_points >= 3, + _opposite_results = (_4p_calibration && !towers_set) || probe_points >= 3, + _endstop_results = probe_points != 1 && probe_points != -1 && probe_points != 0, + _angle_results = probe_points >= 3 && towers_set; + int8_t iterations = 0; + float test_precision, + zero_std_dev = (verbose_level ? 999.0f : 0.0f), // 0.0 in dry-run mode : forced end + zero_std_dev_min = zero_std_dev, + zero_std_dev_old = zero_std_dev, + h_factor, r_factor, a_factor, + r_old = delta_radius, + h_old = delta_height; + + abc_pos_t e_old = delta_endstop_adj, a_old = delta_tower_angle_trim; + + SERIAL_ECHOLNPGM("G33 Auto Calibrate"); + + // Report settings + PGM_P const checkingac = PSTR("Checking... AC"); + SERIAL_ECHOPGM_P(checkingac); + SERIAL_ECHOPGM(" at radius:", dcr); + if (verbose_level == 0) SERIAL_ECHOPGM(" (DRY-RUN)"); + SERIAL_EOL(); + ui.set_status(checkingac); + + print_calibration_settings(_endstop_results, _angle_results); + + ac_setup(!_0p_calibration && !_1p_calibration); + + if (!_0p_calibration) ac_home(); + + #if HAS_DELTA_SENSORLESS_PROBING + if (verbose_level > 0 && do_save_offset_adj) { + offset_sensorless_adj.reset(); + + auto caltower = [&](Probe::sense_bool_t s){ + float z_at_pt[NPP + 1]; + LOOP_CAL_ALL(rad) z_at_pt[rad] = 0.0f; + probe.test_sensitivity = s; + if (probe_calibration_points(z_at_pt, 1, dcr, false, false, probe_at_offset)) + probe.set_offset_sensorless_adj(z_at_pt[CEN]); + }; + caltower({ true, false, false }); // A + caltower({ false, true, false }); // B + caltower({ false, false, true }); // C + + probe.test_sensitivity = { true, true, true }; // reset to all + } + #endif + + do { // start iterations + + float z_at_pt[NPP + 1] = { 0.0f }; + + test_precision = zero_std_dev_old != 999.0f ? (zero_std_dev + zero_std_dev_old) / 2.0f : zero_std_dev; + iterations++; + + // Probe the points + zero_std_dev_old = zero_std_dev; + if (!probe_calibration_points(z_at_pt, probe_points, dcr, towers_set, stow_after_each, probe_at_offset)) { + SERIAL_ECHOLNPGM("Correct delta settings with M665 and M666"); + return ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index)); + } + zero_std_dev = std_dev_points(z_at_pt, _0p_calibration, _1p_calibration, _4p_calibration, _4p_opposite_points); + + // Solve matrices + + if ((zero_std_dev < test_precision || iterations <= force_iterations) && zero_std_dev > calibration_precision) { + + #if !HAS_BED_PROBE + test_precision = 0.0f; // forced end + #endif + + if (zero_std_dev < zero_std_dev_min) { + // set roll-back point + e_old = delta_endstop_adj; + r_old = delta_radius; + h_old = delta_height; + a_old = delta_tower_angle_trim; + } + + abc_float_t e_delta = { 0.0f }, t_delta = { 0.0f }; + float r_delta = 0.0f; + + /** + * convergence matrices: + * see https://github.com/LVD-AC/Marlin-AC/tree/1.1.x-AC/documentation for + * - definition of the matrix scaling parameters + * - matrices for 4 and 7 point calibration + */ + #define ZP(N,I) ((N) * z_at_pt[I] / 4.0f) // 4.0 = divider to normalize to integers + #define Z12(I) ZP(12, I) + #define Z4(I) ZP(4, I) + #define Z2(I) ZP(2, I) + #define Z1(I) ZP(1, I) + #define Z0(I) ZP(0, I) + + // calculate factors + if (_7p_9_center) dcr *= 0.9f; + h_factor = auto_tune_h(dcr); + r_factor = auto_tune_r(dcr); + a_factor = auto_tune_a(dcr); + if (_7p_9_center) dcr /= 0.9f; + + switch (probe_points) { + case 0: + test_precision = 0.0f; // forced end + break; + + case 1: + test_precision = 0.0f; // forced end + LOOP_NUM_AXES(axis) e_delta[axis] = +Z4(CEN); + break; + + case 2: + if (towers_set) { // see 4 point calibration (towers) matrix + e_delta.set((+Z4(__A) -Z2(__B) -Z2(__C)) * h_factor +Z4(CEN), + (-Z2(__A) +Z4(__B) -Z2(__C)) * h_factor +Z4(CEN), + (-Z2(__A) -Z2(__B) +Z4(__C)) * h_factor +Z4(CEN)); + r_delta = (+Z4(__A) +Z4(__B) +Z4(__C) -Z12(CEN)) * r_factor; + } + else { // see 4 point calibration (opposites) matrix + e_delta.set((-Z4(_BC) +Z2(_CA) +Z2(_AB)) * h_factor +Z4(CEN), + (+Z2(_BC) -Z4(_CA) +Z2(_AB)) * h_factor +Z4(CEN), + (+Z2(_BC) +Z2(_CA) -Z4(_AB)) * h_factor +Z4(CEN)); + r_delta = (+Z4(_BC) +Z4(_CA) +Z4(_AB) -Z12(CEN)) * r_factor; + } + break; + + default: // see 7 point calibration (towers & opposites) matrix + e_delta.set((+Z2(__A) -Z1(__B) -Z1(__C) -Z2(_BC) +Z1(_CA) +Z1(_AB)) * h_factor +Z4(CEN), + (-Z1(__A) +Z2(__B) -Z1(__C) +Z1(_BC) -Z2(_CA) +Z1(_AB)) * h_factor +Z4(CEN), + (-Z1(__A) -Z1(__B) +Z2(__C) +Z1(_BC) +Z1(_CA) -Z2(_AB)) * h_factor +Z4(CEN)); + r_delta = (+Z2(__A) +Z2(__B) +Z2(__C) +Z2(_BC) +Z2(_CA) +Z2(_AB) -Z12(CEN)) * r_factor; + + if (towers_set) { // see 7 point tower angle calibration (towers & opposites) matrix + t_delta.set((+Z0(__A) -Z4(__B) +Z4(__C) +Z0(_BC) -Z4(_CA) +Z4(_AB) +Z0(CEN)) * a_factor, + (+Z4(__A) +Z0(__B) -Z4(__C) +Z4(_BC) +Z0(_CA) -Z4(_AB) +Z0(CEN)) * a_factor, + (-Z4(__A) +Z4(__B) +Z0(__C) -Z4(_BC) +Z4(_CA) +Z0(_AB) +Z0(CEN)) * a_factor); + } + break; + } + delta_endstop_adj += e_delta; + delta_radius += r_delta; + delta_tower_angle_trim += t_delta; + } + else if (zero_std_dev >= test_precision) { + // roll back + delta_endstop_adj = e_old; + delta_radius = r_old; + delta_height = h_old; + delta_tower_angle_trim = a_old; + } + + if (verbose_level != 0) { // !dry run + + // Normalize angles to least-squares + if (_angle_results) { + float a_sum = 0.0f; + LOOP_NUM_AXES(axis) a_sum += delta_tower_angle_trim[axis]; + LOOP_NUM_AXES(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f; + } + + // adjust delta_height and endstops by the max amount + const float z_temp = _MAX(delta_endstop_adj.a, delta_endstop_adj.b, delta_endstop_adj.c); + delta_height -= z_temp; + LOOP_NUM_AXES(axis) delta_endstop_adj[axis] -= z_temp; + } + recalc_delta_settings(); + NOMORE(zero_std_dev_min, zero_std_dev); + + // print report + + if (verbose_level == 3 || verbose_level == 0) { + print_calibration_results(z_at_pt, _tower_results, _opposite_results); + #if HAS_DELTA_SENSORLESS_PROBING + if (verbose_level == 0 && probe_points == 1) { + if (do_save_offset_adj) + probe.set_offset_sensorless_adj(z_at_pt[CEN]); + else + probe.refresh_largest_sensorless_adj(); + } + #endif + } + + if (verbose_level != 0) { // !dry run + if ((zero_std_dev >= test_precision && iterations > force_iterations) || zero_std_dev <= calibration_precision) { // end iterations + SERIAL_ECHOPGM("Calibration OK"); + SERIAL_ECHO_SP(32); + #if HAS_BED_PROBE + if (zero_std_dev >= test_precision && !_1p_calibration && !_0p_calibration) + SERIAL_ECHOPGM("rolling back."); + else + #endif + { + SERIAL_ECHOPAIR_F("std dev:", zero_std_dev_min, 3); + } + SERIAL_EOL(); + char mess[21]; + strcpy_P(mess, PSTR("Calibration sd:")); + if (zero_std_dev_min < 1) + sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev_min * 1000.0f)); + else + sprintf_P(&mess[15], PSTR("%03i.x"), (int)LROUND(zero_std_dev_min)); + ui.set_status(mess); + print_calibration_settings(_endstop_results, _angle_results); + SERIAL_ECHOLNPGM("Save with M500 and/or copy to Configuration.h"); + } + else { // !end iterations + char mess[15]; + if (iterations < 31) + sprintf_P(mess, PSTR("Iteration : %02i"), (unsigned int)iterations); + else + strcpy_P(mess, PSTR("No convergence")); + SERIAL_ECHO(mess); + SERIAL_ECHO_SP(32); + SERIAL_ECHOLNPAIR_F("std dev:", zero_std_dev, 3); + ui.set_status(mess); + if (verbose_level > 1) + print_calibration_settings(_endstop_results, _angle_results); + } + } + else { // dry run + FSTR_P const enddryrun = F("End DRY-RUN"); + SERIAL_ECHOF(enddryrun); + SERIAL_ECHO_SP(35); + SERIAL_ECHOLNPAIR_F("std dev:", zero_std_dev, 3); + + char mess[21]; + strcpy_P(mess, FTOP(enddryrun)); + strcpy_P(&mess[11], PSTR(" sd:")); + if (zero_std_dev < 1) + sprintf_P(&mess[15], PSTR("0.%03i"), (int)LROUND(zero_std_dev * 1000.0f)); + else + sprintf_P(&mess[15], PSTR("%03i.x"), (int)LROUND(zero_std_dev)); + ui.set_status(mess); + } + ac_home(); + } + while (((zero_std_dev < test_precision && iterations < 31) || iterations <= force_iterations) && zero_std_dev > calibration_precision); + + ac_cleanup(TERN_(HAS_MULTI_HOTEND, old_tool_index)); + + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE)); + #if HAS_DELTA_SENSORLESS_PROBING + probe.test_sensitivity = { true, true, true }; + #endif +} + +#endif // DELTA_AUTO_CALIBRATION diff --git a/Marlin/src/gcode/calibrate/G34.cpp b/Marlin/src/gcode/calibrate/G34.cpp new file mode 100644 index 0000000000..7ae1e7765c --- /dev/null +++ b/Marlin/src/gcode/calibrate/G34.cpp @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(MECHANICAL_GANTRY_CALIBRATION) + +#include "../gcode.h" +#include "../../module/motion.h" +#include "../../module/endstops.h" + +#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_TRINAMIC_CONFIG) + #include "../../module/stepper.h" +#endif + +#if HAS_LEVELING + #include "../../feature/bedlevel/bedlevel.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +void GcodeSuite::G34() { + + // Home before the alignment procedure + home_if_needed(); + + TERN_(HAS_LEVELING, TEMPORARY_BED_LEVELING_STATE(false)); + + SET_SOFT_ENDSTOP_LOOSE(true); + TemporaryGlobalEndstopsState unlock_z(false); + + #ifdef GANTRY_CALIBRATION_COMMANDS_PRE + process_subcommands_now(F(GANTRY_CALIBRATION_COMMANDS_PRE)); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed"); + #endif + + #ifdef GANTRY_CALIBRATION_SAFE_POSITION + // Move XY to safe position + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Parking XY"); + const xy_pos_t safe_pos = GANTRY_CALIBRATION_SAFE_POSITION; + do_blocking_move_to_xy(safe_pos, MMM_TO_MMS(GANTRY_CALIBRATION_XY_PARK_FEEDRATE)); + #endif + + const float move_distance = parser.intval('Z', GANTRY_CALIBRATION_EXTRA_HEIGHT), + zbase = ENABLED(GANTRY_CALIBRATION_TO_MIN) ? Z_MIN_POS : Z_MAX_POS, + zpounce = zbase - move_distance, zgrind = zbase + move_distance; + + // Move Z to pounce position + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Setting Z Pounce"); + do_blocking_move_to_z(zpounce, homing_feedrate(Z_AXIS)); + + // Store current motor settings, then apply reduced value + + #define _REDUCE_CURRENT ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_DAC, HAS_MOTOR_CURRENT_I2C, HAS_TRINAMIC_CONFIG) + #if _REDUCE_CURRENT + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Reducing Current"); + #endif + + #if HAS_MOTOR_CURRENT_SPI + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + const uint32_t previous_current = stepper.motor_current_setting[Z_AXIS]; + stepper.set_digipot_current(Z_AXIS, target_current); + #elif HAS_MOTOR_CURRENT_PWM + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + const uint32_t previous_current = stepper.motor_current_setting[1]; // Z + stepper.set_digipot_current(1, target_current); + #elif HAS_MOTOR_CURRENT_DAC + const float target_current = parser.floatval('S', GANTRY_CALIBRATION_CURRENT); + const float previous_current = dac_amps(Z_AXIS, target_current); + stepper_dac.set_current_value(Z_AXIS, target_current); + #elif HAS_MOTOR_CURRENT_I2C + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + previous_current = dac_amps(Z_AXIS); + digipot_i2c.set_current(Z_AXIS, target_current) + #elif HAS_TRINAMIC_CONFIG + const uint16_t target_current = parser.intval('S', GANTRY_CALIBRATION_CURRENT); + static uint16_t previous_current_arr[NUM_Z_STEPPERS]; + #if AXIS_IS_TMC(Z) + previous_current_arr[0] = stepperZ.getMilliamps(); + stepperZ.rms_current(target_current); + #endif + #if AXIS_IS_TMC(Z2) + previous_current_arr[1] = stepperZ2.getMilliamps(); + stepperZ2.rms_current(target_current); + #endif + #if AXIS_IS_TMC(Z3) + previous_current_arr[2] = stepperZ3.getMilliamps(); + stepperZ3.rms_current(target_current); + #endif + #if AXIS_IS_TMC(Z4) + previous_current_arr[3] = stepperZ4.getMilliamps(); + stepperZ4.rms_current(target_current); + #endif + #endif + + // Do Final Z move to adjust + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move"); + do_blocking_move_to_z(zgrind, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE)); + + #if _REDUCE_CURRENT + // Reset current to original values + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current"); + #endif + + #if HAS_MOTOR_CURRENT_SPI + stepper.set_digipot_current(Z_AXIS, previous_current); + #elif HAS_MOTOR_CURRENT_PWM + stepper.set_digipot_current(1, previous_current); + #elif HAS_MOTOR_CURRENT_DAC + stepper_dac.set_current_value(Z_AXIS, previous_current); + #elif HAS_MOTOR_CURRENT_I2C + digipot_i2c.set_current(Z_AXIS, previous_current) + #elif HAS_TRINAMIC_CONFIG + #if AXIS_IS_TMC(Z) + stepperZ.rms_current(previous_current_arr[0]); + #endif + #if AXIS_IS_TMC(Z2) + stepperZ2.rms_current(previous_current_arr[1]); + #endif + #if AXIS_IS_TMC(Z3) + stepperZ3.rms_current(previous_current_arr[2]); + #endif + #if AXIS_IS_TMC(Z4) + stepperZ4.rms_current(previous_current_arr[3]); + #endif + #endif + + // Back off end plate, back to normal motion range + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Backoff"); + do_blocking_move_to_z(zpounce, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE)); + + #ifdef GANTRY_CALIBRATION_COMMANDS_POST + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Running Post Commands"); + process_subcommands_now(F(GANTRY_CALIBRATION_COMMANDS_POST)); + #endif + + SET_SOFT_ENDSTOP_LOOSE(false); +} + +#endif // MECHANICAL_GANTRY_CALIBRATION diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp new file mode 100644 index 0000000000..8cf652cd84 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -0,0 +1,569 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + +#include "../../feature/z_stepper_align.h" + +#include "../gcode.h" +#include "../../module/motion.h" +#include "../../module/stepper.h" +#include "../../module/planner.h" +#include "../../module/probe.h" +#include "../../lcd/marlinui.h" // for LCD_MESSAGE + +#if HAS_LEVELING + #include "../../feature/bedlevel/bedlevel.h" +#endif + +#if HAS_MULTI_HOTEND + #include "../../module/tool_change.h" +#endif + +#if HAS_Z_STEPPER_ALIGN_STEPPER_XY + #include "../../libs/least_squares_fit.h" +#endif + +#if ENABLED(BLTOUCH) + #include "../../feature/bltouch.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +#if NUM_Z_STEPPERS >= 3 + #define TRIPLE_Z 1 + #if NUM_Z_STEPPERS >= 4 + #define QUAD_Z 1 + #endif +#endif + +/** + * G34: Z-Stepper automatic alignment + * + * Manual stepper lock controls (reset by G28): + * L Unlock all steppers + * Z<1-4> Z stepper to lock / unlock + * S 0=UNLOCKED 1=LOCKED. If omitted, assume LOCKED. + * + * Examples: + * G34 Z1 ; Lock Z1 + * G34 L Z2 ; Unlock all, then lock Z2 + * G34 Z2 S0 ; Unlock Z2 + * + * With Z_STEPPER_AUTO_ALIGN: + * I Number of tests. If omitted, Z_STEPPER_ALIGN_ITERATIONS. + * T Target Accuracy factor. If omitted, Z_STEPPER_ALIGN_ACC. + * A Provide an Amplification value. If omitted, Z_STEPPER_ALIGN_AMP. + * R Flag to recalculate points based on current probe offsets + */ +void GcodeSuite::G34() { + DEBUG_SECTION(log_G34, "G34", DEBUGGING(LEVELING)); + if (DEBUGGING(LEVELING)) log_machine_info(); + + planner.synchronize(); // Prevent damage + + const bool seenL = parser.seen('L'); + if (seenL) stepper.set_all_z_lock(false); + + const bool seenZ = parser.seenval('Z'); + if (seenZ) { + const bool state = parser.boolval('S', true); + switch (parser.intval('Z')) { + case 1: stepper.set_z1_lock(state); break; + case 2: stepper.set_z2_lock(state); break; + #if TRIPLE_Z + case 3: stepper.set_z3_lock(state); break; + #if QUAD_Z + case 4: stepper.set_z4_lock(state); break; + #endif + #endif + } + } + + if (seenL || seenZ) { + stepper.set_separate_multi_axis(seenZ); + return; + } + + #if ENABLED(Z_STEPPER_AUTO_ALIGN) + do { // break out on error + + const int8_t z_auto_align_iterations = parser.intval('I', Z_STEPPER_ALIGN_ITERATIONS); + if (!WITHIN(z_auto_align_iterations, 1, 30)) { + SERIAL_ECHOLNPGM("?(I)teration out of bounds (1-30)."); + break; + } + + const float z_auto_align_accuracy = parser.floatval('T', Z_STEPPER_ALIGN_ACC); + if (!WITHIN(z_auto_align_accuracy, 0.01f, 1.0f)) { + SERIAL_ECHOLNPGM("?(T)arget accuracy out of bounds (0.01-1.0)."); + break; + } + + const float z_auto_align_amplification = TERN(HAS_Z_STEPPER_ALIGN_STEPPER_XY, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP)); + if (!WITHIN(ABS(z_auto_align_amplification), 0.5f, 2.0f)) { + SERIAL_ECHOLNPGM("?(A)mplification out of bounds (0.5-2.0)."); + break; + } + + if (parser.seen('R')) z_stepper_align.reset_to_default(); + + const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE; + + // Disable the leveling matrix before auto-aligning + #if HAS_LEVELING + #if ENABLED(RESTORE_LEVELING_AFTER_G34) + const bool leveling_was_active = planner.leveling_active; + #endif + set_bed_leveling_enabled(false); + #endif + + TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY); + + // Always home with tool 0 active + #if HAS_MULTI_HOTEND + const uint8_t old_tool_index = active_extruder; + tool_change(0, true); + #endif + + TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); + + // In BLTOUCH HS mode, the probe travels in a deployed state. + // Users of G34 might have a badly misaligned bed, so raise Z by the + // length of the deployed pin (BLTOUCH stroke < 7mm) + #define Z_BASIC_CLEARANCE (Z_CLEARANCE_BETWEEN_PROBES + TERN0(BLTOUCH, bltouch.z_extra_clearance())) + + // Compute a worst-case clearance height to probe from. After the first + // iteration this will be re-calculated based on the actual bed position + auto magnitude2 = [&](const uint8_t i, const uint8_t j) { + const xy_pos_t diff = z_stepper_align.xy[i] - z_stepper_align.xy[j]; + return HYPOT2(diff.x, diff.y); + }; + float z_probe = Z_BASIC_CLEARANCE + (G34_MAX_GRADE) * 0.01f * SQRT(_MAX(0, magnitude2(0, 1) + #if TRIPLE_Z + , magnitude2(2, 1), magnitude2(2, 0) + #if QUAD_Z + , magnitude2(3, 2), magnitude2(3, 1), magnitude2(3, 0) + #endif + #endif + )); + + // Home before the alignment procedure + home_if_needed(); + + // Move the Z coordinate realm towards the positive - dirty trick + current_position.z += z_probe * 0.5f; + sync_plan_position(); + // Now, the Z origin lies below the build plate. That allows to probe deeper, before run_z_probe throws an error. + // This hack is un-done at the end of G34 - either by re-homing, or by using the probed heights of the last iteration. + + #if !HAS_Z_STEPPER_ALIGN_STEPPER_XY + float last_z_align_move[NUM_Z_STEPPERS] = ARRAY_N_1(NUM_Z_STEPPERS, 10000.0f); + #else + float last_z_align_level_indicator = 10000.0f; + #endif + float z_measured[NUM_Z_STEPPERS] = { 0 }, + z_maxdiff = 0.0f, + amplification = z_auto_align_amplification; + + #if !HAS_Z_STEPPER_ALIGN_STEPPER_XY + bool adjustment_reverse = false; + #endif + + #if HAS_STATUS_MESSAGE + PGM_P const msg_iteration = GET_TEXT(MSG_ITERATION); + const uint8_t iter_str_len = strlen_P(msg_iteration); + #endif + + // Final z and iteration values will be used after breaking the loop + float z_measured_min; + uint8_t iteration = 0; + bool err_break = false; // To break out of nested loops + while (iteration < z_auto_align_iterations) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions."); + + const int iter = iteration + 1; + SERIAL_ECHOLNPGM("\nG34 Iteration: ", iter); + #if HAS_STATUS_MESSAGE + char str[iter_str_len + 2 + 1]; + sprintf_P(str, msg_iteration, iter); + ui.set_status(str); + #endif + + // Initialize minimum value + z_measured_min = 100000.0f; + float z_measured_max = -100000.0f; + + // Probe all positions (one per Z-Stepper) + LOOP_L_N(i, NUM_Z_STEPPERS) { + // iteration odd/even --> downward / upward stepper sequence + const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPERS - 1 - i : i; + + // Safe clearance even on an incline + if ((iteration == 0 || i > 0) && z_probe > current_position.z) do_blocking_move_to_z(z_probe); + + xy_pos_t &ppos = z_stepper_align.xy[iprobe]; + + if (DEBUGGING(LEVELING)) + DEBUG_ECHOLNPGM_P(PSTR("Probing X"), ppos.x, SP_Y_STR, ppos.y); + + // Probe a Z height for each stepper. + // Probing sanity check is disabled, as it would trigger even in normal cases because + // current_position.z has been manually altered in the "dirty trick" above. + const float z_probed_height = probe.probe_at_point(DIFF_TERN(HAS_HOME_OFFSET, ppos, xy_pos_t(home_offset)), raise_after, 0, true, false); + if (isnan(z_probed_height)) { + SERIAL_ECHOLNPGM("Probing failed"); + LCD_MESSAGE(MSG_LCD_PROBING_FAILED); + err_break = true; + break; + } + + // Add height to each value, to provide a more useful target height for + // the next iteration of probing. This allows adjustments to be made away from the bed. + z_measured[iprobe] = z_probed_height + Z_CLEARANCE_BETWEEN_PROBES; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", iprobe + 1, " measured position is ", z_measured[iprobe]); + + // Remember the minimum measurement to calculate the correction later on + z_measured_min = _MIN(z_measured_min, z_measured[iprobe]); + z_measured_max = _MAX(z_measured_max, z_measured[iprobe]); + } // for (i) + + if (err_break) break; + + // Adapt the next probe clearance height based on the new measurements. + // Safe_height = lowest distance to bed (= highest measurement) plus highest measured misalignment. + z_maxdiff = z_measured_max - z_measured_min; + z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff; + + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY + // Replace the initial values in z_measured with calculated heights at + // each stepper position. This allows the adjustment algorithm to be + // shared between both possible probing mechanisms. + + // This must be done after the next z_probe height is calculated, so that + // the height is calculated from actual print area positions, and not + // extrapolated motor movements. + + // Compute the least-squares fit for all probed points. + // Calculate the Z position of each stepper and store it in z_measured. + // This allows the actual adjustment logic to be shared by both algorithms. + linear_fit_data lfd; + incremental_LSF_reset(&lfd); + LOOP_L_N(i, NUM_Z_STEPPERS) { + SERIAL_ECHOLNPGM("PROBEPT_", i, ": ", z_measured[i]); + incremental_LSF(&lfd, z_stepper_align.xy[i], z_measured[i]); + } + finish_incremental_LSF(&lfd); + + z_measured_min = 100000.0f; + LOOP_L_N(i, NUM_Z_STEPPERS) { + z_measured[i] = -(lfd.A * z_stepper_align.stepper_xy[i].x + lfd.B * z_stepper_align.stepper_xy[i].y + lfd.D); + z_measured_min = _MIN(z_measured_min, z_measured[i]); + } + + SERIAL_ECHOLNPGM( + LIST_N(DOUBLE(NUM_Z_STEPPERS), + "Calculated Z1=", z_measured[0], + " Z2=", z_measured[1], + " Z3=", z_measured[2], + " Z4=", z_measured[3] + ) + ); + #endif + + SERIAL_ECHOLNPGM("\n" + "Z2-Z1=", ABS(z_measured[1] - z_measured[0]) + #if TRIPLE_Z + , " Z3-Z2=", ABS(z_measured[2] - z_measured[1]) + , " Z3-Z1=", ABS(z_measured[2] - z_measured[0]) + #if QUAD_Z + , " Z4-Z3=", ABS(z_measured[3] - z_measured[2]) + , " Z4-Z2=", ABS(z_measured[3] - z_measured[1]) + , " Z4-Z1=", ABS(z_measured[3] - z_measured[0]) + #endif + #endif + ); + + #if HAS_STATUS_MESSAGE + char fstr1[10]; + char msg[6 + (6 + 5) * NUM_Z_STEPPERS + 1] + #if TRIPLE_Z + , fstr2[10], fstr3[10] + #if QUAD_Z + , fstr4[10], fstr5[10], fstr6[10] + #endif + #endif + ; + sprintf_P(msg, + PSTR("1:2=%s" TERN_(TRIPLE_Z, " 3-2=%s 3-1=%s") TERN_(QUAD_Z, " 4-3=%s 4-2=%s 4-1=%s")), + dtostrf(ABS(z_measured[1] - z_measured[0]), 1, 3, fstr1) + OPTARG(TRIPLE_Z, + dtostrf(ABS(z_measured[2] - z_measured[1]), 1, 3, fstr2), + dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3)) + OPTARG(QUAD_Z, + dtostrf(ABS(z_measured[3] - z_measured[2]), 1, 3, fstr4), + dtostrf(ABS(z_measured[3] - z_measured[1]), 1, 3, fstr5), + dtostrf(ABS(z_measured[3] - z_measured[0]), 1, 3, fstr6)) + ); + ui.set_status(msg); + #endif + + auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) { + if (v1 < v2 * 0.7f) { + SERIAL_ECHOLNPGM("Decreasing Accuracy Detected."); + LCD_MESSAGE(MSG_DECREASING_ACCURACY); + return true; + } + return false; + }; + + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY + // Check if the applied corrections go in the correct direction. + // Calculate the sum of the absolute deviations from the mean of the probe measurements. + // Compare to the last iteration to ensure it's getting better. + + // Calculate mean value as a reference + float z_measured_mean = 0.0f; + LOOP_L_N(zstepper, NUM_Z_STEPPERS) z_measured_mean += z_measured[zstepper]; + z_measured_mean /= NUM_Z_STEPPERS; + + // Calculate the sum of the absolute deviations from the mean value + float z_align_level_indicator = 0.0f; + LOOP_L_N(zstepper, NUM_Z_STEPPERS) + z_align_level_indicator += ABS(z_measured[zstepper] - z_measured_mean); + + // If it's getting worse, stop and throw an error + err_break = decreasing_accuracy(last_z_align_level_indicator, z_align_level_indicator); + if (err_break) break; + + last_z_align_level_indicator = z_align_level_indicator; + #endif + + // The following correction actions are to be enabled for select Z-steppers only + stepper.set_separate_multi_axis(true); + + bool success_break = true; + // Correct the individual stepper offsets + LOOP_L_N(zstepper, NUM_Z_STEPPERS) { + // Calculate current stepper move + float z_align_move = z_measured[zstepper] - z_measured_min; + const float z_align_abs = ABS(z_align_move); + + #if !HAS_Z_STEPPER_ALIGN_STEPPER_XY + // Optimize one iteration's correction based on the first measurements + if (z_align_abs) amplification = (iteration == 1) ? _MIN(last_z_align_move[zstepper] / z_align_abs, 2.0f) : z_auto_align_amplification; + + // Check for less accuracy compared to last move + if (decreasing_accuracy(last_z_align_move[zstepper], z_align_abs)) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " last_z_align_move = ", last_z_align_move[zstepper]); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " z_align_abs = ", z_align_abs); + adjustment_reverse = !adjustment_reverse; + } + + // Remember the alignment for the next iteration, but only if steppers move, + // otherwise it would be just zero (in case this stepper was at z_measured_min already) + if (z_align_abs > 0) last_z_align_move[zstepper] = z_align_abs; + #endif + + // Stop early if all measured points achieve accuracy target + if (z_align_abs > z_auto_align_accuracy) success_break = false; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " corrected by ", z_align_move); + + // Lock all steppers except one + stepper.set_all_z_lock(true, zstepper); + + #if !HAS_Z_STEPPER_ALIGN_STEPPER_XY + // Decreasing accuracy was detected so move was inverted. + // Will match reversed Z steppers on dual steppers. Triple will need more work to map. + if (adjustment_reverse) { + z_align_move = -z_align_move; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " correction reversed to ", z_align_move); + } + #endif + + // Do a move to correct part of the misalignment for the current stepper + do_blocking_move_to_z(amplification * z_align_move + current_position.z); + } // for (zstepper) + + // Back to normal stepper operations + stepper.set_all_z_lock(false); + stepper.set_separate_multi_axis(false); + + if (err_break) break; + + if (success_break) { + SERIAL_ECHOLNPGM("Target accuracy achieved."); + LCD_MESSAGE(MSG_ACCURACY_ACHIEVED); + break; + } + + iteration++; + } // while (iteration < z_auto_align_iterations) + + if (err_break) + SERIAL_ECHOLNPGM("G34 aborted."); + else { + SERIAL_ECHOLNPGM("Did ", iteration + (iteration != z_auto_align_iterations), " of ", z_auto_align_iterations); + SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff); + } + + // Stow the probe because the last call to probe.probe_at_point(...) + // leaves the probe deployed when it's successful. + IF_DISABLED(TOUCH_MI_PROBE, probe.stow()); + + #if ENABLED(HOME_AFTER_G34) + // After this operation the z position needs correction + set_axis_never_homed(Z_AXIS); + // Home Z after the alignment procedure + process_subcommands_now(F("G28Z")); + #else + // Use the probed height from the last iteration to determine the Z height. + // z_measured_min is used, because all steppers are aligned to z_measured_min. + // Ideally, this would be equal to the 'z_probe * 0.5f' which was added earlier. + current_position.z -= z_measured_min - (float)Z_CLEARANCE_BETWEEN_PROBES; + sync_plan_position(); + #endif + + // Restore the active tool after homing + TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER))); // Fetch previous tool for parking extruder + + #if BOTH(HAS_LEVELING, RESTORE_LEVELING_AFTER_G34) + set_bed_leveling_enabled(leveling_was_active); + #endif + + }while(0); + #endif // Z_STEPPER_AUTO_ALIGN +} + +#endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN + +#if ENABLED(Z_STEPPER_AUTO_ALIGN) + +/** + * M422: Set a Z-Stepper automatic alignment XY point. + * Use repeatedly to set multiple points. + * + * S : Index of the probe point to set + * + * With Z_STEPPER_ALIGN_STEPPER_XY: + * W : Index of the Z stepper position to set + * The W and S parameters may not be combined. + * + * S and W require an X and/or Y parameter + * X : X position to set (Unchanged if omitted) + * Y : Y position to set (Unchanged if omitted) + * + * R : Recalculate points based on current probe offsets + */ +void GcodeSuite::M422() { + + if (!parser.seen_any()) return M422_report(); + + if (parser.seen('R')) { + z_stepper_align.reset_to_default(); + return; + } + + const bool is_probe_point = parser.seen_test('S'); + + if (TERN0(HAS_Z_STEPPER_ALIGN_STEPPER_XY, is_probe_point && parser.seen_test('W'))) { + SERIAL_ECHOLNPGM("?(S) and (W) may not be combined."); + return; + } + + xy_pos_t * const pos_dest = ( + TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !is_probe_point ? z_stepper_align.stepper_xy :) + z_stepper_align.xy + ); + + if (!is_probe_point && TERN1(HAS_Z_STEPPER_ALIGN_STEPPER_XY, !parser.seen_test('W'))) { + SERIAL_ECHOLNPGM("?