diff --git a/.editorconfig b/.editorconfig index b8f6ef7f8e..57a5b2fb5e 100644 --- a/.editorconfig +++ b/.editorconfig @@ -14,6 +14,10 @@ end_of_line = lf indent_style = space indent_size = 2 -[{*.py,*.conf,*.sublime-project}] +[{*.py}] +indent_style = space +indent_size = 4 + +[{*.conf,*.sublime-project}] indent_style = tab indent_size = 4 diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml new file mode 100644 index 0000000000..efc5972325 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug_report.yml @@ -0,0 +1,178 @@ +name: 🪲 Report a bug +description: Create a bug report to help improve Marlin Firmware +title: "[BUG] (bug summary)" +body: + - type: markdown + attributes: + value: > + Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose). + + - type: markdown + attributes: + value: | + **Thank you for reporting a bug in Marlin Firmware!** + + ## Before Reporting a Bug + + - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect. + + - Test with the [`bugfix-2.1.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip) to see whether the issue still exists. + + ## Instructions + + Please follow the instructions below. Failure to do so may result in your issue being closed. See [Contributing to Marlin](https://github.com/MarlinFirmware/Marlin/blob/bugfix-2.1.x/.github/contributing.md) for additional guidelines. + + 1. Provide a good title starting with [BUG]. + 2. Fill out all sections of this bug report form. + 3. Always attach configuration files so we can build and test your setup. + + - type: dropdown + attributes: + label: Did you test the latest `bugfix-2.1.x` code? + description: >- + Always try the latest code to make sure the issue you are reporting is not already fixed. To download + the latest code just [click this link](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip). + options: + - Yes, and the problem still exists. + - No, but I will test it now! + validations: + required: true + + - type: markdown + attributes: + value: | + # Bug Details + + - type: textarea + attributes: + label: Bug Description + description: >- + Describe the bug in this section. Tell us what you were trying to do and what + happened that you did not expect. Provide a clear and concise description of the + problem and include as many details as possible. + + When pasting formatted text don't forget to put ` ``` ` (on its own line) before and after to make it readable. + placeholder: | + Marlin doesn't work. + validations: + required: true + + - type: input + attributes: + label: Bug Timeline + description: Is this a new bug or an old issue? When did it first start? + + - type: textarea + attributes: + label: Expected behavior + description: >- + What did you expect to happen? + placeholder: I expected it to move left. + + - type: textarea + attributes: + label: Actual behavior + description: What actually happened instead? + placeholder: It moved right instead of left. + + - type: textarea + attributes: + label: Steps to Reproduce + description: >- + Please describe the steps needed to reproduce the issue. + placeholder: | + 1. [First Step] ... + 2. [Second Step] ... + 3. [and so on] ... + + - type: markdown + attributes: + value: | + # Your Setup + + - type: input + attributes: + label: Version of Marlin Firmware + description: "See the About Menu on the LCD or the output of `M115`. NOTE: For older releases we only patch critical bugs." + validations: + required: true + + - type: input + attributes: + label: Printer model + description: Creality Ender 3, Prusa mini, or Kossel Delta? + + - type: input + attributes: + label: Electronics + description: Stock electronics, upgrade board, or something else? + + - type: input + attributes: + label: Add-ons + description: Please list any hardware add-ons that could be involved. + + - type: dropdown + attributes: + label: Bed Leveling + description: What kind of bed leveling compensation are you using? + options: + - UBL Bilinear mesh + - ABL Bilinear mesh + - ABL Linear grid + - ABL 3-point + - MBL Manual Bed Leveling + - No Bed Leveling + + - type: dropdown + attributes: + label: Your Slicer + description: Do you use Slic3r, Prusa Slicer, Simplify3D, IdeaMaker...? + options: + - Slic3r + - Simplify3D + - Prusa Slicer + - IdeaMaker + - Cura + - Other (explain below) + + - type: dropdown + attributes: + label: Host Software + description: Do you use OctoPrint, Repetier Host, Pronterface...? + options: + - SD Card (headless) + - Repetier Host + - OctoPrint + - Pronterface + - Cura + - Same as my slicer + - Other (explain below) + + - type: markdown + attributes: + value: | + # Attachments + + - type: checkboxes + attributes: + label: Don't forget to include + options: + - label: A ZIP file containing your `Configuration.h` and `Configuration_adv.h`. + required: true + + - type: markdown + attributes: + value: | + ### Optional items to include: + - 'Log output from the host. (`M111 S247` for maximum logging.)' + - Images or videos demonstrating the problem, if it helps to make it clear. + - A G-Code file that exposes the problem, if not affecting _all_ G-code. + + - type: textarea + attributes: + label: Additional information & file uploads + description: >- + If you've made any other modifications to the firmware, please describe them in detail. + + When pasting formatted text don't forget to put ` ``` ` (on its own line) before and after to make it readable. diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml new file mode 100644 index 0000000000..1fe68966fb --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -0,0 +1,20 @@ +blank_issues_enabled: false +contact_links: + - name: 📖 Marlin Documentation + url: https://marlinfw.org/ + about: Lots of documentation on installing and using Marlin. + - name: 👤 MarlinFirmware Facebook group + url: https://www.facebook.com/groups/1049718498464482 + about: Please ask and answer questions here. + - name: 🕹 Marlin on Discord + url: https://discord.gg/n5NJ59y + about: Join the Discord server for support and discussion. + - name: 🔗 Marlin Discussion Forum + url: https://reprap.org/forum/list.php?415 + about: A searchable web forum hosted by RepRap dot org. + - name: 📺 Marlin Videos on YouTube + url: https://www.youtube.com/results?search_query=marlin+firmware + about: Tutorials and more from Marlin users all around the world. Great for new users! + - name: 💸 Want to donate? + url: https://www.thinkyhead.com/donate-to-marlin + about: Please take a look at the various options to support Marlin Firmware's development financially! diff --git a/.github/ISSUE_TEMPLATE/feature_request.yml b/.github/ISSUE_TEMPLATE/feature_request.yml new file mode 100644 index 0000000000..b64383cd48 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/feature_request.yml @@ -0,0 +1,44 @@ +name: ✨ Request a feature +description: Request a new Marlin Firmware feature +title: "[FR] (feature summary)" +labels: 'T: Feature Request' +body: + - type: markdown + attributes: + value: > + Do you want to ask a question? Are you looking for support? Please use one of the [support links](https://github.com/MarlinFirmware/Marlin/issues/new/choose). + + - type: markdown + attributes: + value: > + **Thank you for requesting a new Marlin Firmware feature!** + + ## Before Requesting a Feature + + - Read and understand Marlin's [Code of Conduct](https://github.com/MarlinFirmware/Marlin/blob/master/.github/code_of_conduct.md). You are expected to comply with it, including treating everyone with respect. + + - Check the latest [`bugfix-2.1.x` branch](https://github.com/MarlinFirmware/Marlin/archive/bugfix-2.1.x.zip) to see if the feature already exists. + + - Before you proceed with your request, please consider if it is necessary to make it into a firmware feature, or if it may be better suited for a slicer or host feature. + + - type: textarea + attributes: + label: Is your feature request related to a problem? Please describe. + description: A clear description of the problem (e.g., "I need X but Marlin can't do it [...]"). + + - type: textarea + attributes: + label: Are you looking for hardware support? + description: Tell us the printer, board, or peripheral that needs support. + + - type: textarea + attributes: + label: Describe the feature you want + description: A clear description of the feature and how you think it should work. + validations: + required: true + + - type: textarea + attributes: + label: Additional context + description: Add any other context or screenshots about the feature request here. diff --git a/.github/contributing.md b/.github/contributing.md index 6bc7b5a005..ef1726366a 100644 --- a/.github/contributing.md +++ b/.github/contributing.md @@ -34,8 +34,11 @@ This project and everyone participating in it is governed by the [Marlin Code of We have a Message Board and a Facebook group where our knowledgable user community can provide helpful advice if you have questions. -* [Marlin RepRap forum](https://reprap.org/forum/list.php?415) -* [MarlinFirmware on Facebook](https://www.facebook.com/groups/1049718498464482/) +- [Marlin Documentation](https://marlinfw.org) - Official Marlin documentation +- Facebook Group ["Marlin Firmware"](https://www.facebook.com/groups/1049718498464482/) +- RepRap.org [Marlin Forum](https://forums.reprap.org/list.php?415) +- Facebook Group ["Marlin Firmware for 3D Printers"](https://www.facebook.com/groups/3Dtechtalk/) +- [Marlin Configuration](https://www.youtube.com/results?search_query=marlin+configuration) on YouTube If chat is more your speed, you can join the MarlinFirmware Discord server: @@ -50,13 +53,13 @@ If chat is more your speed, you can join the MarlinFirmware Discord server: This section guides you through submitting a Bug Report for Marlin. Following these guidelines helps maintainers and the community understand your report, reproduce the behavior, and find related reports. -Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](issue_template.md), the information it asks for helps us resolve issues faster. +Before creating a Bug Report, please test the "nightly" development branch, as you might find out that you don't need to create one. When you are creating a Bug Report, please [include as many details as possible](#how-do-i-submit-a-good-bug-report). Fill out [the required template](ISSUE_TEMPLATE/bug_report.yml), the information it asks for helps us resolve issues faster. > **Note:** Regressions can happen. If you find a **Closed** issue that seems like your issue, go ahead and open a new issue and include a link to the original issue in the body of your new one. All you need to create a link is the issue number, preceded by #. For example, #8888. #### How Do I Submit A (Good) Bug Report? -Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](issue_template.md). +Bugs are tracked as [GitHub issues](https://guides.github.com/features/issues/). Use the New Issue button to create an issue and provide the following information by filling in [the template](ISSUE_TEMPLATE/bug_report.yml). Explain the problem and include additional details to help maintainers reproduce the problem: @@ -88,12 +91,12 @@ Include details about your configuration and environment: This section guides you through submitting a suggestion for Marlin, including completely new features and minor improvements to existing functionality. Following these guidelines helps maintainers and the community understand your suggestion and find related suggestions. -Before creating a suggestion, please check [this list](#before-submitting-a-suggestion) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-enhancement-suggestion). Fill in [the template](issue_template.md), including the steps that you imagine you would take if the feature you're requesting existed. +Before creating a suggestion, please check [this list](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22) as you might find out that you don't need to create one. When you are creating an enhancement suggestion, please [include as many details as possible](#how-do-i-submit-a-good-feature-request). Fill in [the template](ISSUE_TEMPLATE/feature_request.yml), including the steps that you imagine you would take if the feature you're requesting existed. #### Before Submitting a Feature Request * **Check the [Marlin website](https://marlinfw.org/)** for tips — you might discover that the feature is already included. Most importantly, check if you're using [the latest version of Marlin](https://github.com/MarlinFirmware/Marlin/releases) and if you can get the desired behavior by changing [Marlin's config settings](https://marlinfw.org/docs/configuration/configuration.html). -* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aissue)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. +* **Perform a [cursory search](https://github.com/MarlinFirmware/Marlin/issues?q=is%3Aopen+is%3Aissue+label%3A%22T%3A+Feature+Request%22)** to see if the enhancement has already been suggested. If it has, add a comment to the existing issue instead of opening a new one. #### How Do I Submit A (Good) Feature Request? @@ -116,7 +119,7 @@ Unsure where to begin contributing to Marlin? You can start by looking through t ### Pull Requests -Pull Requests should always be targeted to working branches (e.g., `bugfix-1.1.x` and/or `bugfix-2.0.x`) and never to release branches (e.g., `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation. +Pull Requests should always be targeted to working branches (e.g., `bugfix-2.1.x` and/or `bugfix-1.1.x`) and never to release branches (e.g., `2.0.x` and/or `1.1.x`). If this is your first Pull Request, please read our [Guide to Pull Requests](https://marlinfw.org/docs/development/getting_started_pull_requests.html) and Github's [Pull Request](https://help.github.com/articles/creating-a-pull-request/) documentation. * Fill in [the required template](pull_request_template.md). * Don't include issue numbers in the PR title. diff --git a/.github/issue_template.md b/.github/issue_template.md deleted file mode 100644 index 6cb34b8f58..0000000000 --- a/.github/issue_template.md +++ /dev/null @@ -1,35 +0,0 @@ - - -### Description - - - -### Steps to Reproduce - - - -1. [First Step] -2. [Second Step] -3. [and so on...] - -**Expected behavior:** [What you expect to happen] - -**Actual behavior:** [What actually happens] - -#### Additional Information - -* Include a ZIP file containing your `Configuration.h` and `Configuration_adv.h` files. -* Provide pictures or links to videos that clearly demonstrate the issue. -* See [How Can I Contribute](#how-can-i-contribute) for additional guidelines. diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index d82fb0f9e3..cd5158b3ce 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -1,23 +1,33 @@ -### Requirements + ### Description +### Requirements + + + ### Benefits - + ### Configurations - + ### Related Issues - + diff --git a/.github/workflows/bump-date.yml b/.github/workflows/bump-date.yml new file mode 100644 index 0000000000..51b58ad493 --- /dev/null +++ b/.github/workflows/bump-date.yml @@ -0,0 +1,59 @@ +# +# bump-date.yml +# Bump the distribution date once per day +# + +name: Bump Distribution Date + +on: + schedule: + - cron: '0 */6 * * *' + +jobs: + bump_date: + name: Bump Distribution Date + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + + - name: Check out bugfix-2.1.x + uses: actions/checkout@v2 + with: + ref: bugfix-2.1.x + + - name: Bump Date (bugfix-2.0.x) + run: | + # Inline Bump Script + if [[ ! "$( git log -1 --pretty=%B )" =~ ^\[cron\] ]]; then + DIST=$( date +"%Y-%m-%d" ) + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \ + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/Version.h" && \ + git config user.name "${GITHUB_ACTOR}" && \ + git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \ + git add . && \ + git commit -m "[cron] Bump distribution date ($DIST)" && \ + git push + fi + exit 0 + + - name: Check out bugfix-2.1.x + uses: actions/checkout@v2 + with: + ref: bugfix-2.1.x + + - name: Bump Date (bugfix-2.1.x) + run: | + # Inline Bump Script + if [[ ! "$( git log -1 --pretty=%B )" =~ ^\[cron\] ]]; then + DIST=$( date +"%Y-%m-%d" ) + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/src/inc/Version.h" && \ + eval "sed -E -i 's/(#define +STRING_DISTRIBUTION_DATE) .*$/\1 \"$DIST\"/g' Marlin/Version.h" && \ + git config user.name "${GITHUB_ACTOR}" && \ + git config user.email "${GITHUB_ACTOR}@users.noreply.github.com" && \ + git add . && \ + git commit -m "[cron] Bump distribution date ($DIST)" && \ + git push + fi + exit 0 diff --git a/.github/workflows/check-pr.yml b/.github/workflows/check-pr.yml new file mode 100644 index 0000000000..abb0d44706 --- /dev/null +++ b/.github/workflows/check-pr.yml @@ -0,0 +1,34 @@ +# +# check-pr.yml +# Close PRs directed at release branches +# + +name: PR Bad Target + +on: + pull_request_target: + types: [opened] + branches: + - 1.0.x + - 1.1.x + - 2.0.x + - 2.1.x + +jobs: + bad_target: + name: PR Bad Target + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: superbrothers/close-pull-request@v3 + with: + comment: > + Thanks for your contribution! Unfortunately we can't accept PRs directed at release branches. We make patches to the bugfix branches and only later do we push them out as releases. + + Please redo this PR starting with the `bugfix-2.1.x` branch and be careful to target `bugfix-2.1.x` when resubmitting the PR. Patches may also target `bugfix-2.0.x` if they are specifically for 2.0.9.x. + + It may help to set your fork's default branch to `bugfix-2.1.x`. + + See [this page](https://marlinfw.org/docs/development/getting_started_pull_requests.html) for full instructions. diff --git a/.github/workflows/clean-closed.yml b/.github/workflows/clean-closed.yml new file mode 100644 index 0000000000..befec4498f --- /dev/null +++ b/.github/workflows/clean-closed.yml @@ -0,0 +1,39 @@ +# +# clean-closed.yml +# Remove obsolete labels when an Issue or PR is closed +# + +name: Clean Closed + +on: + pull_request: + types: [closed] + issues: + types: [closed] + +jobs: + remove_label: + runs-on: ubuntu-latest + + strategy: + matrix: + label: + - "S: Don't Merge" + - "S: Hold for 2.1" + - "S: Please Merge" + - "S: Please Test" + - "help wanted" + - "Needs: Discussion" + - "Needs: Documentation" + - "Needs: More Data" + - "Needs: Patch" + - "Needs: Testing" + - "Needs: Work" + + steps: + - uses: actions/checkout@v2 + - name: Remove Labels + uses: actions-ecosystem/action-remove-labels@v1 + with: + github_token: ${{ github.token }} + labels: ${{ matrix.label }} diff --git a/.github/workflows/close-stale.yml b/.github/workflows/close-stale.yml new file mode 100644 index 0000000000..88fea1996d --- /dev/null +++ b/.github/workflows/close-stale.yml @@ -0,0 +1,28 @@ +# +# close-stale.yml +# Close open issues after a period of inactivity +# + +name: Close Stale Issues + +on: + schedule: + - cron: "22 1 * * *" + +jobs: + stale: + name: Close Stale Issues + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: actions/stale@v3 + with: + repo-token: ${{ secrets.GITHUB_TOKEN }} + stale-issue-message: 'This issue has had no activity in the last 60 days. Please add a reply if you want to keep this issue active, otherwise it will be automatically closed within 10 days.' + days-before-stale: 60 + days-before-close: 10 + stale-issue-label: 'stale-closing-soon' + exempt-all-assignees: true + exempt-issue-labels: 'Bug: Confirmed !,T: Feature Request,Needs: More Data,Needs: Discussion,Needs: Documentation,Needs: Patch,Needs: Work,Needs: Testing,help wanted,no-locking' diff --git a/.github/workflows/lock-closed.yml b/.github/workflows/lock-closed.yml new file mode 100644 index 0000000000..8cdcd7a836 --- /dev/null +++ b/.github/workflows/lock-closed.yml @@ -0,0 +1,32 @@ +# +# lock-closed.yml +# Lock closed issues after a period of inactivity +# + +name: Lock Closed Issues + +on: + schedule: + - cron: '0 1/13 * * *' + +jobs: + lock: + name: Lock Closed Issues + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: dessant/lock-threads@v2 + with: + github-token: ${{ github.token }} + process-only: 'issues' + issue-lock-inactive-days: '60' + issue-exclude-created-before: '' + issue-exclude-labels: 'no-locking' + issue-lock-labels: '' + issue-lock-comment: > + This issue has been automatically locked since there + has not been any recent activity after it was closed. + Please open a new issue for related bugs. + issue-lock-reason: '' diff --git a/.github/workflows/test-builds.yml b/.github/workflows/test-builds.yml index 93bda9726e..9debb82bc9 100644 --- a/.github/workflows/test-builds.yml +++ b/.github/workflows/test-builds.yml @@ -8,7 +8,7 @@ name: CI on: pull_request: branches: - - bugfix-2.0.x + - bugfix-2.1.x paths-ignore: - config/** - data/** @@ -16,7 +16,7 @@ on: - '**/*.md' push: branches: - - bugfix-2.0.x + - bugfix-2.1.x paths-ignore: - config/** - data/** @@ -44,7 +44,9 @@ jobs: - teensy31 - teensy35 - teensy41 + - SAMD21_minitronics20 - SAMD51_grandcentral_m4 + - PANDA_PI_V29 # Extended AVR Environments @@ -56,28 +58,33 @@ jobs: # STM32F1 (Maple) Environments - - STM32F103RC_btt - - STM32F103RC_btt_USB - - STM32F103RE_btt - - STM32F103RE_btt_USB - - STM32F103RC_fysetc - - STM32F103RC_meeb - - jgaurora_a5s_a1 - - STM32F103VE_longer - - mks_robin - - mks_robin_lite - - mks_robin_pro - - STM32F103RET6_creality - - mks_robin_nano35 + #- STM32F103RC_btt_maple + - STM32F103RC_btt_USB_maple + - STM32F103RC_fysetc_maple + - STM32F103RC_meeb_maple + - jgaurora_a5s_a1_maple + - STM32F103VE_longer_maple + #- mks_robin_maple + - mks_robin_lite_maple + - mks_robin_pro_maple + #- mks_robin_nano_v1v2_maple + #- STM32F103RE_creality_maple + - STM32F103VE_ZM3E4V2_USB_maple # STM32 (ST) Environments + - STM32F103RC_btt + #- STM32F103RC_btt_USB + - STM32F103RE_btt + - STM32F103RE_btt_USB + - STM32F103RE_creality + - STM32F401RC_creality + - STM32F103VE_longer - STM32F407VE_black - - STM32F401VE_STEVAL - BIGTREE_BTT002 - BIGTREE_SKR_PRO - BIGTREE_GTR_V1_0 - - mks_robin_stm32 + - mks_robin - ARMED - FYSETC_S6 - STM32F070CB_malyan @@ -86,11 +93,18 @@ jobs: - FLYF407ZG - rumba32 - LERDGEX - - mks_robin_nano35_stm32 + - LERDGEK + - mks_robin_nano_v1v2 + #- mks_robin_nano_v1v2_usbmod + #- mks_robin_nano_v1_3_f4_usbmod - NUCLEO_F767ZI - REMRAM_V1 - BTT_SKR_SE_BX - chitu_f103 + - Opulo_Lumen_REV3 + + # ESP32 environments + - mks_tinybee # Put lengthy tests last @@ -105,19 +119,34 @@ jobs: steps: + - name: Check out the PR + uses: actions/checkout@v3 + + - name: Cache pip + uses: actions/cache@v3 + with: + path: ~/.cache/pip + key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} + restore-keys: | + ${{ runner.os }}-pip- + + - name: Cache PlatformIO + uses: actions/cache@v3 + with: + path: ~/.platformio + key: ${{ runner.os }}-${{ hashFiles('**/lockfiles') }} + - name: Select Python 3.7 - uses: actions/setup-python@v1 + uses: actions/setup-python@v3 with: python-version: '3.7' # Version range or exact version of a Python version to use, using semvers version range syntax. architecture: 'x64' # optional x64 or x86. Defaults to x64 if not specified - name: Install PlatformIO run: | - pip install -U https://github.com/platformio/platformio-core/archive/develop.zip - platformio update - - - name: Check out the PR - uses: actions/checkout@v2 + pip install -U platformio + pio upgrade --dev + pio pkg update --global - name: Run ${{ matrix.test-platform }} Tests run: | diff --git a/.github/workflows/unlock-reopened.yml b/.github/workflows/unlock-reopened.yml new file mode 100644 index 0000000000..614ef3fab2 --- /dev/null +++ b/.github/workflows/unlock-reopened.yml @@ -0,0 +1,22 @@ +# +# unlock-reopened.yml +# Unlock an issue whenever it is re-opened +# + +name: "Unlock reopened issue" + +on: + issues: + types: [reopened] + +jobs: + unlock: + name: Unlock Reopened + if: github.repository == 'MarlinFirmware/Marlin' + + runs-on: ubuntu-latest + + steps: + - uses: OSDKDev/unlock-issues@v1.1 + with: + repo-token: "${{ secrets.GITHUB_TOKEN }}" diff --git a/.gitignore b/.gitignore index ac2c9b5591..09db344257 100755 --- a/.gitignore +++ b/.gitignore @@ -22,12 +22,16 @@ # Generated files _Version.h bdf2u8g +marlin_config.json +mczip.h +*.gen +*.sublime-workspace # # OS # applet/ -*.DS_Store +.DS_Store # # Misc @@ -37,7 +41,6 @@ applet/ *.rej *.bak *.idea -*.s *.i *.ii *.swp @@ -137,16 +140,20 @@ __vm/ vc-fileutils.settings # Visual Studio Code -.vscode -.vscode/.browse.c_cpp.db* -.vscode/c_cpp_properties.json -.vscode/launch.json -.vscode/*.db +.vscode/* +!.vscode/extensions.json -# cmake +#Simulation +imgui.ini +eeprom.dat +spi_flash.bin +fs.img + +#cmake CMakeLists.txt src/CMakeLists.txt CMakeListsPrivate.txt +build/ # CLion cmake-build-* @@ -163,7 +170,3 @@ __pycache__ # IOLogger logs *_log.csv - -# Simulation / Native -eeprom.dat -imgui.ini 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 index ebcdf25e2d..d0495dc7d8 100644 --- a/Makefile +++ b/Makefile @@ -27,7 +27,7 @@ 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 PATH="./buildroot/bin/:./buildroot/tests/:${PATH}" \ && export VERBOSE_PLATFORMIO=$(VERBOSE_PLATFORMIO) \ && run_tests . $(TEST_TARGET) "$(ONLY_TEST)" .PHONY: tests-single-local @@ -38,7 +38,7 @@ tests-single-local-docker: .PHONY: tests-single-local-docker tests-all-local: - export PATH=./buildroot/bin/:./buildroot/tests/:${PATH} \ + export PATH="./buildroot/bin/:./buildroot/tests/:${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 diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index dd75de2f0e..02b0767555 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -35,7 +35,7 @@ * * Advanced settings can be found in Configuration_adv.h */ -#define CONFIGURATION_H_VERSION 020008 +#define CONFIGURATION_H_VERSION 02010200 //=========================================================================== //============================= Getting Started ============================= @@ -57,15 +57,6 @@ * https://www.thingiverse.com/thing:1278865 */ -//=========================================================================== -//========================== DELTA / SCARA / TPARA ========================== -//=========================================================================== -// -// Download configurations from the link above and customize for your machine. -// Examples are located in config/examples/delta, .../SCARA, and .../TPARA. -// -//=========================================================================== - // @section info // Author info of this build printed to the host during boot and M115 @@ -94,6 +85,11 @@ // @section machine +// Choose the name from boards.h that matches your setup +#ifndef MOTHERBOARD + #define MOTHERBOARD BOARD_RAMPS_14_EFB +#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. @@ -105,6 +101,7 @@ #define SERIAL_PORT 0 /** +<<<<<<< HEAD * 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] @@ -113,6 +110,11 @@ /** * This setting determines the communication speed of the printer. +======= + * Serial Port Baud Rate + * This is the default communication speed for all serial ports. + * Set the baud rate defaults for additional serial ports below. +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 * * 250000 works in most cases, but you might try a lower speed if * you commonly experience drop-outs during host printing. @@ -122,14 +124,35 @@ */ #define BAUDRATE 250000 +//#define BAUD_RATE_GCODE // Enable G-code M575 to set the baud rate + +/** + * 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 +<<<<<<< HEAD // Choose the name from boards.h that matches your setup #ifndef MOTHERBOARD #define MOTHERBOARD BOARD_BTT_SKR_V1_4_TURBO #endif +======= +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 // Name displayed in the LCD "Ready" message and Info menu #define CUSTOM_MACHINE_NAME "Nugget Printer" @@ -137,6 +160,88 @@ // 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 A4988 +#define Y_DRIVER_TYPE A4988 +#define Z_DRIVER_TYPE A4988 +//#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 A4988 +//#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 @@ -156,6 +261,8 @@ //#define SINGLENOZZLE_STANDBY_FAN #endif +// @section multi-material + /** * Multi-Material Unit * Set to one of these predefined models: @@ -168,6 +275,7 @@ * * 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 @@ -187,6 +295,7 @@ #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 /** @@ -209,7 +318,6 @@ #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 - //#define MANUAL_SOLENOID_CONTROL // Manual control of docking solenoids with M380 S / M381 #if ENABLED(PARKING_EXTRUDER) @@ -291,6 +399,7 @@ #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 @@ -303,7 +412,7 @@ //#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 machine +// @section psu control /** * Power Supply Control @@ -315,10 +424,22 @@ //#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 +<<<<<<< HEAD //#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 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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 //#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) @@ -330,13 +451,15 @@ #define AUTO_POWER_CONTROLLERFAN #define AUTO_POWER_CHAMBER_FAN #define AUTO_POWER_COOLER_FAN - //#define AUTO_POWER_E_TEMP 50 // (°C) Turn on PSU if any extruder is over this temperature - //#define AUTO_POWER_CHAMBER_TEMP 30 // (°C) Turn on PSU if the chamber is over this temperature - //#define AUTO_POWER_COOLER_TEMP 26 // (°C) Turn on PSU if the cooler is over this temperature #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 //=========================================================================== @@ -345,70 +468,98 @@ // @section temperature /** - * --NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table + * --NORMAL IS 4.7kΩ PULLUP!-- 1kΩ pullup can be used on hotend sensor, using correct resistor and table * * Temperature sensors available: * - * -5 : PT100 / PT1000 with MAX31865 (only for sensors 0-1) - * -3 : thermocouple with MAX31855 (only for sensors 0-1) - * -2 : thermocouple with MAX6675 (only for sensors 0-1) - * -4 : thermocouple with AD8495 - * -1 : thermocouple with AD595 + * 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 - * 1 : 100k thermistor - best choice for EPCOS 100k (4.7k pullup) - * 331 : (3.3V scaled thermistor 1 table for MEGA) - * 332 : (3.3V scaled thermistor 1 table for DUE) - * 2 : 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup) - * 202 : 200k thermistor - Copymaster 3D - * 3 : Mendel-parts thermistor (4.7k pullup) - * 4 : 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !! - * 5 : 100K thermistor - ATC Semitec 104GT-2/104NT-4-R025H42G (Used in ParCan, J-Head, and E3D) (4.7k pullup) - * 501 : 100K Zonestar (Tronxy X3A) Thermistor - * 502 : 100K Zonestar Thermistor used by hot bed in Zonestar Průša P802M - * 512 : 100k RPW-Ultra hotend thermistor (4.7k pullup) - * 6 : 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup) - * 7 : 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup) - * 71 : 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup) - * 8 : 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) - * 9 : 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup) - * 10 : 100k RS thermistor 198-961 (4.7k pullup) - * 11 : 100k beta 3950 1% thermistor (Used in Keenovo AC silicone mats and most Wanhao i3 machines) (4.7k pullup) - * 12 : 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed) - * 13 : 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE" - * 15 : 100k thermistor calibration for JGAurora A5 hotend - * 18 : ATC Semitec 204GT-2 (4.7k pullup) Dagoma.Fr - MKS_Base_DKU001327 - * 20 : Pt100 with circuit in the Ultimainboard V2.x with mainboard ADC reference voltage = INA826 amplifier-board supply voltage. - * NOTES: (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. - * 22 : 100k (hotend) with 4.7k pullup to 3.3V and 220R to analog input (as in GTM32 Pro vB) - * 23 : 100k (bed) with 4.7k pullup to 3.3v and 220R to analog input (as in GTM32 Pro vB) - * 30 : Kis3d Silicone heating mat 200W/300W with 6mm precision cast plate (EN AW 5083) NTC100K / B3950 (4.7k pullup) - * 201 : Pt100 with circuit in Overlord, similar to Ultimainboard V2.x - * 60 : 100k Maker's Tool Works Kapton Bed Thermistor beta=3950 - * 61 : 100k Formbot / Vivedino 3950 350C thermistor 4.7k pullup - * 66 : 4.7M High Temperature thermistor from Dyze Design - * 67 : 450C thermistor from SliceEngineering - * 70 : the 100K thermistor found in the bq Hephestos 2 - * 75 : 100k Generic Silicon Heat Pad with NTC 100K MGB18-104F39050L32 thermistor - * 99 : 100k thermistor with a 10K pull-up resistor (found on some Wanhao i3 machines) - * - * 1k ohm pullup tables - This is atypical, and requires changing out the 4.7k pullup for 1k. - * (but gives greater accuracy and more stable PID) - * 51 : 100k thermistor - EPCOS (1k pullup) - * 52 : 200k thermistor - ATC Semitec 204GT-2 (1k pullup) - * 55 : 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup) - * - * 1047 : Pt1000 with 4k7 pullup (E3D) - * 1010 : Pt1000 with 1k pullup (non standard) - * 147 : Pt100 with 4k7 pullup - * 110 : Pt100 with 1k pullup (non standard) - * * 1000 : Custom - Specify parameters in Configuration_adv.h * - * Use these for Testing or Development purposes. NEVER for production machine. + * !!! 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 @@ -422,33 +573,60 @@ #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 -//#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 -//#define MAX31865_SENSOR_OHMS_1 100 -//#define MAX31865_CALIBRATION_OHMS_1 430 +#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 -// Use temp sensor 1 as a redundant sensor with sensor 0. If the readings -// from the two sensors differ too much the print will be aborted. -//#define TEMP_SENSOR_1_AS_REDUNDANT -#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10 +#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 -#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 +#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 -#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 +#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 -#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 +/** + * 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. @@ -490,24 +668,33 @@ //=========================================================================== //============================= PID Settings ================================ //=========================================================================== -// PID Tuning Guide here: https://reprap.org/wiki/PID_Tuning +<<<<<<< HEAD // Comment the following line to disable PID and enable bang-bang. #define PIDTEMP #define BANG_MAX 125 // Limits current to nozzle while in bang-bang mode; 255=full current +======= +// @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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #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_EDIT_MENU // Add PID editing to the "Advanced Settings" menu. (~700 bytes of PROGMEM) - //#define PID_AUTOTUNE_MENU // Add PID auto-tuning to the "Advanced Settings" menu. (~250 bytes of PROGMEM) - //#define PID_PARAMS_PER_HOTEND // Uses separate PID parameters for each extruder (useful for mismatched extruders) - // Set/get with gcode: M301 E[extruder number, 0-2] + //#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 between 1 and HOTENDS values per array. - // If fewer than EXTRUDER values are provided, the last element will be repeated. + // 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 } @@ -516,7 +703,50 @@ #define DEFAULT_Ki 1.08 #define DEFAULT_Kd 114.00 #endif -#endif // PIDTEMP +#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 ====================== @@ -534,6 +764,7 @@ * 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 @@ -549,7 +780,7 @@ #if ENABLED(PIDTEMPBED) //#define MIN_BED_POWER 0 - //#define PID_BED_DEBUG // Sends debug data to the serial port. + //#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) @@ -577,6 +808,7 @@ * 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 @@ -591,7 +823,7 @@ #if ENABLED(PIDTEMPCHAMBER) #define MIN_CHAMBER_POWER 0 - //#define PID_CHAMBER_DEBUG // Sends debug data to the serial port. + //#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. @@ -605,14 +837,16 @@ #endif // PIDTEMPCHAMBER #if ANY(PIDTEMP, PIDTEMPBED, PIDTEMPCHAMBER) - //#define PID_DEBUG // Sends debug data to the serial port. Use 'M303 D' to toggle activation. //#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 extruder +// @section safety /** * Prevent extrusion if the temperature is below EXTRUDE_MINTEMP. @@ -668,27 +902,200 @@ //#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 + #define DEFAULT_SEGMENTS_PER_SECOND 5 +#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 DELTA_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 SCARA_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 SCARA_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 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 homing +// @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. +<<<<<<< HEAD // #define USE_XMIN_PLUG // #define USE_YMIN_PLUG //#define USE_ZMIN_PLUG #define USE_XMAX_PLUG #define USE_YMAX_PLUG +======= +#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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 //#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 +<<<<<<< HEAD // #define ENDSTOPPULLUP_ZMAX // #define ENDSTOPPULLUP_YMAX // #define ENDSTOPPULLUP_XMAX @@ -697,22 +1104,56 @@ //#define ENDSTOPPULLUP_YMIN // #define ENDSTOPPULLUP_ZMIN_PROBE +======= + //#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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #endif // Enable pulldown for all endstops to prevent a floating state #define ENDSTOPPULLDOWNS #if DISABLED(ENDSTOPPULLDOWNS) // Disable ENDSTOPPULLDOWNS to set pulldowns individually - //#define ENDSTOPPULLDOWN_XMAX - //#define ENDSTOPPULLDOWN_YMAX - //#define ENDSTOPPULLDOWN_ZMAX //#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). +<<<<<<< HEAD // #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 true // Set to true to invert the logic of the endstop. @@ -756,6 +1197,28 @@ //#define E6_DRIVER_TYPE A4988 //#define E7_DRIVER_TYPE A4988 +======= +#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. + +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 // 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 @@ -798,16 +1261,16 @@ //#define DISTINCT_E_FACTORS /** - * Default Axis Steps Per Unit (steps/mm) + * Default Axis Steps Per Unit (linear=steps/mm, rotational=steps/°) * Override with M92 - * X, Y, Z, E0 [, E1[, E2...]] + * X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]] */ #define DEFAULT_AXIS_STEPS_PER_UNIT { 94.139704, 94.139704, 400.000, 409.0 } /** - * Default Max Feed Rate (mm/s) + * Default Max Feed Rate (linear=mm/s, rotational=°/s) * Override with M203 - * X, Y, Z, E0 [, E1[, E2...]] + * X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]] */ #define DEFAULT_MAX_FEEDRATE { 300, 300, 100, 100 } @@ -817,10 +1280,10 @@ #endif /** - * Default Max Acceleration (change/s) change = mm/s + * 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, E0 [, E1[, E2...]] + * X, Y, Z [, I [, J [, K...]]], E0 [, E1[, E2...]] */ #define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 } @@ -830,7 +1293,7 @@ #endif /** - * Default Acceleration (change/s) change = mm/s + * Default Acceleration (speed change with time) (linear=mm/(s^2), rotational=°/(s^2)) * Override with M204 * * M204 P Acceleration @@ -843,7 +1306,7 @@ /** * Default Jerk limits (mm/s) - * Override with M205 X Y Z E + * 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 @@ -854,6 +1317,12 @@ #define DEFAULT_XJERK 10.0 #define DEFAULT_YJERK 10.0 #define DEFAULT_ZJERK 0.3 + //#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 @@ -961,6 +1430,17 @@ */ #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 * @@ -992,8 +1472,29 @@ #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 sensivity. +// 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 @@ -1007,9 +1508,37 @@ */ //#define SENSORLESS_PROBING -// -// For Z_PROBE_ALLEN_KEY see the Delta example configurations. -// +/** + * 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, DELTA_PRINTABLE_RADIUS, 100.0 } + #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE + + #define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_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, (DELTA_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 } @@ -1093,6 +1622,15 @@ #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 * @@ -1152,7 +1690,8 @@ //#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_STEPPERS_OFF // Turn steppers off (unless needed to hold position) 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 @@ -1168,12 +1707,24 @@ #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 false #define DISABLE_Y false #define DISABLE_Z false +//#define DISABLE_I false +//#define DISABLE_J false +//#define DISABLE_K false +//#define DISABLE_U false +//#define DISABLE_V false +//#define DISABLE_W false // Turn off the display blinking that warns about possible accuracy reduction //#define DISABLE_REDUCED_ACCURACY_WARNING @@ -1183,12 +1734,18 @@ #define DISABLE_E false // Disable the extruder when not stepping #define DISABLE_INACTIVE_EXTRUDER // Keep only the active extruder enabled -// @section machine +// @section motion // Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way. #define INVERT_X_DIR false #define INVERT_Y_DIR false #define INVERT_Z_DIR false +//#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 @@ -1225,8 +1782,14 @@ #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 machine +// @section geometry // The size of the print bed @@ -1234,13 +1797,25 @@ #define Y_BED_SIZE 148 -// Travel limits (mm) after homing, corresponding to endstop positions. +// Travel limits (linear=mm, rotational=°) after homing, corresponding to endstop positions. #define X_MIN_POS 0 #define Y_MIN_POS 0 #define Z_MIN_POS 0 #define X_MAX_POS X_BED_SIZE + 15 #define Y_MAX_POS Y_BED_SIZE + 5 #define Z_MAX_POS 200 +//#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 @@ -1256,7 +1831,17 @@ #if ENABLED(MIN_SOFTWARE_ENDSTOPS) #define MIN_SOFTWARE_ENDSTOP_X #define MIN_SOFTWARE_ENDSTOP_Y +<<<<<<< HEAD // #define MIN_SOFTWARE_ENDSTOP_Z +======= + #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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #endif // Max software endstops constrain movement within maximum coordinate bounds @@ -1265,6 +1850,12 @@ #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) @@ -1409,6 +2000,15 @@ #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'. @@ -1422,17 +2022,21 @@ #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 + /** + * 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. + /** + * 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) @@ -1499,6 +2103,8 @@ //#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 + #elif ENABLED(MESH_BED_LEVELING) //=========================================================================== @@ -1526,18 +2132,18 @@ #endif // Add a menu item to move between bed corners for manual bed adjustment -//#define LEVEL_BED_CORNERS +//#define LCD_BED_TRAMMING -#if ENABLED(LEVEL_BED_CORNERS) - #define LEVEL_CORNERS_INSET_LFRB { 30, 30, 30, 30 } // (mm) Left, Front, Right, Back insets - #define LEVEL_CORNERS_HEIGHT 0.0 // (mm) Z height of nozzle at leveling points - #define LEVEL_CORNERS_Z_HOP 4.0 // (mm) Z height of nozzle between leveling points - //#define LEVEL_CENTER_TOO // Move to the center after the last corner - //#define LEVEL_CORNERS_USE_PROBE - #if ENABLED(LEVEL_CORNERS_USE_PROBE) - #define LEVEL_CORNERS_PROBE_TOLERANCE 0.1 - #define LEVEL_CORNERS_VERIFY_RAISED // After adjustment triggers the probe, re-probe to verify - //#define LEVEL_CORNERS_AUDIO_FEEDBACK +#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 4.0 // (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 /** @@ -1557,7 +2163,7 @@ * | 1 2 | | 1 4 | | 1 2 | | 2 | * LF --------- RF LF --------- RF LF --------- RF LF --------- RF */ - #define LEVEL_CORNERS_LEVELING_ORDER { LF, RF, RB, LB } + #define BED_TRAMMING_LEVELING_ORDER { LF, RF, RB, LB } #endif /** @@ -1576,7 +2182,14 @@ //#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 +<<<<<<< HEAD // Use "Z Safe Homing" to avoid homing with a Z probe outside the bed area. // // With this feature enabled: @@ -1587,13 +2200,23 @@ // - Prevent Z homing when the Z probe is outside bed area. // #define Z_SAFE_HOMING +======= +/** + * 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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #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 (mm/min) +// Homing speeds (linear=mm/min, rotational=°/min) #define HOMING_FEEDRATE_MM_M { (50*60), (50*60), (4*60) } // Validate that endstops are triggered on homing moves @@ -1637,9 +2260,8 @@ #define XY_DIAG_BD 282.8427124746 #define XY_SIDE_AD 200 - // Or, set the default skew factors directly here - // to override the above measurements: - #define XY_SKEW_FACTOR 0.0 + // Or, set the XY skew factor directly: + //#define XY_SKEW_FACTOR 0.0 //#define SKEW_CORRECTION_FOR_Z #if ENABLED(SKEW_CORRECTION_FOR_Z) @@ -1648,8 +2270,10 @@ #define YZ_DIAG_AC 282.8427124746 #define YZ_DIAG_BD 282.8427124746 #define YZ_SIDE_AD 200 - #define XZ_SKEW_FACTOR 0.0 - #define YZ_SKEW_FACTOR 0.0 + + // 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 @@ -1660,7 +2284,7 @@ //============================= Additional Features =========================== //============================================================================= -// @section extras +// @section eeprom /** * EEPROM @@ -1671,14 +2295,22 @@ * M501 - Read settings from EEPROM. (i.e., Throw away unsaved changes) * M502 - Revert settings to "factory" defaults. (Follow with M500 to init the EEPROM.) */ +<<<<<<< HEAD #define EEPROM_SETTINGS // Persistent storage with M500 and M501 //#define DISABLE_M503 // Saves ~2700 bytes of PROGMEM. Disable for release! +======= +//#define EEPROM_SETTINGS // Persistent storage with M500 and M501 +//#define DISABLE_M503 // Saves ~2700 bytes of flash. Disable for release! +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #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. + //#define EEPROM_INIT_NOW // Init EEPROM on first boot after a new build. #endif +// @section host + // // Host Keepalive // @@ -1689,6 +2321,8 @@ #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 // @@ -1702,7 +2336,7 @@ // @section temperature // -// Preheat Constants - Up to 5 are supported without changes +// Preheat Constants - Up to 10 are supported without changes // #define PREHEAT_1_LABEL "PLA" #define PREHEAT_1_TEMP_HOTEND 180 @@ -1716,6 +2350,8 @@ #define PREHEAT_2_TEMP_CHAMBER 35 #define PREHEAT_2_FAN_SPEED 0 // Value from 0 to 255 +// @section motion + /** * Nozzle Park * @@ -1732,8 +2368,7 @@ #if ENABLED(NOZZLE_PARK_FEATURE) // Specify a park position as { X, Y, Z_raise } #define NOZZLE_PARK_POINT { (X_MIN_POS + 10), (Y_MAX_POS - 10), 20 } - //#define NOZZLE_PARK_X_ONLY // X move only is required to park - //#define NOZZLE_PARK_Y_ONLY // Y move only is required to park + #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 2 // (mm) Always raise Z by at least this distance #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) @@ -1815,14 +2450,25 @@ #endif +// @section host + /** * Print Job Timer * - * Automatically start and stop the print job timer on M104/M109/M190. + * 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 - * M190 (bed, wait) - high temp = start timer, low temp = none + * 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: * @@ -1832,6 +2478,8 @@ */ #define PRINTJOB_TIMER_AUTOSTART +// @section stats + /** * Print Counter * @@ -1846,9 +2494,11 @@ */ //#define PRINTCOUNTER #if ENABLED(PRINTCOUNTER) - #define PRINTCOUNTER_SAVE_INTERVAL 60 // (minutes) EEPROM save interval during print + #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 * @@ -1884,17 +2534,17 @@ //============================= LCD and SD support ============================ //============================================================================= -// @section lcd +// @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_gr, es, eu, fi, fr, gl, hr, hu, it, + * 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', 'el_gr':'Greek (Greece)', '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)' } + * :{ '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 @@ -2000,12 +2650,27 @@ // //#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. // +<<<<<<< HEAD #define INDIVIDUAL_AXIS_HOMING_MENU +======= +//#define INDIVIDUAL_AXIS_HOMING_MENU +//#define INDIVIDUAL_AXIS_HOMING_SUBMENU +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 // // SPEAKER/BUZZER @@ -2029,6 +2694,7 @@ //======================== LCD / Controller Selection ========================= //======================== (Character-based LCDs) ========================= //============================================================================= +// @section lcd // // RepRapDiscount Smart Controller. @@ -2203,7 +2869,7 @@ // // ReprapWorld Graphical LCD -// https://reprapworld.com/?products_details&products_id/1218 +// https://reprapworld.com/electronics/3d-printer-modules/autonomous-printing/graphical-lcd-screen-v1-0/ // //#define REPRAPWORLD_GRAPHICAL_LCD @@ -2215,6 +2881,11 @@ //#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 @@ -2262,11 +2933,17 @@ // //#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_LCD12864 +//#define MKS_LCD12864A +//#define MKS_LCD12864B // // FYSETC variant of the MINI12864 graphic controller with SD support @@ -2278,6 +2955,11 @@ #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 @@ -2314,6 +2996,12 @@ // //#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 ============================== //============================================================================= @@ -2377,16 +3065,43 @@ //========================== Extensible UI Displays =========================== //============================================================================= -// -// DGUS Touch Display with DWIN OS. (Choose one.) -// ORIGIN : https://www.aliexpress.com/item/32993409517.html -// FYSETC : https://www.aliexpress.com/item/32961471929.html -// +/** + * DGUS Touch Display with DWIN OS. (Choose one.) + * ORIGIN : https://www.aliexpress.com/item/32993409517.html + * FYSETC : https://www.aliexpress.com/item/32961471929.html + * MKS : https://www.aliexpress.com/item/1005002008179262.html + * + * 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. + * + * ORIGIN (Marlin DWIN_SET) + * - Download https://github.com/coldtobi/Marlin_DGUS_Resources + * - Copy the downloaded DWIN_SET folder to the SD card. + * + * FYSETC (Supplier default) + * - Download https://github.com/FYSETC/FYSTLCD-2.0 + * - Copy the downloaded SCREEN folder to the SD card. + * + * 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. + * + * RELOADED (T5UID1) + * - Download https://github.com/Desuuuu/DGUS-reloaded/releases + * - Copy the downloaded DWIN_SET folder to the SD card. + */ //#define DGUS_LCD_UI_ORIGIN //#define DGUS_LCD_UI_FYSETC //#define DGUS_LCD_UI_HIPRECY - //#define DGUS_LCD_UI_MKS +//#define DGUS_LCD_UI_RELOADED #if ENABLED(DGUS_LCD_UI_MKS) #define USE_MKS_GREEN_UI #endif @@ -2395,9 +3110,6 @@ // Touch-screen LCD for Malyan M200/M300 printers // //#define MALYAN_LCD -#if ENABLED(MALYAN_LCD) - #define LCD_SERIAL_PORT 1 // Default is 1 for Malyan M200 -#endif // // Touch UI for FTDI EVE (FT800/FT810) displays @@ -2411,17 +3123,14 @@ //#define ANYCUBIC_LCD_I3MEGA //#define ANYCUBIC_LCD_CHIRON #if EITHER(ANYCUBIC_LCD_I3MEGA, ANYCUBIC_LCD_CHIRON) - #define LCD_SERIAL_PORT 3 // Default is 3 for Anycubic //#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 -#if ENABLED(NEXTION_TFT) - #define LCD_SERIAL_PORT 1 // Default is 1 for Nextion -#endif // // Third-party or vendor-customized controller interfaces. @@ -2443,32 +3152,32 @@ */ // -// 480x320, 3.5", SPI Display From MKS -// Normally used in MKS Robin Nano V2 +// 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 -// Normally used in MKS Robin Nano V1.2 +// Usually paired with MKS Robin Nano V1.2 // //#define MKS_ROBIN_TFT24 // // 320x240, 2.8", FSMC Display From MKS -// Normally used in MKS Robin Nano V1.2 +// Usually paired with MKS Robin Nano V1.2 // //#define MKS_ROBIN_TFT28 // // 320x240, 3.2", FSMC Display From MKS -// Normally used in MKS Robin Nano V1.2 +// Usually paired with MKS Robin Nano V1.2 // //#define MKS_ROBIN_TFT32 // // 480x320, 3.5", FSMC Display From MKS -// Normally used in MKS Robin Nano V1.2 +// Usually paired with MKS Robin Nano V1.2 // //#define MKS_ROBIN_TFT35 @@ -2479,12 +3188,12 @@ // // 320x240, 3.2", FSMC Display From MKS -// Normally used in MKS Robin +// Usually paired with MKS Robin // //#define MKS_ROBIN_TFT_V1_1R // -// 480x320, 3.5", FSMC Stock Display from TronxXY +// 480x320, 3.5", FSMC Stock Display from Tronxy // //#define TFT_TRONXY_X5SA @@ -2509,10 +3218,15 @@ //#define ANET_ET5_TFT35 // -// 1024x600, 7", RGB Stock Display from BIQU-BX +// 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 // @@ -2529,6 +3243,7 @@ //#define TFT_RES_320x240 //#define TFT_RES_480x272 //#define TFT_RES_480x320 + //#define TFT_RES_1024x600 #endif /** @@ -2545,6 +3260,10 @@ //#define TFT_COLOR_UI //#define TFT_LVGL_UI +#if ENABLED(TFT_COLOR_UI) + //#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 @@ -2566,15 +3285,22 @@ // // Ender-3 v2 OEM display. A DWIN display with Rotary Encoder. // -//#define DWIN_CREALITY_LCD +//#define DWIN_CREALITY_LCD // Creality UI +//#define DWIN_LCD_PROUI // Pro UI by MRiscoC +//#define DWIN_CREALITY_LCD_JYERSUI // Jyers UI by Jacob Myers +//#define DWIN_MARLINUI_PORTRAIT // MarlinUI (portrait orientation) +//#define DWIN_MARLINUI_LANDSCAPE // MarlinUI (landscape orientation) // -// ADS7843/XPT2046 ADC Touchscreen such as ILI9341 2.8 +// 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 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 @@ -2600,19 +3326,21 @@ //#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 extras +// @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 -// Increase the FAN PWM frequency. Removes the PWM noise but increases heating in the FET/Arduino -//#define FAST_PWM_FAN - // 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. @@ -2631,14 +3359,18 @@ // 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 the BariCUDA Paste Extruder -//#define BARICUDA - // Support for BlinkM/CyzRgb //#define BLINKM @@ -2659,16 +3391,23 @@ * luminance values can be set from 0 to 255. * For NeoPixel LED an overall brightness parameter is also available. * - * *** CAUTION *** + * === 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. - * *** CAUTION *** * +<<<<<<< HEAD * LED Typ/FYe. Enable only one of the following two options. +======= + * Requires PWM frequency between 50 <> 100Hz (Check HAL or variant) + * Use FAST_PWM_FAN, if possible, to reduce fan noise. +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 */ + +// LED Type. Enable only one of the following two options: //#define RGB_LED //#define RGBW_LED @@ -2677,11 +3416,16 @@ //#define RGB_LED_G_PIN 43 //#define RGB_LED_B_PIN 35 //#define RGB_LED_W_PIN -1 + //#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) +<<<<<<< HEAD #define NEOPIXEL_TYPE NEO_GRB // NEO_GRBW / NEO_GRB - four/three channel driver type (defined in Adafruit_NeoPixel.h) // #define NEOPIXEL_PIN 4 // LED driving pin #define NEOPIXEL2_TYPE NEO_GRB @@ -2690,21 +3434,40 @@ #define NEOPIXEL_IS_SEQUENTIAL // Sequential display for temperature change - LED by LED. Disable to change all LEDs at once. #define NEOPIXEL_BRIGHTNESS 255 // Initial brightness (0-255) #define NEOPIXEL_STARTUP_TEST // Cycle through colors at startup +======= + #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 4 // 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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 // Support for second Adafruit NeoPixel LED driver controlled with M150 S1 ... #define NEOPIXEL2_SEPARATE #if ENABLED(NEOPIXEL2_SEPARATE) +<<<<<<< HEAD #define NEOPIXEL2_PIXELS 30 // Number of LEDs in the second strip #define NEOPIXEL2_BRIGHTNESS 255 // Initial brightness (0-255) #define NEOPIXEL2_STARTUP_TEST // Cycle through colors at startup +======= + #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. +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #else - //#define NEOPIXEL2_INSERIES // Default behavior is NeoPixel 2 in parallel + //#define NEOPIXEL2_INSERIES // Default behavior is NeoPixel 2 in parallel #endif - // Use a single NeoPixel LED for static (background) lighting - //#define NEOPIXEL_BKGD_LED_INDEX 0 // Index of the LED to use - //#define NEOPIXEL_BKGD_COLOR { 255, 255, 255, 0 } // R, G, B, W - //#define NEOPIXEL_BKGD_ALWAYS_ON // Keep the backlight on when other NeoPixels are off + // 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_ALWAYS_ON // Keep the backlight on when other NeoPixels are off #endif /** @@ -2722,6 +3485,8 @@ #define PRINTER_EVENT_LEDS #endif +// @section servos + /** * Number of servos * @@ -2729,9 +3494,13 @@ * Set this manually if there are extra servos needing manual control. * Set to 0 to turn off servo support. */ +<<<<<<< HEAD #define NUM_SERVOS 1 // Servo index starts with 0 for M280 command +======= +//#define NUM_SERVOS 3 // Note: Servo index starts with 0 for M280-M282 commands +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 -// (ms) Delay before the next move will start, to give the servo time to reach its target angle. +// (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 } @@ -2741,3 +3510,6 @@ // 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 index ea21a830bb..fd5283bbb9 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -30,7 +30,25 @@ * * Basic settings can be found in Configuration.h */ -#define CONFIGURATION_ADV_H_VERSION 020008 +#define CONFIGURATION_ADV_H_VERSION 02010200 + +// @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 ============================ @@ -54,81 +72,126 @@ // 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_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_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_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_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_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_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_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_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_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_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_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_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 -// -// Hephestos 2 24V heated bed upgrade kit. -// https://store.bq.com/en/heated-bed-kit-hephestos2 -// +#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 @@ -163,7 +226,8 @@ //#define CHAMBER_FAN // Enable a fan on the chamber #if ENABLED(CHAMBER_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. + //#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 @@ -196,7 +260,7 @@ #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_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. @@ -208,16 +272,14 @@ #endif // -// Laser Coolant Flow Meter +// Motherboard Sensor options // -//#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 +#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 @@ -258,7 +320,7 @@ * and/or decrease WATCH_TEMP_INCREASE. WATCH_TEMP_INCREASE should not be set * below 2. */ - #define WATCH_TEMP_PERIOD 20 // Seconds + #define WATCH_TEMP_PERIOD 40 // Seconds #define WATCH_TEMP_INCREASE 2 // Degrees Celsius #endif @@ -294,14 +356,22 @@ * 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 + #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 + #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 #endif #if ENABLED(PIDTEMP) @@ -379,7 +449,7 @@ */ #define AUTOTEMP #if ENABLED(AUTOTEMP) - #define AUTOTEMP_OLDWEIGHT 0.98 + #define AUTOTEMP_OLDWEIGHT 0.98 // Factor used to weight previous readings (0.0 < value < 1.0) // Turn on AUTOTEMP on M104/M109 by default using proportions set here //#define AUTOTEMP_PROPORTIONAL #if ENABLED(AUTOTEMP_PROPORTIONAL) @@ -413,18 +483,22 @@ // before a min_temp_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) +/** + * 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 MILLISECONDS_PREHEAT_TIME 0 // @section extruder -// Extruder runout prevention. -// If the machine is idle and the temperature over MINTEMP -// then extrude some filament every couple of SECONDS. +/** + * 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 @@ -463,23 +537,32 @@ */ //#define USE_CONTROLLER_FAN #if ENABLED(USE_CONTROLLER_FAN) - //#define CONTROLLER_FAN_PIN -1 // Set a custom pin for the 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 - //#define CONTROLLER_FAN_EDITABLE // Enable M710 configurable settings + //#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 + #define CONTROLLER_FAN_MENU // Enable the Controller Fan submenu #endif #endif -// When first starting the main fan, run it at full speed for the -// given number of milliseconds. This gets the fan spinning reliably -// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu) -//#define FAN_KICKSTART_TIME 100 +/** + * 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 @@ -500,32 +583,48 @@ //#define FAN_MAX_PWM 128 /** - * FAST PWM FAN Settings + * Fan Fast PWM * - * Use to change the FAST FAN PWM frequency (if enabled in Configuration.h) - * Combinations of PWM Modes, prescale values and TOP resolutions are used internally to produce a - * frequency as close as possible to the desired frequency. + * 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 [undefined by default] + * FAST_PWM_FAN_FREQUENCY * Set this to your desired frequency. - * 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. - * These defaults are the same as with the old FAST_PWM_FAN implementation - no migration is required + * 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] + * 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 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 /** @@ -550,7 +649,6 @@ #define E7_AUTO_FAN_PIN -1 #define CHAMBER_AUTO_FAN_PIN -1 #define COOLER_AUTO_FAN_PIN -1 -#define COOLER_FAN_PIN -1 #define EXTRUDER_AUTO_FAN_TEMPERATURE 50 #define EXTRUDER_AUTO_FAN_SPEED 255 // 255 == full speed @@ -559,6 +657,40 @@ #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 * @@ -610,67 +742,6 @@ //#define CLOSED_LOOP_MOVE_COMPLETE_PIN -1 #endif -/** - * Dual Steppers / Dual Endstops - * - * This section will allow you to use extra E drivers to drive a second motor for X, Y, or Z axes. - * - * For example, set X_DUAL_STEPPER_DRIVERS setting to use a second motor. If the motors need to - * spin in opposite directions set INVERT_X2_VS_X_DIR. If the second motor needs its own endstop - * set X_DUAL_ENDSTOPS. This can adjust for "racking." Use X2_USE_ENDSTOP to set the endstop plug - * that should be used for the second endstop. Extra endstops will appear in the output of 'M119'. - * - * Use X_DUAL_ENDSTOP_ADJUSTMENT to adjust for mechanical imperfection. After homing both motors - * this offset is applied to the X2 motor. To find the offset home the X axis, and measure the error - * in X2. Dual endstop offsets can be set at runtime with 'M666 X Y Z'. - */ - -//#define X_DUAL_STEPPER_DRIVERS -#if ENABLED(X_DUAL_STEPPER_DRIVERS) - //#define INVERT_X2_VS_X_DIR // Enable if X2 direction signal is opposite to X - //#define X_DUAL_ENDSTOPS - #if ENABLED(X_DUAL_ENDSTOPS) - #define X2_USE_ENDSTOP _XMAX_ - #define X2_ENDSTOP_ADJUSTMENT 0 - #endif -#endif - -//#define Y_DUAL_STEPPER_DRIVERS -#if ENABLED(Y_DUAL_STEPPER_DRIVERS) - //#define INVERT_Y2_VS_Y_DIR // Enable if Y2 direction signal is opposite to Y - //#define Y_DUAL_ENDSTOPS - #if ENABLED(Y_DUAL_ENDSTOPS) - #define Y2_USE_ENDSTOP _YMAX_ - #define Y2_ENDSTOP_ADJUSTMENT 0 - #endif -#endif - -// -// For Z set the number of stepper drivers -// -#define NUM_Z_STEPPER_DRIVERS 1 // (1-4) Z options change based on how many - -#if NUM_Z_STEPPER_DRIVERS > 1 - // Enable if Z motor direction signals are the opposite of Z1 - //#define INVERT_Z2_VS_Z_DIR - //#define INVERT_Z3_VS_Z_DIR - //#define INVERT_Z4_VS_Z_DIR - - //#define Z_MULTI_ENDSTOPS - #if ENABLED(Z_MULTI_ENDSTOPS) - #define Z2_USE_ENDSTOP _XMAX_ - #define Z2_ENDSTOP_ADJUSTMENT 0 - #if NUM_Z_STEPPER_DRIVERS >= 3 - #define Z3_USE_ENDSTOP _YMAX_ - #define Z3_ENDSTOP_ADJUSTMENT 0 - #endif - #if NUM_Z_STEPPER_DRIVERS >= 4 - #define Z4_USE_ENDSTOP _ZMAX_ - #define Z4_ENDSTOP_ADJUSTMENT 0 - #endif - #endif -#endif - /** * Dual X Carriage * @@ -701,18 +772,17 @@ */ //#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 // Set a maximum so the first X-carriage can't hit the parked second X-carriage - #define X2_MIN_POS 80 // Set a minimum to ensure the second X-carriage can't hit the parked first X-carriage - #define X2_MAX_POS 353 // Set this to the distance between toolheads when both heads are homed - #define X2_HOME_DIR 1 // Set to 1. The second X-carriage always homes to the maximum endstop position - #define X2_HOME_POS X2_MAX_POS // Default X2 home position. Set to X2_MAX_POS. - // However: In this mode the HOTEND_OFFSET_X value for the second extruder provides a software - // override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops - // without modifying the firmware (through the "M218 T1 X???" command). - // Remember: you should set the second extruder x-offset to 0 in your slicer. + #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 later using M605. + // 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) @@ -722,6 +792,77 @@ //#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 Y 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 Y 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 Y 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 @@ -734,12 +875,19 @@ * the position of the toolhead relative to the workspace. */ +<<<<<<< HEAD #define SENSORLESS_BACKOFF_MM { 10, 10 } // (mm) Backoff from endstops before sensorless homing #define HOMING_BUMP_MM { 0, 0, 0 } // (mm) Backoff from endstops after first bump +======= +//#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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #define HOMING_BUMP_DIVISOR { 2, 2, 4 } // Re-Bump Speed Divisor (Divides the Homing Feedrate) -//#define HOMING_BACKOFF_POST_MM { 2, 2, 2 } // (mm) Backoff from endstops after homing +//#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 //#define HOME_Y_BEFORE_X // If G28 contains XY home Y before X @@ -803,12 +951,14 @@ //#define BLTOUCH_FORCE_MODE_SET /** - * Use "HIGH SPEED" mode for probing. + * 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 + //#define BLTOUCH_HS_MODE true // Safety: Enable voltage mode settings in the LCD menu. #define BLTOUCH_LCD_VOLTAGE_MENU @@ -823,9 +973,12 @@ */ //#define Z_STEPPER_AUTO_ALIGN #if ENABLED(Z_STEPPER_AUTO_ALIGN) - // Define probe X and Y positions for Z1, Z2 [, Z3 [, Z4]] - // If not defined, probe limits will be used. - // Override with 'M422 S X Y' + /** + * 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 } } /** @@ -851,15 +1004,17 @@ //#define Z_STEPPERS_ORIENTATION 0 #endif - // Provide Z stepper positions for more rapid convergence in bed alignment. - // Requires triple stepper drivers (i.e., set NUM_Z_STEPPER_DRIVERS to 3) - //#define Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) - // Define Stepper XY positions for Z1, Z2, Z3 corresponding to - // the Z screw positions in the bed carriage. - // Define 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 } } - #else + /** + * 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! @@ -909,6 +1064,43 @@ // @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 @@ -918,6 +1110,12 @@ #define INVERT_X_STEP_PIN false #define INVERT_Y_STEP_PIN false #define INVERT_Z_STEP_PIN false +#define INVERT_I_STEP_PIN false +#define INVERT_J_STEP_PIN false +#define INVERT_K_STEP_PIN false +#define INVERT_U_STEP_PIN false +#define INVERT_V_STEP_PIN false +#define INVERT_W_STEP_PIN false #define INVERT_E_STEP_PIN false /** @@ -929,11 +1127,17 @@ #define DISABLE_INACTIVE_X true #define DISABLE_INACTIVE_Y true #define DISABLE_INACTIVE_Z true // Set 'false' if the nozzle could fall onto your printed part! +#define DISABLE_INACTIVE_I true +#define DISABLE_INACTIVE_J true +#define DISABLE_INACTIVE_K true +#define DISABLE_INACTIVE_U true +#define DISABLE_INACTIVE_V true +#define DISABLE_INACTIVE_W true #define DISABLE_INACTIVE_E true // Default Minimum Feedrates for printing and travel moves -#define DEFAULT_MINIMUMFEEDRATE 0.0 // (mm/s) Minimum feedrate. Set with M205 S. -#define DEFAULT_MINTRAVELFEEDRATE 0.0 // (mm/s) Minimum travel feedrate. Set with M205 T. +#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. @@ -969,7 +1173,7 @@ #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 } // (mm) + #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 @@ -998,7 +1202,7 @@ #endif /** - * Automatic backlash, position and hotend offset calibration + * 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. @@ -1040,6 +1244,19 @@ #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 @@ -1133,7 +1350,7 @@ // @section lcd -#if EITHER(IS_ULTIPANEL, EXTENSIBLE_UI) +#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 @@ -1156,22 +1373,45 @@ #define FEEDRATE_CHANGE_BEEP_FREQUENCY 440 #endif -#if HAS_LCD_MENU +// +// 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 - // Add Probe Z Offset calibration to the Z Probe Offsets menu #if HAS_BED_PROBE - //#define PROBE_OFFSET_WIZARD - #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 } + // 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 @@ -1183,8 +1423,38 @@ // BACK menu items keep the highlight at the top //#define TURBO_BACK_MENU_ITEM - // Add a mute option to the LCD menu - //#define SOUND_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 ANY(HAS_DISPLAY, DWIN_LCD_PROUI, DWIN_CREALITY_LCD_JYERSUI) + //#define SOUND_MENU_ITEM // Add a mute option to the LCD menu + #define SOUND_ON_DEFAULT // Buzzer/speaker default enabled state +#endif + +#if EITHER(HAS_DISPLAY, DWIN_LCD_PROUI) + // 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 + + // Apply a timeout to low-priority status messages + //#define STATUS_MESSAGE_TIMEOUT_SEC 30 // (seconds) + + // 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 /** * LED Control Menu @@ -1203,61 +1473,45 @@ //#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 + #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 - // Insert a menu for preheating at the top level to allow for quick access - //#define PREHEAT_SHORTCUT_MENU_ITEM +#endif // HAS_DISPLAY || DWIN_LCD_PROUI -#endif // HAS_LCD_MENU - -#if HAS_DISPLAY - // The timeout (in ms) to return to the status screen from sub-menus - //#define LCD_TIMEOUT_TO_STATUS 15000 - - #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 +// Add 'M73' to set print job progress, overrides Marlin's built-in estimate +//#define SET_PROGRESS_MANUALLY +#if ENABLED(SET_PROGRESS_MANUALLY) + #define SET_PROGRESS_PERCENT // Add 'P' parameter to set percentage done + #define SET_REMAINING_TIME // Add 'R' parameter to set remaining time + //#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 - - // Scroll a longer status message into view - //#define STATUS_MESSAGE_SCROLLING - - // On the Info Screen, display XY with one decimal place when possible - //#define LCD_DECIMAL_SMALL_XY - - // Add an 'M73' G-code to set the current percentage - //#define LCD_SET_PROGRESS_MANUALLY - - // Show the E position (filament used) during printing - //#define LCD_SHOW_E_TOTAL #endif -#if EITHER(SDSUPPORT, LCD_SET_PROGRESS_MANUALLY) && ANY(HAS_MARLINUI_U8GLIB, HAS_MARLINUI_HD44780, IS_TFTGLCD_PANEL, EXTENSIBLE_UI) - //#define SHOW_REMAINING_TIME // Display estimated time to completion - #if ENABLED(SHOW_REMAINING_TIME) - //#define USE_M73_REMAINING_TIME // Use remaining time from M73 command instead of estimation - //#define ROTATE_PROGRESS_DISPLAY // Display (P)rogress, (E)lapsed, and (R)emaining time - #endif - - #if EITHER(HAS_MARLINUI_U8GLIB, EXTENSIBLE_UI) - //#define PRINT_PROGRESS_SHOW_DECIMALS // Show progress with decimal digits +// 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_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 @@ -1301,9 +1555,15 @@ //#define BROWSE_MEDIA_ON_INSERT // Open the file browser when media is inserted +<<<<<<< HEAD // #define EVENT_GCODE_SD_ABORT "G28XY" // G-code to run on SD Abort Print (e.g., "G28XY" or "G27") #define EVENT_GCODE_SD_ABORT "M118 A1 action:cancel" +======= + //#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") +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #if ENABLED(PRINTER_EVENT_LEDS) #define PE_LEDS_COMPLETED_TIME (30*60) // (seconds) Time to keep the LED "done" color before restoring normal illumination @@ -1382,33 +1642,27 @@ // LCD's font must contain the characters. Check your selected LCD language. //#define UTF_FILENAME_SUPPORT - // This allows hosts to request long names for files and folders with M33 - //#define LONG_FILENAME_HOST_SUPPORT + //#define LONG_FILENAME_HOST_SUPPORT // Get the long filename of a file/folder with 'M33 ' and list long filenames with 'M20 L' + //#define LONG_FILENAME_WRITE_SUPPORT // Create / delete files with long filenames via M28, M30, and Binary Transfer Protocol + //#define M20_TIMESTAMP_SUPPORT // Include timestamps by adding the 'T' flag to M20 commands - // Enable this option to scroll long filenames in the SD card menu - //#define SCROLL_LONG_FILENAMES + //#define SCROLL_LONG_FILENAMES // Scroll long filenames in the SD card menu - // Leave the heaters on after Stop Print (not recommended!) - //#define SD_ABORT_NO_COOLDOWN + //#define SD_ABORT_NO_COOLDOWN // Leave the heaters on after Stop Print (not recommended!) /** - * This option allows you to abort SD printing when any endstop is triggered. - * This feature must be enabled with "M540 S1" or from the LCD menu. - * To have any effect, endstops must be enabled during SD printing. + * 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 - /** - * This option makes it easier to print the same SD Card file again. - * On print completion the LCD Menu will open with the file selected. - * You can just click to start the print, or navigate elsewhere. - */ - //#define SD_REPRINT_LAST_SELECTED_FILE + //#define SD_REPRINT_LAST_SELECTED_FILE // On print completion open the LCD Menu and select the same file - /** - * Auto-report SdCard status with M27 S - */ - //#define AUTO_REPORT_SD_STATUS + //#define AUTO_REPORT_SD_STATUS // Auto-report media status with 'M27 S' /** * Support for USB thumb drives using an Arduino USB Host Shield or @@ -1439,6 +1693,8 @@ //#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) */ @@ -1466,9 +1722,22 @@ #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 + #if ENABLED(BINARY_FILE_TRANSFER) + // Include extra facilities (e.g., 'M20 F') supporting firmware upload via BINARY_FILE_TRANSFER + //#define CUSTOM_FIRMWARE_UPLOAD + #endif + /** * Set this option to one of the following (or the board's defaults apply): * @@ -1483,13 +1752,16 @@ // Enable if SD detect is rendered useless (e.g., by using an SD extender) //#define NO_SD_DETECT - // Multiple volume support - EXPERIMENTAL. + /** + * 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 SD_ONBOARD - #define DEFAULT_SHARED_VOLUME USB_FLASH_DRIVE + #define DEFAULT_VOLUME SV_SD_ONBOARD + #define DEFAULT_SHARED_VOLUME SV_USB_FLASH_DRIVE #endif #endif // SDSUPPORT @@ -1513,26 +1785,28 @@ * printing performance versus fast display updates. */ #if HAS_MARLINUI_U8GLIB - // Show SD percentage next to the progress bar - //#define DOGM_SD_PERCENT - // Save many cycles by drawing a hollow frame or no frame on the Info Screen //#define XYZ_NO_FRAME #define XYZ_HOLLOW_FRAME - // Enable to save many cycles by drawing a hollow frame on Menu Screens - #define MENU_HOLLOW_FRAME - - // A bigger font is available for edit items. Costs 3120 bytes of PROGMEM. + // 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 PROGMEM. + // 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 - // Swap the CW/CCW indicators in the graphics overlay - //#define OVERLAY_GFX_REVERSE + /** + * 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 @@ -1546,7 +1820,7 @@ * Set STATUS_EXPIRE_SECONDS to zero to never clear the status. * This will prevent position updates from being displayed. */ - #if ENABLED(U8GLIB_ST7920) + #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 @@ -1564,7 +1838,7 @@ */ //#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) + #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 @@ -1575,7 +1849,7 @@ //#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 PROGMEM. + //#define BOOT_MARLIN_LOGO_ANIMATED // Animated Marlin logo. Costs ~3260 (or ~940) bytes of flash. // Frivolous Game Options //#define MARLIN_BRICKOUT @@ -1585,11 +1859,15 @@ #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_SERIAL_PORT 3 #define LCD_BAUDRATE 115200 #define DGUS_RX_BUFFER_SIZE 128 @@ -1650,7 +1928,7 @@ // // Specify additional languages for the UI. Default specified by LCD_LANGUAGE. // -#if ANY(DOGLCD, TFT_COLOR_UI, TOUCH_UI_FTDI_EVE) +#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 @@ -1669,7 +1947,7 @@ //#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_ALEPHOBJECTS_CLCD_UI // Aleph Objects Color LCD UI + //#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 @@ -1680,8 +1958,8 @@ //#define TOUCH_UI_800x480 // Mappings for boards with a standard RepRapDiscount Display connector - //#define AO_EXP1_PINMAP // AlephObjects CLCD UI EXP1 mapping - //#define AO_EXP2_PINMAP // AlephObjects CLCD UI EXP2 mapping + //#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 @@ -1841,14 +2119,35 @@ */ //#define LIN_ADVANCE #if ENABLED(LIN_ADVANCE) - //#define EXTRA_LIN_ADVANCE_K // Enable for second linear advance constants - #define LIN_ADVANCE_K 0.22 // Unit: mm compression per 1mm/s extruder speed - //#define LA_DEBUG // If enabled, this will generate debug information output over USB. - //#define EXPERIMENTAL_SCURVE // Enable this option to permit S-Curve Acceleration + #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 EXPERIMENTAL_SCURVE // Allow S-Curve Acceleration to be used with LA. + //#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. @@ -1920,59 +2219,69 @@ /** * Thermal Probe Compensation - * Probe measurements are adjusted to compensate for temperature distortion. - * Use G76 to calibrate this feature. Use M871 to set values manually. - * For a more detailed explanation of the process see G76_M871.cpp. + * + * 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 */ -#if HAS_BED_PROBE && TEMP_SENSOR_PROBE && TEMP_SENSOR_BED - // Enable thermal first layer compensation using bed and probe temperatures - #define PROBE_TEMP_COMPENSATION +//#define PTC_PROBE // Compensate based on probe temperature +//#define PTC_BED // Compensate based on bed temperature +//#define PTC_HOTEND // Compensate based on hotend temperature - // Add additional compensation depending on hotend temperature - // Note: this values cannot be calibrated and have to be set manually - #if ENABLED(PROBE_TEMP_COMPENSATION) +#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 } - // Enable additional compensation using hotend temperature - // Note: this values cannot be calibrated automatically but have to be set manually - //#define USE_TEMP_EXT_COMPENSATION + // The temperature the probe should be at while taking measurements during + // bed temperature calibration. + #define PTC_PROBE_TEMP 30 // (°C) - // Probe temperature calibration generates a table of values starting at PTC_SAMPLE_START - // (e.g. 30), in steps of PTC_SAMPLE_RES (e.g. 5) with PTC_SAMPLE_COUNT (e.g. 10) samples. - - //#define PTC_SAMPLE_START 30.0f - //#define PTC_SAMPLE_RES 5.0f - //#define PTC_SAMPLE_COUNT 10U - - // Bed temperature calibration builds a similar table. - - //#define BTC_SAMPLE_START 60.0f - //#define BTC_SAMPLE_RES 5.0f - //#define BTC_SAMPLE_COUNT 10U - - // The temperature the probe should be at while taking measurements during bed temperature - // calibration. - //#define BTC_PROBE_TEMP 30.0f - - // Height above Z=0.0f to raise the nozzle. Lowering this can help the probe to heat faster. - // Note: the Z=0.0f offset is determined by the probe offset which can be set using M851. - //#define PTC_PROBE_HEATING_OFFSET 0.5f - - // Height to raise the Z-probe between heating and taking the next measurement. Some probes - // may fail to untrigger if they have been triggered for a long time, which can be solved by - // increasing the height the probe is raised to. - //#define PTC_PROBE_RAISE 15U - - // If the probe is outside of the defined range, use linear extrapolation using the closest - // point and the PTC_LINEAR_EXTRAPOLATION'th next point. E.g. if set to 4 it will use data[0] - // and data[4] to perform linear extrapolation for values below PTC_SAMPLE_START. - //#define PTC_LINEAR_EXTRAPOLATION 4 + // 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 +#endif // PTC_PROBE || PTC_BED || PTC_HOTEND // @section extras @@ -1984,20 +2293,23 @@ // // G2/G3 Arc Support // -#define ARC_SUPPORT // Disable this feature to save ~3226 bytes +#define ARC_SUPPORT // Requires ~3226 bytes #if ENABLED(ARC_SUPPORT) - #define MM_PER_ARC_SEGMENT 1 // (mm) Length (or minimum length) of each arc segment - //#define ARC_SEGMENTS_PER_R 1 // Max segment length, MM_PER = Min - #define MIN_ARC_SEGMENTS 24 // Minimum number of segments in a complete circle - //#define ARC_SEGMENTS_PER_SEC 50 // Use feedrate to choose segment length (with MM_PER_ARC_SEGMENT as the minimum) - #define N_ARC_CORRECTION 25 // Number of interpolated segments between corrections - //#define ARC_P_CIRCLES // Enable the 'P' parameter to specify complete circles - //#define CNC_WORKSPACE_PLANES // Allow G2/G3 to operate in XY, ZX, or YZ planes - //#define SF_ARC_FIX // Enable only if using SkeinForge with "Arc Point" fillet procedure + #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 + //#define SF_ARC_FIX // Enable only if using SkeinForge with "Arc Point" fillet procedure #endif -// Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes. -//#define BEZIER_CURVE_SUPPORT +// 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 @@ -2080,7 +2392,7 @@ // @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) +// 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) @@ -2096,7 +2408,7 @@ #define BUFSIZE 4 // Transmission to Host Buffer Size -// To save 386 bytes of PROGMEM (and TX_BUFFER_SIZE+3 bytes of RAM) set to 0. +// 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. @@ -2116,9 +2428,6 @@ //#define SERIAL_XON_XOFF #endif -// Add M575 G-code to change the baud rate -//#define BAUD_RATE_GCODE - #if ENABLED(SDSUPPORT) // Enable this option to collect and display the maximum // RX queue usage after transferring a file to SD. @@ -2181,6 +2490,15 @@ // 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 /** @@ -2239,6 +2557,14 @@ //#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! + /** * Tool Sensors detect when tools have been picked up or dropped. * Requires the pins TOOL_SENSOR1_PIN, TOOL_SENSOR2_PIN, etc. @@ -2253,26 +2579,30 @@ #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, fine tune by LCD/Gcode) + #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/min) Retract before cooling for less stringing, better wipe, etc. + #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) - // Swap uninitialized extruder with TOOLCHANGE_FS_PRIME_SPEED for all lengths (recover + prime) - // (May break filament if not retracted beforehand.) - //#define TOOLCHANGE_FS_INIT_BEFORE_SWAP + // Use TOOLCHANGE_FS_PRIME_SPEED feedrate the first time each extruder is primed + //#define TOOLCHANGE_FS_SLOW_FIRST_PRIME - // Prime on the first T0 (If other, TOOLCHANGE_FS_INIT_BEFORE_SWAP applied) - // Enable it (M217 V[0/1]) before printing, to avoid unwanted priming on host connect + /** + * 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 /** @@ -2302,15 +2632,18 @@ #endif #endif // HAS_MULTI_EXTRUDER +// @section advanced pause + /** - * Advanced Pause - * Experimental feature for filament change support and for parking the nozzle when paused. - * Adds the GCode M600 for initiating filament change. - * If PARK_HEAD_ON_PAUSE enabled, adds the GCode M125 to pause printing and park the nozzle. + * 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. * - * Requires an LCD display. - * Requires NOZZLE_PARK_FEATURE. - * 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 #if ENABLED(ADVANCED_PAUSE_FEATURE) @@ -2349,6 +2682,8 @@ #define PAUSE_PARK_NOZZLE_TIMEOUT 45 // (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. //#define HOME_BEFORE_FILAMENT_CHANGE // If needed, home before parking for filament change @@ -2357,133 +2692,33 @@ //#define FILAMENT_UNLOAD_ALL_EXTRUDERS // Allow M702 to unload all extruders above a minimum target temp (as set by M302) #endif -// @section tmc - -/** - * TMC26X Stepper Driver options - * - * The TMC26XStepper library is required for this stepper driver. - * https://github.com/trinamic/TMC26XStepper - */ -#if HAS_DRIVER(TMC26X) - - #if AXIS_DRIVER_TYPE_X(TMC26X) - #define X_MAX_CURRENT 1000 // (mA) - #define X_SENSE_RESISTOR 91 // (mOhms) - #define X_MICROSTEPS 16 // Number of microsteps - #endif - - #if AXIS_DRIVER_TYPE_X2(TMC26X) - #define X2_MAX_CURRENT 1000 - #define X2_SENSE_RESISTOR 91 - #define X2_MICROSTEPS X_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Y(TMC26X) - #define Y_MAX_CURRENT 1000 - #define Y_SENSE_RESISTOR 91 - #define Y_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_Y2(TMC26X) - #define Y2_MAX_CURRENT 1000 - #define Y2_SENSE_RESISTOR 91 - #define Y2_MICROSTEPS Y_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Z(TMC26X) - #define Z_MAX_CURRENT 1000 - #define Z_SENSE_RESISTOR 91 - #define Z_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_Z2(TMC26X) - #define Z2_MAX_CURRENT 1000 - #define Z2_SENSE_RESISTOR 91 - #define Z2_MICROSTEPS Z_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Z3(TMC26X) - #define Z3_MAX_CURRENT 1000 - #define Z3_SENSE_RESISTOR 91 - #define Z3_MICROSTEPS Z_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_Z4(TMC26X) - #define Z4_MAX_CURRENT 1000 - #define Z4_SENSE_RESISTOR 91 - #define Z4_MICROSTEPS Z_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E0(TMC26X) - #define E0_MAX_CURRENT 1000 - #define E0_SENSE_RESISTOR 91 - #define E0_MICROSTEPS 16 - #endif - - #if AXIS_DRIVER_TYPE_E1(TMC26X) - #define E1_MAX_CURRENT 1000 - #define E1_SENSE_RESISTOR 91 - #define E1_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E2(TMC26X) - #define E2_MAX_CURRENT 1000 - #define E2_SENSE_RESISTOR 91 - #define E2_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E3(TMC26X) - #define E3_MAX_CURRENT 1000 - #define E3_SENSE_RESISTOR 91 - #define E3_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E4(TMC26X) - #define E4_MAX_CURRENT 1000 - #define E4_SENSE_RESISTOR 91 - #define E4_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E5(TMC26X) - #define E5_MAX_CURRENT 1000 - #define E5_SENSE_RESISTOR 91 - #define E5_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E6(TMC26X) - #define E6_MAX_CURRENT 1000 - #define E6_SENSE_RESISTOR 91 - #define E6_MICROSTEPS E0_MICROSTEPS - #endif - - #if AXIS_DRIVER_TYPE_E7(TMC26X) - #define E7_MAX_CURRENT 1000 - #define E7_SENSE_RESISTOR 91 - #define E7_MICROSTEPS E0_MICROSTEPS - #endif - -#endif // TMC26X - // @section tmc_smart /** - * To use TMC2130, TMC2160, TMC2660, TMC5130, TMC5160 stepper drivers in SPI mode - * connect your SPI pins to the hardware SPI interface on your board and define - * the required CS pins in your `pins_MYBOARD.h` file. (e.g., RAMPS 1.4 uses AUX3 - * pins `X_CS_PIN 53`, `Y_CS_PIN 49`, etc.). - * You may also use software SPI if you wish to use general purpose IO pins. + * Trinamic Smart Drivers * - * To use TMC2208 stepper UART-configurable stepper drivers connect #_SERIAL_TX_PIN - * to the driver side PDN_UART pin with a 1K resistor. - * To use the reading capabilities, also connect #_SERIAL_RX_PIN to PDN_UART without - * a resistor. - * The drivers can also be used with hardware serial. + * 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. * - * TMCStepper library is required to use TMC stepper drivers. - * https://github.com/teemuatlut/TMCStepper + * 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 +#if HAS_TRINAMIC_CONFIG || HAS_TMC26X #define HOLD_MULTIPLIER 0.5 // Scales down the holding current from run current @@ -2493,142 +2728,220 @@ */ #define INTERPOLATE true - #if AXIS_IS_TMC(X) + #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 + #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(X2) + #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(Y) + #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(Y2) + #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(Z) + #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(Z2) + #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(Z3) + #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(Z4) + #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(E0) + #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(E1) + #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(E2) + #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(E3) + #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(E4) + #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(E5) + #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(E6) + #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(E7) + #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. @@ -2640,6 +2953,13 @@ //#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 @@ -2660,6 +2980,8 @@ //#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. @@ -2680,6 +3002,12 @@ //#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 @@ -2689,6 +3017,8 @@ //#define E6_SLAVE_ADDRESS 0 //#define E7_SLAVE_ADDRESS 0 + // @section tmc/smart + /** * Software enable * @@ -2697,14 +3027,24 @@ */ //#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. */ - #define STEALTHCHOP_XY - #define STEALTHCHOP_Z - #define STEALTHCHOP_E + #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 @@ -2749,6 +3089,12 @@ //#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 @@ -2758,6 +3104,10 @@ //#define CHOPPER_TIMING_E6 CHOPPER_TIMING_E //#define CHOPPER_TIMING_E7 CHOPPER_TIMING_E +<<<<<<< HEAD +======= + // @section tmc/status +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 /** * Monitor Trinamic drivers @@ -2778,6 +3128,8 @@ #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. @@ -2795,6 +3147,12 @@ #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 @@ -2820,7 +3178,7 @@ * * It is recommended to set HOMING_BUMP_MM to { 0, 0, 0 }. * - * SPI_ENDSTOPS *** Beta feature! *** TMC2130 Only *** + * 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. * @@ -2828,6 +3186,7 @@ * 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 @@ -2842,10 +3201,23 @@ //#define Z2_STALL_SENSITIVITY Z_STALL_SENSITIVITY //#define Z3_STALL_SENSITIVITY Z_STALL_SENSITIVITY //#define Z4_STALL_SENSITIVITY Z_STALL_SENSITIVITY +<<<<<<< HEAD //#define SPI_ENDSTOPS // TMC2130 only #define IMPROVE_HOMING_RELIABILITY +======= + //#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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #endif + // @section tmc/config + /** * TMC Homing stepper phase. * @@ -2883,201 +3255,7 @@ */ #define TMC_ADV() { } -#endif // HAS_TRINAMIC_CONFIG - -// @section L64XX - -/** - * L64XX Stepper Driver options - * - * Arduino-L6470 library (0.8.0 or higher) is required. - * https://github.com/ameyer/Arduino-L6470 - * - * Requires the following to be defined in your pins_YOUR_BOARD file - * L6470_CHAIN_SCK_PIN - * L6470_CHAIN_MISO_PIN - * L6470_CHAIN_MOSI_PIN - * L6470_CHAIN_SS_PIN - * ENABLE_RESET_L64XX_CHIPS(Q) where Q is 1 to enable and 0 to reset - */ - -#if HAS_L64XX - - //#define L6470_CHITCHAT // Display additional status info - - #if AXIS_IS_L64XX(X) - #define X_MICROSTEPS 128 // Number of microsteps (VALID: 1, 2, 4, 8, 16, 32, 128) - L6474 max is 16 - #define X_OVERCURRENT 2000 // (mA) Current where the driver detects an over current - // L6470 & L6474 - VALID: 375 x (1 - 16) - 6A max - rounds down - // POWERSTEP01: VALID: 1000 x (1 - 32) - 32A max - rounds down - #define X_STALLCURRENT 1500 // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) - 4A max - rounds down) - // L6470 & L6474 - VALID: 31.25 * (1-128) - 4A max - rounds down - // POWERSTEP01: VALID: 200 x (1 - 32) - 6.4A max - rounds down - // L6474 - STALLCURRENT setting is used to set the nominal (TVAL) current - #define X_MAX_VOLTAGE 127 // 0-255, Maximum effective voltage seen by stepper - not used by L6474 - #define X_CHAIN_POS -1 // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI - #define X_SLEW_RATE 1 // 0-3, Slew 0 is slowest, 3 is fastest - #endif - - #if AXIS_IS_L64XX(X2) - #define X2_MICROSTEPS X_MICROSTEPS - #define X2_OVERCURRENT 2000 - #define X2_STALLCURRENT 1500 - #define X2_MAX_VOLTAGE 127 - #define X2_CHAIN_POS -1 - #define X2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Y) - #define Y_MICROSTEPS 128 - #define Y_OVERCURRENT 2000 - #define Y_STALLCURRENT 1500 - #define Y_MAX_VOLTAGE 127 - #define Y_CHAIN_POS -1 - #define Y_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Y2) - #define Y2_MICROSTEPS Y_MICROSTEPS - #define Y2_OVERCURRENT 2000 - #define Y2_STALLCURRENT 1500 - #define Y2_MAX_VOLTAGE 127 - #define Y2_CHAIN_POS -1 - #define Y2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z) - #define Z_MICROSTEPS 128 - #define Z_OVERCURRENT 2000 - #define Z_STALLCURRENT 1500 - #define Z_MAX_VOLTAGE 127 - #define Z_CHAIN_POS -1 - #define Z_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z2) - #define Z2_MICROSTEPS Z_MICROSTEPS - #define Z2_OVERCURRENT 2000 - #define Z2_STALLCURRENT 1500 - #define Z2_MAX_VOLTAGE 127 - #define Z2_CHAIN_POS -1 - #define Z2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z3) - #define Z3_MICROSTEPS Z_MICROSTEPS - #define Z3_OVERCURRENT 2000 - #define Z3_STALLCURRENT 1500 - #define Z3_MAX_VOLTAGE 127 - #define Z3_CHAIN_POS -1 - #define Z3_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(Z4) - #define Z4_MICROSTEPS Z_MICROSTEPS - #define Z4_OVERCURRENT 2000 - #define Z4_STALLCURRENT 1500 - #define Z4_MAX_VOLTAGE 127 - #define Z4_CHAIN_POS -1 - #define Z4_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E0) - #define E0_MICROSTEPS 128 - #define E0_OVERCURRENT 2000 - #define E0_STALLCURRENT 1500 - #define E0_MAX_VOLTAGE 127 - #define E0_CHAIN_POS -1 - #define E0_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E1) - #define E1_MICROSTEPS E0_MICROSTEPS - #define E1_OVERCURRENT 2000 - #define E1_STALLCURRENT 1500 - #define E1_MAX_VOLTAGE 127 - #define E1_CHAIN_POS -1 - #define E1_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E2) - #define E2_MICROSTEPS E0_MICROSTEPS - #define E2_OVERCURRENT 2000 - #define E2_STALLCURRENT 1500 - #define E2_MAX_VOLTAGE 127 - #define E2_CHAIN_POS -1 - #define E2_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E3) - #define E3_MICROSTEPS E0_MICROSTEPS - #define E3_OVERCURRENT 2000 - #define E3_STALLCURRENT 1500 - #define E3_MAX_VOLTAGE 127 - #define E3_CHAIN_POS -1 - #define E3_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E4) - #define E4_MICROSTEPS E0_MICROSTEPS - #define E4_OVERCURRENT 2000 - #define E4_STALLCURRENT 1500 - #define E4_MAX_VOLTAGE 127 - #define E4_CHAIN_POS -1 - #define E4_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E5) - #define E5_MICROSTEPS E0_MICROSTEPS - #define E5_OVERCURRENT 2000 - #define E5_STALLCURRENT 1500 - #define E5_MAX_VOLTAGE 127 - #define E5_CHAIN_POS -1 - #define E5_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E6) - #define E6_MICROSTEPS E0_MICROSTEPS - #define E6_OVERCURRENT 2000 - #define E6_STALLCURRENT 1500 - #define E6_MAX_VOLTAGE 127 - #define E6_CHAIN_POS -1 - #define E6_SLEW_RATE 1 - #endif - - #if AXIS_IS_L64XX(E7) - #define E7_MICROSTEPS E0_MICROSTEPS - #define E7_OVERCURRENT 2000 - #define E7_STALLCURRENT 1500 - #define E7_MAX_VOLTAGE 127 - #define E7_CHAIN_POS -1 - #define E7_SLEW_RATE 1 - #endif - - /** - * Monitor L6470 drivers for error conditions like over temperature and over current. - * In the case of over temperature Marlin can decrease the drive until the error condition clears. - * Other detected conditions can be used to stop the current print. - * Relevant G-codes: - * M906 - I1/2/3/4/5 Set or get motor drive level using axis codes X, Y, Z, E. Report values if no axis codes given. - * I not present or I0 or I1 - X, Y, Z or E0 - * I2 - X2, Y2, Z2 or E1 - * I3 - Z3 or E3 - * I4 - Z4 or E4 - * I5 - E5 - * M916 - Increase drive level until get thermal warning - * M917 - Find minimum current thresholds - * M918 - Increase speed until max or error - * M122 S0/1 - Report driver parameters - */ - //#define MONITOR_L6470_DRIVER_STATUS - - #if ENABLED(MONITOR_L6470_DRIVER_STATUS) - #define KVAL_HOLD_STEP_DOWN 1 - //#define L6470_STOP_ON_ERROR - #endif - -#endif // HAS_L64XX +#endif // HAS_TRINAMIC_CONFIG || HAS_TMC26X // @section i2cbus @@ -3120,7 +3298,7 @@ #define I2C_SLAVE_ADDRESS 0 // Set a value from 8 to 127 to act as a slave #endif -// @section extras +// @section photo /** * Photo G-code @@ -3163,6 +3341,8 @@ #endif #endif +// @section cnc + /** * Spindle & Laser control * @@ -3176,27 +3356,38 @@ * 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/laser_spindle.html for more config details. + * 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 the on/off function is active HIGH - #define SPINDLE_LASER_PWM true // Set to "true" if your controller supports setting the speed/power - #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_ACTIVE_STATE LOW // Set to "HIGH" if SPINDLE_LASER_ENA_PIN is active HIGH - #define SPINDLE_LASER_FREQUENCY 2500 // (Hz) Spindle/laser frequency (only on supported HALs: AVR and LPC) + #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 + //#define AIR_EVACUATION_PIN 42 // Override the default Cutter Vacuum or Laser Blower pin #endif - //#define SPINDLE_SERVO // A servo converting an angle to spindle power + //#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 + #define SPINDLE_SERVO_NR 0 // Index of servo used for spindle control + #define SPINDLE_SERVO_MIN 10 // Minimum angle for servo spindle #endif /** @@ -3235,98 +3426,98 @@ * 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 */ - #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) + #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 - #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) + #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 // Used with Laser Control Menu - #define LASER_TEST_PULSE_MAX 999 // Caution: Menu may not show more than 3 characters + #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) /** - * Enable inline laser power to be handled in the planner / stepper routines. - * Inline power is specified by the I (inline) flag in an M3 command (e.g., M3 S20 I) - * or by the 'S' parameter in G0/G1/G2/G3 moves (see LASER_MOVE_POWER). + * Any M3 or G1/2/3/5 command with the 'I' parameter enables continuous inline power mode. * - * This allows the laser to keep in perfect sync with the planner and removes - * the powerup/down delay since lasers require negligible time. + * 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. */ - //#define LASER_POWER_INLINE - #if ENABLED(LASER_POWER_INLINE) - /** - * 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_INLINE_TRAPEZOID + /** + * 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 - /** - * Continuously calculate the current power (nominal_power * current_rate / nominal_rate). - * Required for accurate power with non-trapezoidal acceleration (e.g., S_CURVE_ACCELERATION). - * This is a costly calculation so this option is discouraged on 8-bit AVR boards. - * - * LASER_POWER_INLINE_TRAPEZOID_CONT_PER defines how many step cycles there are between power updates. If your - * board isn't able to generate steps fast enough (and you are using LASER_POWER_INLINE_TRAPEZOID_CONT), increase this. - * Note that when this is zero it means it occurs every cycle; 1 means a delay wait one cycle then run, etc. - */ - //#define LASER_POWER_INLINE_TRAPEZOID_CONT - - /** - * Stepper iterations between power updates. Increase this value if the board - * can't keep up with the processing demands of LASER_POWER_INLINE_TRAPEZOID_CONT. - * Disable (or set to 0) to recalculate power on every stepper iteration. - */ - //#define LASER_POWER_INLINE_TRAPEZOID_CONT_PER 10 - - /** - * Include laser power in G0/G1/G2/G3/G5 commands with the 'S' parameter - */ - //#define LASER_MOVE_POWER - - #if ENABLED(LASER_MOVE_POWER) - // Turn off the laser on G0 moves with no power parameter. - // If a power parameter is provided, use that instead. - //#define LASER_MOVE_G0_OFF - - // Turn off the laser on G28 homing. - //#define LASER_MOVE_G28_OFF - #endif - - /** - * Inline flag inverted - * - * WARNING: M5 will NOT turn off the laser unless another move - * is done (so G-code files must end with 'M5 I'). - */ - //#define LASER_POWER_INLINE_INVERT - - /** - * Continuously apply inline power. ('M3 S3' == 'G1 S3' == 'M3 S3 I') - * - * The laser might do some weird things, so only enable this - * feature if you understand the implications. - */ - //#define LASER_POWER_INLINE_CONTINUOUS - - #else - - #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 + /** + * 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 +#endif // SPINDLE_FEATURE || LASER_FEATURE /** * Synchronous Laser Control with M106/M107 @@ -3355,6 +3546,8 @@ #define COOLANT_FLOOD_INVERT false // Set "true" if the on/off function is reversed #endif +// @section filament width + /** * Filament Width Sensor * @@ -3388,6 +3581,8 @@ //#define FILAMENT_LCD_DISPLAY #endif +// @section power + /** * Power Monitor * Monitor voltage (V) and/or current (A), and -when possible- power (W) @@ -3411,6 +3606,8 @@ #define POWER_MONITOR_VOLTAGE_OFFSET 0 // Offset (in volts) applied to the calculated voltage #endif +// @section safety + /** * Stepper Driver Anti-SNAFU Protection * @@ -3420,6 +3617,8 @@ */ //#define DISABLE_DRIVER_SAFE_POWER_PROTECT +// @section cnc + /** * CNC Coordinate Systems * @@ -3428,10 +3627,26 @@ */ //#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 @@ -3441,6 +3656,8 @@ //#define M115_GEOMETRY_REPORT #endif +// @section security + /** * Expected Printer Check * Add the M16 G-code to compare a string to the MACHINE_NAME. @@ -3448,6 +3665,8 @@ */ //#define EXPECTED_PRINTER_CHECK +// @section volumetrics + /** * Disable all Volumetric extrusion options */ @@ -3476,14 +3695,7 @@ #endif #endif -/** - * 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 +// @section reporting // Extra options for the M114 "Current Position" report #define M114_DETAIL // Use 'M114` for details to check planner calculations @@ -3492,17 +3704,10 @@ //#define REPORT_FAN_CHANGE // Report the new fan speed when changed by M106 (and others) -/** - * 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 gcode /** - * Spend 28 bytes of SRAM to optimize the GCode parser + * Spend 28 bytes of SRAM to optimize the G-code parser */ #define FASTER_GCODE_PARSER @@ -3518,6 +3723,15 @@ //#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 + /** * CNC G-code options * Support CNC-style G-code dialects used by laser cutters, drawing machine cams, etc. @@ -3533,6 +3747,8 @@ //#define VARIABLE_G0_FEEDRATE // The G0 feedrate is set by F in G0 motion mode #endif +// @section gcode + /** * Startup commands * @@ -3557,6 +3773,8 @@ * 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) @@ -3587,6 +3805,8 @@ //#define MAIN_MENU_ITEM_5_CONFIRM #endif +// @section custom config menu + // Custom Menu: Configuration Menu //#define CUSTOM_MENU_CONFIG #if ENABLED(CUSTOM_MENU_CONFIG) @@ -3617,6 +3837,8 @@ //#define CONFIG_MENU_ITEM_5_CONFIRM #endif +// @section custom buttons + /** * User-defined buttons to run custom G-code. * Up to 25 may be defined. @@ -3648,6 +3870,8 @@ #endif #endif +// @section host + /** * Host Action Commands @@ -3665,10 +3889,22 @@ */ #define HOST_ACTION_COMMANDS #if ENABLED(HOST_ACTION_COMMANDS) +<<<<<<< HEAD #define HOST_PROMPT_SUPPORT //#define HOST_START_MENU_ITEM // Add a menu item that tells the host to start +======= + //#define HOST_PAUSE_M76 // Tell the host to pause in response to M76 + //#define HOST_PROMPT_SUPPORT // Initiate host prompts to get user feedback + #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 +>>>>>>> 03adbb18ef3c57590e47fb6b1346fdb4bfc49f29 #endif +// @section extras + /** * Cancel Objects * @@ -3690,6 +3926,7 @@ * Alternative Supplier: https://reliabuild3d.com/ * * Reliabuild encoders have been modified to improve reliability. + * @section i2c encoders */ //#define I2C_POSITION_ENCODERS @@ -3754,13 +3991,14 @@ */ #define I2CPE_MIN_UPD_TIME_MS 4 // (ms) Minimum time between encoder checks. - // Use a rolling average to identify persistant errors that indicate skips, as opposed to vibration and noise. + // 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) @@ -3782,9 +4020,10 @@ /** * Mechanical Gantry Calibration - * Modern replacement for the Prusa TMC_Z_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) @@ -3799,11 +4038,23 @@ #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) @@ -3816,7 +4067,8 @@ #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 individual LED matrix units may be in reversed order + //#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 /** @@ -3824,12 +4076,15 @@ * 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 3 // Show the planner queue head position on this and the next LED matrix row - #define MAX7219_DEBUG_PLANNER_TAIL 5 // Show the planner queue tail position on this and the next LED matrix row + #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 /** @@ -3838,6 +4093,7 @@ * 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) @@ -3846,6 +4102,7 @@ /** * 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 @@ -3854,7 +4111,7 @@ /** * WiFi Support (Espressif ESP32 WiFi) */ -//#define WIFISUPPORT // Marlin embedded WiFi managenent +//#define WIFISUPPORT // Marlin embedded WiFi management //#define ESP3D_WIFISUPPORT // ESP3D Library WiFi management (https://github.com/luc-github/ESP3DLib) #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT) @@ -3873,6 +4130,8 @@ //#include "Configuration_Secure.h" // External file with WiFi SSID / Password #endif +// @section multi-material + /** * Průša Multi-Material Unit (MMU) * Enable in Configuration.h @@ -3978,6 +4237,7 @@ /** * Advanced Print Counter settings + * @section stats */ #if ENABLED(PRINTCOUNTER) #define SERVICE_WARNING_BUZZES 3 @@ -4007,9 +4267,20 @@ // #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 @@ -4022,3 +4293,6 @@ */ //#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 index 5ff1830822..ca7cacaa6a 100644 --- a/Marlin/Makefile +++ b/Marlin/Makefile @@ -109,8 +109,8 @@ 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 approximatively 350 bytes of memory. +# 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) @@ -132,7 +132,7 @@ 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) - @echo This version of GCC is likely broken. Enabling relocation workaround. + $(warning This GCC version $(CC_VER) is likely broken. Enabling relocation workaround.) RELOC_WORKAROUND = 1 endif @@ -207,11 +207,11 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1105) else ifeq ($(HARDWARE_MOTHERBOARD),1106) # MKS BASE v1.0 else ifeq ($(HARDWARE_MOTHERBOARD),1107) -# MKS v1.4 with A4982 stepper drivers +# MKS BASE v1.4 with Allegro A4982 stepper drivers else ifeq ($(HARDWARE_MOTHERBOARD),1108) -# MKS v1.5 with Allegro A4982 stepper drivers +# MKS BASE v1.5 with Allegro A4982 stepper drivers else ifeq ($(HARDWARE_MOTHERBOARD),1109) -# MKS v1.6 with Allegro A4982 stepper drivers +# 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) @@ -219,93 +219,110 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1111) else ifeq ($(HARDWARE_MOTHERBOARD),1112) # MKS GEN L else ifeq ($(HARDWARE_MOTHERBOARD),1113) -# zrib V2.0 control board (Chinese RAMPS replica) -else ifeq ($(HARDWARE_MOTHERBOARD),1114) # BigTreeTech or BIQU KFB2.0 +else ifeq ($(HARDWARE_MOTHERBOARD),1114) +# zrib V2.0 (Chinese RAMPS replica) else ifeq ($(HARDWARE_MOTHERBOARD),1115) -# Felix 2.0+ Electronics Board (RAMPS like) +# zrib V5.2 (Chinese RAMPS replica) else ifeq ($(HARDWARE_MOTHERBOARD),1116) -# Invent-A-Part RigidBoard +# Felix 2.0+ Electronics Board (RAMPS like) else ifeq ($(HARDWARE_MOTHERBOARD),1117) -# Invent-A-Part RigidBoard V2 +# Invent-A-Part RigidBoard else ifeq ($(HARDWARE_MOTHERBOARD),1118) -# Sainsmart 2-in-1 board +# Invent-A-Part RigidBoard V2 else ifeq ($(HARDWARE_MOTHERBOARD),1119) -# Ultimaker +# Sainsmart 2-in-1 board else ifeq ($(HARDWARE_MOTHERBOARD),1120) -# Ultimaker (Older electronics. Pre 1.5.4. This is rare) +# Ultimaker else ifeq ($(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),1122) -# Azteeg X3 Pro else ifeq ($(HARDWARE_MOTHERBOARD),1123) -# Ultimainboard 2.x (Uses TEMP_SENSOR 20) +# Azteeg X3 Pro else ifeq ($(HARDWARE_MOTHERBOARD),1124) -# Rumba +# Ultimainboard 2.x (Uses TEMP_SENSOR 20) else ifeq ($(HARDWARE_MOTHERBOARD),1125) -# Raise3D Rumba +# Rumba else ifeq ($(HARDWARE_MOTHERBOARD),1126) -# Rapide Lite RL200 Rumba +# Raise3D N series Rumba derivative else ifeq ($(HARDWARE_MOTHERBOARD),1127) -# Formbot T-Rex 2 Plus +# Rapide Lite 200 (v1, low-cost RUMBA clone with drv) else ifeq ($(HARDWARE_MOTHERBOARD),1128) -# Formbot T-Rex 3 +# Formbot T-Rex 2 Plus else ifeq ($(HARDWARE_MOTHERBOARD),1129) -# Formbot Raptor +# Formbot T-Rex 3 else ifeq ($(HARDWARE_MOTHERBOARD),1130) -# Formbot Raptor 2 +# Formbot Raptor else ifeq ($(HARDWARE_MOTHERBOARD),1131) -# bq ZUM Mega 3D +# Formbot Raptor 2 else ifeq ($(HARDWARE_MOTHERBOARD),1132) -# MakeBoard Mini v2.1.2 is a control board sold by MicroMake +# bq ZUM Mega 3D else ifeq ($(HARDWARE_MOTHERBOARD),1133) -# TriGorilla Anycubic version 1.3 based on RAMPS EFB +# MakeBoard Mini v2.1.2 by MicroMake else ifeq ($(HARDWARE_MOTHERBOARD),1134) -# TriGorilla Anycubic version 1.4 based on RAMPS EFB +# TriGorilla Anycubic version 1.3-based on RAMPS EFB else ifeq ($(HARDWARE_MOTHERBOARD),1135) -# TriGorilla Anycubic version 1.4 Rev 1.1 +# ... Ver 1.4 else ifeq ($(HARDWARE_MOTHERBOARD),1136) -# Creality: Ender-4, CR-8 +# ... Rev 1.1 (new servo pin order) else ifeq ($(HARDWARE_MOTHERBOARD),1137) -# Creality: CR10S, CR20, CR-X +# Creality: Ender-4, CR-8 else ifeq ($(HARDWARE_MOTHERBOARD),1138) -# Dagoma F5 +# Creality: CR10S, CR20, CR-X else ifeq ($(HARDWARE_MOTHERBOARD),1139) -# FYSETC F6 1.3 +# Dagoma F5 else ifeq ($(HARDWARE_MOTHERBOARD),1140) -# FYSETC F6 1.5 +# FYSETC F6 1.3 else ifeq ($(HARDWARE_MOTHERBOARD),1141) -# Duplicator i3 Plus +# FYSETC F6 1.4 else ifeq ($(HARDWARE_MOTHERBOARD),1142) -# VORON +# Wanhao Duplicator i3 Plus else ifeq ($(HARDWARE_MOTHERBOARD),1143) -# TRONXY V3 1.0 +# VORON Design else ifeq ($(HARDWARE_MOTHERBOARD),1144) -# Z-Bolt X Series +# Tronxy TRONXY-V3-1.0 else ifeq ($(HARDWARE_MOTHERBOARD),1145) -# TT OSCAR +# Z-Bolt X Series else ifeq ($(HARDWARE_MOTHERBOARD),1146) -# Overlord/Overlord Pro +# TT OSCAR else ifeq ($(HARDWARE_MOTHERBOARD),1147) -# ADIMLab Gantry v1 +# Overlord/Overlord Pro else ifeq ($(HARDWARE_MOTHERBOARD),1148) -# ADIMLab Gantry v2 +# ADIMLab Gantry v1 else ifeq ($(HARDWARE_MOTHERBOARD),1149) -# BIQU Tango V1 +# ADIMLab Gantry v2 else ifeq ($(HARDWARE_MOTHERBOARD),1150) -# MKS GEN L V2 +# BIQU Tango V1 else ifeq ($(HARDWARE_MOTHERBOARD),1151) -# MKS GEN L V2.1 +# MKS GEN L V2 else ifeq ($(HARDWARE_MOTHERBOARD),1152) -# Copymaster 3D +# MKS GEN L V2.1 else ifeq ($(HARDWARE_MOTHERBOARD),1153) -# Ortur 4 +# Copymaster 3D else ifeq ($(HARDWARE_MOTHERBOARD),1154) -# Tenlog D3 Hero +# 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 @@ -358,20 +375,38 @@ else ifeq ($(HARDWARE_MOTHERBOARD),1311) else ifeq ($(HARDWARE_MOTHERBOARD),1312) # Mega controller else ifeq ($(HARDWARE_MOTHERBOARD),1313) -# Geeetech GT2560 Rev B for Mecreator2 +# Geeetech GT2560 Rev A else ifeq ($(HARDWARE_MOTHERBOARD),1314) -# Geeetech GT2560 Rev. A +# Geeetech GT2560 Rev A+ (with auto level probe) else ifeq ($(HARDWARE_MOTHERBOARD),1315) -# Geeetech GT2560 Rev. A+ (with auto level probe) +# Geeetech GT2560 Rev B else ifeq ($(HARDWARE_MOTHERBOARD),1316) -# Geeetech GT2560 Rev B for A10(M/D) +# Geeetech GT2560 Rev B for A10(M/T/D) else ifeq ($(HARDWARE_MOTHERBOARD),1317) -# Geeetech GT2560 Rev B for A20(M/D) +# Geeetech GT2560 Rev B for A10(M/T/D) else ifeq ($(HARDWARE_MOTHERBOARD),1318) -# Einstart retrofit +# Geeetech GT2560 Rev B for Mecreator2 else ifeq ($(HARDWARE_MOTHERBOARD),1319) -# Wanhao 0ne+ i3 Mini +# Geeetech GT2560 Rev B for A20(M/T/D) else ifeq ($(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 ($(HARDWARE_MOTHERBOARD),1329) # # ATmega1281, ATmega2561 @@ -445,6 +480,11 @@ else ifeq ($(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 diff --git a/Marlin/Version.h b/Marlin/Version.h index eb2f9f9a14..e20ab2b8fb 100644 --- a/Marlin/Version.h +++ b/Marlin/Version.h @@ -28,7 +28,7 @@ /** * Marlin release version identifier */ -//#define SHORT_BUILD_VERSION "bugfix-2.0.x" +//#define SHORT_BUILD_VERSION "bugfix-2.1.x" /** * Verbose version identifier which should contain a reference to the location @@ -41,7 +41,7 @@ * here we define this default string as the date where the latest release * version was tagged. */ -//#define STRING_DISTRIBUTION_DATE "2019-07-10" +//#define STRING_DISTRIBUTION_DATE "2022-12-14" /** * Defines a generic printer name to be output to the LCD after booting Marlin. 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/src/HAL/AVR/HAL.cpp b/Marlin/src/HAL/AVR/HAL.cpp index 708583b262..5382eb36a2 100644 --- a/Marlin/src/HAL/AVR/HAL.cpp +++ b/Marlin/src/HAL/AVR/HAL.cpp @@ -23,6 +23,7 @@ #include "../../inc/MarlinConfig.h" #include "HAL.h" +#include #ifdef USBCON DefaultSerial1 MSerial0(false, Serial); @@ -35,13 +36,32 @@ // Public Variables // ------------------------ -//uint8_t MCUSR; +// Don't initialize/override variable (which would happen in .init4) +uint8_t MarlinHAL::reset_reason __attribute__((section(".noinit"))); // ------------------------ // Public functions // ------------------------ -void HAL_init() { +__attribute__((naked)) // Don't output function pro- and epilogue +__attribute__((used)) // Output the function, even if "not used" +__attribute__((section(".init3"))) // Put in an early user definable section +void save_reset_reason() { + #if ENABLED(OPTIBOOT_RESET_REASON) + __asm__ __volatile__( + A("STS %0, r2") + : "=m"(hal.reset_reason) + ); + #else + hal.reset_reason = MCUSR; + #endif + + // Clear within 16ms since WDRF bit enables a 16ms watchdog timer -> Boot loop + hal.clear_reset_source(); + wdt_disable(); +} + +void MarlinHAL::init() { // Init Servo Pins #define INIT_SERVO(N) OUT_WRITE(SERVO##N##_PIN, LOW) #if HAS_SERVO_0 @@ -56,9 +76,11 @@ void HAL_init() { #if HAS_SERVO_3 INIT_SERVO(3); #endif + + init_pwm_timers(); // Init user timers to default frequency - 1000HZ } -void HAL_reboot() { +void MarlinHAL::reboot() { #if ENABLED(USE_WATCHDOG) while (1) { /* run out the watchdog */ } #else @@ -67,6 +89,62 @@ void HAL_reboot() { #endif } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #include + #include "../../MarlinCore.h" + + // Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s. + void MarlinHAL::watchdog_init() { + #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S) + #define WDTO_NS WDTO_8S + #else + #define WDTO_NS WDTO_4S + #endif + #if ENABLED(WATCHDOG_RESET_MANUAL) + // Enable the watchdog timer, but only for the interrupt. + // Take care, as this requires the correct order of operation, with interrupts disabled. + // See the datasheet of any AVR chip for details. + wdt_reset(); + cli(); + _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE); + _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5 + // So worked for up to WDTO_2S + sei(); + wdt_reset(); + #else + wdt_enable(WDTO_NS); // The function handles the upper bit correct. + #endif + //delay(10000); // test it! + } + + //=========================================================================== + //=================================== ISR =================================== + //=========================================================================== + + // Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled. + #if ENABLED(WATCHDOG_RESET_MANUAL) + ISR(WDT_vect) { + sei(); // With the interrupt driven serial we need to allow interrupts. + SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED); + minkill(); // interrupt-safe final kill and infinite loop + } + #endif + + // Reset watchdog. MUST be called at least every 4 seconds after the + // first watchdog_init or AVR will go into emergency procedures. + void MarlinHAL::watchdog_refresh() { wdt_reset(); } + +#endif // USE_WATCHDOG + +// ------------------------ +// Free Memory Accessor +// ------------------------ + #if ENABLED(SDSUPPORT) #include "../../sd/SdFatUtil.h" @@ -74,20 +152,20 @@ void HAL_reboot() { #else // !SDSUPPORT -extern "C" { - extern char __bss_end; - extern char __heap_start; - extern void* __brkval; + extern "C" { + extern char __bss_end; + extern char __heap_start; + extern void* __brkval; - int freeMemory() { - int free_memory; - if ((int)__brkval == 0) - free_memory = ((int)&free_memory) - ((int)&__bss_end); - else - free_memory = ((int)&free_memory) - ((int)__brkval); - return free_memory; + int freeMemory() { + int free_memory; + if ((int)__brkval == 0) + free_memory = ((int)&free_memory) - ((int)&__bss_end); + else + free_memory = ((int)&free_memory) - ((int)__brkval); + return free_memory; + } } -} #endif // !SDSUPPORT diff --git a/Marlin/src/HAL/AVR/HAL.h b/Marlin/src/HAL/AVR/HAL.h index 7adf1aad49..d458790979 100644 --- a/Marlin/src/HAL/AVR/HAL.h +++ b/Marlin/src/HAL/AVR/HAL.h @@ -19,17 +19,20 @@ */ #pragma once +/** + * HAL for Arduino AVR + */ + #include "../shared/Marduino.