(S)" TERN_(HAS_Z_STEPPER_ALIGN_STEPPER_XY, " or (W)") " is required."); + return; + } + + // Get the Probe Position Index or Z Stepper Index + int8_t position_index = 1; + FSTR_P err_string = F("?(S) Probe-position"); + if (is_probe_point) + position_index = parser.intval('S'); + else { + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY + err_string = F("?(W) Z-stepper"); + position_index = parser.intval('W'); + #endif + } + + if (!WITHIN(position_index, 1, NUM_Z_STEPPERS)) { + SERIAL_ECHOF(err_string); + SERIAL_ECHOLNPGM(" index invalid (1.." STRINGIFY(NUM_Z_STEPPERS) ")."); + return; + } + + --position_index; + + const xy_pos_t pos = { + parser.floatval('X', pos_dest[position_index].x), + parser.floatval('Y', pos_dest[position_index].y) + }; + + if (is_probe_point) { + if (!probe.can_reach(pos.x, Y_CENTER)) { + SERIAL_ECHOLNPGM("?(X) out of bounds."); + return; + } + if (!probe.can_reach(pos)) { + SERIAL_ECHOLNPGM("?(Y) out of bounds."); + return; + } + } + + pos_dest[position_index] = pos; +} + +void GcodeSuite::M422_report(const bool forReplay/*=true*/) { + report_heading(forReplay, F(STR_Z_AUTO_ALIGN)); + LOOP_L_N(i, NUM_Z_STEPPERS) { + report_echo_start(forReplay); + SERIAL_ECHOLNPGM_P( + PSTR(" M422 S"), i + 1, + SP_X_STR, z_stepper_align.xy[i].x, + SP_Y_STR, z_stepper_align.xy[i].y + ); + } + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY + LOOP_L_N(i, NUM_Z_STEPPERS) { + report_echo_start(forReplay); + SERIAL_ECHOLNPGM_P( + PSTR(" M422 W"), i + 1, + SP_X_STR, z_stepper_align.stepper_xy[i].x, + SP_Y_STR, z_stepper_align.stepper_xy[i].y + ); + } + #endif +} + +#endif // Z_STEPPER_AUTO_ALIGN diff --git a/Marlin/src/gcode/calibrate/G425.cpp b/Marlin/src/gcode/calibrate/G425.cpp new file mode 100644 index 0000000000..a22608f5b4 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G425.cpp @@ -0,0 +1,888 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../MarlinCore.h" + +#if ENABLED(CALIBRATION_GCODE) + +#include "../gcode.h" + +#if ENABLED(BACKLASH_GCODE) + #include "../../feature/backlash.h" +#endif + +#include "../../lcd/marlinui.h" +#include "../../module/motion.h" +#include "../../module/planner.h" +#include "../../module/tool_change.h" +#include "../../module/endstops.h" +#include "../../feature/bedlevel/bedlevel.h" + +#if !AXIS_CAN_CALIBRATE(X) + #undef CALIBRATION_MEASURE_LEFT + #undef CALIBRATION_MEASURE_RIGHT +#endif + +#if !AXIS_CAN_CALIBRATE(Y) + #undef CALIBRATION_MEASURE_FRONT + #undef CALIBRATION_MEASURE_BACK +#endif + +#if !AXIS_CAN_CALIBRATE(Z) + #undef CALIBRATION_MEASURE_AT_TOP_EDGES +#endif + +/** + * G425 backs away from the calibration object by various distances + * depending on the confidence level: + * + * UNKNOWN - No real notion on where the calibration object is on the bed + * UNCERTAIN - Measurement may be uncertain due to backlash + * CERTAIN - Measurement obtained with backlash compensation + */ + +#ifndef CALIBRATION_MEASUREMENT_UNKNOWN + #define CALIBRATION_MEASUREMENT_UNKNOWN 5.0 // mm +#endif +#ifndef CALIBRATION_MEASUREMENT_UNCERTAIN + #define CALIBRATION_MEASUREMENT_UNCERTAIN 1.0 // mm +#endif +#ifndef CALIBRATION_MEASUREMENT_CERTAIN + #define CALIBRATION_MEASUREMENT_CERTAIN 0.5 // mm +#endif + +#if BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT) + #define HAS_X_CENTER 1 +#endif +#if ALL(HAS_Y_AXIS, CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK) + #define HAS_Y_CENTER 1 +#endif +#if ALL(HAS_I_AXIS, CALIBRATION_MEASURE_IMIN, CALIBRATION_MEASURE_IMAX) + #define HAS_I_CENTER 1 +#endif +#if ALL(HAS_J_AXIS, CALIBRATION_MEASURE_JMIN, CALIBRATION_MEASURE_JMAX) + #define HAS_J_CENTER 1 +#endif +#if ALL(HAS_K_AXIS, CALIBRATION_MEASURE_KMIN, CALIBRATION_MEASURE_KMAX) + #define HAS_K_CENTER 1 +#endif +#if ALL(HAS_U_AXIS, CALIBRATION_MEASURE_UMIN, CALIBRATION_MEASURE_UMAX) + #define HAS_U_CENTER 1 +#endif +#if ALL(HAS_V_AXIS, CALIBRATION_MEASURE_VMIN, CALIBRATION_MEASURE_VMAX) + #define HAS_V_CENTER 1 +#endif +#if ALL(HAS_W_AXIS, CALIBRATION_MEASURE_WMIN, CALIBRATION_MEASURE_WMAX) + #define HAS_W_CENTER 1 +#endif + +enum side_t : uint8_t { + TOP, RIGHT, FRONT, LEFT, BACK, NUM_SIDES, + LIST_N(DOUBLE(SECONDARY_AXES), IMINIMUM, IMAXIMUM, JMINIMUM, JMAXIMUM, KMINIMUM, KMAXIMUM, UMINIMUM, UMAXIMUM, VMINIMUM, VMAXIMUM, WMINIMUM, WMAXIMUM) +}; + +static constexpr xyz_pos_t true_center CALIBRATION_OBJECT_CENTER; +static constexpr xyz_float_t dimensions CALIBRATION_OBJECT_DIMENSIONS; +static constexpr xy_float_t nod = { CALIBRATION_NOZZLE_OUTER_DIAMETER, CALIBRATION_NOZZLE_OUTER_DIAMETER }; + +struct measurements_t { + xyz_pos_t obj_center = true_center; // Non-static must be assigned from xyz_pos_t + + float obj_side[NUM_SIDES], backlash[NUM_SIDES]; + xyz_float_t pos_error; + + xy_float_t nozzle_outer_dimension = nod; +}; + +#if ENABLED(BACKLASH_GCODE) + class restorer_correction { + const uint8_t val_; + public: + restorer_correction(const uint8_t temp_val) : val_(backlash.get_correction_uint8()) { backlash.set_correction_uint8(temp_val); } + ~restorer_correction() { backlash.set_correction_uint8(val_); } + }; + + #define TEMPORARY_BACKLASH_CORRECTION(value) restorer_correction restorer_tbst(value) +#else + #define TEMPORARY_BACKLASH_CORRECTION(value) +#endif + +#if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM) + class restorer_smoothing { + const float val_; + public: + restorer_smoothing(const float temp_val) : val_(backlash.get_smoothing_mm()) { backlash.set_smoothing_mm(temp_val); } + ~restorer_smoothing() { backlash.set_smoothing_mm(val_); } + }; + + #define TEMPORARY_BACKLASH_SMOOTHING(value) restorer_smoothing restorer_tbsm(value) +#else + #define TEMPORARY_BACKLASH_SMOOTHING(value) +#endif + +inline void calibration_move() { + do_blocking_move_to((xyz_pos_t)current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); +} + +/** + * Move to the exact center above the calibration object + * + * m in - Measurement record + * uncertainty in - How far away from the object top to park + */ +inline void park_above_object(measurements_t &m, const float uncertainty) { + // Move to safe distance above calibration object + current_position.z = m.obj_center.z + dimensions.z / 2 + uncertainty; + calibration_move(); + + // Move to center of calibration object in XY + current_position = xy_pos_t(m.obj_center); + calibration_move(); +} + +#if HAS_MULTI_HOTEND + inline void set_nozzle(measurements_t &m, const uint8_t extruder) { + if (extruder != active_extruder) { + park_above_object(m, CALIBRATION_MEASUREMENT_UNKNOWN); + tool_change(extruder); + } + } +#endif + +#if HAS_HOTEND_OFFSET + + inline void normalize_hotend_offsets() { + LOOP_S_L_N(e, 1, HOTENDS) + hotend_offset[e] -= hotend_offset[0]; + hotend_offset[0].reset(); + } + +#endif + +#if !PIN_EXISTS(CALIBRATION) + #include "../../module/probe.h" +#endif + +inline bool read_calibration_pin() { + return ( + #if PIN_EXISTS(CALIBRATION) + READ(CALIBRATION_PIN) != CALIBRATION_PIN_INVERTING + #else + PROBE_TRIGGERED() + #endif + ); +} + +/** + * Move along axis in the specified dir until the probe value becomes stop_state, + * then return the axis value. + * + * axis in - Axis along which the measurement will take place + * dir in - Direction along that axis (-1 or 1) + * stop_state in - Move until probe pin becomes this value + * fast in - Fast vs. precise measurement + */ +float measuring_movement(const AxisEnum axis, const int dir, const bool stop_state, const bool fast) { + const float step = fast ? 0.25 : CALIBRATION_MEASUREMENT_RESOLUTION; + const feedRate_t mms = fast ? MMM_TO_MMS(CALIBRATION_FEEDRATE_FAST) : MMM_TO_MMS(CALIBRATION_FEEDRATE_SLOW); + const float limit = fast ? 50 : 5; + + destination = current_position; + for (float travel = 0; travel < limit; travel += step) { + destination[axis] += dir * step; + do_blocking_move_to((xyz_pos_t)destination, mms); + planner.synchronize(); + if (read_calibration_pin() == stop_state) break; + } + return destination[axis]; +} + +/** + * Move along axis until the probe is triggered. Move toolhead to its starting + * point and return the measured value. + * + * axis in - Axis along which the measurement will take place + * dir in - Direction along that axis (-1 or 1) + * stop_state in - Move until probe pin becomes this value + * backlash_ptr in/out - When not nullptr, measure and record axis backlash + * uncertainty in - If uncertainty is CALIBRATION_MEASUREMENT_UNKNOWN, do a fast probe. + */ +inline float measure(const AxisEnum axis, const int dir, const bool stop_state, float * const backlash_ptr, const float uncertainty) { + const bool fast = uncertainty == CALIBRATION_MEASUREMENT_UNKNOWN; + + // Save the current position of the specified axis + const float start_pos = current_position[axis]; + + // Take a measurement. Only the specified axis will be affected. + const float measured_pos = measuring_movement(axis, dir, stop_state, fast); + + // Measure backlash + if (backlash_ptr && !fast) { + const float release_pos = measuring_movement(axis, -dir, !stop_state, fast); + *backlash_ptr = ABS(release_pos - measured_pos); + } + + // Move back to the starting position + destination = current_position; + destination[axis] = start_pos; + do_blocking_move_to((xyz_pos_t)destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); + return measured_pos; +} + +/** + * Probe one side of the calibration object + * + * m in/out - Measurement record, m.obj_center and m.obj_side will be updated. + * uncertainty in - How far away from the calibration object to begin probing + * side in - Side of probe where probe will occur + * probe_top_at_edge in - When probing sides, probe top of calibration object nearest edge + * to find out height of edge + */ +inline void probe_side(measurements_t &m, const float uncertainty, const side_t side, const bool probe_top_at_edge=false) { + const xyz_float_t dimensions = CALIBRATION_OBJECT_DIMENSIONS; + AxisEnum axis; + float dir = 1; + + park_above_object(m, uncertainty); + + #define _ACASE(N,A,B) case A: dir = -1; case B: axis = N##_AXIS; break + #define _PCASE(N) _ACASE(N, N##MINIMUM, N##MAXIMUM) + + switch (side) { + #if AXIS_CAN_CALIBRATE(X) + _ACASE(X, RIGHT, LEFT); + #endif + #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y) + _ACASE(Y, BACK, FRONT); + #endif + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + case TOP: { + const float measurement = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty); + m.obj_center.z = measurement - dimensions.z / 2; + m.obj_side[TOP] = measurement; + return; + } + #endif + #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I) + _PCASE(I); + #endif + #if HAS_J_AXIS && AXIS_CAN_CALIBRATE(J) + _PCASE(J); + #endif + #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K) + _PCASE(K); + #endif + #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U) + _PCASE(U); + #endif + #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V) + _PCASE(V); + #endif + #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W) + _PCASE(W); + #endif + default: return; + } + + if (probe_top_at_edge) { + #if AXIS_CAN_CALIBRATE(Z) + // Probe top nearest the side we are probing + current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 - m.nozzle_outer_dimension[axis]); + calibration_move(); + m.obj_side[TOP] = measure(Z_AXIS, -1, true, &m.backlash[TOP], uncertainty); + m.obj_center.z = m.obj_side[TOP] - dimensions.z / 2; + #endif + } + + if ((AXIS_CAN_CALIBRATE(X) && axis == X_AXIS) || (AXIS_CAN_CALIBRATE(Y) && axis == Y_AXIS)) { + // Move to safe distance to the side of the calibration object + current_position[axis] = m.obj_center[axis] + (-dir) * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2 + uncertainty); + calibration_move(); + + // Plunge below the side of the calibration object and measure + current_position.z = m.obj_side[TOP] - (CALIBRATION_NOZZLE_TIP_HEIGHT) * 0.7f; + calibration_move(); + const float measurement = measure(axis, dir, true, &m.backlash[side], uncertainty); + m.obj_center[axis] = measurement + dir * (dimensions[axis] / 2 + m.nozzle_outer_dimension[axis] / 2); + m.obj_side[side] = measurement; + } +} + +/** + * Probe all sides of the calibration calibration object + * + * m in/out - Measurement record: center, backlash and error values be updated. + * uncertainty in - How far away from the calibration object to begin probing + */ +inline void probe_sides(measurements_t &m, const float uncertainty) { + #if ENABLED(CALIBRATION_MEASURE_AT_TOP_EDGES) + constexpr bool probe_top_at_edge = true; + #else + // Probing at the exact center only works if the center is flat. Probing on a washer + // or bolt will require probing the top near the side edges, away from the center. + constexpr bool probe_top_at_edge = false; + probe_side(m, uncertainty, TOP); + #endif + + TERN_(CALIBRATION_MEASURE_RIGHT, probe_side(m, uncertainty, RIGHT, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_FRONT, probe_side(m, uncertainty, FRONT, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_LEFT, probe_side(m, uncertainty, LEFT, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_BACK, probe_side(m, uncertainty, BACK, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_IMIN, probe_side(m, uncertainty, IMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_IMAX, probe_side(m, uncertainty, IMAXIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_JMIN, probe_side(m, uncertainty, JMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_JMAX, probe_side(m, uncertainty, JMAXIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_KMIN, probe_side(m, uncertainty, KMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_KMAX, probe_side(m, uncertainty, KMAXIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_UMIN, probe_side(m, uncertainty, UMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_UMAX, probe_side(m, uncertainty, UMAXIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_VMIN, probe_side(m, uncertainty, VMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_VMAX, probe_side(m, uncertainty, VMAXIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_WMIN, probe_side(m, uncertainty, WMINIMUM, probe_top_at_edge)); + TERN_(CALIBRATION_MEASURE_WMAX, probe_side(m, uncertainty, WMAXIMUM, probe_top_at_edge)); + + // Compute the measured center of the calibration object. + TERN_(HAS_X_CENTER, m.obj_center.x = (m.obj_side[LEFT] + m.obj_side[RIGHT]) / 2); + TERN_(HAS_Y_CENTER, m.obj_center.y = (m.obj_side[FRONT] + m.obj_side[BACK]) / 2); + TERN_(HAS_I_CENTER, m.obj_center.i = (m.obj_side[IMINIMUM] + m.obj_side[IMAXIMUM]) / 2); + TERN_(HAS_J_CENTER, m.obj_center.j = (m.obj_side[JMINIMUM] + m.obj_side[JMAXIMUM]) / 2); + TERN_(HAS_K_CENTER, m.obj_center.k = (m.obj_side[KMINIMUM] + m.obj_side[KMAXIMUM]) / 2); + TERN_(HAS_U_CENTER, m.obj_center.u = (m.obj_side[UMINIMUM] + m.obj_side[UMAXIMUM]) / 2); + TERN_(HAS_V_CENTER, m.obj_center.v = (m.obj_side[VMINIMUM] + m.obj_side[VMAXIMUM]) / 2); + TERN_(HAS_W_CENTER, m.obj_center.w = (m.obj_side[WMINIMUM] + m.obj_side[WMAXIMUM]) / 2); + + // Compute the outside diameter of the nozzle at the height + // at which it makes contact with the calibration object + TERN_(HAS_X_CENTER, m.nozzle_outer_dimension.x = m.obj_side[RIGHT] - m.obj_side[LEFT] - dimensions.x); + TERN_(HAS_Y_CENTER, m.nozzle_outer_dimension.y = m.obj_side[BACK] - m.obj_side[FRONT] - dimensions.y); + + park_above_object(m, uncertainty); + + // The difference between the known and the measured location + // of the calibration object is the positional error + NUM_AXIS_CODE( + m.pos_error.x = TERN0(HAS_X_CENTER, true_center.x - m.obj_center.x), + m.pos_error.y = TERN0(HAS_Y_CENTER, true_center.y - m.obj_center.y), + m.pos_error.z = true_center.z - m.obj_center.z, + m.pos_error.i = TERN0(HAS_I_CENTER, true_center.i - m.obj_center.i), + m.pos_error.j = TERN0(HAS_J_CENTER, true_center.j - m.obj_center.j), + m.pos_error.k = TERN0(HAS_K_CENTER, true_center.k - m.obj_center.k), + m.pos_error.u = TERN0(HAS_U_CENTER, true_center.u - m.obj_center.u), + m.pos_error.v = TERN0(HAS_V_CENTER, true_center.v - m.obj_center.v), + m.pos_error.w = TERN0(HAS_W_CENTER, true_center.w - m.obj_center.w) + ); +} + +#if ENABLED(CALIBRATION_REPORTING) + inline void report_measured_faces(const measurements_t &m) { + SERIAL_ECHOLNPGM("Sides:"); + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + SERIAL_ECHOLNPGM(" Top: ", m.obj_side[TOP]); + #endif + #if ENABLED(CALIBRATION_MEASURE_LEFT) + SERIAL_ECHOLNPGM(" Left: ", m.obj_side[LEFT]); + #endif + #if ENABLED(CALIBRATION_MEASURE_RIGHT) + SERIAL_ECHOLNPGM(" Right: ", m.obj_side[RIGHT]); + #endif + #if HAS_Y_AXIS + #if ENABLED(CALIBRATION_MEASURE_FRONT) + SERIAL_ECHOLNPGM(" Front: ", m.obj_side[FRONT]); + #endif + #if ENABLED(CALIBRATION_MEASURE_BACK) + SERIAL_ECHOLNPGM(" Back: ", m.obj_side[BACK]); + #endif + #endif + #if HAS_I_AXIS + #if ENABLED(CALIBRATION_MEASURE_IMIN) + SERIAL_ECHOLNPGM(" " STR_I_MIN ": ", m.obj_side[IMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_IMAX) + SERIAL_ECHOLNPGM(" " STR_I_MAX ": ", m.obj_side[IMAXIMUM]); + #endif + #endif + #if HAS_J_AXIS + #if ENABLED(CALIBRATION_MEASURE_JMIN) + SERIAL_ECHOLNPGM(" " STR_J_MIN ": ", m.obj_side[JMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_JMAX) + SERIAL_ECHOLNPGM(" " STR_J_MAX ": ", m.obj_side[JMAXIMUM]); + #endif + #endif + #if HAS_K_AXIS + #if ENABLED(CALIBRATION_MEASURE_KMIN) + SERIAL_ECHOLNPGM(" " STR_K_MIN ": ", m.obj_side[KMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_KMAX) + SERIAL_ECHOLNPGM(" " STR_K_MAX ": ", m.obj_side[KMAXIMUM]); + #endif + #endif + #if HAS_U_AXIS + #if ENABLED(CALIBRATION_MEASURE_UMIN) + SERIAL_ECHOLNPGM(" " STR_U_MIN ": ", m.obj_side[UMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_UMAX) + SERIAL_ECHOLNPGM(" " STR_U_MAX ": ", m.obj_side[UMAXIMUM]); + #endif + #endif + #if HAS_V_AXIS + #if ENABLED(CALIBRATION_MEASURE_VMIN) + SERIAL_ECHOLNPGM(" " STR_V_MIN ": ", m.obj_side[VMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_VMAX) + SERIAL_ECHOLNPGM(" " STR_V_MAX ": ", m.obj_side[VMAXIMUM]); + #endif + #endif + #if HAS_W_AXIS + #if ENABLED(CALIBRATION_MEASURE_WMIN) + SERIAL_ECHOLNPGM(" " STR_W_MIN ": ", m.obj_side[WMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_WMAX) + SERIAL_ECHOLNPGM(" " STR_W_MAX ": ", m.obj_side[WMAXIMUM]); + #endif + #endif + SERIAL_EOL(); + } + + inline void report_measured_center(const measurements_t &m) { + SERIAL_ECHOLNPGM("Center:"); + #if HAS_X_CENTER + SERIAL_ECHOLNPGM_P(SP_X_STR, m.obj_center.x); + #endif + #if HAS_Y_CENTER + SERIAL_ECHOLNPGM_P(SP_Y_STR, m.obj_center.y); + #endif + SERIAL_ECHOLNPGM_P(SP_Z_STR, m.obj_center.z); + #if HAS_I_CENTER + SERIAL_ECHOLNPGM_P(SP_I_STR, m.obj_center.i); + #endif + #if HAS_J_CENTER + SERIAL_ECHOLNPGM_P(SP_J_STR, m.obj_center.j); + #endif + #if HAS_K_CENTER + SERIAL_ECHOLNPGM_P(SP_K_STR, m.obj_center.k); + #endif + #if HAS_U_CENTER + SERIAL_ECHOLNPGM_P(SP_U_STR, m.obj_center.u); + #endif + #if HAS_V_CENTER + SERIAL_ECHOLNPGM_P(SP_V_STR, m.obj_center.v); + #endif + #if HAS_W_CENTER + SERIAL_ECHOLNPGM_P(SP_W_STR, m.obj_center.w); + #endif + SERIAL_EOL(); + } + + inline void report_measured_backlash(const measurements_t &m) { + SERIAL_ECHOLNPGM("Backlash:"); + #if AXIS_CAN_CALIBRATE(X) + #if ENABLED(CALIBRATION_MEASURE_LEFT) + SERIAL_ECHOLNPGM(" Left: ", m.backlash[LEFT]); + #endif + #if ENABLED(CALIBRATION_MEASURE_RIGHT) + SERIAL_ECHOLNPGM(" Right: ", m.backlash[RIGHT]); + #endif + #endif + #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y) + #if ENABLED(CALIBRATION_MEASURE_FRONT) + SERIAL_ECHOLNPGM(" Front: ", m.backlash[FRONT]); + #endif + #if ENABLED(CALIBRATION_MEASURE_BACK) + SERIAL_ECHOLNPGM(" Back: ", m.backlash[BACK]); + #endif + #endif + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + SERIAL_ECHOLNPGM(" Top: ", m.backlash[TOP]); + #endif + #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I) + #if ENABLED(CALIBRATION_MEASURE_IMIN) + SERIAL_ECHOLNPGM(" " STR_I_MIN ": ", m.backlash[IMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_IMAX) + SERIAL_ECHOLNPGM(" " STR_I_MAX ": ", m.backlash[IMAXIMUM]); + #endif + #endif + #if HAS_J_AXIS && AXIS_CAN_CALIBRATE(J) + #if ENABLED(CALIBRATION_MEASURE_JMIN) + SERIAL_ECHOLNPGM(" " STR_J_MIN ": ", m.backlash[JMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_JMAX) + SERIAL_ECHOLNPGM(" " STR_J_MAX ": ", m.backlash[JMAXIMUM]); + #endif + #endif + #if HAS_K_AXIS && AXIS_CAN_CALIBRATE(K) + #if ENABLED(CALIBRATION_MEASURE_KMIN) + SERIAL_ECHOLNPGM(" " STR_K_MIN ": ", m.backlash[KMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_KMAX) + SERIAL_ECHOLNPGM(" " STR_K_MAX ": ", m.backlash[KMAXIMUM]); + #endif + #endif + #if HAS_U_AXIS && AXIS_CAN_CALIBRATE(U) + #if ENABLED(CALIBRATION_MEASURE_UMIN) + SERIAL_ECHOLNPGM(" " STR_U_MIN ": ", m.backlash[UMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_UMAX) + SERIAL_ECHOLNPGM(" " STR_U_MAX ": ", m.backlash[UMAXIMUM]); + #endif + #endif + #if HAS_V_AXIS && AXIS_CAN_CALIBRATE(V) + #if ENABLED(CALIBRATION_MEASURE_VMIN) + SERIAL_ECHOLNPGM(" " STR_V_MIN ": ", m.backlash[VMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_VMAX) + SERIAL_ECHOLNPGM(" " STR_V_MAX ": ", m.backlash[VMAXIMUM]); + #endif + #endif + #if HAS_W_AXIS && AXIS_CAN_CALIBRATE(W) + #if ENABLED(CALIBRATION_MEASURE_WMIN) + SERIAL_ECHOLNPGM(" " STR_W_MIN ": ", m.backlash[WMINIMUM]); + #endif + #if ENABLED(CALIBRATION_MEASURE_WMAX) + SERIAL_ECHOLNPGM(" " STR_W_MAX ": ", m.backlash[WMAXIMUM]); + #endif + #endif + SERIAL_EOL(); + } + + inline void report_measured_positional_error(const measurements_t &m) { + SERIAL_CHAR('T'); + SERIAL_ECHO(active_extruder); + SERIAL_ECHOLNPGM(" Positional Error:"); + #if HAS_X_CENTER && AXIS_CAN_CALIBRATE(X) + SERIAL_ECHOLNPGM_P(SP_X_STR, m.pos_error.x); + #endif + #if HAS_Y_CENTER && AXIS_CAN_CALIBRATE(Y) + SERIAL_ECHOLNPGM_P(SP_Y_STR, m.pos_error.y); + #endif + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + SERIAL_ECHOLNPGM_P(SP_Z_STR, m.pos_error.z); + #endif + #if HAS_I_CENTER && AXIS_CAN_CALIBRATE(I) + SERIAL_ECHOLNPGM_P(SP_I_STR, m.pos_error.i); + #endif + #if HAS_J_CENTER && AXIS_CAN_CALIBRATE(J) + SERIAL_ECHOLNPGM_P(SP_J_STR, m.pos_error.j); + #endif + #if HAS_K_CENTER && AXIS_CAN_CALIBRATE(K) + SERIAL_ECHOLNPGM_P(SP_K_STR, m.pos_error.k); + #endif + #if HAS_U_CENTER && AXIS_CAN_CALIBRATE(U) + SERIAL_ECHOLNPGM_P(SP_U_STR, m.pos_error.u); + #endif + #if HAS_V_CENTER && AXIS_CAN_CALIBRATE(V) + SERIAL_ECHOLNPGM_P(SP_V_STR, m.pos_error.v); + #endif + #if HAS_W_CENTER && AXIS_CAN_CALIBRATE(W) + SERIAL_ECHOLNPGM_P(SP_W_STR, m.pos_error.w); + #endif + SERIAL_EOL(); + } + + inline void report_measured_nozzle_dimensions(const measurements_t &m) { + SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:"); + #if HAS_X_CENTER + SERIAL_ECHOLNPGM_P(SP_X_STR, m.nozzle_outer_dimension.x); + #endif + #if HAS_Y_CENTER + SERIAL_ECHOLNPGM_P(SP_Y_STR, m.nozzle_outer_dimension.y); + #endif + SERIAL_EOL(); + UNUSED(m); + } + + #if HAS_HOTEND_OFFSET + // + // This function requires normalize_hotend_offsets() to be called + // + inline void report_hotend_offsets() { + LOOP_S_L_N(e, 1, HOTENDS) + SERIAL_ECHOLNPGM_P(PSTR("T"), e, PSTR(" Hotend Offset X"), hotend_offset[e].x, SP_Y_STR, hotend_offset[e].y, SP_Z_STR, hotend_offset[e].z); + } + #endif + +#endif // CALIBRATION_REPORTING + +/** + * Probe around the calibration object to measure backlash + * + * m in/out - Measurement record, updated with new readings + * uncertainty in - How far away from the object to begin probing + */ +inline void calibrate_backlash(measurements_t &m, const float uncertainty) { + // Backlash compensation should be off while measuring backlash + + { + // New scope for TEMPORARY_BACKLASH_CORRECTION + TEMPORARY_BACKLASH_CORRECTION(backlash.all_off); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); + + probe_sides(m, uncertainty); + + #if ENABLED(BACKLASH_GCODE) + + #if HAS_X_CENTER + backlash.set_distance_mm(X_AXIS, (m.backlash[LEFT] + m.backlash[RIGHT]) / 2); + #elif ENABLED(CALIBRATION_MEASURE_LEFT) + backlash.set_distance_mm(X_AXIS, m.backlash[LEFT]); + #elif ENABLED(CALIBRATION_MEASURE_RIGHT) + backlash.set_distance_mm(X_AXIS, m.backlash[RIGHT]); + #endif + + #if HAS_Y_CENTER + backlash.set_distance_mm(Y_AXIS, (m.backlash[FRONT] + m.backlash[BACK]) / 2); + #elif ENABLED(CALIBRATION_MEASURE_FRONT) + backlash.set_distance_mm(Y_AXIS, m.backlash[FRONT]); + #elif ENABLED(CALIBRATION_MEASURE_BACK) + backlash.set_distance_mm(Y_AXIS, m.backlash[BACK]); + #endif + + TERN_(HAS_Z_AXIS, if (AXIS_CAN_CALIBRATE(Z)) backlash.set_distance_mm(Z_AXIS, m.backlash[TOP])); + + #if HAS_I_CENTER + backlash.set_distance_mm(I_AXIS, (m.backlash[IMINIMUM] + m.backlash[IMAXIMUM]) / 2); + #elif ENABLED(CALIBRATION_MEASURE_IMIN) + backlash.set_distance_mm(I_AXIS, m.backlash[IMINIMUM]); + #elif ENABLED(CALIBRATION_MEASURE_IMAX) + backlash.set_distance_mm(I_AXIS, m.backlash[IMAXIMUM]); + #endif + + #if HAS_J_CENTER + backlash.set_distance_mm(J_AXIS, (m.backlash[JMINIMUM] + m.backlash[JMAXIMUM]) / 2); + #elif ENABLED(CALIBRATION_MEASURE_JMIN) + backlash.set_distance_mm(J_AXIS, m.backlash[JMINIMUM]); + #elif ENABLED(CALIBRATION_MEASURE_JMAX) + backlash.set_distance_mm(J_AXIS, m.backlash[JMAXIMUM]); + #endif + + #if HAS_K_CENTER + backlash.set_distance_mm(K_AXIS, (m.backlash[KMINIMUM] + m.backlash[KMAXIMUM]) / 2); + #elif ENABLED(CALIBRATION_MEASURE_KMIN) + backlash.set_distance_mm(K_AXIS, m.backlash[KMINIMUM]); + #elif ENABLED(CALIBRATION_MEASURE_KMAX) + backlash.set_distance_mm(K_AXIS, m.backlash[KMAXIMUM]); + #endif + + #if HAS_U_CENTER + backlash.distance_mm.u = (m.backlash[UMINIMUM] + m.backlash[UMAXIMUM]) / 2; + #elif ENABLED(CALIBRATION_MEASURE_UMIN) + backlash.distance_mm.u = m.backlash[UMINIMUM]; + #elif ENABLED(CALIBRATION_MEASURE_UMAX) + backlash.distance_mm.u = m.backlash[UMAXIMUM]; + #endif + + #if HAS_V_CENTER + backlash.distance_mm.v = (m.backlash[VMINIMUM] + m.backlash[VMAXIMUM]) / 2; + #elif ENABLED(CALIBRATION_MEASURE_VMIN) + backlash.distance_mm.v = m.backlash[VMINIMUM]; + #elif ENABLED(CALIBRATION_MEASURE_UMAX) + backlash.distance_mm.v = m.backlash[VMAXIMUM]; + #endif + + #if HAS_W_CENTER + backlash.distance_mm.w = (m.backlash[WMINIMUM] + m.backlash[WMAXIMUM]) / 2; + #elif ENABLED(CALIBRATION_MEASURE_WMIN) + backlash.distance_mm.w = m.backlash[WMINIMUM]; + #elif ENABLED(CALIBRATION_MEASURE_WMAX) + backlash.distance_mm.w = m.backlash[WMAXIMUM]; + #endif + + #endif // BACKLASH_GCODE + } + + #if ENABLED(BACKLASH_GCODE) + // Turn on backlash compensation and move in all + // allowed directions to take up any backlash + { + // New scope for TEMPORARY_BACKLASH_CORRECTION + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); + const xyz_float_t move = NUM_AXIS_ARRAY( + AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3, + AXIS_CAN_CALIBRATE(I) * 3, AXIS_CAN_CALIBRATE(J) * 3, AXIS_CAN_CALIBRATE(K) * 3, + AXIS_CAN_CALIBRATE(U) * 3, AXIS_CAN_CALIBRATE(V) * 3, AXIS_CAN_CALIBRATE(W) * 3 + ); + current_position += move; calibration_move(); + current_position -= move; calibration_move(); + } + #endif +} + +inline void update_measurements(measurements_t &m, const AxisEnum axis) { + current_position[axis] += m.pos_error[axis]; + m.obj_center[axis] = true_center[axis]; + m.pos_error[axis] = 0; +} + +/** + * Probe around the calibration object. Adjust the position and toolhead offset + * using the deviation from the known position of the calibration object. + * + * m in/out - Measurement record, updated with new readings + * uncertainty in - How far away from the object to begin probing + * extruder in - What extruder to probe + * + * Prerequisites: + * - Call calibrate_backlash() beforehand for best accuracy + */ +inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) { + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); + + TERN(HAS_MULTI_HOTEND, set_nozzle(m, extruder), UNUSED(extruder)); + + probe_sides(m, uncertainty); + + // Adjust the hotend offset + #if HAS_HOTEND_OFFSET + if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) hotend_offset[extruder].x += m.pos_error.x; + if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) hotend_offset[extruder].y += m.pos_error.y; + if (AXIS_CAN_CALIBRATE(Z)) hotend_offset[extruder].z += m.pos_error.z; + normalize_hotend_offsets(); + #endif + + // Correct for positional error, so the object + // is at the known actual spot + planner.synchronize(); + if (ENABLED(HAS_X_CENTER) && AXIS_CAN_CALIBRATE(X)) update_measurements(m, X_AXIS); + if (ENABLED(HAS_Y_CENTER) && AXIS_CAN_CALIBRATE(Y)) update_measurements(m, Y_AXIS); + if (AXIS_CAN_CALIBRATE(Z)) update_measurements(m, Z_AXIS); + + TERN_(HAS_I_CENTER, update_measurements(m, I_AXIS)); + TERN_(HAS_J_CENTER, update_measurements(m, J_AXIS)); + TERN_(HAS_K_CENTER, update_measurements(m, K_AXIS)); + TERN_(HAS_U_CENTER, update_measurements(m, U_AXIS)); + TERN_(HAS_V_CENTER, update_measurements(m, V_AXIS)); + TERN_(HAS_W_CENTER, update_measurements(m, W_AXIS)); + + sync_plan_position(); +} + +/** + * Probe around the calibration object for all toolheads, adjusting the coordinate + * system for the first nozzle and the nozzle offset for subsequent nozzles. + * + * m in/out - Measurement record, updated with new readings + * uncertainty in - How far away from the object to begin probing + */ +inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) { + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); + + HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e); + + TERN_(HAS_HOTEND_OFFSET, normalize_hotend_offsets()); + + TERN_(HAS_MULTI_HOTEND, set_nozzle(m, 0)); +} + +/** + * Perform a full auto-calibration routine: + * + * 1) For each nozzle, touch top and sides of object to determine object position and + * nozzle offsets. Do a fast but rough search over a wider area. + * 2) With the first nozzle, touch top and sides of object to determine backlash values + * for all axes (if BACKLASH_GCODE is enabled) + * 3) For each nozzle, touch top and sides of object slowly to determine precise + * position of object. Adjust coordinate system and nozzle offsets so probed object + * location corresponds to known object location with a high degree of precision. + */ +inline void calibrate_all() { + measurements_t m; + + TERN_(HAS_HOTEND_OFFSET, reset_hotend_offsets()); + + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); + TEMPORARY_BACKLASH_SMOOTHING(0.0f); + + // Do a fast and rough calibration of the toolheads + calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNKNOWN); + + TERN_(BACKLASH_GCODE, calibrate_backlash(m, CALIBRATION_MEASUREMENT_UNCERTAIN)); + + // Cycle the toolheads so the servos settle into their "natural" positions + #if HAS_MULTI_HOTEND + HOTEND_LOOP() set_nozzle(m, e); + #endif + + // Do a slow and precise calibration of the toolheads + calibrate_all_toolheads(m, CALIBRATION_MEASUREMENT_UNCERTAIN); + + current_position.x = X_CENTER; + calibration_move(); // Park nozzle away from calibration object +} + +/** + * G425: Perform calibration with calibration object. + * + * B - Perform calibration of backlash only. + * T - Perform calibration of toolhead only. + * V - Probe object and print position, error, backlash and hotend offset. + * U - Uncertainty, how far to start probe away from the object (mm) + * + * no args - Perform entire calibration sequence (backlash + position on all toolheads) + */ +void GcodeSuite::G425() { + + #ifdef CALIBRATION_SCRIPT_PRE + process_subcommands_now(F(CALIBRATION_SCRIPT_PRE)); + #endif + + if (homing_needed_error()) return; + + TEMPORARY_BED_LEVELING_STATE(false); + SET_SOFT_ENDSTOP_LOOSE(true); + + measurements_t m; + const float uncertainty = parser.floatval('U', CALIBRATION_MEASUREMENT_UNCERTAIN); + + if (parser.seen_test('B')) + calibrate_backlash(m, uncertainty); + else if (parser.seen_test('T')) + calibrate_toolhead(m, uncertainty, parser.intval('T', active_extruder)); + #if ENABLED(CALIBRATION_REPORTING) + else if (parser.seen('V')) { + probe_sides(m, uncertainty); + SERIAL_EOL(); + report_measured_faces(m); + report_measured_center(m); + report_measured_backlash(m); + report_measured_nozzle_dimensions(m); + report_measured_positional_error(m); + #if HAS_HOTEND_OFFSET + normalize_hotend_offsets(); + report_hotend_offsets(); + #endif + } + #endif + else + calibrate_all(); + + SET_SOFT_ENDSTOP_LOOSE(false); + + #ifdef CALIBRATION_SCRIPT_POST + process_subcommands_now(F(CALIBRATION_SCRIPT_POST)); + #endif +} + +#endif // CALIBRATION_GCODE diff --git a/Marlin/src/gcode/calibrate/G76_M871.cpp b/Marlin/src/gcode/calibrate/G76_M871.cpp new file mode 100644 index 0000000000..c484d4f1b7 --- /dev/null +++ b/Marlin/src/gcode/calibrate/G76_M871.cpp @@ -0,0 +1,339 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * G76_M871.cpp - Temperature calibration/compensation for z-probing + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_PTC + +#include "../gcode.h" +#include "../../module/motion.h" +#include "../../module/planner.h" +#include "../../module/probe.h" +#include "../../feature/bedlevel/bedlevel.h" +#include "../../module/temperature.h" +#include "../../module/probe.h" +#include "../../feature/probe_temp_comp.h" +#include "../../lcd/marlinui.h" + +/** + * G76: calibrate probe and/or bed temperature offsets + * Notes: + * - When calibrating probe, bed temperature is held constant. + * Compensation values are deltas to first probe measurement at probe temp. = 30°C. + * - When calibrating bed, probe temperature is held constant. + * Compensation values are deltas to first probe measurement at bed temp. = 60°C. + * - The hotend will not be heated at any time. + * - On my Průša MK3S clone I put a piece of paper between the probe and the hotend + * so the hotend fan would not cool my probe constantly. Alternatively you could just + * make sure the fan is not running while running the calibration process. + * + * Probe calibration: + * - Moves probe to cooldown point. + * - Heats up bed to 100°C. + * - Moves probe to probing point (1mm above heatbed). + * - Waits until probe reaches target temperature (30°C). + * - Does a z-probing (=base value) and increases target temperature by 5°C. + * - Waits until probe reaches increased target temperature. + * - Does a z-probing (delta to base value will be a compensation value) and increases target temperature by 5°C. + * - Repeats last two steps until max. temperature reached or timeout (i.e. probe does not heat up any further). + * - Compensation values of higher temperatures will be extrapolated (using linear regression first). + * While this is not exact by any means it is still better than simply using the last compensation value. + * + * Bed calibration: + * - Moves probe to cooldown point. + * - Heats up bed to 60°C. + * - Moves probe to probing point (1mm above heatbed). + * - Waits until probe reaches target temperature (30°C). + * - Does a z-probing (=base value) and increases bed temperature by 5°C. + * - Moves probe to cooldown point. + * - Waits until probe is below 30°C and bed has reached target temperature. + * - Moves probe to probing point and waits until it reaches target temperature (30°C). + * - Does a z-probing (delta to base value will be a compensation value) and increases bed temperature by 5°C. + * - Repeats last four points until max. bed temperature reached (110°C) or timeout. + * - Compensation values of higher temperatures will be extrapolated (using linear regression first). + * While this is not exact by any means it is still better than simply using the last compensation value. + * + * G76 [B | P] + * - no flag - Both calibration procedures will be run. + * - `B` - Run bed temperature calibration. + * - `P` - Run probe temperature calibration. + */ + +#if BOTH(PTC_PROBE, PTC_BED) + + static void say_waiting_for() { SERIAL_ECHOPGM("Waiting for "); } + static void say_waiting_for_probe_heating() { say_waiting_for(); SERIAL_ECHOLNPGM("probe heating."); } + static void say_successfully_calibrated() { SERIAL_ECHOPGM("Successfully calibrated"); } + static void say_failed_to_calibrate() { SERIAL_ECHOPGM("!Failed to calibrate"); } + + void GcodeSuite::G76() { + auto report_temps = [](millis_t &ntr, millis_t timeout=0) { + idle_no_sleep(); + const millis_t ms = millis(); + if (ELAPSED(ms, ntr)) { + ntr = ms + 1000; + thermalManager.print_heater_states(active_extruder); + } + return (timeout && ELAPSED(ms, timeout)); + }; + + auto wait_for_temps = [&](const celsius_t tb, const celsius_t tp, millis_t &ntr, const millis_t timeout=0) { + say_waiting_for(); SERIAL_ECHOLNPGM("bed and probe temperature."); + while (thermalManager.wholeDegBed() != tb || thermalManager.wholeDegProbe() > tp) + if (report_temps(ntr, timeout)) return true; + return false; + }; + + auto g76_probe = [](const TempSensorID sid, celsius_t &targ, const xy_pos_t &nozpos) { + do_z_clearance(5.0); // Raise nozzle before probing + ptc.set_enabled(false); + const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false); // verbose=0, probe_relative=false + ptc.set_enabled(true); + if (isnan(measured_z)) + SERIAL_ECHOLNPGM("!Received NAN. Aborting."); + else { + SERIAL_ECHOLNPAIR_F("Measured: ", measured_z); + if (targ == ProbeTempComp::cali_info[sid].start_temp) + ptc.prepare_new_calibration(measured_z); + else + ptc.push_back_new_measurement(sid, measured_z); + targ += ProbeTempComp::cali_info[sid].temp_resolution; + } + return measured_z; + }; + + #if ENABLED(BLTOUCH) + // Make sure any BLTouch error condition is cleared + bltouch_command(BLTOUCH_RESET, BLTOUCH_RESET_DELAY); + set_bltouch_deployed(false); + #endif + + bool do_bed_cal = parser.boolval('B'), do_probe_cal = parser.boolval('P'); + if (!do_bed_cal && !do_probe_cal) do_bed_cal = do_probe_cal = true; + + // Synchronize with planner + planner.synchronize(); + + #ifndef PTC_PROBE_HEATING_OFFSET + #define PTC_PROBE_HEATING_OFFSET 0 + #endif + const xyz_pos_t parkpos = PTC_PARK_POS, + probe_pos_xyz = xyz_pos_t(PTC_PROBE_POS) + xyz_pos_t({ 0.0f, 0.0f, PTC_PROBE_HEATING_OFFSET }), + noz_pos_xyz = probe_pos_xyz - probe.offset_xy; // Nozzle position based on probe position + + if (do_bed_cal || do_probe_cal) { + // Ensure park position is reachable + bool reachable = position_is_reachable(parkpos) || WITHIN(parkpos.z, Z_MIN_POS - fslop, Z_MAX_POS + fslop); + if (!reachable) + SERIAL_ECHOLNPGM("!Park"); + else { + // Ensure probe position is reachable + reachable = probe.can_reach(probe_pos_xyz); + if (!reachable) SERIAL_ECHOLNPGM("!Probe"); + } + + if (!reachable) { + SERIAL_ECHOLNPGM(" position unreachable - aborting."); + return; + } + + process_subcommands_now(FPSTR(G28_STR)); + } + + remember_feedrate_scaling_off(); + + /****************************************** + * Calibrate bed temperature offsets + ******************************************/ + + // Report temperatures every second and handle heating timeouts + millis_t next_temp_report = millis() + 1000; + + auto report_targets = [&](const celsius_t tb, const celsius_t tp) { + SERIAL_ECHOLNPGM("Target Bed:", tb, " Probe:", tp); + }; + + if (do_bed_cal) { + + celsius_t target_bed = PTC_BED_START, + target_probe = PTC_PROBE_TEMP; + + say_waiting_for(); SERIAL_ECHOLNPGM(" cooling."); + while (thermalManager.wholeDegBed() > target_bed || thermalManager.wholeDegProbe() > target_probe) + report_temps(next_temp_report); + + // Disable leveling so it won't mess with us + TERN_(HAS_LEVELING, set_bed_leveling_enabled(false)); + + for (uint8_t idx = 0; idx <= PTC_BED_COUNT; idx++) { + thermalManager.setTargetBed(target_bed); + + report_targets(target_bed, target_probe); + + // Park nozzle + do_blocking_move_to(parkpos); + + // Wait for heatbed to reach target temp and probe to cool below target temp + if (wait_for_temps(target_bed, target_probe, next_temp_report, millis() + MIN_TO_MS(15))) { + SERIAL_ECHOLNPGM("!Bed heating timeout."); + break; + } + + // Move the nozzle to the probing point and wait for the probe to reach target temp + do_blocking_move_to(noz_pos_xyz); + say_waiting_for_probe_heating(); + SERIAL_EOL(); + while (thermalManager.wholeDegProbe() < target_probe) + report_temps(next_temp_report); + + const float measured_z = g76_probe(TSI_BED, target_bed, noz_pos_xyz); + if (isnan(measured_z) || target_bed > (BED_MAX_TARGET)) break; + } + + SERIAL_ECHOLNPGM("Retrieved measurements: ", ptc.get_index()); + if (ptc.finish_calibration(TSI_BED)) { + say_successfully_calibrated(); + SERIAL_ECHOLNPGM(" bed."); + } + else { + say_failed_to_calibrate(); + SERIAL_ECHOLNPGM(" bed. Values reset."); + } + + // Cleanup + thermalManager.setTargetBed(0); + TERN_(HAS_LEVELING, set_bed_leveling_enabled(true)); + } // do_bed_cal + + /******************************************** + * Calibrate probe temperature offsets + ********************************************/ + + if (do_probe_cal) { + + // Park nozzle + do_blocking_move_to(parkpos); + + // Initialize temperatures + const celsius_t target_bed = BED_MAX_TARGET; + thermalManager.setTargetBed(target_bed); + + celsius_t target_probe = PTC_PROBE_START; + + report_targets(target_bed, target_probe); + + // Wait for heatbed to reach target temp and probe to cool below target temp + wait_for_temps(target_bed, target_probe, next_temp_report); + + // Disable leveling so it won't mess with us + TERN_(HAS_LEVELING, set_bed_leveling_enabled(false)); + + bool timeout = false; + for (uint8_t idx = 0; idx <= PTC_PROBE_COUNT; idx++) { + // Move probe to probing point and wait for it to reach target temperature + do_blocking_move_to(noz_pos_xyz); + + say_waiting_for_probe_heating(); + SERIAL_ECHOLNPGM(" Bed:", target_bed, " Probe:", target_probe); + const millis_t probe_timeout_ms = millis() + SEC_TO_MS(900UL); + while (thermalManager.degProbe() < target_probe) { + if (report_temps(next_temp_report, probe_timeout_ms)) { + SERIAL_ECHOLNPGM("!Probe heating timed out."); + timeout = true; + break; + } + } + if (timeout) break; + + const float measured_z = g76_probe(TSI_PROBE, target_probe, noz_pos_xyz); + if (isnan(measured_z)) break; + } + + SERIAL_ECHOLNPGM("Retrieved measurements: ", ptc.get_index()); + if (ptc.finish_calibration(TSI_PROBE)) + say_successfully_calibrated(); + else + say_failed_to_calibrate(); + SERIAL_ECHOLNPGM(" probe."); + + // Cleanup + thermalManager.setTargetBed(0); + TERN_(HAS_LEVELING, set_bed_leveling_enabled(true)); + + SERIAL_ECHOLNPGM("Final compensation values:"); + ptc.print_offsets(); + } // do_probe_cal + + restore_feedrate_and_scaling(); + } + +#endif // PTC_PROBE && PTC_BED + +/** + * M871: Report / reset temperature compensation offsets. + * Note: This does not affect values in EEPROM until M500. + * + * M871 [ R | B | P | E ] + * + * No Parameters - Print current offset values. + * + * Select only one of these flags: + * R - Reset all offsets to zero (i.e., disable compensation). + * B - Manually set offset for bed + * P - Manually set offset for probe + * E - Manually set offset for extruder + * + * With B, P, or E: + * I[index] - Index in the array + * V[value] - Adjustment in µm + */ +void GcodeSuite::M871() { + + if (parser.seen('R')) { + // Reset z-probe offsets to factory defaults + ptc.clear_all_offsets(); + SERIAL_ECHOLNPGM("Offsets reset to default."); + } + else if (parser.seen("BPE")) { + if (!parser.seenval('V')) return; + const int16_t offset_val = parser.value_int(); + if (!parser.seenval('I')) return; + const int16_t idx = parser.value_int(); + const TempSensorID mod = TERN_(PTC_BED, parser.seen_test('B') ? TSI_BED :) + TERN_(PTC_HOTEND, parser.seen_test('E') ? TSI_EXT :) + TERN_(PTC_PROBE, parser.seen_test('P') ? TSI_PROBE :) TSI_COUNT; + if (mod == TSI_COUNT) + SERIAL_ECHOLNPGM("!Invalid sensor."); + else if (idx > 0 && ptc.set_offset(mod, idx - 1, offset_val)) + SERIAL_ECHOLNPGM("Set value: ", offset_val); + else + SERIAL_ECHOLNPGM("!Invalid index. Failed to set value (note: value at index 0 is constant)."); + } + else // Print current Z-probe adjustments. Note: Values in EEPROM might differ. + ptc.print_offsets(); +} + +#endif // HAS_PTC diff --git a/Marlin/src/gcode/calibrate/M100.cpp b/Marlin/src/gcode/calibrate/M100.cpp new file mode 100644 index 0000000000..338392b597 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M100.cpp @@ -0,0 +1,373 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(M100_FREE_MEMORY_WATCHER) + +#include "../gcode.h" +#include "../queue.h" +#include "../../libs/hex_print.h" + +#include "../../MarlinCore.h" // for idle() + +/** + * M100 Free Memory Watcher + * + * This code watches the free memory block between the bottom of the heap and the top of the stack. + * This memory block is initialized and watched via the M100 command. + * + * M100 I Initializes the free memory block and prints vitals statistics about the area + * + * M100 F Identifies how much of the free memory block remains free and unused. It also + * detects and reports any corruption within the free memory block that may have + * happened due to errant firmware. + * + * M100 D Does a hex display of the free memory block along with a flag for any errant + * data that does not match the expected value. + * + * M100 C x Corrupts x locations within the free memory block. This is useful to check the + * correctness of the M100 F and M100 D commands. + * + * Also, there are two support functions that can be called from a developer's C code. + * + * uint16_t check_for_free_memory_corruption(PGM_P const free_memory_start); + * void M100_dump_routine(FSTR_P const title, const char * const start, const uintptr_t size); + * + * Initial version by Roxy-3D + */ +#define M100_FREE_MEMORY_DUMPER // Enable for the `M100 D` Dump sub-command +#define M100_FREE_MEMORY_CORRUPTOR // Enable for the `M100 C` Corrupt sub-command + +#define TEST_BYTE ((char) 0xE5) + +#if EITHER(__AVR__, IS_32BIT_TEENSY) + + extern char __bss_end; + char *end_bss = &__bss_end, + *free_memory_start = end_bss, *free_memory_end = 0, + *stacklimit = 0, *heaplimit = 0; + + #define MEMORY_END_CORRECTION 0 + +#elif defined(TARGET_LPC1768) + + extern char __bss_end__, __StackLimit, __HeapLimit; + + char *end_bss = &__bss_end__, + *stacklimit = &__StackLimit, + *heaplimit = &__HeapLimit; + + #define MEMORY_END_CORRECTION 0x200 + + char *free_memory_start = heaplimit, + *free_memory_end = stacklimit - MEMORY_END_CORRECTION; + +#elif defined(__SAM3X8E__) + + extern char _ebss; + + char *end_bss = &_ebss, + *free_memory_start = end_bss, + *free_memory_end = 0, + *stacklimit = 0, + *heaplimit = 0; + + #define MEMORY_END_CORRECTION 0x10000 // need to stay well below 0x20080000 or M100 F crashes + +#elif defined(__SAMD51__) + + extern unsigned int __bss_end__, __StackLimit, __HeapLimit; + extern "C" void * _sbrk(int incr); + + void *end_bss = &__bss_end__, + *stacklimit = &__StackLimit, + *heaplimit = &__HeapLimit; + + #define MEMORY_END_CORRECTION 0x400 + + char *free_memory_start = (char *)_sbrk(0) + 0x200, // Leave some heap space + *free_memory_end = (char *)stacklimit - MEMORY_END_CORRECTION; + +#else + #error "M100 - unsupported CPU" +#endif + +// +// Utility functions +// + +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wreturn-local-addr" + +// Location of a variable in its stack frame. +// The returned address will be above the stack (after it returns). +char *top_of_stack() { + char x; + return &x + 1; // x is pulled on return; +} + +#pragma GCC diagnostic pop + +// Count the number of test bytes at the specified location. +inline int32_t count_test_bytes(const char * const start_free_memory) { + for (uint32_t i = 0; i < 32000; i++) + if (char(start_free_memory[i]) != TEST_BYTE) + return i - 1; + + return -1; +} + +// +// M100 sub-commands +// + +#if ENABLED(M100_FREE_MEMORY_DUMPER) + /** + * M100 D + * Dump the free memory block from brkval to the stack pointer. + * malloc() eats memory from the start of the block and the stack grows + * up from the bottom of the block. Solid test bytes indicate nothing has + * used that memory yet. There should not be anything but test bytes within + * the block. If so, it may indicate memory corruption due to a bad pointer. + * Unexpected bytes are flagged in the right column. + */ + void dump_free_memory(char *start_free_memory, char *end_free_memory) { + // + // Start and end the dump on a nice 16 byte boundary + // (even though the values are not 16-byte aligned). + // + start_free_memory = (char*)(uintptr_t(uint32_t(start_free_memory) & ~0xFUL)); // Align to 16-byte boundary + end_free_memory = (char*)(uintptr_t(uint32_t(end_free_memory) | 0xFUL)); // Align end_free_memory to the 15th byte (at or above end_free_memory) + + // Dump command main loop + while (start_free_memory < end_free_memory) { + print_hex_address(start_free_memory); // Print the address + SERIAL_CHAR(':'); + LOOP_L_N(i, 16) { // and 16 data bytes + if (i == 8) SERIAL_CHAR('-'); + print_hex_byte(start_free_memory[i]); + SERIAL_CHAR(' '); + } + serial_delay(25); + SERIAL_CHAR('|'); // Point out non test bytes + LOOP_L_N(i, 16) { + char ccc = (char)start_free_memory[i]; // cast to char before automatically casting to char on assignment, in case the compiler is broken + ccc = (ccc == TEST_BYTE) ? ' ' : '?'; + SERIAL_CHAR(ccc); + } + SERIAL_EOL(); + start_free_memory += 16; + serial_delay(25); + idle(); + } + } + + void M100_dump_routine(FSTR_P const title, const char * const start, const uintptr_t size) { + SERIAL_ECHOLNF(title); + // + // Round the start and end locations to produce full lines of output + // + const char * const end = start + size - 1; + dump_free_memory( + (char*)(uintptr_t(uint32_t(start) & ~0xFUL)), // Align to 16-byte boundary + (char*)(uintptr_t(uint32_t(end) | 0xFUL)) // Align end_free_memory to the 15th byte (at or above end_free_memory) + ); + } + +#endif // M100_FREE_MEMORY_DUMPER + +inline int check_for_free_memory_corruption(FSTR_P const title) { + SERIAL_ECHOF(title); + + char *start_free_memory = free_memory_start, *end_free_memory = free_memory_end; + int n = end_free_memory - start_free_memory; + + SERIAL_ECHOLNPGM("\nfmc() n=", n, + "\nfree_memory_start=", hex_address(free_memory_start), + " end=", hex_address(end_free_memory)); + + if (end_free_memory < start_free_memory) { + SERIAL_ECHOPGM(" end_free_memory < Heap "); + //SET_INPUT_PULLUP(63); // if the developer has a switch wired up to their controller board + //safe_delay(5); // this code can be enabled to pause the display as soon as the + //while ( READ(63)) // malfunction is detected. It is currently defaulting to a switch + // idle(); // being on pin-63 which is unassigend and available on most controller + //safe_delay(20); // boards. + //while ( !READ(63)) + // idle(); + serial_delay(20); + #if ENABLED(M100_FREE_MEMORY_DUMPER) + M100_dump_routine(F(" Memory corruption detected with end_free_memory 8) { + //SERIAL_ECHOPGM("Found ", j); + //SERIAL_ECHOLNPGM(" bytes free at ", hex_address(start_free_memory + i)); + i += j; + block_cnt++; + SERIAL_ECHOLNPGM(" (", block_cnt, ") found=", j); + } + } + } + SERIAL_ECHOPGM(" block_found=", block_cnt); + + if (block_cnt != 1) + SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area."); + + if (block_cnt == 0) // Make sure the special case of no free blocks shows up as an + block_cnt = -1; // error to the calling code! + + SERIAL_ECHOPGM(" return="); + if (block_cnt == 1) { + SERIAL_CHAR('0'); // If the block_cnt is 1, nothing has broken up the free memory + SERIAL_EOL(); // area and it is appropriate to say 'no corruption'. + return 0; + } + SERIAL_ECHOLNPGM("true"); + return block_cnt; +} + +/** + * M100 F + * Return the number of free bytes in the memory pool, + * with other vital statistics defining the pool. + */ +inline void free_memory_pool_report(char * const start_free_memory, const int32_t size) { + int32_t max_cnt = -1, block_cnt = 0; + char *max_addr = nullptr; + // Find the longest block of test bytes in the buffer + for (int32_t i = 0; i < size; i++) { + char *addr = start_free_memory + i; + if (*addr == TEST_BYTE) { + const int32_t j = count_test_bytes(addr); + if (j > 8) { + SERIAL_ECHOLNPGM("Found ", j, " bytes free at ", hex_address(addr)); + if (j > max_cnt) { + max_cnt = j; + max_addr = addr; + } + i += j; + block_cnt++; + } + } + } + if (block_cnt > 1) SERIAL_ECHOLNPGM( + "\nMemory Corruption detected in free memory area." + "\nLargest free block is ", max_cnt, " bytes at ", hex_address(max_addr) + ); + SERIAL_ECHOLNPGM("check_for_free_memory_corruption() = ", check_for_free_memory_corruption(F("M100 F "))); +} + +#if ENABLED(M100_FREE_MEMORY_CORRUPTOR) + /** + * M100 C + * Corrupt locations in the free memory pool and report the corrupt addresses. + * This is useful to check the correctness of the M100 D and the M100 F commands. + */ + inline void corrupt_free_memory(char *start_free_memory, const uintptr_t size) { + start_free_memory += 8; + const uint32_t near_top = top_of_stack() - start_free_memory - 250, // -250 to avoid interrupt activity that's altered the stack. + j = near_top / (size + 1); + + SERIAL_ECHOLNPGM("Corrupting free memory block."); + for (uint32_t i = 1; i <= size; i++) { + char * const addr = start_free_memory + i * j; + *addr = i; + SERIAL_ECHOPGM("\nCorrupting address: ", hex_address(addr)); + } + SERIAL_EOL(); + } +#endif // M100_FREE_MEMORY_CORRUPTOR + +/** + * M100 I + * Init memory for the M100 tests. (Automatically applied on the first M100.) + */ +inline void init_free_memory(char *start_free_memory, int32_t size) { + SERIAL_ECHOLNPGM("Initializing free memory block.\n\n"); + + size -= 250; // -250 to avoid interrupt activity that's altered the stack. + if (size < 0) { + SERIAL_ECHOLNPGM("Unable to initialize.\n"); + return; + } + + start_free_memory += 8; // move a few bytes away from the heap just because we + // don't want to be altering memory that close to it. + memset(start_free_memory, TEST_BYTE, size); + + SERIAL_ECHO(size); + SERIAL_ECHOLNPGM(" bytes of memory initialized.\n"); + + for (int32_t i = 0; i < size; i++) { + if (start_free_memory[i] != TEST_BYTE) { + SERIAL_ECHOPGM("? address : ", hex_address(start_free_memory + i)); + SERIAL_ECHOLNPGM("=", hex_byte(start_free_memory[i])); + SERIAL_EOL(); + } + } +} + +/** + * M100: Free Memory Check + */ +void GcodeSuite::M100() { + char *sp = top_of_stack(); + if (!free_memory_end) free_memory_end = sp - MEMORY_END_CORRECTION; + SERIAL_ECHOPGM("\nbss_end : ", hex_address(end_bss)); + if (heaplimit) SERIAL_ECHOPGM("\n__heaplimit : ", hex_address(heaplimit)); + SERIAL_ECHOPGM("\nfree_memory_start : ", hex_address(free_memory_start)); + if (stacklimit) SERIAL_ECHOPGM("\n__stacklimit : ", hex_address(stacklimit)); + SERIAL_ECHOPGM("\nfree_memory_end : ", hex_address(free_memory_end)); + if (MEMORY_END_CORRECTION) + SERIAL_ECHOPGM("\nMEMORY_END_CORRECTION : ", MEMORY_END_CORRECTION); + SERIAL_ECHOLNPGM("\nStack Pointer : ", hex_address(sp)); + + // Always init on the first invocation of M100 + static bool m100_not_initialized = true; + if (m100_not_initialized || parser.seen('I')) { + m100_not_initialized = false; + init_free_memory(free_memory_start, free_memory_end - free_memory_start); + } + + #if ENABLED(M100_FREE_MEMORY_DUMPER) + if (parser.seen('D')) + return dump_free_memory(free_memory_start, free_memory_end); + #endif + + if (parser.seen('F')) + return free_memory_pool_report(free_memory_start, free_memory_end - free_memory_start); + + #if ENABLED(M100_FREE_MEMORY_CORRUPTOR) + if (parser.seen('C')) + return corrupt_free_memory(free_memory_start, parser.value_int()); + #endif +} + +#endif // M100_FREE_MEMORY_WATCHER diff --git a/Marlin/src/gcode/calibrate/M12.cpp b/Marlin/src/gcode/calibrate/M12.cpp new file mode 100644 index 0000000000..191ff22d7d --- /dev/null +++ b/Marlin/src/gcode/calibrate/M12.cpp @@ -0,0 +1,40 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + +#include "../gcode.h" +#include "../../module/planner.h" +#include "../../feature/closedloop.h" + +void GcodeSuite::M12() { + + planner.synchronize(); + + if (parser.seenval('S')) + closedloop.set(parser.value_int()); // Force a CLC set + +} + +#endif diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp new file mode 100644 index 0000000000..a6c6ff9dae --- /dev/null +++ b/Marlin/src/gcode/calibrate/M425.cpp @@ -0,0 +1,128 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(BACKLASH_GCODE) + +#include "../../feature/backlash.h" +#include "../../module/planner.h" + +#include "../gcode.h" + +/** + * M425: Enable and tune backlash correction. + * + * F Enable/disable/fade-out backlash correction (0.0 to 1.0) + * S Distance over which backlash correction is spread + * X Set the backlash distance on X (0 to disable) + * Y ... on Y + * Z ... on Z + * X If a backlash measurement was done on X, copy that value + * Y ... on Y + * Z ... on Z + * + * Type M425 without any arguments to show active values. + */ +void GcodeSuite::M425() { + bool noArgs = true; + + auto axis_can_calibrate = [](const uint8_t a) { + #define _CAN_CASE(N) case N##_AXIS: return AXIS_CAN_CALIBRATE(N); + switch (a) { + default: return false; + MAIN_AXIS_MAP(_CAN_CASE) + } + }; + + LOOP_NUM_AXES(a) { + if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) { + planner.synchronize(); + backlash.set_distance_mm((AxisEnum)a, parser.has_value() ? parser.value_axis_units((AxisEnum)a) : backlash.get_measurement((AxisEnum)a)); + noArgs = false; + } + } + + if (parser.seen('F')) { + planner.synchronize(); + backlash.set_correction(parser.value_float()); + noArgs = false; + } + + #ifdef BACKLASH_SMOOTHING_MM + if (parser.seen('S')) { + planner.synchronize(); + backlash.set_smoothing_mm(parser.value_linear_units()); + noArgs = false; + } + #endif + + if (noArgs) { + SERIAL_ECHOPGM("Backlash Correction "); + if (!backlash.get_correction_uint8()) SERIAL_ECHOPGM("in"); + SERIAL_ECHOLNPGM("active:"); + SERIAL_ECHOLNPGM(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)"); + SERIAL_ECHOPGM(" Backlash Distance (mm): "); + LOOP_NUM_AXES(a) if (axis_can_calibrate(a)) { + SERIAL_ECHOLNPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]), backlash.get_distance_mm((AxisEnum)a)); + } + + #ifdef BACKLASH_SMOOTHING_MM + SERIAL_ECHOLNPGM(" Smoothing (mm): S", backlash.get_smoothing_mm()); + #endif + + #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + SERIAL_ECHOPGM(" Average measured backlash (mm):"); + if (backlash.has_any_measurement()) { + LOOP_NUM_AXES(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) { + SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a]), backlash.get_measurement((AxisEnum)a)); + } + } + else + SERIAL_ECHOPGM(" (Not yet measured)"); + SERIAL_EOL(); + #endif + } +} + +void GcodeSuite::M425_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_BACKLASH_COMPENSATION)); + SERIAL_ECHOLNPGM_P( + PSTR(" M425 F"), backlash.get_correction() + #ifdef BACKLASH_SMOOTHING_MM + , PSTR(" S"), LINEAR_UNIT(backlash.get_smoothing_mm()) + #endif + , LIST_N(DOUBLE(NUM_AXES), + SP_X_STR, LINEAR_UNIT(backlash.get_distance_mm(X_AXIS)), + SP_Y_STR, LINEAR_UNIT(backlash.get_distance_mm(Y_AXIS)), + SP_Z_STR, LINEAR_UNIT(backlash.get_distance_mm(Z_AXIS)), + SP_I_STR, I_AXIS_UNIT(backlash.get_distance_mm(I_AXIS)), + SP_J_STR, J_AXIS_UNIT(backlash.get_distance_mm(J_AXIS)), + SP_K_STR, K_AXIS_UNIT(backlash.get_distance_mm(K_AXIS)), + SP_U_STR, U_AXIS_UNIT(backlash.get_distance_mm(U_AXIS)), + SP_V_STR, V_AXIS_UNIT(backlash.get_distance_mm(V_AXIS)), + SP_W_STR, W_AXIS_UNIT(backlash.get_distance_mm(W_AXIS)) + ) + ); +} + +#endif // BACKLASH_GCODE diff --git a/Marlin/src/gcode/calibrate/M48.cpp b/Marlin/src/gcode/calibrate/M48.cpp new file mode 100644 index 0000000000..bfb3b64007 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M48.cpp @@ -0,0 +1,285 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST) + +#include "../gcode.h" +#include "../../module/motion.h" +#include "../../module/probe.h" +#include "../../lcd/marlinui.h" + +#include "../../feature/bedlevel/bedlevel.h" + +#if HAS_LEVELING + #include "../../module/planner.h" +#endif + +#if HAS_PTC + #include "../../feature/probe_temp_comp.h" +#endif + +/** + * M48: Z probe repeatability measurement function. + * + * Usage: + * M48 + * P = Number of sampled points (4-50, default 10) + * X = Sample X position + * Y = Sample Y position + * V = Verbose level (0-4, default=1) + * E = Engage Z probe for each reading + * L = Number of legs of movement before probe + * S = Schizoid (Or Star if you prefer) + * C = Enable probe temperature compensation (0 or 1, default 1) + * + * This function requires the machine to be homed before invocation. + */ + +void GcodeSuite::M48() { + + if (homing_needed_error()) return; + + const int8_t verbose_level = parser.byteval('V', 1); + if (!WITHIN(verbose_level, 0, 4)) { + SERIAL_ECHOLNPGM("?(V)erbose level implausible (0-4)."); + return; + } + + if (verbose_level > 0) + SERIAL_ECHOLNPGM("M48 Z-Probe Repeatability Test"); + + const int8_t n_samples = parser.byteval('P', 10); + if (!WITHIN(n_samples, 4, 50)) { + SERIAL_ECHOLNPGM("?Sample size not plausible (4-50)."); + return; + } + + const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE; + + // Test at the current position by default, overridden by X and Y + const xy_pos_t test_position = { + parser.linearval('X', current_position.x + probe.offset_xy.x), // If no X use the probe's current X position + parser.linearval('Y', current_position.y + probe.offset_xy.y) // If no Y, ditto + }; + + if (!probe.can_reach(test_position)) { + ui.set_status(GET_TEXT_F(MSG_M48_OUT_OF_BOUNDS), 99); + SERIAL_ECHOLNPGM("? (X,Y) out of bounds."); + return; + } + + // Get the number of leg moves per test-point + bool seen_L = parser.seen('L'); + uint8_t n_legs = seen_L ? parser.value_byte() : 0; + if (n_legs > 15) { + SERIAL_ECHOLNPGM("?Legs of movement implausible (0-15)."); + return; + } + if (n_legs == 1) n_legs = 2; + + // Schizoid motion as an optional stress-test + const bool schizoid_flag = parser.boolval('S'); + if (schizoid_flag && !seen_L) n_legs = 7; + + if (verbose_level > 2) + SERIAL_ECHOLNPGM("Positioning the probe..."); + + // Always disable Bed Level correction before probing... + + #if HAS_LEVELING + const bool was_enabled = planner.leveling_active; + set_bed_leveling_enabled(false); + #endif + + TERN_(HAS_PTC, ptc.set_enabled(parser.boolval('C', true))); + + // Work with reasonable feedrates + remember_feedrate_scaling_off(); + + // Working variables + float mean = 0.0, // The average of all points so far, used to calculate deviation + sigma = 0.0, // Standard deviation of all points so far + min = 99999.9, // Smallest value sampled so far + max = -99999.9, // Largest value sampled so far + sample_set[n_samples]; // Storage for sampled values + + auto dev_report = [](const bool verbose, const_float_t mean, const_float_t sigma, const_float_t min, const_float_t max, const bool final=false) { + if (verbose) { + SERIAL_ECHOPAIR_F("Mean: ", mean, 6); + if (!final) SERIAL_ECHOPAIR_F(" Sigma: ", sigma, 6); + SERIAL_ECHOPAIR_F(" Min: ", min, 3); + SERIAL_ECHOPAIR_F(" Max: ", max, 3); + SERIAL_ECHOPAIR_F(" Range: ", max-min, 3); + if (final) SERIAL_EOL(); + } + if (final) { + SERIAL_ECHOLNPAIR_F("Standard Deviation: ", sigma, 6); + SERIAL_EOL(); + } + }; + + // Move to the first point, deploy, and probe + const float t = probe.probe_at_point(test_position, raise_after, verbose_level); + bool probing_good = !isnan(t); + + if (probing_good) { + randomSeed(millis()); + + float sample_sum = 0.0; + + LOOP_L_N(n, n_samples) { + #if HAS_STATUS_MESSAGE + // Display M48 progress in the status bar + ui.status_printf(0, F(S_FMT ": %d/%d"), GET_TEXT(MSG_M48_POINT), int(n + 1), int(n_samples)); + #endif + + // When there are "legs" of movement move around the point before probing + if (n_legs) { + + // Pick a random direction, starting angle, and radius + const int dir = (random(0, 10) > 5.0) ? -1 : 1; // clockwise or counter clockwise + float angle = random(0, 360); + const float radius = random( + #if ENABLED(DELTA) + int(0.1250000000 * (DELTA_PRINTABLE_RADIUS)), + int(0.3333333333 * (DELTA_PRINTABLE_RADIUS)) + #else + int(5), int(0.125 * _MIN(X_BED_SIZE, Y_BED_SIZE)) + #endif + ); + if (verbose_level > 3) { + SERIAL_ECHOPGM("Start radius:", radius, " angle:", angle, " dir:"); + if (dir > 0) SERIAL_CHAR('C'); + SERIAL_ECHOLNPGM("CW"); + } + + // Move from leg to leg in rapid succession + LOOP_L_N(l, n_legs - 1) { + + // Move some distance around the perimeter + float delta_angle; + if (schizoid_flag) { + // The points of a 5 point star are 72 degrees apart. + // Skip a point and go to the next one on the star. + delta_angle = dir * 2.0 * 72.0; + } + else { + // Just move further along the perimeter. + delta_angle = dir * (float)random(25, 45); + } + angle += delta_angle; + + // Trig functions work without clamping, but just to be safe... + while (angle > 360.0) angle -= 360.0; + while (angle < 0.0) angle += 360.0; + + // Choose the next position as an offset to chosen test position + const xy_pos_t noz_pos = test_position - probe.offset_xy; + xy_pos_t next_pos = { + noz_pos.x + float(cos(RADIANS(angle))) * radius, + noz_pos.y + float(sin(RADIANS(angle))) * radius + }; + + #if ENABLED(DELTA) + // If the probe can't reach the point on a round bed... + // Simply scale the numbers to bring them closer to origin. + while (!probe.can_reach(next_pos)) { + next_pos *= 0.8f; + if (verbose_level > 3) + SERIAL_ECHOLNPGM_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y); + } + #elif HAS_ENDSTOPS + // For a rectangular bed just keep the probe in bounds + LIMIT(next_pos.x, X_MIN_POS, X_MAX_POS); + LIMIT(next_pos.y, Y_MIN_POS, Y_MAX_POS); + #endif + + if (verbose_level > 3) + SERIAL_ECHOLNPGM_P(PSTR("Going to: X"), next_pos.x, SP_Y_STR, next_pos.y); + + do_blocking_move_to_xy(next_pos); + } // n_legs loop + } // n_legs + + // Probe a single point + const float pz = probe.probe_at_point(test_position, raise_after, 0); + + // Break the loop if the probe fails + probing_good = !isnan(pz); + if (!probing_good) break; + + // Store the new sample + sample_set[n] = pz; + + // Keep track of the largest and smallest samples + NOMORE(min, pz); + NOLESS(max, pz); + + // Get the mean value of all samples thus far + sample_sum += pz; + mean = sample_sum / (n + 1); + + // Calculate the standard deviation so far. + // The value after the last sample will be the final output. + float dev_sum = 0.0; + LOOP_LE_N(j, n) dev_sum += sq(sample_set[j] - mean); + sigma = SQRT(dev_sum / (n + 1)); + + if (verbose_level > 1) { + SERIAL_ECHO(n + 1); + SERIAL_ECHOPGM(" of ", n_samples); + SERIAL_ECHOPAIR_F(": z: ", pz, 3); + SERIAL_CHAR(' '); + dev_report(verbose_level > 2, mean, sigma, min, max); + SERIAL_EOL(); + } + + } // n_samples loop + } + + probe.stow(); + + if (probing_good) { + SERIAL_ECHOLNPGM("Finished!"); + dev_report(verbose_level > 0, mean, sigma, min, max, true); + + #if HAS_STATUS_MESSAGE + // Display M48 results in the status bar + char sigma_str[8]; + ui.status_printf(0, F(S_FMT ": %s"), GET_TEXT(MSG_M48_DEVIATION), dtostrf(sigma, 2, 6, sigma_str)); + #endif + } + + restore_feedrate_and_scaling(); + + // Re-enable bed level correction if it had been on + TERN_(HAS_LEVELING, set_bed_leveling_enabled(was_enabled)); + + // Re-enable probe temperature correction + TERN_(HAS_PTC, ptc.set_enabled(true)); + + report_current_position(); +} + +#endif // Z_MIN_PROBE_REPEATABILITY_TEST diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp new file mode 100644 index 0000000000..a8e02831e2 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M665.cpp @@ -0,0 +1,186 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if IS_KINEMATIC + +#include "../gcode.h" +#include "../../module/motion.h" + +#if ENABLED(DELTA) + + #include "../../module/delta.h" + + /** + * M665: Set delta configurations + * + * H = delta height + * L = diagonal rod + * R = delta radius + * S = segments per second + * X = Alpha (Tower 1) angle trim + * Y = Beta (Tower 2) angle trim + * Z = Gamma (Tower 3) angle trim + * A = Alpha (Tower 1) diagonal rod trim + * B = Beta (Tower 2) diagonal rod trim + * C = Gamma (Tower 3) diagonal rod trim + */ + void GcodeSuite::M665() { + if (!parser.seen_any()) return M665_report(); + + if (parser.seenval('H')) delta_height = parser.value_linear_units(); + if (parser.seenval('L')) delta_diagonal_rod = parser.value_linear_units(); + if (parser.seenval('R')) delta_radius = parser.value_linear_units(); + if (parser.seenval('S')) segments_per_second = parser.value_float(); + if (parser.seenval('X')) delta_tower_angle_trim.a = parser.value_float(); + if (parser.seenval('Y')) delta_tower_angle_trim.b = parser.value_float(); + if (parser.seenval('Z')) delta_tower_angle_trim.c = parser.value_float(); + if (parser.seenval('A')) delta_diagonal_rod_trim.a = parser.value_float(); + if (parser.seenval('B')) delta_diagonal_rod_trim.b = parser.value_float(); + if (parser.seenval('C')) delta_diagonal_rod_trim.c = parser.value_float(); + recalc_delta_settings(); + } + + void GcodeSuite::M665_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_DELTA_SETTINGS)); + SERIAL_ECHOLNPGM_P( + PSTR(" M665 L"), LINEAR_UNIT(delta_diagonal_rod) + , PSTR(" R"), LINEAR_UNIT(delta_radius) + , PSTR(" H"), LINEAR_UNIT(delta_height) + , PSTR(" S"), segments_per_second + , SP_X_STR, LINEAR_UNIT(delta_tower_angle_trim.a) + , SP_Y_STR, LINEAR_UNIT(delta_tower_angle_trim.b) + , SP_Z_STR, LINEAR_UNIT(delta_tower_angle_trim.c) + , PSTR(" A"), LINEAR_UNIT(delta_diagonal_rod_trim.a) + , PSTR(" B"), LINEAR_UNIT(delta_diagonal_rod_trim.b) + , PSTR(" C"), LINEAR_UNIT(delta_diagonal_rod_trim.c) + ); + } + +#elif IS_SCARA + + #include "../../module/scara.h" + + /** + * M665: Set SCARA settings + * + * Parameters: + * + * S[segments] - Segments-per-second + * + * Without NO_WORKSPACE_OFFSETS: + * + * P[theta-psi-offset] - Theta-Psi offset, added to the shoulder (A/X) angle + * T[theta-offset] - Theta offset, added to the elbow (B/Y) angle + * Z[z-offset] - Z offset, added to Z + * + * A, P, and X are all aliases for the shoulder angle + * B, T, and Y are all aliases for the elbow angle + */ + void GcodeSuite::M665() { + if (!parser.seen_any()) return M665_report(); + + if (parser.seenval('S')) segments_per_second = parser.value_float(); + + #if HAS_SCARA_OFFSET + + if (parser.seenval('Z')) scara_home_offset.z = parser.value_linear_units(); + + const bool hasA = parser.seenval('A'), hasP = parser.seenval('P'), hasX = parser.seenval('X'); + const uint8_t sumAPX = hasA + hasP + hasX; + if (sumAPX) { + if (sumAPX == 1) + scara_home_offset.a = parser.value_float(); + else { + SERIAL_ERROR_MSG("Only one of A, P, or X is allowed."); + return; + } + } + + const bool hasB = parser.seenval('B'), hasT = parser.seenval('T'), hasY = parser.seenval('Y'); + const uint8_t sumBTY = hasB + hasT + hasY; + if (sumBTY) { + if (sumBTY == 1) + scara_home_offset.b = parser.value_float(); + else { + SERIAL_ERROR_MSG("Only one of B, T, or Y is allowed."); + return; + } + } + + #endif // HAS_SCARA_OFFSET + } + + void GcodeSuite::M665_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_SCARA_SETTINGS " (" STR_S_SEG_PER_SEC TERN_(HAS_SCARA_OFFSET, " " STR_SCARA_P_T_Z) ")")); + SERIAL_ECHOLNPGM_P( + PSTR(" M665 S"), segments_per_second + #if HAS_SCARA_OFFSET + , SP_P_STR, scara_home_offset.a + , SP_T_STR, scara_home_offset.b + , SP_Z_STR, LINEAR_UNIT(scara_home_offset.z) + #endif + ); + } + +#elif ENABLED(POLARGRAPH) + + #include "../../module/polargraph.h" + + /** + * M665: Set POLARGRAPH settings + * + * Parameters: + * + * S[segments] - Segments-per-second + * L[left] - Work area minimum X + * R[right] - Work area maximum X + * T[top] - Work area maximum Y + * B[bottom] - Work area minimum Y + * H[length] - Maximum belt length + */ + void GcodeSuite::M665() { + if (!parser.seen_any()) return M665_report(); + if (parser.seenval('S')) segments_per_second = parser.value_float(); + if (parser.seenval('L')) draw_area_min.x = parser.value_linear_units(); + if (parser.seenval('R')) draw_area_max.x = parser.value_linear_units(); + if (parser.seenval('T')) draw_area_max.y = parser.value_linear_units(); + if (parser.seenval('B')) draw_area_min.y = parser.value_linear_units(); + if (parser.seenval('H')) polargraph_max_belt_len = parser.value_linear_units(); + } + + void GcodeSuite::M665_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_POLARGRAPH_SETTINGS)); + SERIAL_ECHOLNPGM_P( + PSTR(" M665 S"), LINEAR_UNIT(segments_per_second), + PSTR(" L"), LINEAR_UNIT(draw_area_min.x), + PSTR(" R"), LINEAR_UNIT(draw_area_max.x), + SP_T_STR, LINEAR_UNIT(draw_area_max.y), + SP_B_STR, LINEAR_UNIT(draw_area_min.y), + PSTR(" H"), LINEAR_UNIT(polargraph_max_belt_len) + ); + } + +#endif + +#endif // IS_KINEMATIC diff --git a/Marlin/src/gcode/calibrate/M666.cpp b/Marlin/src/gcode/calibrate/M666.cpp new file mode 100644 index 0000000000..90fad1811c --- /dev/null +++ b/Marlin/src/gcode/calibrate/M666.cpp @@ -0,0 +1,133 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(DELTA) || HAS_EXTRA_ENDSTOPS + +#include "../gcode.h" + +#if ENABLED(DELTA) + #include "../../module/delta.h" + #include "../../module/motion.h" +#else + #include "../../module/endstops.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +#if ENABLED(DELTA) + + /** + * M666: Set delta endstop adjustment + */ + void GcodeSuite::M666() { + DEBUG_SECTION(log_M666, "M666", DEBUGGING(LEVELING)); + bool is_err = false, is_set = false; + LOOP_NUM_AXES(i) { + if (parser.seenval(AXIS_CHAR(i))) { + is_set = true; + const float v = parser.value_linear_units(); + if (v > 0) + is_err = true; + else { + delta_endstop_adj[i] = v; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("delta_endstop_adj[", AS_CHAR(AXIS_CHAR(i)), "] = ", v); + } + } + } + if (is_err) SERIAL_ECHOLNPGM("?M666 offsets must be <= 0"); + if (!is_set) M666_report(); + } + + void GcodeSuite::M666_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_ENDSTOP_ADJUSTMENT)); + SERIAL_ECHOLNPGM_P( + PSTR(" M666 X"), LINEAR_UNIT(delta_endstop_adj.a) + , SP_Y_STR, LINEAR_UNIT(delta_endstop_adj.b) + , SP_Z_STR, LINEAR_UNIT(delta_endstop_adj.c) + ); + } + +#else + + /** + * M666: Set Dual Endstops offsets for X, Y, and/or Z. + * With no parameters report current offsets. + * + * For Triple / Quad Z Endstops: + * Set Z2 Only: M666 S2 Z + * Set Z3 Only: M666 S3 Z + * Set Z4 Only: M666 S4 Z + * Set All: M666 Z + */ + void GcodeSuite::M666() { + if (!parser.seen_any()) return M666_report(); + + #if ENABLED(X_DUAL_ENDSTOPS) + if (parser.seenval('X')) endstops.x2_endstop_adj = parser.value_linear_units(); + #endif + #if ENABLED(Y_DUAL_ENDSTOPS) + if (parser.seenval('Y')) endstops.y2_endstop_adj = parser.value_linear_units(); + #endif + #if ENABLED(Z_MULTI_ENDSTOPS) + if (parser.seenval('Z')) { + const float z_adj = parser.value_linear_units(); + #if NUM_Z_STEPPERS == 2 + endstops.z2_endstop_adj = z_adj; + #else + const int ind = parser.intval('S'); + #define _SET_ZADJ(N) if (!ind || ind == N) endstops.z##N##_endstop_adj = z_adj; + REPEAT_S(2, INCREMENT(NUM_Z_STEPPERS), _SET_ZADJ) + #endif + } + #endif + } + + void GcodeSuite::M666_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_ENDSTOP_ADJUSTMENT)); + SERIAL_ECHOPGM(" M666"); + #if ENABLED(X_DUAL_ENDSTOPS) + SERIAL_ECHOLNPGM_P(SP_X_STR, LINEAR_UNIT(endstops.x2_endstop_adj)); + #endif + #if ENABLED(Y_DUAL_ENDSTOPS) + SERIAL_ECHOLNPGM_P(SP_Y_STR, LINEAR_UNIT(endstops.y2_endstop_adj)); + #endif + #if ENABLED(Z_MULTI_ENDSTOPS) + #if NUM_Z_STEPPERS >= 3 + SERIAL_ECHOPGM(" S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj)); + report_echo_start(forReplay); + SERIAL_ECHOPGM(" M666 S3 Z", LINEAR_UNIT(endstops.z3_endstop_adj)); + #if NUM_Z_STEPPERS >= 4 + report_echo_start(forReplay); + SERIAL_ECHOPGM(" M666 S4 Z", LINEAR_UNIT(endstops.z4_endstop_adj)); + #endif + #else + SERIAL_ECHOLNPGM_P(SP_Z_STR, LINEAR_UNIT(endstops.z2_endstop_adj)); + #endif + #endif + } + +#endif // HAS_EXTRA_ENDSTOPS + +#endif // DELTA || HAS_EXTRA_ENDSTOPS diff --git a/Marlin/src/gcode/calibrate/M852.cpp b/Marlin/src/gcode/calibrate/M852.cpp new file mode 100644 index 0000000000..6c661dcd61 --- /dev/null +++ b/Marlin/src/gcode/calibrate/M852.cpp @@ -0,0 +1,106 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SKEW_CORRECTION_GCODE) + +#include "../gcode.h" +#include "../../module/planner.h" + +/** + * M852: Get or set the machine skew factors. Reports current values with no arguments. + * + * S[xy_factor] - Alias for 'I' + * I[xy_factor] - New XY skew factor + * J[xz_factor] - New XZ skew factor + * K[yz_factor] - New YZ skew factor + */ +void GcodeSuite::M852() { + if (!parser.seen("SIJK")) return M852_report(); + + uint8_t badval = 0, setval = 0; + + if (parser.seenval('I') || parser.seenval('S')) { + const float value = parser.value_linear_units(); + if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) { + if (planner.skew_factor.xy != value) { + planner.skew_factor.xy = value; + ++setval; + } + } + else + ++badval; + } + + #if ENABLED(SKEW_CORRECTION_FOR_Z) + + if (parser.seenval('J')) { + const float value = parser.value_linear_units(); + if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) { + if (planner.skew_factor.xz != value) { + planner.skew_factor.xz = value; + ++setval; + } + } + else + ++badval; + } + + if (parser.seenval('K')) { + const float value = parser.value_linear_units(); + if (WITHIN(value, SKEW_FACTOR_MIN, SKEW_FACTOR_MAX)) { + if (planner.skew_factor.yz != value) { + planner.skew_factor.yz = value; + ++setval; + } + } + else + ++badval; + } + + #endif + + if (badval) + SERIAL_ECHOLNPGM(STR_SKEW_MIN " " STRINGIFY(SKEW_FACTOR_MIN) " " STR_SKEW_MAX " " STRINGIFY(SKEW_FACTOR_MAX)); + + // When skew is changed the current position changes + if (setval) { + set_current_from_steppers_for_axis(ALL_AXES_ENUM); + sync_plan_position(); + report_current_position(); + } +} + +void GcodeSuite::M852_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_SKEW_FACTOR)); + SERIAL_ECHOPAIR_F(" M852 I", planner.skew_factor.xy, 6); + #if ENABLED(SKEW_CORRECTION_FOR_Z) + SERIAL_ECHOPAIR_F(" J", planner.skew_factor.xz, 6); + SERIAL_ECHOPAIR_F(" K", planner.skew_factor.yz, 6); + SERIAL_ECHOLNPGM(" ; XY, XZ, YZ"); + #else + SERIAL_ECHOLNPGM(" ; XY"); + #endif +} + +#endif // SKEW_CORRECTION_GCODE diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp new file mode 100644 index 0000000000..cda3177d93 --- /dev/null +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -0,0 +1,356 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../MarlinCore.h" +#include "../../module/planner.h" + +#if DISABLED(NO_VOLUMETRICS) + + /** + * M200: Set filament diameter and set E axis units to cubic units + * + * T - Optional extruder number. Current extruder if omitted. + * D - Set filament diameter and enable. D0 disables volumetric. + * S - Turn volumetric ON or OFF. + * + * With VOLUMETRIC_EXTRUDER_LIMIT: + * + * L - Volumetric extruder limit (in mm^3/sec). L0 disables the limit. + */ + void GcodeSuite::M200() { + if (!parser.seen("DST" TERN_(VOLUMETRIC_EXTRUDER_LIMIT, "L"))) + return M200_report(); + + const int8_t target_extruder = get_target_extruder_from_command(); + if (target_extruder < 0) return; + + bool vol_enable = parser.volumetric_enabled, + can_enable = true; + + if (parser.seenval('D')) { + const float dval = parser.value_linear_units(); + if (dval) { // Set filament size for volumetric calculation + planner.set_filament_size(target_extruder, dval); + vol_enable = true; // Dn = enable for compatibility + } + else + can_enable = false; // D0 = disable for compatibility + } + + // Enable or disable with S1 / S0 + parser.volumetric_enabled = can_enable && parser.boolval('S', vol_enable); + + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + if (parser.seenval('L')) { + // Set volumetric limit (in mm^3/sec) + const float lval = parser.value_float(); + if (WITHIN(lval, 0, 20)) + planner.set_volumetric_extruder_limit(target_extruder, lval); + else + SERIAL_ECHOLNPGM("?L value out of range (0-20)."); + } + #endif + + planner.calculate_volumetric_multipliers(); + } + + void GcodeSuite::M200_report(const bool forReplay/*=true*/) { + if (!forReplay) { + report_heading(forReplay, F(STR_FILAMENT_SETTINGS), false); + if (!parser.volumetric_enabled) SERIAL_ECHOPGM(" (Disabled):"); + SERIAL_EOL(); + report_echo_start(forReplay); + } + + #if EXTRUDERS == 1 + { + SERIAL_ECHOLNPGM( + " M200 S", parser.volumetric_enabled, " D", LINEAR_UNIT(planner.filament_size[0]) + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + , " L", LINEAR_UNIT(planner.volumetric_extruder_limit[0]) + #endif + ); + } + #else + SERIAL_ECHOLNPGM(" M200 S", parser.volumetric_enabled); + EXTRUDER_LOOP() { + report_echo_start(forReplay); + SERIAL_ECHOLNPGM( + " M200 T", e, " D", LINEAR_UNIT(planner.filament_size[e]) + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + , " L", LINEAR_UNIT(planner.volumetric_extruder_limit[e]) + #endif + ); + } + #endif + } + +#endif // !NO_VOLUMETRICS + +/** + * M201: Set max acceleration in units/s^2 for print moves. + * + * X : Max Acceleration for X + * Y : Max Acceleration for Y + * Z : Max Acceleration for Z + * ... : etc + * E : Max Acceleration for Extruder + * T : Extruder index to set + * + * With XY_FREQUENCY_LIMIT: + * F : Frequency limit for XY...IJKUVW + * S : Speed factor percentage. + */ +void GcodeSuite::M201() { + if (!parser.seen("T" STR_AXES_LOGICAL TERN_(XY_FREQUENCY_LIMIT, "FS"))) + return M201_report(); + + const int8_t target_extruder = get_target_extruder_from_command(); + if (target_extruder < 0) return; + + #ifdef XY_FREQUENCY_LIMIT + if (parser.seenval('F')) planner.set_frequency_limit(parser.value_byte()); + if (parser.seenval('S')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100; + #endif + + LOOP_LOGICAL_AXES(i) { + if (parser.seenval(AXIS_CHAR(i))) { + const AxisEnum a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? E_AXIS_N(target_extruder) : (AxisEnum)i), (AxisEnum)i); + planner.set_max_acceleration(a, parser.value_axis_units(a)); + } + } +} + +void GcodeSuite::M201_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_MAX_ACCELERATION)); + SERIAL_ECHOLNPGM_P( + LIST_N(DOUBLE(NUM_AXES), + PSTR(" M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]), + SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]), + SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]), + SP_I_STR, I_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[I_AXIS]), + SP_J_STR, J_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[J_AXIS]), + SP_K_STR, K_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[K_AXIS]), + SP_U_STR, U_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[U_AXIS]), + SP_V_STR, V_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[V_AXIS]), + SP_W_STR, W_AXIS_UNIT(planner.settings.max_acceleration_mm_per_s2[W_AXIS]) + ) + #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS]) + #endif + ); + #if ENABLED(DISTINCT_E_FACTORS) + LOOP_L_N(i, E_STEPPERS) { + report_echo_start(forReplay); + SERIAL_ECHOLNPGM_P( + PSTR(" M201 T"), i + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(i)]) + ); + } + #endif +} + +/** + * M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec + * + * With multiple extruders use T to specify which one. + */ +void GcodeSuite::M203() { + if (!parser.seen("T" STR_AXES_LOGICAL)) + return M203_report(); + + const int8_t target_extruder = get_target_extruder_from_command(); + if (target_extruder < 0) return; + + LOOP_LOGICAL_AXES(i) + if (parser.seenval(AXIS_CHAR(i))) { + const AxisEnum a = TERN(HAS_EXTRUDERS, (i == E_AXIS ? E_AXIS_N(target_extruder) : (AxisEnum)i), (AxisEnum)i); + planner.set_max_feedrate(a, parser.value_axis_units(a)); + } +} + +void GcodeSuite::M203_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_MAX_FEEDRATES)); + SERIAL_ECHOLNPGM_P( + LIST_N(DOUBLE(NUM_AXES), + PSTR(" M203 X"), LINEAR_UNIT(planner.settings.max_feedrate_mm_s[X_AXIS]), + SP_Y_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Y_AXIS]), + SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]), + SP_I_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[I_AXIS]), + SP_J_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[J_AXIS]), + SP_K_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[K_AXIS]), + SP_U_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[U_AXIS]), + SP_V_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[V_AXIS]), + SP_W_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[W_AXIS]) + ) + #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS]) + #endif + ); + #if ENABLED(DISTINCT_E_FACTORS) + LOOP_L_N(i, E_STEPPERS) { + if (!forReplay) SERIAL_ECHO_START(); + SERIAL_ECHOLNPGM_P( + PSTR(" M203 T"), i + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS_N(i)]) + ); + } + #endif +} + +/** + * M204: Set Accelerations in units/sec^2 (M204 P1200 R3000 T3000) + * + * P Printing moves + * R Retract only (no X, Y, Z) moves + * T Travel (non printing) moves + */ +void GcodeSuite::M204() { + if (!parser.seen("PRST")) + return M204_report(); + else { + //planner.synchronize(); + // 'S' for legacy compatibility. Should NOT BE USED for new development + if (parser.seenval('S')) planner.settings.travel_acceleration = planner.settings.acceleration = parser.value_linear_units(); + if (parser.seenval('P')) planner.settings.acceleration = parser.value_linear_units(); + if (parser.seenval('R')) planner.settings.retract_acceleration = parser.value_linear_units(); + if (parser.seenval('T')) planner.settings.travel_acceleration = parser.value_linear_units(); + } +} + +void GcodeSuite::M204_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_ACCELERATION_P_R_T)); + SERIAL_ECHOLNPGM_P( + PSTR(" M204 P"), LINEAR_UNIT(planner.settings.acceleration) + , PSTR(" R"), LINEAR_UNIT(planner.settings.retract_acceleration) + , SP_T_STR, LINEAR_UNIT(planner.settings.travel_acceleration) + ); +} + +#if AXIS_COLLISION('B') + #define M205_MIN_SEG_TIME_PARAM 'D' + #define M205_MIN_SEG_TIME_STR "D" + #warning "Use 'M205 D' for Minimum Segment Time." +#else + #define M205_MIN_SEG_TIME_PARAM 'B' + #define M205_MIN_SEG_TIME_STR "B" +#endif + +/** + * M205: Set Advanced Settings + * + * B<µs> : Min Segment Time + * S : Min Feed Rate + * T : Min Travel Feed Rate + * + * With CLASSIC_JERK: + * X : Max X Jerk + * Y : Max Y Jerk + * Z : Max Z Jerk + * ... : etc + * E : Max E Jerk + * + * Without CLASSIC_JERK: + * J(mm) : Junction Deviation + */ +void GcodeSuite::M205() { + if (!parser.seen_any()) return M205_report(); + + //planner.synchronize(); + if (parser.seenval(M205_MIN_SEG_TIME_PARAM)) planner.settings.min_segment_time_us = parser.value_ulong(); + if (parser.seenval('S')) planner.settings.min_feedrate_mm_s = parser.value_linear_units(); + if (parser.seenval('T')) planner.settings.min_travel_feedrate_mm_s = parser.value_linear_units(); + #if HAS_JUNCTION_DEVIATION + #if HAS_CLASSIC_JERK && AXIS_COLLISION('J') + #error "Can't set_max_jerk for 'J' axis because 'J' is used for Junction Deviation." + #endif + if (parser.seenval('J')) { + const float junc_dev = parser.value_linear_units(); + if (WITHIN(junc_dev, 0.01f, 0.3f)) { + planner.junction_deviation_mm = junc_dev; + TERN_(LIN_ADVANCE, planner.recalculate_max_e_jerk()); + } + else + SERIAL_ERROR_MSG("?J out of range (0.01 to 0.3)"); + } + #endif + #if HAS_CLASSIC_JERK + bool seenZ = false; + LOGICAL_AXIS_CODE( + if (parser.seenval('E')) planner.set_max_jerk(E_AXIS, parser.value_linear_units()), + if (parser.seenval('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()), + if (parser.seenval('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()), + if ((seenZ = parser.seenval('Z'))) planner.set_max_jerk(Z_AXIS, parser.value_linear_units()), + if (parser.seenval(AXIS4_NAME)) planner.set_max_jerk(I_AXIS, parser.TERN(AXIS4_ROTATES, value_float, value_linear_units)()), + if (parser.seenval(AXIS5_NAME)) planner.set_max_jerk(J_AXIS, parser.TERN(AXIS5_ROTATES, value_float, value_linear_units)()), + if (parser.seenval(AXIS6_NAME)) planner.set_max_jerk(K_AXIS, parser.TERN(AXIS6_ROTATES, value_float, value_linear_units)()), + if (parser.seenval(AXIS7_NAME)) planner.set_max_jerk(U_AXIS, parser.TERN(AXIS7_ROTATES, value_float, value_linear_units)()), + if (parser.seenval(AXIS8_NAME)) planner.set_max_jerk(V_AXIS, parser.TERN(AXIS8_ROTATES, value_float, value_linear_units)()), + if (parser.seenval(AXIS9_NAME)) planner.set_max_jerk(W_AXIS, parser.TERN(AXIS9_ROTATES, value_float, value_linear_units)()) + ); + #if HAS_MESH && DISABLED(LIMITED_JERK_EDITING) + if (seenZ && planner.max_jerk.z <= 0.1f) + SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses."); + #endif + #endif // HAS_CLASSIC_JERK +} + +void GcodeSuite::M205_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F( + "Advanced (" M205_MIN_SEG_TIME_STR " S T" + TERN_(HAS_JUNCTION_DEVIATION, " J") + #if HAS_CLASSIC_JERK + NUM_AXIS_GANG( + " X", " Y", " Z", + " " STR_I "", " " STR_J "", " " STR_K "", + " " STR_U "", " " STR_V "", " " STR_W "" + ) + #endif + TERN_(HAS_CLASSIC_E_JERK, " E") + ")" + )); + SERIAL_ECHOLNPGM_P( + PSTR(" M205 " M205_MIN_SEG_TIME_STR), LINEAR_UNIT(planner.settings.min_segment_time_us) + , PSTR(" S"), LINEAR_UNIT(planner.settings.min_feedrate_mm_s) + , SP_T_STR, LINEAR_UNIT(planner.settings.min_travel_feedrate_mm_s) + #if HAS_JUNCTION_DEVIATION + , PSTR(" J"), LINEAR_UNIT(planner.junction_deviation_mm) + #endif + #if HAS_CLASSIC_JERK + , LIST_N(DOUBLE(NUM_AXES), + SP_X_STR, LINEAR_UNIT(planner.max_jerk.x), + SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y), + SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z), + SP_I_STR, I_AXIS_UNIT(planner.max_jerk.i), + SP_J_STR, J_AXIS_UNIT(planner.max_jerk.j), + SP_K_STR, K_AXIS_UNIT(planner.max_jerk.k), + SP_U_STR, U_AXIS_UNIT(planner.max_jerk.u), + SP_V_STR, V_AXIS_UNIT(planner.max_jerk.v), + SP_W_STR, W_AXIS_UNIT(planner.max_jerk.w) + ) + #if HAS_CLASSIC_E_JERK + , SP_E_STR, LINEAR_UNIT(planner.max_jerk.e) + #endif + #endif + ); +} diff --git a/Marlin/src/gcode/config/M217.cpp b/Marlin/src/gcode/config/M217.cpp new file mode 100644 index 0000000000..b360739e21 --- /dev/null +++ b/Marlin/src/gcode/config/M217.cpp @@ -0,0 +1,216 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if HAS_MULTI_EXTRUDER + +#include "../gcode.h" +#include "../../module/tool_change.h" + +#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + #include "../../module/motion.h" +#endif + +#include "../../MarlinCore.h" // for SP_X_STR, etc. + +/** + * M217 - Set toolchange parameters + * + * // Tool change command + * Q Prime active tool and exit + * + * // Tool change settings + * S[linear] Swap length + * B[linear] Extra Swap resume length + * E[linear] Extra Prime length (as used by M217 Q) + * G[linear] Cutting wipe retract length (<=100mm) + * R[linear/min] Retract speed + * U[linear/min] UnRetract speed + * P[linear/min] Prime speed + * V[linear] 0/1 Enable auto prime first extruder used + * W[linear] 0/1 Enable park & Z Raise + * X[linear] Park X (Requires TOOLCHANGE_PARK) + * Y[linear] Park Y (Requires TOOLCHANGE_PARK and NUM_AXES >= 2) + * I[linear] Park I (Requires TOOLCHANGE_PARK and NUM_AXES >= 4) + * J[linear] Park J (Requires TOOLCHANGE_PARK and NUM_AXES >= 5) + * K[linear] Park K (Requires TOOLCHANGE_PARK and NUM_AXES >= 6) + * C[linear] Park U (Requires TOOLCHANGE_PARK and NUM_AXES >= 7) + * H[linear] Park V (Requires TOOLCHANGE_PARK and NUM_AXES >= 8) + * O[linear] Park W (Requires TOOLCHANGE_PARK and NUM_AXES >= 9) + * Z[linear] Z Raise + * F[speed] Fan Speed 0-255 + * D[seconds] Fan time + * + * Tool migration settings + * A[0|1] Enable auto-migration on runout + * L[index] Last extruder to use for auto-migration + * + * Tool migration command + * T[index] Migrate to next extruder or the given extruder + */ +void GcodeSuite::M217() { + + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + + static constexpr float max_extrude = TERN(PREVENT_LENGTHY_EXTRUDE, EXTRUDE_MAXLENGTH, 500); + + if (parser.seen('Q')) { tool_change_prime(); return; } + + if (parser.seenval('S')) { const float v = parser.value_linear_units(); toolchange_settings.swap_length = constrain(v, 0, max_extrude); } + if (parser.seenval('B')) { const float v = parser.value_linear_units(); toolchange_settings.extra_resume = constrain(v, -10, 10); } + if (parser.seenval('E')) { const float v = parser.value_linear_units(); toolchange_settings.extra_prime = constrain(v, 0, max_extrude); } + if (parser.seenval('P')) { const int16_t v = parser.value_linear_units(); toolchange_settings.prime_speed = constrain(v, 10, 5400); } + if (parser.seenval('G')) { const int16_t v = parser.value_linear_units(); toolchange_settings.wipe_retract = constrain(v, 0, 100); } + if (parser.seenval('R')) { const int16_t v = parser.value_linear_units(); toolchange_settings.retract_speed = constrain(v, 10, 5400); } + if (parser.seenval('U')) { const int16_t v = parser.value_linear_units(); toolchange_settings.unretract_speed = constrain(v, 10, 5400); } + #if TOOLCHANGE_FS_FAN >= 0 && HAS_FAN + if (parser.seenval('F')) { const uint16_t v = parser.value_ushort(); toolchange_settings.fan_speed = constrain(v, 0, 255); } + if (parser.seenval('D')) { const uint16_t v = parser.value_ushort(); toolchange_settings.fan_time = constrain(v, 1, 30); } + #endif + #endif + + #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED) + if (parser.seenval('V')) { enable_first_prime = parser.value_linear_units(); } + #endif + + #if ENABLED(TOOLCHANGE_PARK) + if (parser.seenval('W')) { toolchange_settings.enable_park = parser.value_linear_units(); } + if (parser.seenval('X')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.x = constrain(v, X_MIN_POS, X_MAX_POS); } + #if HAS_Y_AXIS + if (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_MAX_POS); } + #endif + #if HAS_I_AXIS + if (parser.seenval('I')) { const int16_t v = parser.TERN(AXIS4_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.i = constrain(v, I_MIN_POS, I_MAX_POS); } + #endif + #if HAS_J_AXIS + if (parser.seenval('J')) { const int16_t v = parser.TERN(AXIS5_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.j = constrain(v, J_MIN_POS, J_MAX_POS); } + #endif + #if HAS_K_AXIS + if (parser.seenval('K')) { const int16_t v = parser.TERN(AXIS6_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.k = constrain(v, K_MIN_POS, K_MAX_POS); } + #endif + #if HAS_U_AXIS + if (parser.seenval('C')) { const int16_t v = parser.TERN(AXIS7_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.u = constrain(v, U_MIN_POS, U_MAX_POS); } + #endif + #if HAS_V_AXIS + if (parser.seenval('H')) { const int16_t v = parser.TERN(AXIS8_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.v = constrain(v, V_MIN_POS, V_MAX_POS); } + #endif + #if HAS_W_AXIS + if (parser.seenval('O')) { const int16_t v = parser.TERN(AXIS9_ROTATES, value_int, value_linear_units)(); toolchange_settings.change_point.w = constrain(v, W_MIN_POS, W_MAX_POS); } + #endif + #endif + + #if HAS_Z_AXIS + if (parser.seenval('Z')) { toolchange_settings.z_raise = parser.value_linear_units(); } + #endif + + #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + migration.target = 0; // 0 = disabled + + if (parser.seenval('L')) { // Last + const int16_t lval = parser.value_int(); + if (WITHIN(lval, 0, EXTRUDERS - 1)) { + migration.last = lval; + migration.automode = (active_extruder < migration.last); + } + } + + if (parser.seen('A')) // Auto on/off + migration.automode = parser.value_bool(); + + if (parser.seen('T')) { // Migrate now + if (parser.has_value()) { + const int16_t tval = parser.value_int(); + if (WITHIN(tval, 0, EXTRUDERS - 1) && tval != active_extruder) { + migration.target = tval + 1; + extruder_migration(); + migration.target = 0; // disable + return; + } + else + migration.target = 0; // disable + } + else { + extruder_migration(); + return; + } + } + + #endif + + M217_report(); +} + +void GcodeSuite::M217_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_TOOL_CHANGING)); + + SERIAL_ECHOPGM(" M217"); + + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + SERIAL_ECHOPGM_P( + PSTR(" S"), LINEAR_UNIT(toolchange_settings.swap_length), + SP_B_STR, LINEAR_UNIT(toolchange_settings.extra_resume), + SP_E_STR, LINEAR_UNIT(toolchange_settings.extra_prime), + SP_P_STR, LINEAR_UNIT(toolchange_settings.prime_speed), + PSTR(" G"), LINEAR_UNIT(toolchange_settings.wipe_retract), + PSTR(" R"), LINEAR_UNIT(toolchange_settings.retract_speed), + PSTR(" U"), LINEAR_UNIT(toolchange_settings.unretract_speed), + PSTR(" F"), toolchange_settings.fan_speed, + PSTR(" D"), toolchange_settings.fan_time + ); + + #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + SERIAL_ECHOPGM(" A", migration.automode, " L", LINEAR_UNIT(migration.last)); + #endif + + #if ENABLED(TOOLCHANGE_PARK) + { + SERIAL_ECHOPGM(" W", LINEAR_UNIT(toolchange_settings.enable_park)); + SERIAL_ECHOPGM_P( + SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x) + #if HAS_Y_AXIS + , SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y) + #endif + #if SECONDARY_AXES >= 1 + , LIST_N(DOUBLE(SECONDARY_AXES) + , SP_I_STR, I_AXIS_UNIT(toolchange_settings.change_point.i) + , SP_J_STR, J_AXIS_UNIT(toolchange_settings.change_point.j) + , SP_K_STR, K_AXIS_UNIT(toolchange_settings.change_point.k) + , SP_C_STR, U_AXIS_UNIT(toolchange_settings.change_point.u) + , PSTR(" H"), V_AXIS_UNIT(toolchange_settings.change_point.v) + , PSTR(" O"), W_AXIS_UNIT(toolchange_settings.change_point.w) + ) + #endif + ); + } + #endif + + #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED) + SERIAL_ECHOPGM(" V", LINEAR_UNIT(enable_first_prime)); + #endif + + #endif + + SERIAL_ECHOLNPGM_P(SP_Z_STR, LINEAR_UNIT(toolchange_settings.z_raise)); +} + +#endif // HAS_MULTI_EXTRUDER diff --git a/Marlin/src/gcode/config/M218.cpp b/Marlin/src/gcode/config/M218.cpp new file mode 100644 index 0000000000..c39447a28d --- /dev/null +++ b/Marlin/src/gcode/config/M218.cpp @@ -0,0 +1,72 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_HOTEND_OFFSET + +#include "../gcode.h" +#include "../../module/motion.h" + +#if ENABLED(DELTA) + #include "../../module/planner.h" +#endif + +/** + * M218 - set hotend offset (in linear units) + * + * T + * X + * Y + * Z + */ +void GcodeSuite::M218() { + + if (!parser.seen_any()) return M218_report(); + + const int8_t target_extruder = get_target_extruder_from_command(); + if (target_extruder < 0) return; + + if (parser.seenval('X')) hotend_offset[target_extruder].x = parser.value_linear_units(); + if (parser.seenval('Y')) hotend_offset[target_extruder].y = parser.value_linear_units(); + if (parser.seenval('Z')) hotend_offset[target_extruder].z = parser.value_linear_units(); + + #if ENABLED(DELTA) + if (target_extruder == active_extruder) + do_blocking_move_to_xy(current_position, planner.settings.max_feedrate_mm_s[X_AXIS]); + #endif +} + +void GcodeSuite::M218_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_HOTEND_OFFSETS)); + LOOP_S_L_N(e, 1, HOTENDS) { + report_echo_start(forReplay); + SERIAL_ECHOPGM_P( + PSTR(" M218 T"), e, + SP_X_STR, LINEAR_UNIT(hotend_offset[e].x), + SP_Y_STR, LINEAR_UNIT(hotend_offset[e].y) + ); + SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, LINEAR_UNIT(hotend_offset[e].z), 3); + } +} + +#endif // HAS_HOTEND_OFFSET diff --git a/Marlin/src/gcode/config/M220.cpp b/Marlin/src/gcode/config/M220.cpp new file mode 100644 index 0000000000..6797df25d5 --- /dev/null +++ b/Marlin/src/gcode/config/M220.cpp @@ -0,0 +1,50 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../module/motion.h" + +/** + * M220: Set speed percentage factor, aka "Feed Rate" + * + * Parameters + * S : Set the feed rate percentage factor + * + * Report the current speed percentage factor if no parameter is specified + * + * For MMU2 and MMU2S devices... + * B : Flag to back up the current factor + * R : Flag to restore the last-saved factor + */ +void GcodeSuite::M220() { + if (!parser.seen_any()) { + SERIAL_ECHOLNPGM("FR:", feedrate_percentage, "%"); + return; + } + + static int16_t backup_feedrate_percentage = 100; + const int16_t now_feedrate_perc = feedrate_percentage; + if (parser.seen_test('R')) feedrate_percentage = backup_feedrate_percentage; + if (parser.seen_test('B')) backup_feedrate_percentage = now_feedrate_perc; + if (parser.seenval('S')) feedrate_percentage = parser.value_int(); + +} diff --git a/Marlin/src/gcode/config/M221.cpp b/Marlin/src/gcode/config/M221.cpp new file mode 100644 index 0000000000..f653aded7c --- /dev/null +++ b/Marlin/src/gcode/config/M221.cpp @@ -0,0 +1,47 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../module/planner.h" + +#if HAS_EXTRUDERS + +/** + * M221: Set extrusion percentage (M221 T0 S95) + */ +void GcodeSuite::M221() { + + const int8_t target_extruder = get_target_extruder_from_command(); + if (target_extruder < 0) return; + + if (parser.seenval('S')) + planner.set_flow(target_extruder, parser.value_int()); + else { + SERIAL_ECHO_START(); + SERIAL_CHAR('E', '0' + target_extruder); + SERIAL_ECHOPGM(" Flow: ", planner.flow_percentage[target_extruder]); + SERIAL_CHAR('%'); + SERIAL_EOL(); + } +} + +#endif // EXTRUDERS diff --git a/Marlin/src/gcode/config/M281.cpp b/Marlin/src/gcode/config/M281.cpp new file mode 100644 index 0000000000..e4ef3ab40b --- /dev/null +++ b/Marlin/src/gcode/config/M281.cpp @@ -0,0 +1,78 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(EDITABLE_SERVO_ANGLES) + +#include "../gcode.h" +#include "../../module/servo.h" + +/** + * M281 - Edit / Report Servo Angles + * + * P - Servo to update + * L - Deploy Angle + * U - Stowed Angle + */ +void GcodeSuite::M281() { + if (!parser.seen_any()) return M281_report(); + + if (!parser.seenval('P')) return; + + const int servo_index = parser.value_int(); + if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) { + #if ENABLED(BLTOUCH) + if (servo_index == Z_PROBE_SERVO_NR) { + SERIAL_ERROR_MSG("BLTouch angles can't be changed."); + return; + } + #endif + if (parser.seenval('L')) servo_angles[servo_index][0] = parser.value_int(); + if (parser.seenval('U')) servo_angles[servo_index][1] = parser.value_int(); + } + else + SERIAL_ERROR_MSG("Servo ", servo_index, " out of range"); +} + +void GcodeSuite::M281_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_SERVO_ANGLES)); + LOOP_L_N(i, NUM_SERVOS) { + switch (i) { + default: break; + #if ENABLED(SWITCHING_EXTRUDER) + case SWITCHING_EXTRUDER_SERVO_NR: + #if EXTRUDERS > 3 + case SWITCHING_EXTRUDER_E23_SERVO_NR: + #endif + #elif ENABLED(SWITCHING_NOZZLE) + case SWITCHING_NOZZLE_SERVO_NR: + #elif ENABLED(BLTOUCH) || (HAS_Z_SERVO_PROBE && defined(Z_SERVO_ANGLES)) + case Z_PROBE_SERVO_NR: + #endif + report_echo_start(forReplay); + SERIAL_ECHOLNPGM(" M281 P", i, " L", servo_angles[i][0], " U", servo_angles[i][1]); + } + } +} + +#endif // EDITABLE_SERVO_ANGLES diff --git a/Marlin/src/gcode/config/M301.cpp b/Marlin/src/gcode/config/M301.cpp new file mode 100644 index 0000000000..a3938acb11 --- /dev/null +++ b/Marlin/src/gcode/config/M301.cpp @@ -0,0 +1,107 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PIDTEMP) + +#include "../gcode.h" +#include "../../module/temperature.h" + +/** + * M301: Set PID parameters P I D (and optionally C, L) + * + * E[extruder] Default: 0 + * + * P[float] Kp term + * I[float] Ki term (unscaled) + * D[float] Kd term (unscaled) + * + * With PID_EXTRUSION_SCALING: + * + * C[float] Kc term + * L[int] LPQ length + * + * With PID_FAN_SCALING: + * + * F[float] Kf term + */ +void GcodeSuite::M301() { + // multi-extruder PID patch: M301 updates or prints a single extruder's PID values + // default behavior (omitting E parameter) is to update for extruder 0 only + int8_t e = E_TERN0(parser.byteval('E', -1)); // extruder being updated + + if (!parser.seen("PID" TERN_(PID_EXTRUSION_SCALING, "CL") TERN_(PID_FAN_SCALING, "F"))) + return M301_report(true E_OPTARG(e)); + + if (e == -1) e = 0; + + if (e < HOTENDS) { // catch bad input value + + if (parser.seenval('P')) SET_HOTEND_PID(Kp, e, parser.value_float()); + if (parser.seenval('I')) SET_HOTEND_PID(Ki, e, parser.value_float()); + if (parser.seenval('D')) SET_HOTEND_PID(Kd, e, parser.value_float()); + + #if ENABLED(PID_EXTRUSION_SCALING) + if (parser.seenval('C')) SET_HOTEND_PID(Kc, e, parser.value_float()); + if (parser.seenval('L')) thermalManager.lpq_len = parser.value_int(); + LIMIT(thermalManager.lpq_len, 0, LPQ_MAX_LEN); + #endif + + #if ENABLED(PID_FAN_SCALING) + if (parser.seenval('F')) SET_HOTEND_PID(Kf, e, parser.value_float()); + #endif + + thermalManager.updatePID(); + } + else + SERIAL_ERROR_MSG(STR_INVALID_EXTRUDER); +} + +void GcodeSuite::M301_report(const bool forReplay/*=true*/ E_OPTARG(const int8_t eindex/*=-1*/)) { + report_heading(forReplay, F(STR_HOTEND_PID)); + IF_DISABLED(HAS_MULTI_EXTRUDER, constexpr int8_t eindex = -1); + HOTEND_LOOP() { + if (e == eindex || eindex == -1) { + const hotend_pid_t &pid = thermalManager.temp_hotend[e].pid; + report_echo_start(forReplay); + SERIAL_ECHOPGM_P( + #if ENABLED(PID_PARAMS_PER_HOTEND) + PSTR(" M301 E"), e, SP_P_STR + #else + PSTR(" M301 P") + #endif + , pid.p(), PSTR(" I"), pid.i(), PSTR(" D"), pid.d() + ); + #if ENABLED(PID_EXTRUSION_SCALING) + SERIAL_ECHOPGM_P(SP_C_STR, pid.c()); + if (e == 0) SERIAL_ECHOPGM(" L", thermalManager.lpq_len); + #endif + #if ENABLED(PID_FAN_SCALING) + SERIAL_ECHOPGM(" F", pid.f()); + #endif + SERIAL_EOL(); + } + } +} + +#endif // PIDTEMP diff --git a/Marlin/src/gcode/config/M302.cpp b/Marlin/src/gcode/config/M302.cpp new file mode 100644 index 0000000000..12408c8987 --- /dev/null +++ b/Marlin/src/gcode/config/M302.cpp @@ -0,0 +1,68 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PREVENT_COLD_EXTRUSION) + +#include "../gcode.h" +#include "../../module/temperature.h" + +#if ENABLED(DWIN_LCD_PROUI) + #include "../../lcd/e3v2/proui/dwin.h" +#endif + +/** + * M302: Allow cold extrudes, or set the minimum extrude temperature + * + * S sets the minimum extrude temperature + * P enables (1) or disables (0) cold extrusion + * + * Examples: + * + * M302 ; report current cold extrusion state + * M302 P0 ; enable cold extrusion checking + * M302 P1 ; disable cold extrusion checking + * M302 S0 ; always allow extrusion (disables checking) + * M302 S170 ; only allow extrusion above 170 + * M302 S170 P1 ; set min extrude temp to 170 but leave disabled + */ +void GcodeSuite::M302() { + const bool seen_S = parser.seen('S'); + if (seen_S) { + thermalManager.extrude_min_temp = parser.value_celsius(); + thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0); + TERN_(DWIN_LCD_PROUI, HMI_data.ExtMinT = thermalManager.extrude_min_temp); + } + + if (parser.seen('P')) + thermalManager.allow_cold_extrude = (thermalManager.extrude_min_temp == 0) || parser.value_bool(); + else if (!seen_S) { + // Report current state + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Cold extrudes are "); + SERIAL_ECHOF(thermalManager.allow_cold_extrude ? F("en") : F("dis")); + SERIAL_ECHOLNPGM("abled (min temp ", thermalManager.extrude_min_temp, "C)"); + } +} + +#endif // PREVENT_COLD_EXTRUSION diff --git a/Marlin/src/gcode/config/M304.cpp b/Marlin/src/gcode/config/M304.cpp new file mode 100644 index 0000000000..a71a34c6de --- /dev/null +++ b/Marlin/src/gcode/config/M304.cpp @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PIDTEMPBED) + +#include "../gcode.h" +#include "../../module/temperature.h" + +/** + * M304 - Set and/or Report the current Bed PID values + * + * P - Set the P value + * I - Set the I value + * D - Set the D value + */ +void GcodeSuite::M304() { + if (!parser.seen("PID")) return M304_report(); + if (parser.seenval('P')) thermalManager.temp_bed.pid.set_Kp(parser.value_float()); + if (parser.seenval('I')) thermalManager.temp_bed.pid.set_Ki(parser.value_float()); + if (parser.seenval('D')) thermalManager.temp_bed.pid.set_Kd(parser.value_float()); +} + +void GcodeSuite::M304_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_BED_PID)); + SERIAL_ECHOLNPGM(" M304" + " P", thermalManager.temp_bed.pid.p() + , " I", thermalManager.temp_bed.pid.i() + , " D", thermalManager.temp_bed.pid.d() + ); +} + +#endif // PIDTEMPBED diff --git a/Marlin/src/gcode/config/M305.cpp b/Marlin/src/gcode/config/M305.cpp new file mode 100644 index 0000000000..e7746923b3 --- /dev/null +++ b/Marlin/src/gcode/config/M305.cpp @@ -0,0 +1,79 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_USER_THERMISTORS + +#include "../gcode.h" +#include "../../module/temperature.h" + +/** + * M305: Set (or report) custom thermistor parameters + * + * P[index] Thermistor table index + * R[ohms] Pullup resistor value + * T[ohms] Resistance at 25C + * B[beta] Thermistor "beta" value + * C[coeff] Steinhart-Hart Coefficient 'C' + * + * Format: M305 P[tbl_index] R[pullup_resistor_val] T[therm_25C_resistance] B[therm_beta] C[Steinhart_Hart_C_coeff] + * + * Examples: M305 P0 R4700 T100000 B3950 C0.0 + * M305 P0 R4700 + * M305 P0 T100000 + * M305 P0 B3950 + * M305 P0 C0.0 + */ +void GcodeSuite::M305() { + const int8_t t_index = parser.intval('P', -1); + const bool do_set = parser.seen("BCRT"); + + // A valid P index is required + if (t_index >= (USER_THERMISTORS) || (do_set && t_index < 0)) + SERIAL_ECHO_MSG("!Invalid index. (0 <= P <= ", USER_THERMISTORS - 1, ")"); + else if (do_set) { + if (parser.seenval('R')) // Pullup resistor value + if (!thermalManager.set_pull_up_res(t_index, parser.value_float())) + SERIAL_ECHO_MSG("!Invalid series resistance. (0 < R < 1000000)"); + + if (parser.seenval('T')) // Resistance at 25C + if (!thermalManager.set_res25(t_index, parser.value_float())) + SERIAL_ECHO_MSG("!Invalid 25C resistance. (0 < T < 10000000)"); + + if (parser.seenval('B')) // Beta value + if (!thermalManager.set_beta(t_index, parser.value_float())) + SERIAL_ECHO_MSG("!Invalid beta. (0 < B < 1000000)"); + + if (parser.seenval('C')) // Steinhart-Hart C coefficient + if (!thermalManager.set_sh_coeff(t_index, parser.value_float())) + SERIAL_ECHO_MSG("!Invalid Steinhart-Hart C coeff. (-0.01 < C < +0.01)"); + } // If not setting then report parameters + else if (t_index < 0) { // ...all user thermistors + LOOP_L_N(i, USER_THERMISTORS) + thermalManager.M305_report(i); + } + else // ...one user thermistor + thermalManager.M305_report(t_index); +} + +#endif // HAS_USER_THERMISTORS diff --git a/Marlin/src/gcode/config/M309.cpp b/Marlin/src/gcode/config/M309.cpp new file mode 100644 index 0000000000..4953113041 --- /dev/null +++ b/Marlin/src/gcode/config/M309.cpp @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PIDTEMPCHAMBER) + +#include "../gcode.h" +#include "../../module/temperature.h" + +/** + * M309 - Set and/or Report the current Chamber PID values + * + * P - Set the P value + * I - Set the I value + * D - Set the D value + */ +void GcodeSuite::M309() { + if (!parser.seen("PID")) return M309_report(); + if (parser.seenval('P')) thermalManager.temp_chamber.pid.set_Kp(parser.value_float()); + if (parser.seenval('I')) thermalManager.temp_chamber.pid.set_Ki(parser.value_float()); + if (parser.seenval('D')) thermalManager.temp_chamber.pid.set_Kd(parser.value_float()); +} + +void GcodeSuite::M309_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_CHAMBER_PID)); + SERIAL_ECHOLNPGM(" M309" + " P", thermalManager.temp_chamber.pid.p() + , " I", thermalManager.temp_chamber.pid.i() + , " D", thermalManager.temp_chamber.pid.d() + ); +} + +#endif // PIDTEMPCHAMBER diff --git a/Marlin/src/gcode/config/M43.cpp b/Marlin/src/gcode/config/M43.cpp new file mode 100644 index 0000000000..5807844012 --- /dev/null +++ b/Marlin/src/gcode/config/M43.cpp @@ -0,0 +1,393 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PINS_DEBUGGING) + +#include "../gcode.h" +#include "../../MarlinCore.h" // for pin_is_protected +#include "../../pins/pinsDebug.h" +#include "../../module/endstops.h" + +#if HAS_Z_SERVO_PROBE + #include "../../module/probe.h" + #include "../../module/servo.h" +#endif + +#if ENABLED(BLTOUCH) + #include "../../feature/bltouch.h" +#endif + +#if ENABLED(HOST_PROMPT_SUPPORT) + #include "../../feature/host_actions.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../../lcd/extui/ui_api.h" +#endif + +#if HAS_RESUME_CONTINUE + #include "../../lcd/marlinui.h" +#endif + +#ifndef GET_PIN_MAP_PIN_M43 + #define GET_PIN_MAP_PIN_M43(Q) GET_PIN_MAP_PIN(Q) +#endif + +inline void toggle_pins() { + const bool ignore_protection = parser.boolval('I'); + const int repeat = parser.intval('R', 1), + start = PARSED_PIN_INDEX('S', 0), + end = PARSED_PIN_INDEX('L', NUM_DIGITAL_PINS - 1), + wait = parser.intval('W', 500); + + LOOP_S_LE_N(i, start, end) { + pin_t pin = GET_PIN_MAP_PIN_M43(i); + if (!VALID_PIN(pin)) continue; + if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) { + report_pin_state_extended(pin, ignore_protection, true, F("Untouched ")); + SERIAL_EOL(); + } + else { + hal.watchdog_refresh(); + report_pin_state_extended(pin, ignore_protection, true, F("Pulsing ")); + #ifdef __STM32F1__ + const auto prior_mode = _GET_MODE(i); + #else + const bool prior_mode = GET_PINMODE(pin); + #endif + #if AVR_AT90USB1286_FAMILY // Teensy IDEs don't know about these pins so must use FASTIO + if (pin == TEENSY_E2) { + SET_OUTPUT(TEENSY_E2); + for (int16_t j = 0; j < repeat; j++) { + WRITE(TEENSY_E2, LOW); safe_delay(wait); + WRITE(TEENSY_E2, HIGH); safe_delay(wait); + WRITE(TEENSY_E2, LOW); safe_delay(wait); + } + } + else if (pin == TEENSY_E3) { + SET_OUTPUT(TEENSY_E3); + for (int16_t j = 0; j < repeat; j++) { + WRITE(TEENSY_E3, LOW); safe_delay(wait); + WRITE(TEENSY_E3, HIGH); safe_delay(wait); + WRITE(TEENSY_E3, LOW); safe_delay(wait); + } + } + else + #endif + { + pinMode(pin, OUTPUT); + for (int16_t j = 0; j < repeat; j++) { + hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); + hal.watchdog_refresh(); extDigitalWrite(pin, 1); safe_delay(wait); + hal.watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); + hal.watchdog_refresh(); + } + } + #ifdef __STM32F1__ + _SET_MODE(i, prior_mode); + #else + pinMode(pin, prior_mode); + #endif + } + SERIAL_EOL(); + } + SERIAL_ECHOLNPGM(STR_DONE); + +} // toggle_pins + +inline void servo_probe_test() { + + #if !(NUM_SERVOS > 0 && HAS_SERVO_0) + + SERIAL_ERROR_MSG("SERVO not set up."); + + #elif !HAS_Z_SERVO_PROBE + + SERIAL_ERROR_MSG("Z_PROBE_SERVO_NR not set up."); + + #else // HAS_Z_SERVO_PROBE + + const uint8_t probe_index = parser.byteval('P', Z_PROBE_SERVO_NR); + + SERIAL_ECHOLNPGM("Servo probe test\n" + ". using index: ", probe_index, + ", deploy angle: ", servo_angles[probe_index][0], + ", stow angle: ", servo_angles[probe_index][1] + ); + + bool deploy_state = false, stow_state; + + #if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) + + #define PROBE_TEST_PIN Z_MIN_PIN + constexpr bool probe_inverting = Z_MIN_ENDSTOP_INVERTING; + + SERIAL_ECHOLNPGM(". Probe Z_MIN_PIN: ", PROBE_TEST_PIN); + SERIAL_ECHOPGM(". Z_MIN_ENDSTOP_INVERTING: "); + + #else + + #define PROBE_TEST_PIN Z_MIN_PROBE_PIN + constexpr bool probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING; + + SERIAL_ECHOLNPGM(". Probe Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN); + SERIAL_ECHOPGM( ". Z_MIN_PROBE_ENDSTOP_INVERTING: "); + + #endif + + serialprint_truefalse(probe_inverting); + SERIAL_EOL(); + + SET_INPUT_PULLUP(PROBE_TEST_PIN); + + // First, check for a probe that recognizes an advanced BLTouch sequence. + // In addition to STOW and DEPLOY, it uses SW MODE (and RESET in the beginning) + // to see if this is one of the following: BLTOUCH Classic 1.2, 1.3, or + // BLTouch Smart 1.0, 2.0, 2.2, 3.0, 3.1. But only if the user has actually + // configured a BLTouch as being present. If the user has not configured this, + // the BLTouch will be detected in the last phase of these tests (see further on). + bool blt = false; + // This code will try to detect a BLTouch probe or clone + #if ENABLED(BLTOUCH) + SERIAL_ECHOLNPGM(". Check for BLTOUCH"); + bltouch._reset(); + bltouch._stow(); + if (probe_inverting == READ(PROBE_TEST_PIN)) { + bltouch._set_SW_mode(); + if (probe_inverting != READ(PROBE_TEST_PIN)) { + bltouch._deploy(); + if (probe_inverting == READ(PROBE_TEST_PIN)) { + bltouch._stow(); + SERIAL_ECHOLNPGM("= BLTouch Classic 1.2, 1.3, Smart 1.0, 2.0, 2.2, 3.0, 3.1 detected."); + // Check for a 3.1 by letting the user trigger it, later + blt = true; + } + } + } + #endif + + // The following code is common to all kinds of servo probes. + // Since it could be a real servo or a BLTouch (any kind) or a clone, + // use only "common" functions - i.e. SERVO_MOVE. No bltouch.xxxx stuff. + + // If it is already recognised as a being a BLTouch, no need for this test + if (!blt) { + // DEPLOY and STOW 4 times and see if the signal follows + // Then it is a mechanical switch + uint8_t i = 0; + SERIAL_ECHOLNPGM(". Deploy & stow 4 times"); + do { + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + safe_delay(500); + deploy_state = READ(PROBE_TEST_PIN); + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + safe_delay(500); + stow_state = READ(PROBE_TEST_PIN); + } while (++i < 4); + + if (probe_inverting != deploy_state) SERIAL_ECHOLNPGM("WARNING: INVERTING setting probably backwards."); + + if (deploy_state != stow_state) { + SERIAL_ECHOLNPGM("= Mechanical Switch detected"); + if (deploy_state) { + SERIAL_ECHOLNPGM(" DEPLOYED state: HIGH (logic 1)", + " STOWED (triggered) state: LOW (logic 0)"); + } + else { + SERIAL_ECHOLNPGM(" DEPLOYED state: LOW (logic 0)", + " STOWED (triggered) state: HIGH (logic 1)"); + } + #if ENABLED(BLTOUCH) + SERIAL_ECHOLNPGM("FAIL: BLTOUCH enabled - Set up this device as a Servo Probe with INVERTING set to 'true'."); + #endif + return; + } + } + + // Ask the user for a trigger event and measure the pulse width. + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + safe_delay(500); + SERIAL_ECHOLNPGM("** Please trigger probe within 30 sec **"); + uint16_t probe_counter = 0; + + // Wait 30 seconds for user to trigger probe + for (uint16_t j = 0; j < 500 * 30 && probe_counter == 0 ; j++) { + safe_delay(2); + + if (0 == j % (500 * 1)) gcode.reset_stepper_timeout(); // Keep steppers powered + + if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered + for (probe_counter = 0; probe_counter < 15 && deploy_state != READ(PROBE_TEST_PIN); ++probe_counter) safe_delay(2); + + SERIAL_ECHOPGM(". Pulse width"); + if (probe_counter == 15) + SERIAL_ECHOLNPGM(": 30ms or more"); + else + SERIAL_ECHOLNPGM(" (+/- 4ms): ", probe_counter * 2); + + if (probe_counter >= 4) { + if (probe_counter == 15) { + if (blt) SERIAL_ECHOPGM("= BLTouch V3.1"); + else SERIAL_ECHOPGM("= Z Servo Probe"); + } + else SERIAL_ECHOPGM("= BLTouch pre V3.1 (or compatible)"); + SERIAL_ECHOLNPGM(" detected."); + } + else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test"); + + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + return; + } + } + + if (!probe_counter) SERIAL_ECHOLNPGM("FAIL: No trigger detected"); + + #endif // HAS_Z_SERVO_PROBE + +} // servo_probe_test + +/** + * M43: Pin debug - report pin state, watch pins, toggle pins and servo probe test/report + * + * M43 - report name and state of pin(s) + * P Pin to read or watch. If omitted, reads all pins. + * I Flag to ignore Marlin's pin protection. + * + * M43 W - Watch pins -reporting changes- until reset, click, or M108. + * P Pin to read or watch. If omitted, read/watch all pins. + * I Flag to ignore Marlin's pin protection. + * + * M43 E - Enable / disable background endstop monitoring + * - Machine continues to operate + * - Reports changes to endstops + * - Toggles LED_PIN when an endstop changes + * - Cannot reliably catch the 5mS pulse from BLTouch type probes + * + * M43 T - Toggle pin(s) and report which pin is being toggled + * S - Start Pin number. If not given, will default to 0 + * L - End Pin number. If not given, will default to last pin defined for this board + * I - Flag to ignore Marlin's pin protection. Use with caution!!!! + * R - Repeat pulses on each pin this number of times before continuing to next pin + * W - Wait time (in milliseconds) between pulses. If not given will default to 500 + * + * M43 S - Servo probe test + * P - Probe index (optional - defaults to 0 + */ +void GcodeSuite::M43() { + + // 'T' must be first. It uses 'S' and 'E' differently. + if (parser.seen('T')) return toggle_pins(); + + // 'E' Enable or disable endstop monitoring and return + if (parser.seen('E')) { + endstops.monitor_flag = parser.value_bool(); + SERIAL_ECHOPGM("endstop monitor "); + SERIAL_ECHOF(endstops.monitor_flag ? F("en") : F("dis")); + SERIAL_ECHOLNPGM("abled"); + return; + } + + // 'S' Run servo probe test and return + if (parser.seen('S')) return servo_probe_test(); + + // 'P' Get the range of pins to test or watch + uint8_t first_pin = PARSED_PIN_INDEX('P', 0), + last_pin = parser.seenval('L') ? PARSED_PIN_INDEX('L', 0) : parser.seenval('P') ? first_pin : (NUMBER_PINS_TOTAL) - 1; + + NOMORE(first_pin, (NUMBER_PINS_TOTAL) - 1); + NOMORE(last_pin, (NUMBER_PINS_TOTAL) - 1); + + if (first_pin > last_pin) { + const uint8_t f = first_pin; + first_pin = last_pin; + last_pin = f; + } + + // 'I' to ignore protected pins + const bool ignore_protection = parser.boolval('I'); + + // 'W' Watch until click, M108, or reset + if (parser.boolval('W')) { + SERIAL_ECHOLNPGM("Watching pins"); + #ifdef ARDUINO_ARCH_SAM + NOLESS(first_pin, 2); // Don't hijack the UART pins + #endif + uint8_t pin_state[last_pin - first_pin + 1]; + LOOP_S_LE_N(i, first_pin, last_pin) { + pin_t pin = GET_PIN_MAP_PIN_M43(i); + if (!VALID_PIN(pin)) continue; + if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue; + pinMode(pin, INPUT_PULLUP); + delay(1); + /* + if (IS_ANALOG(pin)) + pin_state[pin - first_pin] = analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)); // int16_t pin_state[...] + else + //*/ + pin_state[i - first_pin] = extDigitalRead(pin); + } + + #if HAS_RESUME_CONTINUE + KEEPALIVE_STATE(PAUSED_FOR_USER); + wait_for_user = true; + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, F("M43 Wait Called"), FPSTR(CONTINUE_STR))); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(F("M43 Wait Called"))); + #endif + + for (;;) { + LOOP_S_LE_N(i, first_pin, last_pin) { + pin_t pin = GET_PIN_MAP_PIN_M43(i); + if (!VALID_PIN(pin)) continue; + if (M43_NEVER_TOUCH(i) || (!ignore_protection && pin_is_protected(pin))) continue; + const byte val = + /* + IS_ANALOG(pin) + ? analogRead(DIGITAL_PIN_TO_ANALOG_PIN(pin)) : // int16_t val + : + //*/ + extDigitalRead(pin); + if (val != pin_state[i - first_pin]) { + report_pin_state_extended(pin, ignore_protection, false); + pin_state[i - first_pin] = val; + } + } + + #if HAS_RESUME_CONTINUE + ui.update(); + if (!wait_for_user) break; + #endif + + safe_delay(200); + } + } + else { + // Report current state of selected pin(s) + LOOP_S_LE_N(i, first_pin, last_pin) { + pin_t pin = GET_PIN_MAP_PIN_M43(i); + if (VALID_PIN(pin)) report_pin_state_extended(pin, ignore_protection, true); + } + } +} + +#endif // PINS_DEBUGGING diff --git a/Marlin/src/gcode/config/M540.cpp b/Marlin/src/gcode/config/M540.cpp new file mode 100644 index 0000000000..e751248dd6 --- /dev/null +++ b/Marlin/src/gcode/config/M540.cpp @@ -0,0 +1,40 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) + +#include "../gcode.h" +#include "../../module/planner.h" + +/** + * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>) + */ +void GcodeSuite::M540() { + + if (parser.seen('S')) + planner.abort_on_endstop_hit = parser.value_bool(); + +} + +#endif // SD_ABORT_ON_ENDSTOP_HIT diff --git a/Marlin/src/gcode/config/M575.cpp b/Marlin/src/gcode/config/M575.cpp new file mode 100644 index 0000000000..b88b372ddb --- /dev/null +++ b/Marlin/src/gcode/config/M575.cpp @@ -0,0 +1,82 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(BAUD_RATE_GCODE) + +#include "../gcode.h" + +/** + * M575 - Change serial baud rate + * + * P - Serial port index. Omit for all. + * B - Baud rate (bits per second) + */ +void GcodeSuite::M575() { + int32_t baud = parser.ulongval('B'); + switch (baud) { + case 24: + case 96: + case 192: + case 384: + case 576: + case 1152: baud *= 100; break; + case 250: + case 500: baud *= 1000; break; + case 19: baud = 19200; break; + case 38: baud = 38400; break; + case 57: baud = 57600; break; + case 115: baud = 115200; break; + } + switch (baud) { + case 2400: case 9600: case 19200: case 38400: case 57600: + case 115200: case 250000: case 500000: case 1000000: { + const int8_t port = parser.intval('P', -99); + const bool set1 = (port == -99 || port == 0); + + SERIAL_FLUSH(); + + if (set1) { MYSERIAL1.end(); MYSERIAL1.begin(baud); } + #if HAS_MULTI_SERIAL + if (set2) { MYSERIAL2.end(); MYSERIAL2.begin(baud); } + #ifdef SERIAL_PORT_3 + if (set3) { MYSERIAL3.end(); MYSERIAL3.begin(baud); } + #endif + #endif + + if (set1) SERIAL_ECHO_MSG(" Serial ", AS_DIGIT(0), " baud rate set to ", baud); + #if HAS_MULTI_SERIAL + const bool set2 = (port == -99 || port == 1); + if (set2) SERIAL_ECHO_MSG(" Serial ", AS_DIGIT(1), " baud rate set to ", baud); + #ifdef SERIAL_PORT_3 + const bool set3 = (port == -99 || port == 2); + if (set3) SERIAL_ECHO_MSG(" Serial ", AS_DIGIT(2), " baud rate set to ", baud); + #endif + #endif + + } break; + default: SERIAL_ECHO_MSG("?(B)aud rate implausible."); + } +} + +#endif // BAUD_RATE_GCODE diff --git a/Marlin/src/gcode/config/M672.cpp b/Marlin/src/gcode/config/M672.cpp new file mode 100644 index 0000000000..257b49471f --- /dev/null +++ b/Marlin/src/gcode/config/M672.cpp @@ -0,0 +1,98 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD) + +#include "../gcode.h" +#include "../../HAL/shared/Delay.h" +#include "../parser.h" + +/** + * The Marlin format for the M672 command is different than shown in the Duet Smart Effector + * documentation https://duet3d.dozuki.com/Wiki/Smart_effector_and_carriage_adapters_for_delta_printer + * + * To set custom sensitivity: + * Duet: M672 S105:aaa:bbb + * Marlin: M672 Saaa + * + * (where aaa is the desired sensitivity and bbb is 255 - aaa). + * + * Revert sensitivity to factory settings: + * Duet: M672 S105:131:131 + * Marlin: M672 R + */ + +#define M672_PROGBYTE 105 // magic byte to start programming custom sensitivity +#define M672_ERASEBYTE 131 // magic byte to clear custom sensitivity + +// +// Smart Effector byte send protocol: +// +// 0 0 1 0 ... always 0010 +// b7 b6 b5 b4 ~b4 ... hi bits, NOT last bit +// b3 b2 b1 b0 ~b0 ... lo bits, NOT last bit +// +void M672_send(uint8_t b) { // bit rate requirement: 1kHz +/- 30% + LOOP_L_N(bits, 14) { + switch (bits) { + default: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !!(b & 0x80)); b <<= 1; break; } // send bit, shift next into place + case 7: + case 12: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !!(b & 0x80)); break; } // send bit. no shift + case 8: + case 13: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !(b & 0x80)); b <<= 1; break; } // send inverted previous bit + case 0: case 1: // 00 + case 3: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); break; } // 0010 + case 2: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, HIGH); break; } // 001 + } + DELAY_US(1000); + } +} + +/** + * M672 - Set/reset Duet Smart Effector sensitivity + * + * One of these is required: + * S - 0-255 + * R - Flag to reset sensitivity to default + */ +void GcodeSuite::M672() { + if (parser.seen('R')) { + M672_send(M672_ERASEBYTE); + M672_send(M672_ERASEBYTE); + } + else if (parser.seenval('S')) { + const int8_t M672_sensitivity = parser.value_byte(); + M672_send(M672_PROGBYTE); + M672_send(M672_sensitivity); + M672_send(255 - M672_sensitivity); + } + else { + SERIAL_ECHO_MSG("!'S' or 'R' parameter required."); + return; + } + + OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); // Keep Smart Effector in NORMAL mode +} + +#endif // DUET_SMART_EFFECTOR && SMART_EFFECTOR_MOD_PIN diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp new file mode 100644 index 0000000000..c7610b83a9 --- /dev/null +++ b/Marlin/src/gcode/config/M92.cpp @@ -0,0 +1,123 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../module/planner.h" + +/** + * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, [I, [J, [K, [U, [V, [W,]]]]]] and E. + * (Follows the same syntax as G92) + * + * With multiple extruders use T to specify which one. + * + * If no argument is given print the current values. + * + * With MAGIC_NUMBERS_GCODE: + * + * Use 'H' and/or 'L' to get ideal layer-height information. + * H - Specify micro-steps to use. Best guess if not supplied. + * L - Desired layer height in current units. Nearest good heights are shown. + */ +void GcodeSuite::M92() { + + const int8_t target_extruder = get_target_extruder_from_command(); + if (target_extruder < 0) return; + + // No arguments? Show M92 report. + if (!parser.seen(STR_AXES_LOGICAL TERN_(MAGIC_NUMBERS_GCODE, "HL"))) + return M92_report(true, target_extruder); + + LOOP_LOGICAL_AXES(i) { + if (parser.seenval(AXIS_CHAR(i))) { + if (TERN1(HAS_EXTRUDERS, i != E_AXIS)) + planner.settings.axis_steps_per_mm[i] = parser.value_per_axis_units((AxisEnum)i); + else { + #if HAS_EXTRUDERS + const float value = parser.value_per_axis_units((AxisEnum)(E_AXIS_N(target_extruder))); + if (value < 20) { + float factor = planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] / value; // increase e constants if M92 E14 is given for netfab. + #if HAS_CLASSIC_JERK && HAS_CLASSIC_E_JERK + planner.max_jerk.e *= factor; + #endif + planner.settings.max_feedrate_mm_s[E_AXIS_N(target_extruder)] *= factor; + planner.max_acceleration_steps_per_s2[E_AXIS_N(target_extruder)] *= factor; + } + planner.settings.axis_steps_per_mm[E_AXIS_N(target_extruder)] = value; + #endif + } + } + } + planner.refresh_positioning(); + + #if ENABLED(MAGIC_NUMBERS_GCODE) + #ifndef Z_MICROSTEPS + #define Z_MICROSTEPS 16 + #endif + const float wanted = parser.linearval('L'); + if (parser.seen('H') || wanted) { + const uint16_t argH = parser.ushortval('H'), + micro_steps = argH ?: Z_MICROSTEPS; + const float z_full_step_mm = micro_steps * planner.mm_per_step[Z_AXIS]; + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("{ micro_steps:", micro_steps, ", z_full_step_mm:", z_full_step_mm); + if (wanted) { + const float best = uint16_t(wanted / z_full_step_mm) * z_full_step_mm; + SERIAL_ECHOPGM(", best:[", best); + if (best != wanted) { SERIAL_CHAR(','); SERIAL_DECIMAL(best + z_full_step_mm); } + SERIAL_CHAR(']'); + } + SERIAL_ECHOLNPGM(" }"); + } + #endif +} + +void GcodeSuite::M92_report(const bool forReplay/*=true*/, const int8_t e/*=-1*/) { + report_heading_etc(forReplay, F(STR_STEPS_PER_UNIT)); + SERIAL_ECHOPGM_P(LIST_N(DOUBLE(NUM_AXES), + PSTR(" M92 X"), LINEAR_UNIT(planner.settings.axis_steps_per_mm[X_AXIS]), + SP_Y_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Y_AXIS]), + SP_Z_STR, LINEAR_UNIT(planner.settings.axis_steps_per_mm[Z_AXIS]), + SP_I_STR, I_AXIS_UNIT(planner.settings.axis_steps_per_mm[I_AXIS]), + SP_J_STR, J_AXIS_UNIT(planner.settings.axis_steps_per_mm[J_AXIS]), + SP_K_STR, K_AXIS_UNIT(planner.settings.axis_steps_per_mm[K_AXIS]), + SP_U_STR, U_AXIS_UNIT(planner.settings.axis_steps_per_mm[U_AXIS]), + SP_V_STR, V_AXIS_UNIT(planner.settings.axis_steps_per_mm[V_AXIS]), + SP_W_STR, W_AXIS_UNIT(planner.settings.axis_steps_per_mm[W_AXIS]) + )); + #if HAS_EXTRUDERS && DISABLED(DISTINCT_E_FACTORS) + SERIAL_ECHOPGM_P(SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS])); + #endif + SERIAL_EOL(); + + #if ENABLED(DISTINCT_E_FACTORS) + LOOP_L_N(i, E_STEPPERS) { + if (e >= 0 && i != e) continue; + report_echo_start(forReplay); + SERIAL_ECHOLNPGM_P( + PSTR(" M92 T"), i, + SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS_N(i)]) + ); + } + #else + UNUSED(e); + #endif +} diff --git a/Marlin/src/gcode/control/M10-M11.cpp b/Marlin/src/gcode/control/M10-M11.cpp new file mode 100644 index 0000000000..d5a69dcfcc --- /dev/null +++ b/Marlin/src/gcode/control/M10-M11.cpp @@ -0,0 +1,44 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(AIR_EVACUATION) + +#include "../gcode.h" +#include "../../feature/spindle_laser.h" + +/** + * M10: Vacuum or Blower On + */ +void GcodeSuite::M10() { + cutter.air_evac_enable(); // Turn on Vacuum or Blower motor +} + +/** + * M11: Vacuum or Blower OFF + */ +void GcodeSuite::M11() { + cutter.air_evac_disable(); // Turn off Vacuum or Blower motor +} + +#endif // AIR_EVACUATION diff --git a/Marlin/src/gcode/control/M108_M112_M410.cpp b/Marlin/src/gcode/control/M108_M112_M410.cpp new file mode 100644 index 0000000000..39f9c04e19 --- /dev/null +++ b/Marlin/src/gcode/control/M108_M112_M410.cpp @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if DISABLED(EMERGENCY_PARSER) + +#include "../gcode.h" +#include "../../MarlinCore.h" // for wait_for_heatup, kill, M112_KILL_STR +#include "../../module/motion.h" // for quickstop_stepper + +/** + * M108: Stop the waiting for heaters in M109, M190, M303. Does not affect the target temperature. + */ +void GcodeSuite::M108() { + TERN_(HAS_RESUME_CONTINUE, wait_for_user = false); + wait_for_heatup = false; +} + +/** + * M112: Full Shutdown + */ +void GcodeSuite::M112() { + kill(FPSTR(M112_KILL_STR), nullptr, true); +} + +/** + * M410: Quickstop - Abort all planned moves + * + * This will stop the carriages mid-move, so most likely they + * will be out of sync with the stepper position after this. + */ +void GcodeSuite::M410() { + quickstop_stepper(); +} + +#endif // !EMERGENCY_PARSER diff --git a/Marlin/src/gcode/control/M111.cpp b/Marlin/src/gcode/control/M111.cpp new file mode 100644 index 0000000000..a92d334ae9 --- /dev/null +++ b/Marlin/src/gcode/control/M111.cpp @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" + +/** + * M111: Set the debug level + */ +void GcodeSuite::M111() { + if (parser.seenval('S')) marlin_debug_flags = parser.value_byte(); + + static PGMSTR(str_debug_1, STR_DEBUG_ECHO); + static PGMSTR(str_debug_2, STR_DEBUG_INFO); + static PGMSTR(str_debug_4, STR_DEBUG_ERRORS); + static PGMSTR(str_debug_8, STR_DEBUG_DRYRUN); + static PGMSTR(str_debug_16, STR_DEBUG_COMMUNICATION); + #if ENABLED(DEBUG_LEVELING_FEATURE) + static PGMSTR(str_debug_detail, STR_DEBUG_DETAIL); + #endif + + static PGM_P const debug_strings[] PROGMEM = { + str_debug_1, str_debug_2, str_debug_4, str_debug_8, str_debug_16, + TERN_(DEBUG_LEVELING_FEATURE, str_debug_detail) + }; + + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(STR_DEBUG_PREFIX); + if (marlin_debug_flags) { + uint8_t comma = 0; + LOOP_L_N(i, COUNT(debug_strings)) { + if (TEST(marlin_debug_flags, i)) { + if (comma++) SERIAL_CHAR(','); + SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&debug_strings[i])); + } + } + } + else { + SERIAL_ECHOPGM(STR_DEBUG_OFF); + #if !defined(__AVR__) || !defined(USBCON) + #if ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS) + SERIAL_ECHOPGM("\nBuffer Overruns: ", MYSERIAL1.buffer_overruns()); + #endif + + #if ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS) + SERIAL_ECHOPGM("\nFraming Errors: ", MYSERIAL1.framing_errors()); + #endif + + #if ENABLED(SERIAL_STATS_DROPPED_RX) + SERIAL_ECHOPGM("\nDropped bytes: ", MYSERIAL1.dropped()); + #endif + + #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED) + SERIAL_ECHOPGM("\nMax RX Queue Size: ", MYSERIAL1.rxMaxEnqueued()); + #endif + #endif // !__AVR__ || !USBCON + } + SERIAL_EOL(); +} diff --git a/Marlin/src/gcode/control/M120_M121.cpp b/Marlin/src/gcode/control/M120_M121.cpp new file mode 100644 index 0000000000..570f2e935b --- /dev/null +++ b/Marlin/src/gcode/control/M120_M121.cpp @@ -0,0 +1,34 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../module/endstops.h" + +/** + * M120: Enable endstops and set non-homing endstop state to "enabled" + */ +void GcodeSuite::M120() { endstops.enable_globally(true); } + +/** + * M121: Disable endstops and set non-homing endstop state to "disabled" + */ +void GcodeSuite::M121() { endstops.enable_globally(false); } diff --git a/Marlin/src/gcode/control/M17_M18_M84.cpp b/Marlin/src/gcode/control/M17_M18_M84.cpp new file mode 100644 index 0000000000..4ff48568fa --- /dev/null +++ b/Marlin/src/gcode/control/M17_M18_M84.cpp @@ -0,0 +1,249 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers +#include "../../lcd/marlinui.h" +#include "../../module/motion.h" // for e_axis_mask +#include "../../module/planner.h" +#include "../../module/stepper.h" + +#if ENABLED(AUTO_BED_LEVELING_UBL) + #include "../../feature/bedlevel/bedlevel.h" +#endif + +#define DEBUG_OUT ENABLED(MARLIN_DEV_MODE) +#include "../../core/debug_out.h" +#include "../../libs/hex_print.h" + +inline stepper_flags_t selected_axis_bits() { + stepper_flags_t selected{0}; + #if HAS_EXTRUDERS + if (parser.seen('E')) { + if (E_TERN0(parser.has_value())) { + const uint8_t e = parser.value_int(); + if (e < EXTRUDERS) + selected.bits = _BV(INDEX_OF_AXIS(E_AXIS, e)); + } + else + selected.bits = e_axis_mask; + } + #endif + selected.bits |= NUM_AXIS_GANG( + (parser.seen_test('X') << X_AXIS), + | (parser.seen_test('Y') << Y_AXIS), + | (parser.seen_test('Z') << Z_AXIS), + | (parser.seen_test(AXIS4_NAME) << I_AXIS), + | (parser.seen_test(AXIS5_NAME) << J_AXIS), + | (parser.seen_test(AXIS6_NAME) << K_AXIS), + | (parser.seen_test(AXIS7_NAME) << U_AXIS), + | (parser.seen_test(AXIS8_NAME) << V_AXIS), + | (parser.seen_test(AXIS9_NAME) << W_AXIS) + ); + return selected; +} + +// Enable specified axes and warn about other affected axes +void do_enable(const stepper_flags_t to_enable) { + const ena_mask_t was_enabled = stepper.axis_enabled.bits, + shall_enable = to_enable.bits & ~was_enabled; + + DEBUG_ECHOLNPGM("Now Enabled: ", hex_word(stepper.axis_enabled.bits), " Enabling: ", hex_word(to_enable.bits), " | ", shall_enable); + + if (!shall_enable) return; // All specified axes already enabled? + + ena_mask_t also_enabled = 0; // Track steppers enabled due to overlap + + // Enable all flagged axes + LOOP_NUM_AXES(a) { + if (TEST(shall_enable, a)) { + stepper.enable_axis(AxisEnum(a)); // Mark and enable the requested axis + DEBUG_ECHOLNPGM("Enabled ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... Enabled: ", hex_word(stepper.axis_enabled.bits)); + also_enabled |= enable_overlap[a]; + } + } + #if HAS_EXTRUDERS + EXTRUDER_LOOP() { + const uint8_t a = INDEX_OF_AXIS(E_AXIS, e); + if (TEST(shall_enable, a)) { + stepper.ENABLE_EXTRUDER(e); + DEBUG_ECHOLNPGM("Enabled E", AS_DIGIT(e), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... ", hex_word(stepper.axis_enabled.bits)); + also_enabled |= enable_overlap[a]; + } + } + #endif + + if ((also_enabled &= ~(shall_enable | was_enabled))) { + SERIAL_CHAR('('); + LOOP_NUM_AXES(a) if (TEST(also_enabled, a)) SERIAL_CHAR(AXIS_CHAR(a), ' '); + #if HAS_EXTRUDERS + #define _EN_ALSO(N) if (TEST(also_enabled, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR('E', '0' + N, ' '); + REPEAT(EXTRUDERS, _EN_ALSO) + #endif + SERIAL_ECHOLNPGM("also enabled)"); + } + + DEBUG_ECHOLNPGM("Enabled Now: ", hex_word(stepper.axis_enabled.bits)); +} + +/** + * M17: Enable stepper motor power for one or more axes. + * Print warnings for axes that share an ENABLE_PIN. + * + * Examples: + * + * M17 XZ ; Enable X and Z axes + * M17 E ; Enable all E steppers + * M17 E1 ; Enable just the E1 stepper + */ +void GcodeSuite::M17() { + if (parser.seen_axis()) { + if (any_enable_overlap()) + do_enable(selected_axis_bits()); + else { + #if HAS_EXTRUDERS + if (parser.seen('E')) { + if (parser.has_value()) { + const uint8_t e = parser.value_int(); + if (e < EXTRUDERS) stepper.ENABLE_EXTRUDER(e); + } + else + stepper.enable_e_steppers(); + } + #endif + LOOP_NUM_AXES(a) + if (parser.seen_test(AXIS_CHAR(a))) stepper.enable_axis((AxisEnum)a); + } + } + else { + LCD_MESSAGE(MSG_NO_MOVE); + stepper.enable_all_steppers(); + } +} + +void try_to_disable(const stepper_flags_t to_disable) { + ena_mask_t still_enabled = to_disable.bits & stepper.axis_enabled.bits; + + DEBUG_ECHOLNPGM("Enabled: ", hex_word(stepper.axis_enabled.bits), " To Disable: ", hex_word(to_disable.bits), " | ", hex_word(still_enabled)); + + if (!still_enabled) return; + + // Attempt to disable all flagged axes + LOOP_NUM_AXES(a) + if (TEST(to_disable.bits, a)) { + DEBUG_ECHOPGM("Try to disable ", AXIS_CHAR(a), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... "); + if (stepper.disable_axis(AxisEnum(a))) { // Mark the requested axis and request to disable + DEBUG_ECHOPGM("OK"); + still_enabled &= ~(_BV(a) | enable_overlap[a]); // If actually disabled, clear one or more tracked bits + } + else + DEBUG_ECHOPGM("OVERLAP"); + DEBUG_ECHOLNPGM(" ... still_enabled=", hex_word(still_enabled)); + } + #if HAS_EXTRUDERS + EXTRUDER_LOOP() { + const uint8_t a = INDEX_OF_AXIS(E_AXIS, e); + if (TEST(to_disable.bits, a)) { + DEBUG_ECHOPGM("Try to disable E", AS_DIGIT(e), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... "); + if (stepper.DISABLE_EXTRUDER(e)) { + DEBUG_ECHOPGM("OK"); + still_enabled &= ~(_BV(a) | enable_overlap[a]); + } + else + DEBUG_ECHOPGM("OVERLAP"); + DEBUG_ECHOLNPGM(" ... still_enabled=", hex_word(still_enabled)); + } + } + #endif + + auto overlap_warning = [](const ena_mask_t axis_bits) { + SERIAL_ECHOPGM(" not disabled. Shared with"); + LOOP_NUM_AXES(a) if (TEST(axis_bits, a)) SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&SP_AXIS_STR[a])); + #if HAS_EXTRUDERS + #define _EN_STILLON(N) if (TEST(axis_bits, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR(' ', 'E', '0' + N); + REPEAT(EXTRUDERS, _EN_STILLON) + #endif + SERIAL_ECHOLNPGM("."); + }; + + // If any of the requested axes are still enabled, give a warning + LOOP_NUM_AXES(a) { + if (TEST(still_enabled, a)) { + SERIAL_CHAR(AXIS_CHAR(a)); + overlap_warning(stepper.axis_enabled.bits & enable_overlap[a]); + } + } + #if HAS_EXTRUDERS + EXTRUDER_LOOP() { + const uint8_t a = INDEX_OF_AXIS(E_AXIS, e); + if (TEST(still_enabled, a)) { + SERIAL_CHAR('E', '0' + e); + overlap_warning(stepper.axis_enabled.bits & enable_overlap[a]); + } + } + #endif + + DEBUG_ECHOLNPGM("Enabled Now: ", hex_word(stepper.axis_enabled.bits)); +} + +/** + * M18, M84: Disable stepper motor power for one or more axes. + * Print warnings for axes that share an ENABLE_PIN. + */ +void GcodeSuite::M18_M84() { + if (parser.seenval('S')) { + reset_stepper_timeout(); + #if HAS_DISABLE_INACTIVE_AXIS + const millis_t ms = parser.value_millis_from_seconds(); + #if LASER_SAFETY_TIMEOUT_MS > 0 + if (ms && ms <= LASER_SAFETY_TIMEOUT_MS) { + SERIAL_ECHO_MSG("M18 timeout must be > ", MS_TO_SEC(LASER_SAFETY_TIMEOUT_MS + 999), " s for laser safety."); + return; + } + #endif + stepper_inactive_time = ms; + #endif + } + else { + if (parser.seen_axis()) { + planner.synchronize(); + if (any_enable_overlap()) + try_to_disable(selected_axis_bits()); + else { + #if HAS_EXTRUDERS + if (parser.seen('E')) { + if (E_TERN0(parser.has_value())) + stepper.DISABLE_EXTRUDER(parser.value_int()); + else + stepper.disable_e_steppers(); + } + #endif + LOOP_NUM_AXES(a) + if (parser.seen_test(AXIS_CHAR(a))) stepper.disable_axis((AxisEnum)a); + } + } + else + planner.finish_and_disable(); + + TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled()); + } +} diff --git a/Marlin/src/gcode/control/M211.cpp b/Marlin/src/gcode/control/M211.cpp new file mode 100644 index 0000000000..95ae052a7b --- /dev/null +++ b/Marlin/src/gcode/control/M211.cpp @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if HAS_SOFTWARE_ENDSTOPS + +#include "../gcode.h" +#include "../../module/motion.h" + +/** + * M211: Enable, Disable, and/or Report software endstops + * + * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report + */ +void GcodeSuite::M211() { + if (parser.seen('S')) + soft_endstop._enabled = parser.value_bool(); + else + M211_report(); +} + +void GcodeSuite::M211_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_SOFT_ENDSTOPS)); + SERIAL_ECHOPGM(" M211 S", AS_DIGIT(soft_endstop._enabled), " ; "); + serialprintln_onoff(soft_endstop._enabled); + + report_echo_start(forReplay); + const xyz_pos_t l_soft_min = soft_endstop.min.asLogical(), + l_soft_max = soft_endstop.max.asLogical(); + print_pos(l_soft_min, F(STR_SOFT_MIN), F(" ")); + print_pos(l_soft_max, F(STR_SOFT_MAX)); +} + +#endif // HAS_SOFTWARE_ENDSTOPS diff --git a/Marlin/src/gcode/control/M226.cpp b/Marlin/src/gcode/control/M226.cpp new file mode 100644 index 0000000000..4eb3db4bc3 --- /dev/null +++ b/Marlin/src/gcode/control/M226.cpp @@ -0,0 +1,60 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(DIRECT_PIN_CONTROL) + +#include "../gcode.h" +#include "../../MarlinCore.h" // for pin_is_protected and idle() +#include "../../module/planner.h" + +void protected_pin_err(); + +/** + * M226: Wait until the specified pin reaches the state required (M226 P S) + */ +void GcodeSuite::M226() { + if (parser.seen('P')) { + const int pin_number = PARSED_PIN_INDEX('P', 0), + pin_state = parser.intval('S', -1); // required pin state - default is inverted + const pin_t pin = GET_PIN_MAP_PIN(pin_number); + + if (WITHIN(pin_state, -1, 1) && pin > -1) { + if (pin_is_protected(pin)) + protected_pin_err(); + else { + int target = LOW; + planner.synchronize(); + pinMode(pin, INPUT); + switch (pin_state) { + case 1: target = HIGH; break; + case 0: target = LOW; break; + case -1: target = !extDigitalRead(pin); break; + } + while (int(extDigitalRead(pin)) != target) idle(); + } + } // pin_state -1 0 1 && pin > -1 + } // parser.seen('P') +} + +#endif // DIRECT_PIN_CONTROL diff --git a/Marlin/src/gcode/control/M280.cpp b/Marlin/src/gcode/control/M280.cpp new file mode 100644 index 0000000000..82981e44bc --- /dev/null +++ b/Marlin/src/gcode/control/M280.cpp @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "../gcode.h" +#include "../../module/servo.h" +#include "../../module/planner.h" + +/** + * M280: Get or set servo position. + * P - Servo index + * S - Angle to set, omit to read current angle, or use -1 to detach + * + * With POLARGRAPH: + * T - Duration of servo move + */ +void GcodeSuite::M280() { + + if (!parser.seenval('P')) return; + + TERN_(POLARGRAPH, planner.synchronize()); + + const int servo_index = parser.value_int(); + if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) { + if (parser.seenval('S')) { + const int anew = parser.value_int(); + if (anew >= 0) { + #if ENABLED(POLARGRAPH) + if (parser.seenval('T')) { // (ms) Total duration of servo move + const int16_t t = constrain(parser.value_int(), 0, 10000); + const int aold = servo[servo_index].read(); + millis_t now = millis(); + const millis_t start = now, end = start + t; + while (PENDING(now, end)) { + safe_delay(50); + now = _MIN(millis(), end); + servo[servo_index].move(LROUND(aold + (anew - aold) * (float(now - start) / t))); + } + } + #endif // POLARGRAPH + servo[servo_index].move(anew); + } + else + servo[servo_index].detach(); + } + else + SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read()); + } + else + SERIAL_ERROR_MSG("Servo ", servo_index, " out of range"); + +} + +#endif // HAS_SERVOS diff --git a/Marlin/src/gcode/control/M282.cpp b/Marlin/src/gcode/control/M282.cpp new file mode 100644 index 0000000000..3ac5ac9f5b --- /dev/null +++ b/Marlin/src/gcode/control/M282.cpp @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(SERVO_DETACH_GCODE) + +#include "../gcode.h" +#include "../../module/servo.h" + +/** + * M282: Detach Servo. P + */ +void GcodeSuite::M282() { + + if (!parser.seenval('P')) return; + + const int servo_index = parser.value_int(); + if (WITHIN(servo_index, 0, NUM_SERVOS - 1)) + servo[servo_index].detach(); + else + SERIAL_ECHO_MSG("Servo ", servo_index, " out of range"); + +} + +#endif // SERVO_DETACH_GCODE diff --git a/Marlin/src/gcode/control/M3-M5.cpp b/Marlin/src/gcode/control/M3-M5.cpp new file mode 100644 index 0000000000..5d5d44e8bf --- /dev/null +++ b/Marlin/src/gcode/control/M3-M5.cpp @@ -0,0 +1,156 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_CUTTER + +#include "../gcode.h" +#include "../../feature/spindle_laser.h" +#include "../../module/planner.h" + +/** + * Laser: + * M3 - Laser ON/Power (Ramped power) + * M4 - Laser ON/Power (Ramped power) + * M5 - Set power output to 0 (leaving inline mode unchanged). + * + * M3I - Enable continuous inline power to be processed by the planner, with power + * calculated and set in the planner blocks, processed inline during stepping. + * Within inline mode M3 S-Values will set the power for the next moves e.g. G1 X10 Y10 powers on with the last S-Value. + * M3I must be set before using planner-synced M3 inline S-Values (LASER_POWER_SYNC). + * + * M4I - Set dynamic mode which calculates laser power OCR based on the current feedrate. + * + * M5I - Clear inline mode and set power to 0. + * + * Spindle: + * M3 - Spindle ON (Clockwise) + * M4 - Spindle ON (Counter-clockwise) + * M5 - Spindle OFF + * + * Parameters: + * S - Set power. S0 will turn the spindle/laser off. + * + * If no PWM pin is defined then M3/M4 just turns it on or off. + * + * At least 12.8kHz (50Hz * 256) is needed for Spindle PWM. + * Hardware PWM is required on AVR. ISRs are too slow. + * + * NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5. + * No other settings give a PWM signal that goes from 0 to 5 volts. + * + * The system automatically sets WGM to Mode 1, so no special + * initialization is needed. + * + * WGM bits for timer 2 are automatically set by the system to + * Mode 1. This produces an acceptable 0 to 5 volt signal. + * No special initialization is needed. + * + * NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler + * factors for timers 2, 3, 4, and 5 are acceptable. + * + * SPINDLE_LASER_ENA_PIN needs an external pullup or it may power on + * the spindle/laser during power-up or when connecting to the host + * (usually goes through a reset which sets all I/O pins to tri-state) + * + * PWM duty cycle goes from 0 (off) to 255 (always on). + */ +void GcodeSuite::M3_M4(const bool is_M4) { + #if LASER_SAFETY_TIMEOUT_MS > 0 + reset_stepper_timeout(); // Reset timeout to allow subsequent G-code to power the laser (imm.) + #endif + + if (cutter.cutter_mode == CUTTER_MODE_STANDARD) + planner.synchronize(); // Wait for previous movement commands (G0/G1/G2/G3) to complete before changing power + + #if ENABLED(LASER_FEATURE) + if (parser.seen_test('I')) { + cutter.cutter_mode = is_M4 ? CUTTER_MODE_DYNAMIC : CUTTER_MODE_CONTINUOUS; + cutter.inline_power(0); + cutter.set_enabled(true); + } + #endif + + auto get_s_power = [] { + float u; + if (parser.seenval('S')) { + const float v = parser.value_float(); + u = TERN(LASER_POWER_TRAP, v, cutter.power_to_range(v)); + } + else if (cutter.cutter_mode == CUTTER_MODE_STANDARD) + u = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP); + + cutter.menuPower = cutter.unitPower = u; + + // PWM not implied, power converted to OCR from unit definition and on/off if not PWM. + cutter.power = TERN(SPINDLE_LASER_USE_PWM, cutter.upower_to_ocr(u), u > 0 ? 255 : 0); + return u; + }; + + if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS || cutter.cutter_mode == CUTTER_MODE_DYNAMIC) { // Laser power in inline mode + #if ENABLED(LASER_FEATURE) + planner.laser_inline.status.isPowered = true; // M3 or M4 is powered either way + get_s_power(); // Update cutter.power if seen + #if ENABLED(LASER_POWER_SYNC) + // With power sync we only set power so it does not effect queued inline power sets + planner.buffer_sync_block(BLOCK_BIT_LASER_PWR); // Send the flag, queueing inline power + #else + planner.synchronize(); + cutter.inline_power(cutter.power); + #endif + #endif + } + else { + cutter.set_enabled(true); + get_s_power(); + cutter.apply_power( + #if ENABLED(SPINDLE_SERVO) + cutter.unitPower + #elif ENABLED(SPINDLE_LASER_USE_PWM) + cutter.upower_to_ocr(cutter.unitPower) + #else + cutter.unitPower > 0 ? 255 : 0 + #endif + ); + TERN_(SPINDLE_CHANGE_DIR, cutter.set_reverse(is_M4)); + } +} + +/** + * M5 - Cutter OFF (when moves are complete) + */ +void GcodeSuite::M5() { + planner.synchronize(); + cutter.power = 0; + cutter.apply_power(0); // M5 just kills power, leaving inline mode unchanged + if (cutter.cutter_mode != CUTTER_MODE_STANDARD) { + if (parser.seen_test('I')) { + TERN_(LASER_FEATURE, cutter.inline_power(cutter.power)); + cutter.set_enabled(false); // Needs to happen while we are in inline mode to clear inline power. + cutter.cutter_mode = CUTTER_MODE_STANDARD; // Switch from inline to standard mode. + } + } + cutter.set_enabled(false); // Disable enable output setting +} + +#endif // HAS_CUTTER diff --git a/Marlin/src/gcode/control/M350_M351.cpp b/Marlin/src/gcode/control/M350_M351.cpp new file mode 100644 index 0000000000..425abad529 --- /dev/null +++ b/Marlin/src/gcode/control/M350_M351.cpp @@ -0,0 +1,71 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_MICROSTEPS + +#include "../gcode.h" +#include "../../module/stepper.h" + +#if NUM_AXES == XYZ && EXTRUDERS >= 1 + #define HAS_M350_B_PARAM 1 // "5th axis" (after E0) for an original XYZEB setup. +#endif + +/** + * M350: Set axis microstepping modes. S sets mode for all drivers. + * + * Warning: Steps-per-unit remains unchanged. + */ +void GcodeSuite::M350() { + if (parser.seen('S')) LOOP_DISTINCT_AXES(i) stepper.microstep_mode(i, parser.value_byte()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_mode(i, parser.value_byte()); + TERN_(HAS_M350_B_PARAM, if (parser.seenval('B')) stepper.microstep_mode(E_AXIS + 1, parser.value_byte())); + stepper.microstep_readings(); +} + +/** + * M351: Toggle MS1 MS2 pins directly with axis codes X Y Z . . . E [B] + * S# determines MS1, MS2 or MS3, X# sets the pin high/low. + * + * Parameter 'B' sets "5th axis" (after E0) only for an original XYZEB setup. + */ +void GcodeSuite::M351() { + const int8_t bval = TERN(HAS_M350_B_PARAM, parser.byteval('B', -1), -1); UNUSED(bval); + if (parser.seenval('S')) switch (parser.value_byte()) { + case 1: + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, parser.value_byte(), -1, -1); + TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, bval != 0, -1, -1)); + break; + case 2: + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, -1, parser.value_byte(), -1); + TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, -1, bval != 0, -1)); + break; + case 3: + LOOP_LOGICAL_AXES(i) if (parser.seenval(AXIS_CHAR(i))) stepper.microstep_ms(i, -1, -1, parser.value_byte()); + TERN_(HAS_M350_B_PARAM, if (bval >= 0) stepper.microstep_ms(E_AXIS + 1, -1, -1, bval != 0)); + break; + } + stepper.microstep_readings(); +} + +#endif // HAS_MICROSTEPS diff --git a/Marlin/src/gcode/control/M380_M381.cpp b/Marlin/src/gcode/control/M380_M381.cpp new file mode 100644 index 0000000000..6bcec891e2 --- /dev/null +++ b/Marlin/src/gcode/control/M380_M381.cpp @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if EITHER(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL) + +#include "../gcode.h" +#include "../../feature/solenoid.h" +#include "../../module/motion.h" + +/** + * M380: Enable solenoid on the active extruder + * + * S to specify a solenoid (Requires MANUAL_SOLENOID_CONTROL) + */ +void GcodeSuite::M380() { + #if ENABLED(MANUAL_SOLENOID_CONTROL) + enable_solenoid(parser.intval('S', active_extruder)); + #else + enable_solenoid(active_extruder); + #endif +} + +/** + * M381: Disable all solenoids if EXT_SOLENOID + * Disable selected/active solenoid if MANUAL_SOLENOID_CONTROL + */ +void GcodeSuite::M381() { + #if ENABLED(MANUAL_SOLENOID_CONTROL) + disable_solenoid(parser.intval('S', active_extruder)); + #else + disable_all_solenoids(); + #endif +} + +#endif // EXT_SOLENOID || MANUAL_SOLENOID_CONTROL diff --git a/Marlin/src/gcode/control/M400.cpp b/Marlin/src/gcode/control/M400.cpp new file mode 100644 index 0000000000..6058fb894e --- /dev/null +++ b/Marlin/src/gcode/control/M400.cpp @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../module/planner.h" + +/** + * M400: Finish all moves + */ +void GcodeSuite::M400() { + + planner.synchronize(); + +} diff --git a/Marlin/src/gcode/control/M42.cpp b/Marlin/src/gcode/control/M42.cpp new file mode 100644 index 0000000000..1b3a29d100 --- /dev/null +++ b/Marlin/src/gcode/control/M42.cpp @@ -0,0 +1,135 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(DIRECT_PIN_CONTROL) + +#include "../gcode.h" +#include "../../MarlinCore.h" // for pin_is_protected + +#if HAS_FAN + #include "../../module/temperature.h" +#endif + +#ifdef MAPLE_STM32F1 + // these are enums on the F1... + #define INPUT_PULLDOWN INPUT_PULLDOWN + #define INPUT_ANALOG INPUT_ANALOG + #define OUTPUT_OPEN_DRAIN OUTPUT_OPEN_DRAIN +#endif + +void protected_pin_err() { + SERIAL_ERROR_MSG(STR_ERR_PROTECTED_PIN); +} + +/** + * M42: Change pin status via GCode + * + * P Pin number (LED if omitted) + * For LPC1768 specify pin P1_02 as M42 P102, + * P1_20 as M42 P120, etc. + * + * S Pin status from 0 - 255 + * I Flag to ignore Marlin's pin protection + * + * T Pin mode: 0=INPUT 1=OUTPUT 2=INPUT_PULLUP 3=INPUT_PULLDOWN + */ +void GcodeSuite::M42() { + const int pin_index = PARSED_PIN_INDEX('P', GET_PIN_MAP_INDEX(LED_PIN)); + if (pin_index < 0) return; + + const pin_t pin = GET_PIN_MAP_PIN(pin_index); + + if (!parser.boolval('I') && pin_is_protected(pin)) return protected_pin_err(); + + bool avoidWrite = false; + if (parser.seenval('T')) { + switch (parser.value_byte()) { + case 0: pinMode(pin, INPUT); avoidWrite = true; break; + case 1: pinMode(pin, OUTPUT); break; + case 2: pinMode(pin, INPUT_PULLUP); avoidWrite = true; break; + #ifdef INPUT_PULLDOWN + case 3: pinMode(pin, INPUT_PULLDOWN); avoidWrite = true; break; + #endif + #ifdef INPUT_ANALOG + case 4: pinMode(pin, INPUT_ANALOG); avoidWrite = true; break; + #endif + #ifdef OUTPUT_OPEN_DRAIN + case 5: pinMode(pin, OUTPUT_OPEN_DRAIN); break; + #endif + default: SERIAL_ECHOLNPGM("Invalid Pin Mode"); return; + } + } + + if (!parser.seenval('S')) return; + const byte pin_status = parser.value_byte(); + + #if HAS_FAN + switch (pin) { + #if HAS_FAN0 + case FAN0_PIN: thermalManager.fan_speed[0] = pin_status; return; + #endif + #if HAS_FAN1 + case FAN1_PIN: thermalManager.fan_speed[1] = pin_status; return; + #endif + #if HAS_FAN2 + case FAN2_PIN: thermalManager.fan_speed[2] = pin_status; return; + #endif + #if HAS_FAN3 + case FAN3_PIN: thermalManager.fan_speed[3] = pin_status; return; + #endif + #if HAS_FAN4 + case FAN4_PIN: thermalManager.fan_speed[4] = pin_status; return; + #endif + #if HAS_FAN5 + case FAN5_PIN: thermalManager.fan_speed[5] = pin_status; return; + #endif + #if HAS_FAN6 + case FAN6_PIN: thermalManager.fan_speed[6] = pin_status; return; + #endif + #if HAS_FAN7 + case FAN7_PIN: thermalManager.fan_speed[7] = pin_status; return; + #endif + } + #endif + + if (avoidWrite) { + SERIAL_ECHOLNPGM("?Cannot write to INPUT"); + return; + } + + // An OUTPUT_OPEN_DRAIN should not be changed to normal OUTPUT (STM32) + // Use M42 Px M1/5 S0/1 to set the output type and then set value + #ifndef OUTPUT_OPEN_DRAIN + pinMode(pin, OUTPUT); + #endif + extDigitalWrite(pin, pin_status); + + #ifdef ARDUINO_ARCH_STM32 + // A simple I/O will be set to 0 by hal.set_pwm_duty() + if (pin_status <= 1 && !PWM_PIN(pin)) return; + #endif + hal.set_pwm_duty(pin, pin_status); +} + +#endif // DIRECT_PIN_CONTROL diff --git a/Marlin/src/gcode/control/M605.cpp b/Marlin/src/gcode/control/M605.cpp new file mode 100644 index 0000000000..a52c706fa6 --- /dev/null +++ b/Marlin/src/gcode/control/M605.cpp @@ -0,0 +1,189 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_DUPLICATION_MODE + +//#define DEBUG_DXC_MODE + +#include "../gcode.h" +#include "../../module/motion.h" +#include "../../module/tool_change.h" +#include "../../module/planner.h" + +#define DEBUG_OUT ENABLED(DEBUG_DXC_MODE) +#include "../../core/debug_out.h" + +#if ENABLED(DUAL_X_CARRIAGE) + + /** + * M605: Set dual x-carriage movement mode + * + * M605 S0 : (FULL_CONTROL) The slicer has full control over both X-carriages and can achieve optimal travel + * results as long as it supports dual X-carriages. + * + * M605 S1 : (AUTO_PARK) The firmware automatically parks and unparks the X-carriages on tool-change so that + * additional slicer support is not required. + * + * M605 S2 X R : (DUPLICATION) The firmware moves the second X-carriage and extruder in synchronization with + * the first X-carriage and extruder, to print 2 copies of the same object at the same time. + * Set the constant X-offset and temperature differential with M605 S2 X[offs] R[deg] and + * follow with "M605 S2" to initiate duplicated movement. For example, use "M605 S2 X100 R2" to + * make a copy 100mm to the right with E1 2° hotter than E0. + * + * M605 S3 : (MIRRORED) Formbot/Vivedino-inspired mirrored mode in which the second extruder duplicates + * the movement of the first except the second extruder is reversed in the X axis. + * The temperature differential and initial X offset must be set with "M605 S2 X[offs] R[deg]", + * then followed by "M605 S3" to initiate mirrored movement. + * + * M605 W : IDEX What? command. + * + * Note: the X axis should be homed after changing Dual X-carriage mode. + */ + void GcodeSuite::M605() { + planner.synchronize(); + + if (parser.seenval('S')) { + const DualXMode previous_mode = dual_x_carriage_mode; + + dual_x_carriage_mode = (DualXMode)parser.value_byte(); + idex_set_mirrored_mode(false); + + switch (dual_x_carriage_mode) { + + case DXC_FULL_CONTROL_MODE: + case DXC_AUTO_PARK_MODE: + break; + + case DXC_DUPLICATION_MODE: + // Set the X offset, but no less than the safety gap + if (parser.seenval('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), (X2_MIN_POS) - (X1_MIN_POS)); + if (parser.seenval('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff(); + // Always switch back to tool 0 + if (active_extruder != 0) tool_change(0); + break; + + case DXC_MIRRORED_MODE: { + if (previous_mode != DXC_DUPLICATION_MODE) { + SERIAL_ECHOLNPGM("Printer must be in DXC_DUPLICATION_MODE prior to "); + SERIAL_ECHOLNPGM("specifying DXC_MIRRORED_MODE."); + dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + return; + } + idex_set_mirrored_mode(true); + + // Do a small 'jog' motion in the X axis + xyze_pos_t dest = current_position; dest.x -= 0.1f; + for (uint8_t i = 2; --i;) { + planner.buffer_line(dest, feedrate_mm_s, 0); + dest.x += 0.1f; + } + } return; + + default: + dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + break; + } + + idex_set_parked(false); + set_duplication_enabled(false); + + #ifdef EVENT_GCODE_IDEX_AFTER_MODECHANGE + process_subcommands_now(F(EVENT_GCODE_IDEX_AFTER_MODECHANGE)); + #endif + } + else if (!parser.seen('W')) // if no S or W parameter, the DXC mode gets reset to the user's default + dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + + #ifdef DEBUG_DXC_MODE + + if (parser.seen('W')) { + DEBUG_ECHO_START(); + DEBUG_ECHOPGM("Dual X Carriage Mode "); + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: DEBUG_ECHOPGM("FULL_CONTROL"); break; + case DXC_AUTO_PARK_MODE: DEBUG_ECHOPGM("AUTO_PARK"); break; + case DXC_DUPLICATION_MODE: DEBUG_ECHOPGM("DUPLICATION"); break; + case DXC_MIRRORED_MODE: DEBUG_ECHOPGM("MIRRORED"); break; + } + DEBUG_ECHOPGM("\nActive Ext: ", active_extruder); + if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT "); + DEBUG_ECHOPGM(" parked."); + DEBUG_ECHOPGM("\nactive_extruder_x_pos: ", current_position.x); + DEBUG_ECHOPGM("\ninactive_extruder_x: ", inactive_extruder_x); + DEBUG_ECHOPGM("\nextruder_duplication_enabled: ", extruder_duplication_enabled); + DEBUG_ECHOPGM("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset); + DEBUG_ECHOPGM("\nduplicate_extruder_temp_offset: ", duplicate_extruder_temp_offset); + DEBUG_ECHOPGM("\ndelayed_move_time: ", delayed_move_time); + DEBUG_ECHOPGM("\nX1 Home X: ", x_home_pos(0), "\nX1_MIN_POS=", X1_MIN_POS, "\nX1_MAX_POS=", X1_MAX_POS); + DEBUG_ECHOPGM("\nX2 Home X: ", x_home_pos(1), "\nX2_MIN_POS=", X2_MIN_POS, "\nX2_MAX_POS=", X2_MAX_POS); + DEBUG_ECHOPGM("\nX2_HOME_DIR=", X2_HOME_DIR, "\nX2_HOME_POS=", X2_HOME_POS); + DEBUG_ECHOPGM("\nDEFAULT_DUAL_X_CARRIAGE_MODE=", STRINGIFY(DEFAULT_DUAL_X_CARRIAGE_MODE)); + DEBUG_ECHOPGM("\toolchange_settings.z_raise=", toolchange_settings.z_raise); + DEBUG_ECHOPGM("\nDEFAULT_DUPLICATION_X_OFFSET=", DEFAULT_DUPLICATION_X_OFFSET); + DEBUG_EOL(); + + HOTEND_LOOP() { + DEBUG_ECHOPGM_P(SP_T_STR, e); + LOOP_NUM_AXES(a) DEBUG_ECHOPGM(" hotend_offset[", e, "].", AS_CHAR(AXIS_CHAR(a) | 0x20), "=", hotend_offset[e][a]); + DEBUG_EOL(); + } + DEBUG_EOL(); + } + #endif // DEBUG_DXC_MODE + } + +#elif ENABLED(MULTI_NOZZLE_DUPLICATION) + + /** + * M605: Set multi-nozzle duplication mode + * + * S2 - Enable duplication mode + * P[mask] - Bit-mask of nozzles to include in the duplication set. + * A value of 0 disables duplication. + * E[index] - Last nozzle index to include in the duplication set. + * A value of 0 disables duplication. + */ + void GcodeSuite::M605() { + bool ena = false; + if (parser.seen("EPS")) { + planner.synchronize(); + if (parser.seenval('P')) duplication_e_mask = parser.value_int(); // Set the mask directly + else if (parser.seenval('E')) duplication_e_mask = _BV(parser.value_int() + 1) - 1; // Set the mask by E index + ena = (2 == parser.intval('S', extruder_duplication_enabled ? 2 : 0)); + set_duplication_enabled(ena && (duplication_e_mask >= 3)); + } + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(STR_DUPLICATION_MODE); + serialprint_onoff(extruder_duplication_enabled); + if (ena) { + SERIAL_ECHOPGM(" ( "); + HOTEND_LOOP() if (TEST(duplication_e_mask, e)) { SERIAL_ECHO(e); SERIAL_CHAR(' '); } + SERIAL_CHAR(')'); + } + SERIAL_EOL(); + } + +#endif // MULTI_NOZZLE_DUPLICATION + +#endif // HAS_DUPICATION_MODE diff --git a/Marlin/src/gcode/control/M7-M9.cpp b/Marlin/src/gcode/control/M7-M9.cpp new file mode 100644 index 0000000000..ccde4f552c --- /dev/null +++ b/Marlin/src/gcode/control/M7-M9.cpp @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfigPre.h" + +#if ANY(COOLANT_MIST, COOLANT_FLOOD, AIR_ASSIST) + +#include "../gcode.h" +#include "../../module/planner.h" + +#if ENABLED(COOLANT_MIST) + /** + * M7: Mist Coolant On + */ + void GcodeSuite::M7() { + planner.synchronize(); // Wait for move to arrive + WRITE(COOLANT_MIST_PIN, !(COOLANT_MIST_INVERT)); // Turn on Mist coolant + } +#endif + +#if EITHER(COOLANT_FLOOD, AIR_ASSIST) + + #if ENABLED(AIR_ASSIST) + #include "../../feature/spindle_laser.h" + #endif + + /** + * M8: Flood Coolant / Air Assist ON + */ + void GcodeSuite::M8() { + planner.synchronize(); // Wait for move to arrive + #if ENABLED(COOLANT_FLOOD) + WRITE(COOLANT_FLOOD_PIN, !(COOLANT_FLOOD_INVERT)); // Turn on Flood coolant + #endif + #if ENABLED(AIR_ASSIST) + cutter.air_assist_enable(); // Turn on Air Assist + #endif + } + +#endif + +/** + * M9: Coolant / Air Assist OFF + */ +void GcodeSuite::M9() { + planner.synchronize(); // Wait for move to arrive + #if ENABLED(COOLANT_MIST) + WRITE(COOLANT_MIST_PIN, COOLANT_MIST_INVERT); // Turn off Mist coolant + #endif + #if ENABLED(COOLANT_FLOOD) + WRITE(COOLANT_FLOOD_PIN, COOLANT_FLOOD_INVERT); // Turn off Flood coolant + #endif + #if ENABLED(AIR_ASSIST) + cutter.air_assist_disable(); // Turn off Air Assist + #endif +} + +#endif // COOLANT_MIST | COOLANT_FLOOD | AIR_ASSIST diff --git a/Marlin/src/gcode/control/M80_M81.cpp b/Marlin/src/gcode/control/M80_M81.cpp new file mode 100644 index 0000000000..90b25e7ed3 --- /dev/null +++ b/Marlin/src/gcode/control/M80_M81.cpp @@ -0,0 +1,120 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" + +#include "../../module/temperature.h" +#include "../../module/planner.h" // for planner.finish_and_disable +#include "../../module/printcounter.h" // for print_job_timer.stop +#include "../../lcd/marlinui.h" // for LCD_MESSAGE_F + +#include "../../inc/MarlinConfig.h" + +#if ENABLED(PSU_CONTROL) + #include "../queue.h" + #include "../../feature/power.h" +#endif + +#if HAS_SUICIDE + #include "../../MarlinCore.h" +#endif + +#if ENABLED(PSU_CONTROL) + + /** + * M80 : Turn on the Power Supply + * M80 S : Report the current state and exit + */ + void GcodeSuite::M80() { + + // S: Report the current power supply state and exit + if (parser.seen('S')) { + SERIAL_ECHOF(powerManager.psu_on ? F("PS:1\n") : F("PS:0\n")); + return; + } + + powerManager.power_on(); + + /** + * If you have a switch on suicide pin, this is useful + * if you want to start another print with suicide feature after + * a print without suicide... + */ + #if HAS_SUICIDE + OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_STATE); + #endif + + TERN_(HAS_MARLINUI_MENU, ui.reset_status()); + } + +#endif // PSU_CONTROL + +/** + * M81: Turn off Power, including Power Supply, if there is one. + * + * This code should ALWAYS be available for FULL SHUTDOWN! + */ +void GcodeSuite::M81() { + planner.finish_and_disable(); + thermalManager.cooldown(); + + print_job_timer.stop(); + + #if BOTH(HAS_FAN, PROBING_FANS_OFF) + thermalManager.fans_paused = false; + ZERO(thermalManager.saved_fan_speed); + #endif + + safe_delay(1000); // Wait 1 second before switching off + + LCD_MESSAGE_F(MACHINE_NAME " " STR_OFF "."); + + bool delayed_power_off = false; + + #if ENABLED(POWER_OFF_TIMER) + if (parser.seenval('D')) { + uint16_t delay = parser.value_ushort(); + if (delay > 1) { // skip already observed 1s delay + delayed_power_off = true; + powerManager.setPowerOffTimer(SEC_TO_MS(delay - 1)); + } + } + #endif + + #if ENABLED(POWER_OFF_WAIT_FOR_COOLDOWN) + if (parser.boolval('S')) { + delayed_power_off = true; + powerManager.setPowerOffOnCooldown(true); + } + #endif + + if (delayed_power_off) { + SERIAL_ECHOLNPGM(STR_DELAYED_POWEROFF); + return; + } + + #if HAS_SUICIDE + suicide(); + #elif ENABLED(PSU_CONTROL) + powerManager.power_off_soon(); + #endif +} diff --git a/Marlin/src/gcode/control/M85.cpp b/Marlin/src/gcode/control/M85.cpp new file mode 100644 index 0000000000..ee868349ed --- /dev/null +++ b/Marlin/src/gcode/control/M85.cpp @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" + +/** + * M85: Set inactivity shutdown timer with parameter S. To disable set zero (default) + */ +void GcodeSuite::M85() { + + if (parser.seen('S')) { + reset_stepper_timeout(); + const millis_t ms = parser.value_millis_from_seconds(); + #if LASER_SAFETY_TIMEOUT_MS > 0 + if (ms && ms <= LASER_SAFETY_TIMEOUT_MS) { + SERIAL_ECHO_MSG("M85 timeout must be > ", MS_TO_SEC(LASER_SAFETY_TIMEOUT_MS + 999), " s for laser safety."); + return; + } + #endif + max_inactive_time = ms; + } + +} diff --git a/Marlin/src/gcode/control/M993_M994.cpp b/Marlin/src/gcode/control/M993_M994.cpp new file mode 100644 index 0000000000..598a73fab7 --- /dev/null +++ b/Marlin/src/gcode/control/M993_M994.cpp @@ -0,0 +1,88 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../inc/MarlinConfig.h" + +#if ALL(SPI_FLASH, SDSUPPORT, MARLIN_DEV_MODE) + +#include "../gcode.h" +#include "../../sd/cardreader.h" +#include "../../libs/W25Qxx.h" + +/** + * M993: Backup SPI Flash to SD + */ +void GcodeSuite::M993() { + if (!card.isMounted()) card.mount(); + + char fname[] = "spiflash.bin"; + card.openFileWrite(fname); + if (!card.isFileOpen()) { + SERIAL_ECHOLNPGM("Failed to open ", fname, " to write."); + return; + } + + uint8_t buf[1024]; + uint32_t addr = 0; + W25QXX.init(SPI_QUARTER_SPEED); + SERIAL_ECHOPGM("Save SPI Flash"); + while (addr < SPI_FLASH_SIZE) { + W25QXX.SPI_FLASH_BufferRead(buf, addr, COUNT(buf)); + addr += COUNT(buf); + card.write(buf, COUNT(buf)); + if (addr % (COUNT(buf) * 10) == 0) SERIAL_CHAR('.'); + } + SERIAL_ECHOLNPGM(" done"); + + card.closefile(); +} + +/** + * M994: Load a backup from SD to SPI Flash + */ +void GcodeSuite::M994() { + if (!card.isMounted()) card.mount(); + + char fname[] = "spiflash.bin"; + card.openFileRead(fname); + if (!card.isFileOpen()) { + SERIAL_ECHOLNPGM("Failed to open ", fname, " to read."); + return; + } + + uint8_t buf[1024]; + uint32_t addr = 0; + W25QXX.init(SPI_QUARTER_SPEED); + W25QXX.SPI_FLASH_BulkErase(); + SERIAL_ECHOPGM("Load SPI Flash"); + while (addr < SPI_FLASH_SIZE) { + card.read(buf, COUNT(buf)); + W25QXX.SPI_FLASH_BufferWrite(buf, addr, COUNT(buf)); + addr += COUNT(buf); + if (addr % (COUNT(buf) * 10) == 0) SERIAL_CHAR('.'); + } + SERIAL_ECHOLNPGM(" done"); + + card.closefile(); +} + +#endif // SPI_FLASH && SDSUPPORT && MARLIN_DEV_MODE diff --git a/Marlin/src/gcode/control/M997.cpp b/Marlin/src/gcode/control/M997.cpp new file mode 100644 index 0000000000..74ed8b0d07 --- /dev/null +++ b/Marlin/src/gcode/control/M997.cpp @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" + +#if ENABLED(PLATFORM_M997_SUPPORT) + +#if ENABLED(DWIN_LCD_PROUI) + #include "../../lcd/e3v2/proui/dwin.h" +#endif + +/** + * M997: Perform in-application firmware update + */ +void GcodeSuite::M997() { + + TERN_(DWIN_LCD_PROUI, DWIN_RebootScreen()); + + flashFirmware(parser.intval('S')); + +} + +#endif diff --git a/Marlin/src/gcode/control/M999.cpp b/Marlin/src/gcode/control/M999.cpp new file mode 100644 index 0000000000..b7d6db9f23 --- /dev/null +++ b/Marlin/src/gcode/control/M999.cpp @@ -0,0 +1,45 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" + +#include "../../lcd/marlinui.h" // for ui.reset_alert_level +#include "../../MarlinCore.h" // for marlin_state +#include "../queue.h" // for flush_and_request_resend + +/** + * M999: Restart after being stopped + * + * Default behavior is to flush the serial buffer and request + * a resend to the host starting on the last N line received. + * + * Sending "M999 S1" will resume printing without flushing the + * existing command buffer. + */ +void GcodeSuite::M999() { + marlin_state = MF_RUNNING; + ui.reset_alert_level(); + + if (parser.boolval('S')) return; + + queue.flush_and_request_resend(queue.ring_buffer.command_port()); +} diff --git a/Marlin/src/gcode/control/T.cpp b/Marlin/src/gcode/control/T.cpp new file mode 100644 index 0000000000..5e8f6b5436 --- /dev/null +++ b/Marlin/src/gcode/control/T.cpp @@ -0,0 +1,70 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../module/tool_change.h" + +#if EITHER(HAS_MULTI_EXTRUDER, DEBUG_LEVELING_FEATURE) + #include "../../module/motion.h" +#endif + +#if HAS_PRUSA_MMU2 + #include "../../feature/mmu/mmu2.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../../core/debug_out.h" + +/** + * T0-T: Switch tool, usually switching extruders + * + * F[units/min] Set the movement feedrate + * S1 Don't move the tool in XY after change + * + * For PRUSA_MMU2(S) and EXTENDABLE_EMU_MMU2(S) + * T[n] Gcode to extrude at least 38.10 mm at feedrate 19.02 mm/s must follow immediately to load to extruder wheels. + * T? Gcode to extrude shouldn't have to follow. Load to extruder wheels is done automatically. + * Tx Same as T?, but nozzle doesn't have to be preheated. Tc requires a preheated nozzle to finish filament load. + * Tc Load to nozzle after filament was prepared by Tc and nozzle is already heated. + */ +void GcodeSuite::T(const int8_t tool_index) { + + DEBUG_SECTION(log_T, "T", DEBUGGING(LEVELING)); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("...(", tool_index, ")"); + + // Count this command as movement / activity + reset_stepper_timeout(); + + #if HAS_PRUSA_MMU2 + if (parser.string_arg) { + mmu2.tool_change(parser.string_arg); // Special commands T?/Tx/Tc + return; + } + #endif + + tool_change(tool_index + #if HAS_MULTI_EXTRUDER + , TERN(PARKING_EXTRUDER, false, tool_index == active_extruder) // For PARKING_EXTRUDER motion is decided in tool_change() + || parser.boolval('S') + #endif + ); +} diff --git a/Marlin/src/gcode/eeprom/M500-M504.cpp b/Marlin/src/gcode/eeprom/M500-M504.cpp new file mode 100644 index 0000000000..412d003355 --- /dev/null +++ b/Marlin/src/gcode/eeprom/M500-M504.cpp @@ -0,0 +1,124 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../gcode.h" +#include "../../module/settings.h" +#include "../../core/serial.h" +#include "../../inc/MarlinConfig.h" + +#if ENABLED(CONFIGURATION_EMBEDDING) + #include "../../sd/SdBaseFile.h" + #include "../../mczip.h" +#endif + +/** + * M500: Store settings in EEPROM + */ +void GcodeSuite::M500() { + (void)settings.save(); +} + +/** + * M501: Read settings from EEPROM + */ +void GcodeSuite::M501() { + (void)settings.load(); +} + +/** + * M502: Revert to default settings + */ +void GcodeSuite::M502() { + (void)settings.reset(); +} + +#if DISABLED(DISABLE_M503) + + /** + * M503: print settings currently in memory + * + * S : Include / exclude header comments in the output. (Default: S1) + * + * With CONFIGURATION_EMBEDDING: + * C : Save the full Marlin configuration to SD Card as "mc.zip" + */ + void GcodeSuite::M503() { + (void)settings.report(!parser.boolval('S', true)); + + #if ENABLED(CONFIGURATION_EMBEDDING) + if (parser.seen_test('C')) { + SdBaseFile file; + const uint16_t size = sizeof(mc_zip); + // Need to create the config size on the SD card + if (file.open("mc.zip", O_WRITE|O_CREAT) && file.write(pgm_read_ptr(mc_zip), size) != -1 && file.close()) + SERIAL_ECHO_MSG("Configuration saved as 'mc.zip'"); + } + #endif + } + +#endif // !DISABLE_M503 + +#if ENABLED(EEPROM_SETTINGS) + + #if ENABLED(MARLIN_DEV_MODE) + #include "../../libs/hex_print.h" + #endif + + /** + * M504: Validate EEPROM Contents + */ + void GcodeSuite::M504() { + #if ENABLED(MARLIN_DEV_MODE) + const bool dowrite = parser.seenval('W'); + if (dowrite || parser.seenval('R')) { + uint8_t val = 0; + int addr = parser.value_ushort(); + if (dowrite) { + val = parser.byteval('V'); + persistentStore.write_data(addr, &val); + SERIAL_ECHOLNPGM("Wrote address ", addr, " with ", val); + } + else { + if (parser.seenval('T')) { + const int endaddr = parser.value_ushort(); + while (addr <= endaddr) { + persistentStore.read_data(addr, &val); + SERIAL_ECHOLNPGM("0x", hex_word(addr), ":", hex_byte(val)); + addr++; + safe_delay(10); + } + SERIAL_EOL(); + } + else { + persistentStore.read_data(addr, &val); + SERIAL_ECHOLNPGM("Read address ", addr, " and got ", val); + } + } + return; + } + #endif + + if (settings.validate()) + SERIAL_ECHO_MSG("EEPROM OK"); + } + +#endif diff --git a/Marlin/src/gcode/feature/adc/M3426.cpp b/Marlin/src/gcode/feature/adc/M3426.cpp new file mode 100644 index 0000000000..2820c8b880 --- /dev/null +++ b/Marlin/src/gcode/feature/adc/M3426.cpp @@ -0,0 +1,68 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(HAS_MCP3426_ADC) + +#include "../../gcode.h" + +#include "../../../feature/adc/adc_mcp3426.h" + +#define MCP3426_BASE_ADDR (0b1101 << 3) + +/** + * M3426: Read 16 bit (signed) value from I2C MCP3426 ADC device + * + * M3426 C channel 1 or 2 + * M3426 G gain 1, 2, 4 or 8 + * M3426 I 0 or 1, invert reply + */ +void GcodeSuite::M3426() { + uint8_t channel = parser.byteval('C', 1), // Channel 1 or 2 + gain = parser.byteval('G', 1), // Gain 1, 2, 4, or 8 + address = parser.byteval('A', 3); // Address 0-7 (or 104-111) + const bool inverted = parser.boolval('I'); + + if (address <= 7) address += MCP3426_BASE_ADDR; + + if (WITHIN(channel, 1, 2) && (gain == 1 || gain == 2 || gain == 4 || gain == 8) && WITHIN(address, MCP3426_BASE_ADDR, MCP3426_BASE_ADDR + 7)) { + int16_t result = mcp3426.ReadValue(channel, gain, address); + + if (mcp3426.Error == false) { + if (inverted) { + // Should we invert the reading (32767 - ADC value) ? + // Caters to end devices that expect values to increase when in reality they decrease. + // e.g., A pressure sensor in a vacuum when the end device expects a positive pressure. + result = INT16_MAX - result; + } + //SERIAL_ECHOPGM(STR_OK); + SERIAL_ECHOLNPGM("V:", result, " C:", channel, " G:", gain, " I:", inverted ? 1 : 0); + } + else + SERIAL_ERROR_MSG("MCP342X i2c error"); + } + else + SERIAL_ERROR_MSG("MCP342X Bad request"); +} + +#endif // HAS_MCP3426_ADC diff --git a/Marlin/src/gcode/feature/advance/M900.cpp b/Marlin/src/gcode/feature/advance/M900.cpp new file mode 100644 index 0000000000..8c0da41801 --- /dev/null +++ b/Marlin/src/gcode/feature/advance/M900.cpp @@ -0,0 +1,160 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(LIN_ADVANCE) + +#include "../../gcode.h" +#include "../../../module/planner.h" + +#if ENABLED(ADVANCE_K_EXTRA) + float other_extruder_advance_K[DISTINCT_E]; + uint8_t lin_adv_slot = 0; +#endif + +/** + * M900: Get or Set Linear Advance K-factor + * T Which tool to address + * K Set current advance K factor (Slot 0). + * L Set secondary advance K factor (Slot 1). Requires ADVANCE_K_EXTRA. + * S<0/1> Activate slot 0 or 1. Requires ADVANCE_K_EXTRA. + */ +void GcodeSuite::M900() { + + auto echo_value_oor = [](const char ltr, const bool ten=true) { + SERIAL_CHAR('?', ltr); + SERIAL_ECHOPGM(" value out of range"); + if (ten) SERIAL_ECHOPGM(" (0-10)"); + SERIAL_ECHOLNPGM("."); + }; + + #if EXTRUDERS < 2 + constexpr uint8_t tool_index = 0; + UNUSED(tool_index); + #else + const uint8_t tool_index = parser.intval('T', active_extruder); + if (tool_index >= EXTRUDERS) { + echo_value_oor('T', false); + return; + } + #endif + + float &kref = planner.extruder_advance_K[E_INDEX_N(tool_index)], newK = kref; + const float oldK = newK; + + #if ENABLED(ADVANCE_K_EXTRA) + + float &lref = other_extruder_advance_K[E_INDEX_N(tool_index)]; + + const bool old_slot = TEST(lin_adv_slot, tool_index), // The tool's current slot (0 or 1) + new_slot = parser.boolval('S', old_slot); // The passed slot (default = current) + + // If a new slot is being selected swap the current and + // saved K values. Do here so K/L will apply correctly. + if (new_slot != old_slot) { // Not the same slot? + SET_BIT_TO(lin_adv_slot, tool_index, new_slot); // Update the slot for the tool + newK = lref; // Get new K value from backup + lref = oldK; // Save K to backup + } + + // Set the main K value. Apply if the main slot is active. + if (parser.seenval('K')) { + const float K = parser.value_float(); + if (!WITHIN(K, 0, 10)) echo_value_oor('K'); + else if (new_slot) lref = K; // S1 Knn + else newK = K; // S0 Knn + } + + // Set the extra K value. Apply if the extra slot is active. + if (parser.seenval('L')) { + const float L = parser.value_float(); + if (!WITHIN(L, 0, 10)) echo_value_oor('L'); + else if (!new_slot) lref = L; // S0 Lnn + else newK = L; // S1 Lnn + } + + #else + + if (parser.seenval('K')) { + const float K = parser.value_float(); + if (WITHIN(K, 0, 10)) + newK = K; + else + echo_value_oor('K'); + } + + #endif + + if (newK != oldK) { + planner.synchronize(); + kref = newK; + } + + if (!parser.seen_any()) { + + #if ENABLED(ADVANCE_K_EXTRA) + + #if DISTINCT_E < 2 + SERIAL_ECHOLNPGM("Advance S", new_slot, " K", kref, "(S", !new_slot, " K", lref, ")"); + #else + EXTRUDER_LOOP() { + const bool slot = TEST(lin_adv_slot, e); + SERIAL_ECHOLNPGM("Advance T", e, " S", slot, " K", planner.extruder_advance_K[e], + "(S", !slot, " K", other_extruder_advance_K[e], ")"); + SERIAL_EOL(); + } + #endif + + #else + + SERIAL_ECHO_START(); + #if DISTINCT_E < 2 + SERIAL_ECHOLNPGM("Advance K=", planner.extruder_advance_K[0]); + #else + SERIAL_ECHOPGM("Advance K"); + EXTRUDER_LOOP() { + SERIAL_CHAR(' ', '0' + e, ':'); + SERIAL_DECIMAL(planner.extruder_advance_K[e]); + } + SERIAL_EOL(); + #endif + + #endif + } + +} + +void GcodeSuite::M900_report(const bool forReplay/*=true*/) { + report_heading(forReplay, F(STR_LINEAR_ADVANCE)); + #if DISTINCT_E < 2 + report_echo_start(forReplay); + SERIAL_ECHOLNPGM(" M900 K", planner.extruder_advance_K[0]); + #else + EXTRUDER_LOOP() { + report_echo_start(forReplay); + SERIAL_ECHOLNPGM(" M900 T", e, " K", planner.extruder_advance_K[e]); + } + #endif +} + +#endif // LIN_ADVANCE diff --git a/Marlin/src/gcode/feature/baricuda/M126-M129.cpp b/Marlin/src/gcode/feature/baricuda/M126-M129.cpp new file mode 100644 index 0000000000..edeba0d270 --- /dev/null +++ b/Marlin/src/gcode/feature/baricuda/M126-M129.cpp @@ -0,0 +1,58 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(BARICUDA) + +#include "../../gcode.h" +#include "../../../feature/baricuda.h" + +#if HAS_HEATER_1 + + /** + * M126: Heater 1 valve open + */ + void GcodeSuite::M126() { baricuda_valve_pressure = parser.byteval('S', 255); } + + /** + * M127: Heater 1 valve close + */ + void GcodeSuite::M127() { baricuda_valve_pressure = 0; } + +#endif // HAS_HEATER_1 + +#if HAS_HEATER_2 + + /** + * M128: Heater 2 valve open + */ + void GcodeSuite::M128() { baricuda_e_to_p_pressure = parser.byteval('S', 255); } + + /** + * M129: Heater 2 valve close + */ + void GcodeSuite::M129() { baricuda_e_to_p_pressure = 0; } + +#endif // HAS_HEATER_2 + +#endif // BARICUDA diff --git a/Marlin/src/gcode/feature/camera/M240.cpp b/Marlin/src/gcode/feature/camera/M240.cpp new file mode 100644 index 0000000000..cf2e47ef6d --- /dev/null +++ b/Marlin/src/gcode/feature/camera/M240.cpp @@ -0,0 +1,197 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(PHOTO_GCODE) + +#include "../../gcode.h" +#include "../../../module/motion.h" // for active_extruder and current_position + +#if PIN_EXISTS(CHDK) + millis_t chdk_timeout; // = 0 +#endif + +#if defined(PHOTO_POSITION) && PHOTO_DELAY_MS > 0 + #include "../../../MarlinCore.h" // for idle() +#endif + +#ifdef PHOTO_RETRACT_MM + + #define _PHOTO_RETRACT_MM (PHOTO_RETRACT_MM + 0) + + #include "../../../module/planner.h" + #include "../../../module/temperature.h" + + #if ENABLED(ADVANCED_PAUSE_FEATURE) + #include "../../../feature/pause.h" + #endif + + #ifdef PHOTO_RETRACT_MM + inline void e_move_m240(const float length, const_feedRate_t fr_mm_s) { + if (length && thermalManager.hotEnoughToExtrude(active_extruder)) + unscaled_e_move(length, fr_mm_s); + } + #endif + +#endif + +#if PIN_EXISTS(PHOTOGRAPH) + + FORCE_INLINE void set_photo_pin(const uint8_t state) { + constexpr uint32_t pulse_length = ( + #ifdef PHOTO_PULSES_US + PHOTO_PULSE_DELAY_US + #else + 15 // 15.24 from _delay_ms(0.01524) + #endif + ); + WRITE(PHOTOGRAPH_PIN, state); + delayMicroseconds(pulse_length); + } + + FORCE_INLINE void tweak_photo_pin() { set_photo_pin(HIGH); set_photo_pin(LOW); } + + #ifdef PHOTO_PULSES_US + + inline void pulse_photo_pin(const uint32_t duration, const uint8_t state) { + if (state) { + for (const uint32_t stop = micros() + duration; micros() < stop;) + tweak_photo_pin(); + } + else + delayMicroseconds(duration); + } + + inline void spin_photo_pin() { + static constexpr uint32_t sequence[] = PHOTO_PULSES_US; + LOOP_L_N(i, COUNT(sequence)) + pulse_photo_pin(sequence[i], !(i & 1)); + } + + #else + + constexpr uint8_t NUM_PULSES = 16; + inline void spin_photo_pin() { for (uint8_t i = NUM_PULSES; i--;) tweak_photo_pin(); } + + #endif +#endif + +/** + * M240: Trigger a camera by... + * + * - CHDK : Emulate a Canon RC-1 with a configurable ON duration. + * https://captain-slow.dk/2014/03/09/3d-printing-timelapses/ + * - PHOTOGRAPH_PIN : Pulse a digital pin 16 times. + * See https://www.doc-diy.net/photo/rc-1_hacked/ + * - PHOTO_SWITCH_POSITION : Bump a physical switch with the X-carriage using a + * configured position, delay, and retract length. + * + * PHOTO_POSITION parameters: + * A - X offset to the return position + * B - Y offset to the return position + * F - Override the XY movement feedrate + * R - Retract/recover length (current units) + * S - Retract/recover feedrate (mm/m) + * X - Move to X before triggering the shutter + * Y - Move to Y before triggering the shutter + * Z - Raise Z by a distance before triggering the shutter + * + * PHOTO_SWITCH_POSITION parameters: + * D - Duration (ms) to hold down switch (Requires PHOTO_SWITCH_MS) + * P - Delay (ms) after triggering the shutter (Requires PHOTO_SWITCH_MS) + * I - Switch trigger position override X + * J - Switch trigger position override Y + */ +void GcodeSuite::M240() { + + #ifdef PHOTO_POSITION + + if (homing_needed_error()) return; + + const xyz_pos_t old_pos = NUM_AXIS_ARRAY( + current_position.x + parser.linearval('A'), + current_position.y + parser.linearval('B'), + current_position.z, + current_position.i, current_position.j, current_position.k, + current_position.u, current_position.v, current_position.w + ); + + #ifdef PHOTO_RETRACT_MM + const float rval = parser.linearval('R', _PHOTO_RETRACT_MM); + const feedRate_t sval = parser.feedrateval('S', TERN(ADVANCED_PAUSE_FEATURE, PAUSE_PARK_RETRACT_FEEDRATE, TERN(FWRETRACT, RETRACT_FEEDRATE, 45))); + e_move_m240(-rval, sval); + #endif + + feedRate_t fr_mm_s = parser.feedrateval('F'); + if (fr_mm_s) NOLESS(fr_mm_s, 10.0f); + + constexpr xyz_pos_t photo_position = PHOTO_POSITION; + xyz_pos_t raw = { + parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : photo_position.x, + parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_position.y, + (parser.seenval('Z') ? parser.value_linear_units() : photo_position.z) + current_position.z + }; + apply_motion_limits(raw); + do_blocking_move_to(raw, fr_mm_s); + + #ifdef PHOTO_SWITCH_POSITION + constexpr xy_pos_t photo_switch_position = PHOTO_SWITCH_POSITION; + const xy_pos_t sraw = { + parser.seenval('I') ? RAW_X_POSITION(parser.value_linear_units()) : photo_switch_position.x, + parser.seenval('J') ? RAW_Y_POSITION(parser.value_linear_units()) : photo_switch_position.y + }; + do_blocking_move_to_xy(sraw, get_homing_bump_feedrate(X_AXIS)); + #if PHOTO_SWITCH_MS > 0 + safe_delay(parser.intval('D', PHOTO_SWITCH_MS)); + #endif + do_blocking_move_to(raw); + #endif + + #endif + + #if PIN_EXISTS(CHDK) + + OUT_WRITE(CHDK_PIN, HIGH); + chdk_timeout = millis() + parser.intval('D', PHOTO_SWITCH_MS); + + #elif HAS_PHOTOGRAPH + + spin_photo_pin(); + delay(7.33); + spin_photo_pin(); + + #endif + + #ifdef PHOTO_POSITION + #if PHOTO_DELAY_MS > 0 + const millis_t timeout = millis() + parser.intval('P', PHOTO_DELAY_MS); + while (PENDING(millis(), timeout)) idle(); + #endif + do_blocking_move_to(old_pos, fr_mm_s); + #ifdef PHOTO_RETRACT_MM + e_move_m240(rval, sval); + #endif + #endif +} + +#endif // PHOTO_GCODE diff --git a/Marlin/src/gcode/feature/cancel/M486.cpp b/Marlin/src/gcode/feature/cancel/M486.cpp new file mode 100644 index 0000000000..c1e90d1b96 --- /dev/null +++ b/Marlin/src/gcode/feature/cancel/M486.cpp @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(CANCEL_OBJECTS) + +#include "../../gcode.h" +#include "../../../feature/cancel_object.h" + +/** + * M486: A simple interface to cancel objects + * + * T[count] : Reset objects and/or set the count + * S : Start an object with the given index + * P : Cancel the object with the given index + * U : Un-cancel object with the given index + * C : Cancel the current object (the last index given by S) + * S-1 : Start a non-object like a brim or purge tower that should always print + */ +void GcodeSuite::M486() { + + if (parser.seen('T')) { + cancelable.reset(); + cancelable.object_count = parser.intval('T', 1); + } + + if (parser.seenval('S')) + cancelable.set_active_object(parser.value_int()); + + if (parser.seen('C')) cancelable.cancel_active_object(); + + if (parser.seenval('P')) cancelable.cancel_object(parser.value_int()); + + if (parser.seenval('U')) cancelable.uncancel_object(parser.value_int()); +} + +#endif // CANCEL_OBJECTS diff --git a/Marlin/src/gcode/feature/caselight/M355.cpp b/Marlin/src/gcode/feature/caselight/M355.cpp new file mode 100644 index 0000000000..b3b863f02e --- /dev/null +++ b/Marlin/src/gcode/feature/caselight/M355.cpp @@ -0,0 +1,73 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(CASE_LIGHT_ENABLE) + +#include "../../../feature/caselight.h" +#include "../../gcode.h" + +/** + * M355: Turn case light on/off and set brightness + * + * P Set case light brightness (PWM pin required - ignored otherwise) + * + * S Set case light on/off + * + * When S turns on the light on a PWM pin then the current brightness level is used/restored + * + * M355 P200 S0 turns off the light & sets the brightness level + * M355 S1 turns on the light with a brightness of 200 (assuming a PWM pin) + */ +void GcodeSuite::M355() { + bool didset = false; + #if CASELIGHT_USES_BRIGHTNESS + if (parser.seenval('P')) { + didset = true; + caselight.brightness = parser.value_byte(); + } + #endif + const bool sflag = parser.seenval('S'); + if (sflag) { + didset = true; + caselight.on = parser.value_bool(); + } + if (didset) caselight.update(sflag); + + // Always report case light status + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Case light: "); + if (!caselight.on) + SERIAL_ECHOLNPGM(STR_OFF); + else { + #if CASELIGHT_USES_BRIGHTNESS + if (TERN(CASE_LIGHT_USE_NEOPIXEL, true, TERN0(NEED_CASE_LIGHT_PIN, PWM_PIN(CASE_LIGHT_PIN)))) { + SERIAL_ECHOLN(int(caselight.brightness)); + return; + } + #endif + SERIAL_ECHOLNPGM(STR_ON); + } +} + +#endif // CASE_LIGHT_ENABLE diff --git a/Marlin/src/gcode/feature/clean/G12.cpp b/Marlin/src/gcode/feature/clean/G12.cpp new file mode 100644 index 0000000000..0113170f1d --- /dev/null +++ b/Marlin/src/gcode/feature/clean/G12.cpp @@ -0,0 +1,83 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(NOZZLE_CLEAN_FEATURE) + +#include "../../../libs/nozzle.h" + +#include "../../gcode.h" +#include "../../parser.h" +#include "../../../module/motion.h" + +#if HAS_LEVELING + #include "../../../module/planner.h" + #include "../../../feature/bedlevel/bedlevel.h" +#endif + +/** + * G12: Clean the nozzle + * + * E : 0=Never or 1=Always apply the "software endstop" limits + * P0 S : Stroke cleaning with S strokes + * P1 Sn T : Zigzag cleaning with S repeats and T zigzags + * P2 Sn R : Circle cleaning with S repeats and R radius + * X, Y, Z : Specify axes to move during cleaning. Default: ALL. + */ +void GcodeSuite::G12() { + + // Don't allow nozzle cleaning without homing first + constexpr main_axes_bits_t clean_axis_mask = main_axes_mask & ~TERN0(NOZZLE_CLEAN_NO_Z, Z_AXIS) & ~TERN0(NOZZLE_CLEAN_NO_Y, Y_AXIS); + if (homing_needed_error(clean_axis_mask)) return; + + #ifdef WIPE_SEQUENCE_COMMANDS + if (!parser.seen_any()) { + process_subcommands_now(F(WIPE_SEQUENCE_COMMANDS)); + return; + } + #endif + + const uint8_t pattern = parser.ushortval('P', 0), + strokes = parser.ushortval('S', NOZZLE_CLEAN_STROKES), + objects = parser.ushortval('T', NOZZLE_CLEAN_TRIANGLES); + const float radius = parser.linearval('R', NOZZLE_CLEAN_CIRCLE_RADIUS); + + const bool seenxyz = parser.seen("XYZ"); + const uint8_t cleans = (!seenxyz || parser.boolval('X') ? _BV(X_AXIS) : 0) + | (!seenxyz || parser.boolval('Y') ? _BV(Y_AXIS) : 0) + | TERN(NOZZLE_CLEAN_NO_Z, 0, (!seenxyz || parser.boolval('Z') ? _BV(Z_AXIS) : 0)) + ; + + #if HAS_LEVELING + // Disable bed leveling if cleaning Z + TEMPORARY_BED_LEVELING_STATE(!TEST(cleans, Z_AXIS) && planner.leveling_active); + #endif + + SET_SOFT_ENDSTOP_LOOSE(!parser.boolval('E')); + + nozzle.clean(pattern, strokes, radius, objects, cleans); + + SET_SOFT_ENDSTOP_LOOSE(false); +} + +#endif // NOZZLE_CLEAN_FEATURE diff --git a/Marlin/src/gcode/feature/controllerfan/M710.cpp b/Marlin/src/gcode/feature/controllerfan/M710.cpp new file mode 100644 index 0000000000..b98d88845d --- /dev/null +++ b/Marlin/src/gcode/feature/controllerfan/M710.cpp @@ -0,0 +1,81 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfigPre.h" + +#if ENABLED(CONTROLLER_FAN_EDITABLE) + +#include "../../gcode.h" +#include "../../../feature/controllerfan.h" + +/** + * M710: Set controller fan settings + * + * R : Reset to defaults + * S[0-255] : Fan speed when motors are active + * I[0-255] : Fan speed when motors are idle + * A[0|1] : Turn auto mode on or off + * D : Set auto mode idle duration + * + * Examples: + * M710 ; Report current Settings + * M710 R ; Reset SIAD to defaults + * M710 I64 ; Set controller fan Idle Speed to 25% + * M710 S255 ; Set controller fan Active Speed to 100% + * M710 S0 ; Set controller fan Active Speed to OFF + * M710 I255 A0 ; Set controller fan Idle Speed to 100% with Auto Mode OFF + * M710 I127 A1 S255 D160 ; Set controller fan idle speed 50%, AutoMode On, Fan speed 100%, duration to 160 Secs + */ +void GcodeSuite::M710() { + + const bool seenR = parser.seen('R'); + if (seenR) controllerFan.reset(); + + const bool seenS = parser.seenval('S'); + if (seenS) controllerFan.settings.active_speed = parser.value_byte(); + + const bool seenI = parser.seenval('I'); + if (seenI) controllerFan.settings.idle_speed = parser.value_byte(); + + const bool seenA = parser.seenval('A'); + if (seenA) controllerFan.settings.auto_mode = parser.value_bool(); + + const bool seenD = parser.seenval('D'); + if (seenD) controllerFan.settings.duration = parser.value_ushort(); + + if (!(seenR || seenS || seenI || seenA || seenD)) + M710_report(); +} + +void GcodeSuite::M710_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_CONTROLLER_FAN)); + SERIAL_ECHOLNPGM(" M710" + " S", int(controllerFan.settings.active_speed), + " I", int(controllerFan.settings.idle_speed), + " A", int(controllerFan.settings.auto_mode), + " D", controllerFan.settings.duration, + " ; (", (int(controllerFan.settings.active_speed) * 100) / 255, "%" + " ", (int(controllerFan.settings.idle_speed) * 100) / 255, "%)" + ); +} + +#endif // CONTROLLER_FAN_EDITABLE diff --git a/Marlin/src/gcode/feature/digipot/M907-M910.cpp b/Marlin/src/gcode/feature/digipot/M907-M910.cpp new file mode 100644 index 0000000000..9ebe713cde --- /dev/null +++ b/Marlin/src/gcode/feature/digipot/M907-M910.cpp @@ -0,0 +1,174 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM || HAS_MOTOR_CURRENT_I2C || HAS_MOTOR_CURRENT_DAC + +#include "../../gcode.h" + +#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + #include "../../../module/stepper.h" +#endif + +#if HAS_MOTOR_CURRENT_I2C + #include "../../../feature/digipot/digipot.h" +#endif + +#if HAS_MOTOR_CURRENT_DAC + #include "../../../feature/dac/stepper_dac.h" +#endif + +/** + * M907: Set digital trimpot motor current using axis codes X [Y] [Z] [I] [J] [K] [U] [V] [W] [E] + * B - Special case for E1 (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451) + * C - Special case for E2 (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451) + * S - Set current in mA for all axes (Requires DIGIPOTSS_PIN or DIGIPOT_MCP4018 or DIGIPOT_MCP4451), or + * Set percentage of max current for all axes (Requires HAS_DIGIPOT_DAC) + */ +void GcodeSuite::M907() { + #if HAS_MOTOR_CURRENT_SPI + + if (!parser.seen("BS" STR_AXES_LOGICAL)) + return M907_report(); + + if (parser.seenval('S')) LOOP_L_N(i, MOTOR_CURRENT_COUNT) stepper.set_digipot_current(i, parser.value_int()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper.set_digipot_current(i, parser.value_int()); // X Y Z (I J K U V W) E (map to drivers according to DIGIPOT_CHANNELS. Default with NUM_AXES 3: map X Y Z E to X Y Z E0) + // Additional extruders use B,C. + // TODO: Change these parameters because 'E' is used and D should be reserved for debugging. B? + #if E_STEPPERS >= 2 + if (parser.seenval('B')) stepper.set_digipot_current(E_AXIS + 1, parser.value_int()); + #if E_STEPPERS >= 3 + if (parser.seenval('C')) stepper.set_digipot_current(E_AXIS + 2, parser.value_int()); + #endif + #endif + + #elif HAS_MOTOR_CURRENT_PWM + + #if ANY_PIN(MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y, MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_I, MOTOR_CURRENT_PWM_J, MOTOR_CURRENT_PWM_K, MOTOR_CURRENT_PWM_U, MOTOR_CURRENT_PWM_V, MOTOR_CURRENT_PWM_W) + #define HAS_X_Y_XY_I_J_K_U_V_W 1 + #endif + + #if HAS_X_Y_XY_I_J_K_U_V_W || ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_Z) + + if (!parser.seen("S" + #if HAS_X_Y_XY_I_J_K_U_V_W + "XY" SECONDARY_AXIS_GANG("I", "J", "K", "U", "V", "W") + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + "Z" + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + "E" + #endif + )) return M907_report(); + + if (parser.seenval('S')) LOOP_L_N(a, MOTOR_CURRENT_COUNT) stepper.set_digipot_current(a, parser.value_int()); + + #if HAS_X_Y_XY_I_J_K_U_V_W + if (NUM_AXIS_GANG( + parser.seenval('X'), || parser.seenval('Y'), || false, + || parser.seenval('I'), || parser.seenval('J'), || parser.seenval('K'), + || parser.seenval('U'), || parser.seenval('V'), || parser.seenval('W') + )) stepper.set_digipot_current(0, parser.value_int()); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + if (parser.seenval('Z')) stepper.set_digipot_current(1, parser.value_int()); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + if (parser.seenval('E')) stepper.set_digipot_current(2, parser.value_int()); + #endif + + #endif + + #endif // HAS_MOTOR_CURRENT_PWM + + #if HAS_MOTOR_CURRENT_I2C + // this one uses actual amps in floating point + if (parser.seenval('S')) LOOP_L_N(q, DIGIPOT_I2C_NUM_CHANNELS) digipot_i2c.set_current(q, parser.value_float()); + LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) digipot_i2c.set_current(i, parser.value_float()); // X Y Z (I J K U V W) E (map to drivers according to pots adresses. Default with NUM_AXES 3 X Y Z E: map to X Y Z E0) + // Additional extruders use B,C,D. + // TODO: Change these parameters because 'E' is used and because 'D' should be reserved for debugging. B? + #if E_STEPPERS >= 2 + for (uint8_t i = E_AXIS + 1; i < _MAX(DIGIPOT_I2C_NUM_CHANNELS, (NUM_AXES + 3)); i++) + if (parser.seenval('B' + i - (E_AXIS + 1))) digipot_i2c.set_current(i, parser.value_float()); + #endif + #endif + + #if HAS_MOTOR_CURRENT_DAC + if (parser.seenval('S')) { + const float dac_percent = parser.value_float(); + LOOP_LOGICAL_AXES(i) stepper_dac.set_current_percent(i, dac_percent); + } + LOOP_LOGICAL_AXES(i) if (parser.seenval(IAXIS_CHAR(i))) stepper_dac.set_current_percent(i, parser.value_float()); // X Y Z (I J K U V W) E (map to drivers according to DAC_STEPPER_ORDER. Default with NUM_AXES 3: X Y Z E map to X Y Z E0) + #endif +} + +#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + + void GcodeSuite::M907_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_STEPPER_MOTOR_CURRENTS)); + #if HAS_MOTOR_CURRENT_PWM + SERIAL_ECHOLNPGM_P( // PWM-based has 3 values: + PSTR(" M907 X"), stepper.motor_current_setting[0] // X, Y, (I, J, K, U, V, W) + , SP_Z_STR, stepper.motor_current_setting[1] // Z + , SP_E_STR, stepper.motor_current_setting[2] // E + ); + #elif HAS_MOTOR_CURRENT_SPI + SERIAL_ECHOPGM(" M907"); // SPI-based has 5 values: + LOOP_LOGICAL_AXES(q) { // X Y Z (I J K U V W) E (map to X Y Z (I J K U V W) E0 by default) + SERIAL_CHAR(' ', IAXIS_CHAR(q)); + SERIAL_ECHO(stepper.motor_current_setting[q]); + } + #if E_STEPPERS >= 2 + SERIAL_ECHOPGM_P(PSTR(" B"), stepper.motor_current_setting[E_AXIS + 1] // B (maps to E1 with NUM_AXES 3 according to DIGIPOT_CHANNELS) + #if E_STEPPERS >= 3 + , PSTR(" C"), stepper.motor_current_setting[E_AXIS + 2] // C (mapping to E2 must be defined by DIGIPOT_CHANNELS) + #endif + ); + #endif + SERIAL_EOL(); + #endif + } + +#endif // HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + +#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_DAC + + /** + * M908: Control digital trimpot directly (M908 P S) + */ + void GcodeSuite::M908() { + TERN_(HAS_MOTOR_CURRENT_SPI, stepper.set_digipot_value_spi(parser.intval('P'), parser.intval('S'))); + TERN_(HAS_MOTOR_CURRENT_DAC, stepper_dac.set_current_value(parser.byteval('P', -1), parser.ushortval('S', 0))); + } + + #if HAS_MOTOR_CURRENT_DAC + + void GcodeSuite::M909() { stepper_dac.print_values(); } + void GcodeSuite::M910() { stepper_dac.commit_eeprom(); } + + #endif // HAS_MOTOR_CURRENT_DAC + +#endif // HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_DAC + +#endif // HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM || HAS_MOTOR_CURRENT_I2C || HAS_MOTOR_CURRENT_DAC diff --git a/Marlin/src/gcode/feature/filwidth/M404-M407.cpp b/Marlin/src/gcode/feature/filwidth/M404-M407.cpp new file mode 100644 index 0000000000..ff174ecf13 --- /dev/null +++ b/Marlin/src/gcode/feature/filwidth/M404-M407.cpp @@ -0,0 +1,71 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(FILAMENT_WIDTH_SENSOR) + +#include "../../../feature/filwidth.h" +#include "../../../module/planner.h" +#include "../../../MarlinCore.h" +#include "../../gcode.h" + +/** + * M404: Display or set (in current units) the nominal filament width (3mm, 1.75mm ) W<3.0> + */ +void GcodeSuite::M404() { + if (parser.seenval('W')) { + filwidth.nominal_mm = parser.value_linear_units(); + planner.volumetric_area_nominal = CIRCLE_AREA(filwidth.nominal_mm * 0.5); + } + else + SERIAL_ECHOLNPGM("Filament dia (nominal mm):", filwidth.nominal_mm); +} + +/** + * M405: Turn on filament sensor for control + */ +void GcodeSuite::M405() { + // This is technically a linear measurement, but since it's quantized to centimeters and is a different + // unit than everything else, it uses parser.value_byte() instead of parser.value_linear_units(). + if (parser.seenval('D')) + filwidth.set_delay_cm(parser.value_byte()); + + filwidth.enable(true); +} + +/** + * M406: Turn off filament sensor for control + */ +void GcodeSuite::M406() { + filwidth.enable(false); + planner.calculate_volumetric_multipliers(); // Restore correct 'volumetric_multiplier' value +} + +/** + * M407: Get measured filament diameter on serial output + */ +void GcodeSuite::M407() { + SERIAL_ECHOLNPGM("Filament dia (measured mm):", filwidth.measured_mm); +} + +#endif // FILAMENT_WIDTH_SENSOR diff --git a/Marlin/src/gcode/feature/fwretract/G10_G11.cpp b/Marlin/src/gcode/feature/fwretract/G10_G11.cpp new file mode 100644 index 0000000000..1889f83d62 --- /dev/null +++ b/Marlin/src/gcode/feature/fwretract/G10_G11.cpp @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(FWRETRACT) + +#include "../../../feature/fwretract.h" +#include "../../gcode.h" +#include "../../../module/motion.h" + +/** + * G10 - Retract filament according to settings of M207 + * TODO: Handle 'G10 P' for tool settings and 'G10 L' for workspace settings + */ +void GcodeSuite::G10() { fwretract.retract(true E_OPTARG(parser.boolval('S'))); } + +/** + * G11 - Recover filament according to settings of M208 + */ +void GcodeSuite::G11() { fwretract.retract(false); } + +#endif // FWRETRACT diff --git a/Marlin/src/gcode/feature/fwretract/M207-M209.cpp b/Marlin/src/gcode/feature/fwretract/M207-M209.cpp new file mode 100644 index 0000000000..173c2894dc --- /dev/null +++ b/Marlin/src/gcode/feature/fwretract/M207-M209.cpp @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(FWRETRACT) + +#include "../../../feature/fwretract.h" +#include "../../gcode.h" + +/** + * M207: Set firmware retraction values + * + * S[+units] retract_length + * W[+units] swap_retract_length (multi-extruder) + * F[units/min] retract_feedrate_mm_s + * Z[units] retract_zraise + */ +void GcodeSuite::M207() { fwretract.M207(); } + +void GcodeSuite::M207_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_RETRACT_S_F_Z)); + fwretract.M207_report(); +} + +/** + * M208: Set firmware un-retraction values + * + * S[+units] retract_recover_extra (in addition to M207 S*) + * W[+units] swap_retract_recover_extra (multi-extruder) + * F[units/min] retract_recover_feedrate_mm_s + * R[units/min] swap_retract_recover_feedrate_mm_s + */ +void GcodeSuite::M208() { fwretract.M208(); } + +void GcodeSuite::M208_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_RECOVER_S_F)); + fwretract.M208_report(); +} + +#if ENABLED(FWRETRACT_AUTORETRACT) + + /** + * M209: Enable automatic retract (M209 S1) + * + * For slicers that don't support G10/11, reversed + * extruder-only moves can be classified as retraction. + */ + void GcodeSuite::M209() { fwretract.M209(); } + + void GcodeSuite::M209_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F(STR_AUTO_RETRACT_S)); + fwretract.M209_report(); + } + +#endif + +#endif // FWRETRACT diff --git a/Marlin/src/gcode/feature/i2c/M260_M261.cpp b/Marlin/src/gcode/feature/i2c/M260_M261.cpp new file mode 100644 index 0000000000..cf9bb7e583 --- /dev/null +++ b/Marlin/src/gcode/feature/i2c/M260_M261.cpp @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../../../inc/MarlinConfig.h" + +#if ENABLED(EXPERIMENTAL_I2CBUS) + +#include "../../gcode.h" + +#include "../../../feature/twibus.h" + +/** + * M260: Send data to a I2C slave device + * + * This is a PoC, the formatting and arguments for the GCODE will + * change to be more compatible, the current proposal is: + * + * M260 A ; Sets the I2C slave address the data will be sent to + * + * M260 B + * M260 B + * M260 B + * + * M260 S1 ; Send the buffered data and reset the buffer + * M260 R1 ; Reset the buffer without sending data + */ +void GcodeSuite::M260() { + // Set the target address + if (parser.seenval('A')) i2c.address(parser.value_byte()); + + // Add a new byte to the buffer + if (parser.seenval('B')) i2c.addbyte(parser.value_byte()); + + // Flush the buffer to the bus + if (parser.seen('S')) i2c.send(); + + // Reset and rewind the buffer + else if (parser.seen('R')) i2c.reset(); +} + +/** + * M261: Request X bytes from I2C slave device + * + * Usage: M261 A B S