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "math.h" #ifdef USBCON #include #else - #define HardwareSerial_h // Hack to prevent HardwareSerial.h header inclusion #include "MarlinSerial.h" + #define BOARD_NO_NATIVE_USB #endif #include @@ -39,6 +42,19 @@ #include #include +// +// Default graphical display delays +// +#if F_CPU >= 20000000 + #define CPU_ST7920_DELAY_1 150 + #define CPU_ST7920_DELAY_2 0 + #define CPU_ST7920_DELAY_3 150 +#elif F_CPU == 16000000 + #define CPU_ST7920_DELAY_1 125 + #define CPU_ST7920_DELAY_2 0 + #define CPU_ST7920_DELAY_3 188 +#endif + #ifndef pgm_read_ptr // Compatibility for avr-libc 1.8.0-4.1 included with Ubuntu for // Windows Subsystem for Linux on Windows 10 as of 10/18/2019 @@ -61,9 +77,9 @@ #define CRITICAL_SECTION_START() unsigned char _sreg = SREG; cli() #define CRITICAL_SECTION_END() SREG = _sreg #endif -#define ISRS_ENABLED() TEST(SREG, SREG_I) -#define ENABLE_ISRS() sei() -#define DISABLE_ISRS() cli() + +#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment +#define PWM_FREQUENCY 1000 // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency() // ------------------------ // Types @@ -71,16 +87,15 @@ typedef int8_t pin_t; -#define SHARED_SERVOS HAS_SERVOS -#define HAL_SERVO_LIB Servo +#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp + +class Servo; +typedef Servo hal_servo_t; // ------------------------ -// Public Variables -// ------------------------ - -//extern uint8_t MCUSR; - // Serial ports +// ------------------------ + #ifdef USBCON #include "../../core/serial_hook.h" typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1; @@ -92,29 +107,36 @@ typedef int8_t pin_t; #define MYSERIAL1 TERN(BLUETOOTH, btSerial, MSerial0) #else - #if !WITHIN(SERIAL_PORT, -1, 3) - #error "SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB." + #if !WITHIN(SERIAL_PORT, 0, 3) + #error "SERIAL_PORT must be from 0 to 3." #endif #define MYSERIAL1 customizedSerial1 #ifdef SERIAL_PORT_2 - #if !WITHIN(SERIAL_PORT_2, -1, 3) - #error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB." + #if !WITHIN(SERIAL_PORT_2, 0, 3) + #error "SERIAL_PORT_2 must be from 0 to 3." #endif #define MYSERIAL2 customizedSerial2 #endif + + #ifdef SERIAL_PORT_3 + #if !WITHIN(SERIAL_PORT_3, 0, 3) + #error "SERIAL_PORT_3 must be from 0 to 3." + #endif + #define MYSERIAL3 customizedSerial3 + #endif #endif #ifdef MMU2_SERIAL_PORT - #if !WITHIN(MMU2_SERIAL_PORT, -1, 3) - #error "MMU2_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB." + #if !WITHIN(MMU2_SERIAL_PORT, 0, 3) + #error "MMU2_SERIAL_PORT must be from 0 to 3" #endif #define MMU2_SERIAL mmuSerial #endif #ifdef LCD_SERIAL_PORT - #if !WITHIN(LCD_SERIAL_PORT, -1, 3) - #error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB." + #if !WITHIN(LCD_SERIAL_PORT, 0, 3) + #error "LCD_SERIAL_PORT must be from 0 to 3." #endif #define LCD_SERIAL lcdSerial #if HAS_DGUS_LCD @@ -122,64 +144,20 @@ typedef int8_t pin_t; #endif #endif -// ------------------------ -// Public functions -// ------------------------ - -void HAL_init(); - -//void cli(); - -//void _delay_ms(const int delay); - -inline void HAL_clear_reset_source() { MCUSR = 0; } -inline uint8_t HAL_get_reset_source() { return MCUSR; } - -void HAL_reboot(); - -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wunused-function" -#endif - -extern "C" int freeMemory(); - -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif - +// // ADC -#ifdef DIDR2 - #define HAL_ANALOG_SELECT(ind) do{ if (ind < 8) SBI(DIDR0, ind); else SBI(DIDR2, ind & 0x07); }while(0) -#else - #define HAL_ANALOG_SELECT(ind) SBI(DIDR0, ind); -#endif - -inline void HAL_adc_init() { - ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07; - DIDR0 = 0; - #ifdef DIDR2 - DIDR2 = 0; - #endif -} - -#define SET_ADMUX_ADCSRA(ch) ADMUX = _BV(REFS0) | (ch & 0x07); SBI(ADCSRA, ADSC) -#ifdef MUX5 - #define HAL_START_ADC(ch) if (ch > 7) ADCSRB = _BV(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(ch) -#else - #define HAL_START_ADC(ch) ADCSRB = 0; SET_ADMUX_ADCSRA(ch) -#endif - +// #define HAL_ADC_VREF 5.0 #define HAL_ADC_RESOLUTION 10 -#define HAL_READ_ADC() ADC -#define HAL_ADC_READY() !TEST(ADCSRA, ADSC) +// +// 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 HAL_SENSITIVE_PINS 0, 1 +#define HAL_SENSITIVE_PINS 0, 1, #ifdef __AVR_AT90USB1286__ #define JTAG_DISABLE() do{ MCUCR = 0x80; MCUCR = 0x80; }while(0) @@ -188,23 +166,113 @@ inline void HAL_adc_init() { // AVR compatibility #define strtof strtod -#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment +// ------------------------ +// Free Memory Accessor +// ------------------------ -/** - * set_pwm_frequency - * Sets the frequency of the timer corresponding to the provided pin - * as close as possible to the provided desired frequency. Internally - * calculates the required waveform generation mode, prescaler and - * resolution values required and sets the timer registers accordingly. - * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B) - * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST FAN PWM Settings) - */ -void set_pwm_frequency(const pin_t pin, int f_desired); +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif -/** - * set_pwm_duty - * Sets the PWM duty cycle of the provided pin to the provided value - * Optionally allows inverting the duty cycle [default = false] - * Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255] - */ -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false); +extern "C" int freeMemory(); + +#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 TEST(SREG, SREG_I); } + static void isr_on() { sei(); } + static void isr_off() { cli(); } + + static void delay_ms(const int ms) { _delay_ms(ms); } + + // Tasks, called from idle() + static void idletask() {} + + // Reset + static uint8_t reset_reason; + static uint8_t get_reset_source() { return reset_reason; } + static void clear_reset_source() { MCUSR = 0; } + + // Free SRAM + static int freeMemory() { return ::freeMemory(); } + + // + // ADC Methods + // + + // Called by Temperature::init once at startup + static void adc_init() { + ADCSRA = _BV(ADEN) | _BV(ADSC) | _BV(ADIF) | 0x07; + DIDR0 = 0; + #ifdef DIDR2 + DIDR2 = 0; + #endif + } + + // Called by Temperature::init for each sensor at startup + static void adc_enable(const uint8_t ch) { + #ifdef DIDR2 + if (ch > 7) { SBI(DIDR2, ch & 0x07); return; } + #endif + SBI(DIDR0, ch); + } + + // Begin ADC sampling on the given channel. Called from Temperature::isr! + static void adc_start(const uint8_t ch) { + #ifdef MUX5 + ADCSRB = ch > 7 ? _BV(MUX5) : 0; + #else + ADCSRB = 0; + #endif + ADMUX = _BV(REFS0) | (ch & 0x07); + SBI(ADCSRA, ADSC); + } + + // Is the ADC ready for reading? + static bool adc_ready() { return !TEST(ADCSRA, ADSC); } + + // The current value of the ADC register + static __typeof__(ADC) adc_value() { return ADC; } + + /** + * init_pwm_timers + * Set the default frequency for timers 2-5 to 1000HZ + */ + static void init_pwm_timers(); + + /** + * Set the PWM duty cycle for the pin to the given value. + * Optionally invert the duty cycle [default = false] + * Optionally 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 v_size=255, const bool invert=false); + + /** + * Set the frequency of the timer for the given pin as close as + * possible to the provided desired frequency. Internally calculate + * the required waveform generation mode, prescaler, and resolution + * values and set timer registers accordingly. + * NOTE that the frequency is applied to all pins on the timer (Ex OC3A, OC3B and OC3B) + * NOTE that there are limitations, particularly if using TIMER2. (see Configuration_adv.h -> FAST_PWM_FAN Settings) + */ + static void set_pwm_frequency(const pin_t pin, const uint16_t f_desired); +}; diff --git a/Marlin/src/HAL/AVR/HAL_SPI.cpp b/Marlin/src/HAL/AVR/HAL_SPI.cpp index 1a1b98b3dd..dc98f2f79e 100644 --- a/Marlin/src/HAL/AVR/HAL_SPI.cpp +++ b/Marlin/src/HAL/AVR/HAL_SPI.cpp @@ -34,21 +34,21 @@ #include "../../inc/MarlinConfig.h" void spiBegin() { - OUT_WRITE(SD_SS_PIN, HIGH); + #if PIN_EXISTS(SD_SS) + // Do not init HIGH for boards with pin 4 used as Fans or Heaters or otherwise, not likely to have multiple SPI devices anyway. + #if defined(__AVR_ATmega644__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__) + // SS must be in output mode even it is not chip select + SET_OUTPUT(SD_SS_PIN); + #else + // set SS high - may be chip select for another SPI device + OUT_WRITE(SD_SS_PIN, HIGH); + #endif + #endif SET_OUTPUT(SD_SCK_PIN); SET_INPUT(SD_MISO_PIN); SET_OUTPUT(SD_MOSI_PIN); - #if DISABLED(SOFTWARE_SPI) - // SS must be in output mode even it is not chip select - //SET_OUTPUT(SD_SS_PIN); - // set SS high - may be chip select for another SPI device - //#if SET_SPI_SS_HIGH - //WRITE(SD_SS_PIN, HIGH); - //#endif - // set a default rate - spiInit(1); - #endif + IF_DISABLED(SOFTWARE_SPI, spiInit(SPI_HALF_SPEED)); } #if NONE(SOFTWARE_SPI, FORCE_SOFT_SPI) @@ -74,7 +74,8 @@ void spiBegin() { #elif defined(PRR0) PRR0 #endif - , PRSPI); + , PRSPI + ); SPCR = _BV(SPE) | _BV(MSTR) | (spiRate >> 1); SPSR = spiRate & 1 || spiRate == 6 ? 0 : _BV(SPI2X); diff --git a/Marlin/src/HAL/LINUX/watchdog.h b/Marlin/src/HAL/AVR/MarlinSPI.h similarity index 87% rename from Marlin/src/HAL/LINUX/watchdog.h rename to Marlin/src/HAL/AVR/MarlinSPI.h index 49a0d9c631..0c447ba4cb 100644 --- a/Marlin/src/HAL/LINUX/watchdog.h +++ b/Marlin/src/HAL/AVR/MarlinSPI.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -21,5 +21,6 @@ */ #pragma once -void watchdog_init(); -void HAL_watchdog_refresh(); +#include + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/AVR/MarlinSerial.cpp b/Marlin/src/HAL/AVR/MarlinSerial.cpp index 7cd4446987..986462437c 100644 --- a/Marlin/src/HAL/AVR/MarlinSerial.cpp +++ b/Marlin/src/HAL/AVR/MarlinSerial.cpp @@ -486,7 +486,7 @@ void MarlinSerial::write(const uint8_t c) { const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1); // If global interrupts are disabled (as the result of being called from an ISR)... - if (!ISRS_ENABLED()) { + if (!hal.isr_state()) { // Make room by polling if it is possible to transmit, and do so! while (i == tx_buffer.tail) { @@ -534,7 +534,7 @@ void MarlinSerial::flushTX() { if (!_written) return; // If global interrupts are disabled (as the result of being called from an ISR)... - if (!ISRS_ENABLED()) { + if (!hal.isr_state()) { // Wait until everything was transmitted - We must do polling, as interrupts are disabled while (tx_buffer.head != tx_buffer.tail || !B_TXC) { @@ -567,7 +567,7 @@ ISR(SERIAL_REGNAME(USART, SERIAL_PORT, _UDRE_vect)) { // Because of the template definition above, it's required to instantiate the template to have all methods generated template class MarlinSerial< MarlinSerialCfg >; -MSerialT customizedSerial1(MSerialT::HasEmergencyParser); +MSerialT1 customizedSerial1(MSerialT1::HasEmergencyParser); #ifdef SERIAL_PORT_2 @@ -582,7 +582,24 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser); template class MarlinSerial< MarlinSerialCfg >; MSerialT2 customizedSerial2(MSerialT2::HasEmergencyParser); -#endif + +#endif // SERIAL_PORT_2 + +#ifdef SERIAL_PORT_3 + + // Hookup ISR handlers + ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _RX_vect)) { + MarlinSerial>::store_rxd_char(); + } + + ISR(SERIAL_REGNAME(USART, SERIAL_PORT_3, _UDRE_vect)) { + MarlinSerial>::_tx_udr_empty_irq(); + } + + template class MarlinSerial< MarlinSerialCfg >; + MSerialT3 customizedSerial3(MSerialT3::HasEmergencyParser); + +#endif // SERIAL_PORT_3 #ifdef MMU2_SERIAL_PORT @@ -595,8 +612,9 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser); } template class MarlinSerial< MMU2SerialCfg >; - MSerialT3 mmuSerial(MSerialT3::HasEmergencyParser); -#endif + MSerialMMU2 mmuSerial(MSerialMMU2::HasEmergencyParser); + +#endif // MMU2_SERIAL_PORT #ifdef LCD_SERIAL_PORT @@ -609,7 +627,7 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser); } template class MarlinSerial< LCDSerialCfg >; - MSerialT4 lcdSerial(MSerialT4::HasEmergencyParser); + MSerialLCD lcdSerial(MSerialLCD::HasEmergencyParser); #if HAS_DGUS_LCD template @@ -622,13 +640,13 @@ MSerialT customizedSerial1(MSerialT::HasEmergencyParser); } #endif -#endif +#endif // LCD_SERIAL_PORT #endif // !USBCON && (UBRRH || UBRR0H || UBRR1H || UBRR2H || UBRR3H) // For AT90USB targets use the UART for BT interfacing #if defined(USBCON) && ENABLED(BLUETOOTH) - MSerialT5 bluetoothSerial(false); + MSerialBT bluetoothSerial(false); #endif #endif // __AVR__ diff --git a/Marlin/src/HAL/AVR/MarlinSerial.h b/Marlin/src/HAL/AVR/MarlinSerial.h index 355ecd41fd..7eb76000d6 100644 --- a/Marlin/src/HAL/AVR/MarlinSerial.h +++ b/Marlin/src/HAL/AVR/MarlinSerial.h @@ -191,13 +191,13 @@ rx_framing_errors; static ring_buffer_pos_t rx_max_enqueued; - static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_head(); + FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_head(); static volatile bool rx_tail_value_not_stable; static volatile uint16_t rx_tail_value_backup; - static FORCE_INLINE void atomic_set_rx_tail(ring_buffer_pos_t value); - static FORCE_INLINE ring_buffer_pos_t atomic_read_rx_tail(); + FORCE_INLINE static void atomic_set_rx_tail(ring_buffer_pos_t value); + FORCE_INLINE static ring_buffer_pos_t atomic_read_rx_tail(); public: FORCE_INLINE static void store_rxd_char(); @@ -217,7 +217,7 @@ #endif enum { HasEmergencyParser = Cfg::EMERGENCYPARSER }; - static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; } + static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; } FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; } FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; } @@ -238,14 +238,19 @@ static constexpr bool MAX_RX_QUEUED = ENABLED(SERIAL_STATS_MAX_RX_QUEUED); }; - typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT; - extern MSerialT customizedSerial1; + typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT1; + extern MSerialT1 customizedSerial1; #ifdef SERIAL_PORT_2 typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT2; extern MSerialT2 customizedSerial2; #endif + #ifdef SERIAL_PORT_3 + typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT3; + extern MSerialT3 customizedSerial3; + #endif + #endif // !USBCON #ifdef MMU2_SERIAL_PORT @@ -262,8 +267,8 @@ static constexpr bool RX_OVERRUNS = false; }; - typedef Serial1Class< MarlinSerial< MMU2SerialCfg > > MSerialT3; - extern MSerialT3 mmuSerial; + typedef Serial1Class< MarlinSerial< MMU2SerialCfg > > MSerialMMU2; + extern MSerialMMU2 mmuSerial; #endif #ifdef LCD_SERIAL_PORT @@ -281,12 +286,12 @@ static constexpr bool RX_OVERRUNS = BOTH(HAS_DGUS_LCD, SERIAL_STATS_RX_BUFFER_OVERRUNS); }; - typedef Serial1Class< MarlinSerial< LCDSerialCfg > > MSerialT4; - extern MSerialT4 lcdSerial; + typedef Serial1Class< MarlinSerial< LCDSerialCfg > > MSerialLCD; + extern MSerialLCD lcdSerial; #endif // Use the UART for Bluetooth in AT90USB configurations #if defined(USBCON) && ENABLED(BLUETOOTH) - typedef Serial1Class MSerialT5; - extern MSerialT5 bluetoothSerial; + typedef Serial1Class MSerialBT; + extern MSerialBT bluetoothSerial; #endif diff --git a/Marlin/src/HAL/AVR/Servo.cpp b/Marlin/src/HAL/AVR/Servo.cpp index 526352b773..0a1ef5337a 100644 --- a/Marlin/src/HAL/AVR/Servo.cpp +++ b/Marlin/src/HAL/AVR/Servo.cpp @@ -66,27 +66,26 @@ static volatile int8_t Channel[_Nbr_16timers]; // counter for the s /************ static functions common to all instances ***********************/ -static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) { - if (Channel[timer] < 0) - *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer - else { - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive) - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated - } +static inline void handle_interrupts(const timer16_Sequence_t timer, volatile uint16_t* TCNTn, volatile uint16_t* OCRnA) { + int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first + if (cho < 0) // Channel -1 indicates the refresh interval completed... + *TCNTn = 0; // ...so reset the timer + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW - Channel[timer]++; // increment to the next channel - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { - *OCRnA = *TCNTn + SERVO(timer, Channel[timer]).ticks; - if (SERVO(timer, Channel[timer]).Pin.isActive) // check if activated - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high + Channel[timer] = ++cho; // Handle the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + *OCRnA = *TCNTn + SERVO(timer, cho).ticks; // set compare to current ticks plus duration + if (SERVO(timer, cho).Pin.isActive) // activated? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH } else { // finished all channels so wait for the refresh period to expire before starting over - if (((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed - *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL); - else - *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed - Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + const unsigned int cval = ((unsigned)*TCNTn) + 32 / (SERVO_TIMER_PRESCALER), // allow 32 cycles to ensure the next OCR1A not missed + ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + *OCRnA = max(cval, ival); + + Channel[timer] = -1; // reset the timer counter to 0 on the next call } } @@ -123,91 +122,102 @@ static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t /****************** end of static functions ******************************/ -void initISR(timer16_Sequence_t timer) { - #ifdef _useTimer1 - if (timer == _timer1) { - TCCR1A = 0; // normal counting mode - TCCR1B = _BV(CS11); // set prescaler of 8 - TCNT1 = 0; // clear the timer count - #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) - SBI(TIFR, OCF1A); // clear any pending interrupts; - SBI(TIMSK, OCIE1A); // enable the output compare interrupt - #else - // here if not ATmega8 or ATmega128 - SBI(TIFR1, OCF1A); // clear any pending interrupts; - SBI(TIMSK1, OCIE1A); // enable the output compare interrupt - #endif - #ifdef WIRING - timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); - #endif - } - #endif +void initISR(const timer16_Sequence_t timer_index) { + switch (timer_index) { + default: break; - #ifdef _useTimer3 - if (timer == _timer3) { - TCCR3A = 0; // normal counting mode - TCCR3B = _BV(CS31); // set prescaler of 8 - TCNT3 = 0; // clear the timer count - #ifdef __AVR_ATmega128__ - SBI(TIFR, OCF3A); // clear any pending interrupts; - SBI(ETIMSK, OCIE3A); // enable the output compare interrupt - #else - SBI(TIFR3, OCF3A); // clear any pending interrupts; - SBI(TIMSK3, OCIE3A); // enable the output compare interrupt - #endif - #ifdef WIRING - timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only - #endif - } - #endif + #ifdef _useTimer1 + case _timer1: + TCCR1A = 0; // normal counting mode + TCCR1B = _BV(CS11); // set prescaler of 8 + TCNT1 = 0; // clear the timer count + #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega128__) + SBI(TIFR, OCF1A); // clear any pending interrupts; + SBI(TIMSK, OCIE1A); // enable the output compare interrupt + #else + // here if not ATmega8 or ATmega128 + SBI(TIFR1, OCF1A); // clear any pending interrupts; + SBI(TIMSK1, OCIE1A); // enable the output compare interrupt + #endif + #ifdef WIRING + timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); + #endif + break; + #endif - #ifdef _useTimer4 - if (timer == _timer4) { - TCCR4A = 0; // normal counting mode - TCCR4B = _BV(CS41); // set prescaler of 8 - TCNT4 = 0; // clear the timer count - TIFR4 = _BV(OCF4A); // clear any pending interrupts; - TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt - } - #endif + #ifdef _useTimer3 + case _timer3: + TCCR3A = 0; // normal counting mode + TCCR3B = _BV(CS31); // set prescaler of 8 + TCNT3 = 0; // clear the timer count + #ifdef __AVR_ATmega128__ + SBI(TIFR, OCF3A); // clear any pending interrupts; + SBI(ETIMSK, OCIE3A); // enable the output compare interrupt + #else + SBI(TIFR3, OCF3A); // clear any pending interrupts; + SBI(TIMSK3, OCIE3A); // enable the output compare interrupt + #endif + #ifdef WIRING + timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only + #endif + break; + #endif - #ifdef _useTimer5 - if (timer == _timer5) { - TCCR5A = 0; // normal counting mode - TCCR5B = _BV(CS51); // set prescaler of 8 - TCNT5 = 0; // clear the timer count - TIFR5 = _BV(OCF5A); // clear any pending interrupts; - TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt - } - #endif + #ifdef _useTimer4 + case _timer4: + TCCR4A = 0; // normal counting mode + TCCR4B = _BV(CS41); // set prescaler of 8 + TCNT4 = 0; // clear the timer count + TIFR4 = _BV(OCF4A); // clear any pending interrupts; + TIMSK4 = _BV(OCIE4A); // enable the output compare interrupt + break; + #endif + + #ifdef _useTimer5 + case _timer5: + TCCR5A = 0; // normal counting mode + TCCR5B = _BV(CS51); // set prescaler of 8 + TCNT5 = 0; // clear the timer count + TIFR5 = _BV(OCF5A); // clear any pending interrupts; + TIMSK5 = _BV(OCIE5A); // enable the output compare interrupt + break; + #endif + } } -void finISR(timer16_Sequence_t timer) { +void finISR(const timer16_Sequence_t timer_index) { // Disable use of the given timer #ifdef WIRING - if (timer == _timer1) { - CBI( - #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) - TIMSK1 - #else - TIMSK - #endif - , OCIE1A); // disable timer 1 output compare interrupt - timerDetach(TIMER1OUTCOMPAREA_INT); - } - else if (timer == _timer3) { - CBI( - #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) - TIMSK3 - #else - ETIMSK - #endif - , OCIE3A); // disable the timer3 output compare A interrupt - timerDetach(TIMER3OUTCOMPAREA_INT); + switch (timer_index) { + default: break; + + case _timer1: + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK1 + #else + TIMSK + #endif + , OCIE1A // disable timer 1 output compare interrupt + ); + timerDetach(TIMER1OUTCOMPAREA_INT); + break; + + case _timer3: + CBI( + #if defined(__AVR_ATmega1281__) || defined(__AVR_ATmega2561__) + TIMSK3 + #else + ETIMSK + #endif + , OCIE3A // disable the timer3 output compare A interrupt + ); + timerDetach(TIMER3OUTCOMPAREA_INT); + break; } #else // !WIRING // For arduino - in future: call here to a currently undefined function to reset the timer - UNUSED(timer); + UNUSED(timer_index); #endif } diff --git a/Marlin/src/HAL/AVR/endstop_interrupts.h b/Marlin/src/HAL/AVR/endstop_interrupts.h index 9fd9c38b86..5511aa406f 100644 --- a/Marlin/src/HAL/AVR/endstop_interrupts.h +++ b/Marlin/src/HAL/AVR/endstop_interrupts.h @@ -168,6 +168,96 @@ void setup_endstop_interrupts() { pciSetup(Z_MIN_PIN); #endif #endif + #if HAS_I_MAX + #if (digitalPinToInterrupt(I_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(I_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(I_MAX_PIN), "I_MAX_PIN is not interrupt-capable"); + pciSetup(I_MAX_PIN); + #endif + #elif HAS_I_MIN + #if (digitalPinToInterrupt(I_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(I_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(I_MIN_PIN), "I_MIN_PIN is not interrupt-capable"); + pciSetup(I_MIN_PIN); + #endif + #endif + #if HAS_J_MAX + #if (digitalPinToInterrupt(J_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(J_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(J_MAX_PIN), "J_MAX_PIN is not interrupt-capable"); + pciSetup(J_MAX_PIN); + #endif + #elif HAS_J_MIN + #if (digitalPinToInterrupt(J_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(J_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(J_MIN_PIN), "J_MIN_PIN is not interrupt-capable"); + pciSetup(J_MIN_PIN); + #endif + #endif + #if HAS_K_MAX + #if (digitalPinToInterrupt(K_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(K_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(K_MAX_PIN), "K_MAX_PIN is not interrupt-capable"); + pciSetup(K_MAX_PIN); + #endif + #elif HAS_K_MIN + #if (digitalPinToInterrupt(K_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(K_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(K_MIN_PIN), "K_MIN_PIN is not interrupt-capable"); + pciSetup(K_MIN_PIN); + #endif + #endif + #if HAS_U_MAX + #if (digitalPinToInterrupt(U_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(U_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(U_MAX_PIN), "U_MAX_PIN is not interrupt-capable"); + pciSetup(U_MAX_PIN); + #endif + #elif HAS_U_MIN + #if (digitalPinToInterrupt(U_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(U_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(U_MIN_PIN), "U_MIN_PIN is not interrupt-capable"); + pciSetup(U_MIN_PIN); + #endif + #endif + #if HAS_V_MAX + #if (digitalPinToInterrupt(V_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(V_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(V_MAX_PIN), "V_MAX_PIN is not interrupt-capable"); + pciSetup(V_MAX_PIN); + #endif + #elif HAS_V_MIN + #if (digitalPinToInterrupt(V_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(V_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(V_MIN_PIN), "V_MIN_PIN is not interrupt-capable"); + pciSetup(V_MIN_PIN); + #endif + #endif + #if HAS_W_MAX + #if (digitalPinToInterrupt(W_MAX_PIN) != NOT_AN_INTERRUPT) + _ATTACH(W_MAX_PIN); + #else + static_assert(digitalPinHasPCICR(W_MAX_PIN), "W_MAX_PIN is not interrupt-capable"); + pciSetup(W_MAX_PIN); + #endif + #elif HAS_W_MIN + #if (digitalPinToInterrupt(W_MIN_PIN) != NOT_AN_INTERRUPT) + _ATTACH(W_MIN_PIN); + #else + static_assert(digitalPinHasPCICR(W_MIN_PIN), "W_MIN_PIN is not interrupt-capable"); + pciSetup(W_MIN_PIN); + #endif + #endif #if HAS_X2_MAX #if (digitalPinToInterrupt(X2_MAX_PIN) != NOT_AN_INTERRUPT) _ATTACH(X2_MAX_PIN); diff --git a/Marlin/src/HAL/AVR/fast_pwm.cpp b/Marlin/src/HAL/AVR/fast_pwm.cpp index 238c1124ad..d361aaab38 100644 --- a/Marlin/src/HAL/AVR/fast_pwm.cpp +++ b/Marlin/src/HAL/AVR/fast_pwm.cpp @@ -21,11 +21,7 @@ */ #ifdef __AVR__ -#include "../../inc/MarlinConfigPre.h" - -#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM - -#include "HAL.h" +#include "../../inc/MarlinConfig.h" struct Timer { volatile uint8_t* TCCRnQ[3]; // max 3 TCCR registers per timer @@ -33,250 +29,194 @@ struct Timer { volatile uint16_t* ICRn; // max 1 ICR register per timer uint8_t n; // the timer number [0->5] uint8_t q; // the timer output [0->2] (A->C) + bool isPWM; // True if pin is a "hardware timer" + bool isProtected; // True if timer is protected }; +// Macros for the Timer structure +#define _SET_WGMnQ(T, V) do{ \ + *(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V) & 0x3) << 0); \ + *(T.TCCRnQ)[1] = (*(T.TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \ + }while(0) + +// Set TCCR CS bits +#define _SET_CSn(T, V) (*(T.TCCRnQ)[1] = (*(T.TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)) + +// Set TCCR COM bits +#define _SET_COMnQ(T, Q, V) (*(T.TCCRnQ)[0] = (*(T.TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))) + +// Set OCRnQ register +#define _SET_OCRnQ(T, Q, V) (*(T.OCRnQ)[Q] = int(V) & 0xFFFF) + +// Set ICRn register (one per timer) +#define _SET_ICRn(T, V) (*(T.ICRn) = int(V) & 0xFFFF) + /** - * get_pwm_timer - * Get the timer information and register of the provided pin. - * Return a Timer struct containing this information. - * Used by set_pwm_frequency, set_pwm_duty + * Return a Timer struct describing a pin's timer. */ -Timer get_pwm_timer(const pin_t pin) { +const Timer get_pwm_timer(const pin_t pin) { + uint8_t q = 0; + switch (digitalPinToTimer(pin)) { - // Protect reserved timers (TIMER0 & TIMER1) #ifdef TCCR0A - #if !AVR_AT90USB1286_FAMILY - case TIMER0A: - #endif - case TIMER0B: + IF_DISABLED(AVR_AT90USB1286_FAMILY, case TIMER0A:) #endif #ifdef TCCR1A case TIMER1A: case TIMER1B: #endif - break; - #if defined(TCCR2) || defined(TCCR2A) - #ifdef TCCR2 - case TIMER2: { - Timer timer = { - /*TCCRnQ*/ { &TCCR2, nullptr, nullptr }, - /*OCRnQ*/ { (uint16_t*)&OCR2, nullptr, nullptr }, - /*ICRn*/ nullptr, - /*n, q*/ 2, 0 - }; - } - #elif defined(TCCR2A) - #if ENABLED(USE_OCR2A_AS_TOP) - case TIMER2A: break; // protect TIMER2A - case TIMER2B: { - Timer timer = { - /*TCCRnQ*/ { &TCCR2A, &TCCR2B, nullptr }, - /*OCRnQ*/ { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, - /*ICRn*/ nullptr, - /*n, q*/ 2, 1 - }; - return timer; - } - #else - case TIMER2B: ++q; - case TIMER2A: { - Timer timer = { - /*TCCRnQ*/ { &TCCR2A, &TCCR2B, nullptr }, - /*OCRnQ*/ { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, - /*ICRn*/ nullptr, - 2, q - }; - return timer; - } - #endif - #endif + + break; // Protect reserved timers (TIMER0 & TIMER1) + + #ifdef TCCR0A + case TIMER0B: // Protected timer, but allow setting the duty cycle on OCR0B for pin D4 only + return Timer({ { &TCCR0A, nullptr, nullptr }, { (uint16_t*)&OCR0A, (uint16_t*)&OCR0B, nullptr }, nullptr, 0, 1, true, true }); #endif + + #if HAS_TCCR2 + case TIMER2: + return Timer({ { &TCCR2, nullptr, nullptr }, { (uint16_t*)&OCR2, nullptr, nullptr }, nullptr, 2, 0, true, false }); + #elif ENABLED(USE_OCR2A_AS_TOP) + case TIMER2A: break; // Protect TIMER2A since its OCR is used by TIMER2B + case TIMER2B: + return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, 1, true, false }); + #elif defined(TCCR2A) + case TIMER2B: ++q; case TIMER2A: + return Timer({ { &TCCR2A, &TCCR2B, nullptr }, { (uint16_t*)&OCR2A, (uint16_t*)&OCR2B, nullptr }, nullptr, 2, q, true, false }); + #endif + #ifdef OCR3C - case TIMER3C: ++q; - case TIMER3B: ++q; - case TIMER3A: { - Timer timer = { - /*TCCRnQ*/ { &TCCR3A, &TCCR3B, &TCCR3C }, - /*OCRnQ*/ { &OCR3A, &OCR3B, &OCR3C }, - /*ICRn*/ &ICR3, - /*n, q*/ 3, q - }; - return timer; - } + case TIMER3C: ++q; case TIMER3B: ++q; case TIMER3A: + return Timer({ { &TCCR3A, &TCCR3B, &TCCR3C }, { &OCR3A, &OCR3B, &OCR3C }, &ICR3, 3, q, true, false }); #elif defined(OCR3B) - case TIMER3B: ++q; - case TIMER3A: { - Timer timer = { - /*TCCRnQ*/ { &TCCR3A, &TCCR3B, nullptr }, - /*OCRnQ*/ { &OCR3A, &OCR3B, nullptr }, - /*ICRn*/ &ICR3, - /*n, q*/ 3, q - }; - return timer; - } + case TIMER3B: ++q; case TIMER3A: + return Timer({ { &TCCR3A, &TCCR3B, nullptr }, { &OCR3A, &OCR3B, nullptr }, &ICR3, 3, q, true, false }); #endif + #ifdef TCCR4A - case TIMER4C: ++q; - case TIMER4B: ++q; - case TIMER4A: { - Timer timer = { - /*TCCRnQ*/ { &TCCR4A, &TCCR4B, &TCCR4C }, - /*OCRnQ*/ { &OCR4A, &OCR4B, &OCR4C }, - /*ICRn*/ &ICR4, - /*n, q*/ 4, q - }; - return timer; - } + case TIMER4C: ++q; case TIMER4B: ++q; case TIMER4A: + return Timer({ { &TCCR4A, &TCCR4B, &TCCR4C }, { &OCR4A, &OCR4B, &OCR4C }, &ICR4, 4, q, true, false }); #endif + #ifdef TCCR5A - case TIMER5C: ++q; - case TIMER5B: ++q; - case TIMER5A: { - Timer timer = { - /*TCCRnQ*/ { &TCCR5A, &TCCR5B, &TCCR5C }, - /*OCRnQ*/ { &OCR5A, &OCR5B, &OCR5C }, - /*ICRn*/ &ICR5, - /*n, q*/ 5, q - }; - return timer; - } + case TIMER5C: ++q; case TIMER5B: ++q; case TIMER5A: + return Timer({ { &TCCR5A, &TCCR5B, &TCCR5C }, { &OCR5A, &OCR5B, &OCR5C }, &ICR5, 5, q, true, false }); #endif } - Timer timer = { - /*TCCRnQ*/ { nullptr, nullptr, nullptr }, - /*OCRnQ*/ { nullptr, nullptr, nullptr }, - /*ICRn*/ nullptr, - 0, 0 - }; - return timer; + + return Timer(); } -void set_pwm_frequency(const pin_t pin, int f_desired) { - Timer timer = get_pwm_timer(pin); - if (timer.n == 0) return; // Don't proceed if protected timer or not recognised - uint16_t size; - if (timer.n == 2) size = 255; else size = 65535; +void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { + const Timer timer = get_pwm_timer(pin); + if (timer.isProtected || !timer.isPWM) return; // Don't proceed if protected timer or not recognized - uint16_t res = 255; // resolution (TOP value) - uint8_t j = 0; // prescaler index - uint8_t wgm = 1; // waveform generation mode + const bool is_timer2 = timer.n == 2; + const uint16_t maxtop = is_timer2 ? 0xFF : 0xFFFF; + + uint16_t res = 0xFF; // resolution (TOP value) + uint8_t j = CS_NONE; // prescaler index + uint8_t wgm = WGM_PWM_PC_8; // waveform generation mode // Calculating the prescaler and resolution to use to achieve closest frequency if (f_desired != 0) { - int f = (F_CPU) / (2 * 1024 * size) + 1; // Initialize frequency as lowest (non-zero) achievable - uint16_t prescaler[] = { 0, 1, 8, /*TIMER2 ONLY*/32, 64, /*TIMER2 ONLY*/128, 256, 1024 }; + constexpr uint16_t prescaler[] = { 1, 8, (32), 64, (128), 256, 1024 }; // (*) are Timer 2 only + uint16_t f = (F_CPU) / (2 * 1024 * maxtop) + 1; // Start with the lowest non-zero frequency achievable (1 or 31) - // loop over prescaler values - LOOP_S_L_N(i, 1, 8) { - uint16_t res_temp_fast = 255, res_temp_phase_correct = 255; - if (timer.n == 2) { - // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP - #if ENABLED(USE_OCR2A_AS_TOP) - const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired); - res_temp_fast = rtf - 1; - res_temp_phase_correct = rtf / 2; + LOOP_L_N(i, COUNT(prescaler)) { // Loop through all prescaler values + const uint16_t p = prescaler[i]; + uint16_t res_fast_temp, res_pc_temp; + if (is_timer2) { + #if ENABLED(USE_OCR2A_AS_TOP) // No resolution calculation for TIMER2 unless enabled USE_OCR2A_AS_TOP + const uint16_t rft = (F_CPU) / (p * f_desired); + res_fast_temp = rft - 1; + res_pc_temp = rft / 2; + #else + res_fast_temp = res_pc_temp = maxtop; #endif } else { - // Skip TIMER2 specific prescalers when not TIMER2 - if (i == 3 || i == 5) continue; - const uint16_t rtf = (F_CPU) / (prescaler[i] * f_desired); - res_temp_fast = rtf - 1; - res_temp_phase_correct = rtf / 2; + if (p == 32 || p == 128) continue; // Skip TIMER2 specific prescalers when not TIMER2 + const uint16_t rft = (F_CPU) / (p * f_desired); + res_fast_temp = rft - 1; + res_pc_temp = rft / 2; } - LIMIT(res_temp_fast, 1U, size); - LIMIT(res_temp_phase_correct, 1U, size); + LIMIT(res_fast_temp, 1U, maxtop); + LIMIT(res_pc_temp, 1U, maxtop); + // Calculate frequencies of test prescaler and resolution values - const int f_temp_fast = (F_CPU) / (prescaler[i] * (1 + res_temp_fast)), - f_temp_phase_correct = (F_CPU) / (2 * prescaler[i] * res_temp_phase_correct), - f_diff = ABS(f - f_desired), - f_fast_diff = ABS(f_temp_fast - f_desired), - f_phase_diff = ABS(f_temp_phase_correct - f_desired); + const uint16_t f_fast_temp = (F_CPU) / (p * (1 + res_fast_temp)), + f_pc_temp = (F_CPU) / (2 * p * res_pc_temp); + const int f_diff = _MAX(f, f_desired) - _MIN(f, f_desired), + f_fast_diff = _MAX(f_fast_temp, f_desired) - _MIN(f_fast_temp, f_desired), + f_pc_diff = _MAX(f_pc_temp, f_desired) - _MIN(f_pc_temp, f_desired); - // If FAST values are closest to desired f - if (f_fast_diff < f_diff && f_fast_diff <= f_phase_diff) { - // Remember this combination - f = f_temp_fast; - res = res_temp_fast; - j = i; + if (f_fast_diff < f_diff && f_fast_diff <= f_pc_diff) { // FAST values are closest to desired f // Set the Wave Generation Mode to FAST PWM - if (timer.n == 2) { - wgm = ( - #if ENABLED(USE_OCR2A_AS_TOP) - WGM2_FAST_PWM_OCR2A - #else - WGM2_FAST_PWM - #endif - ); - } - else wgm = WGM_FAST_PWM_ICRn; + wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_FAST_PWM_OCR2A, WGM2_FAST_PWM)) : uint8_t(WGM_FAST_PWM_ICRn); + // Remember this combination + f = f_fast_temp; res = res_fast_temp; j = i + 1; } - // If PHASE CORRECT values are closes to desired f - else if (f_phase_diff < f_diff) { - f = f_temp_phase_correct; - res = res_temp_phase_correct; - j = i; + else if (f_pc_diff < f_diff) { // PHASE CORRECT values are closes to desired f // Set the Wave Generation Mode to PWM PHASE CORRECT - if (timer.n == 2) { - wgm = ( - #if ENABLED(USE_OCR2A_AS_TOP) - WGM2_PWM_PC_OCR2A - #else - WGM2_PWM_PC - #endif - ); - } - else wgm = WGM_PWM_PC_ICRn; + wgm = is_timer2 ? uint8_t(TERN(USE_OCR2A_AS_TOP, WGM2_PWM_PC_OCR2A, WGM2_PWM_PC)) : uint8_t(WGM_PWM_PC_ICRn); + f = f_pc_temp; res = res_pc_temp; j = i + 1; } } } - _SET_WGMnQ(timer.TCCRnQ, wgm); - _SET_CSn(timer.TCCRnQ, j); - if (timer.n == 2) { - #if ENABLED(USE_OCR2A_AS_TOP) - _SET_OCRnQ(timer.OCRnQ, 0, res); // Set OCR2A value (TOP) = res - #endif + _SET_WGMnQ(timer, wgm); + _SET_CSn(timer, j); + + if (is_timer2) { + TERN_(USE_OCR2A_AS_TOP, _SET_OCRnQ(timer, 0, res)); // Set OCR2A value (TOP) = res } else - _SET_ICRn(timer.ICRn, res); // Set ICRn value (TOP) = res + _SET_ICRn(timer, res); // Set ICRn value (TOP) = res } -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { +void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { // If v is 0 or v_size (max), digitalWrite to LOW or HIGH. - // Note that digitalWrite also disables pwm output for us (sets COM bit to 0) + // Note that digitalWrite also disables PWM output for us (sets COM bit to 0) if (v == 0) digitalWrite(pin, invert); else if (v == v_size) digitalWrite(pin, !invert); else { - Timer timer = get_pwm_timer(pin); - if (timer.n == 0) return; // Don't proceed if protected timer or not recognised - // Set compare output mode to CLEAR -> SET or SET -> CLEAR (if inverted) - _SET_COMnQ(timer.TCCRnQ, (timer.q - #ifdef TCCR2 - + (timer.q == 2) // COM20 is on bit 4 of TCCR2, thus requires q + 1 in the macro - #endif - ), COM_CLEAR_SET + invert - ); - - uint16_t top; - if (timer.n == 2) { // if TIMER2 - top = ( - #if ENABLED(USE_OCR2A_AS_TOP) - *timer.OCRnQ[0] // top = OCR2A - #else - 255 // top = 0xFF (max) - #endif - ); + const Timer timer = get_pwm_timer(pin); + if (timer.isPWM) { + if (timer.n == 0) { + _SET_COMnQ(timer, timer.q, COM_CLEAR_SET); // Only allow a TIMER0B select... + _SET_OCRnQ(timer, timer.q, v); // ...and OCR0B duty update. For output pin D4 no frequency changes are permitted. + } + else if (!timer.isProtected) { + const uint16_t top = timer.n == 2 ? TERN(USE_OCR2A_AS_TOP, *timer.OCRnQ[0], 255) : *timer.ICRn; + _SET_COMnQ(timer, SUM_TERN(HAS_TCCR2, timer.q, timer.q == 2), COM_CLEAR_SET + invert); // COM20 is on bit 4 of TCCR2, so +1 for q==2 + _SET_OCRnQ(timer, timer.q, uint16_t(uint32_t(v) * top / v_size)); // Scale 8/16-bit v to top value + } } else - top = *timer.ICRn; // top = ICRn - - _SET_OCRnQ(timer.OCRnQ, timer.q, v * float(top) / float(v_size)); // Scale 8/16-bit v to top value + digitalWrite(pin, v < v_size / 2 ? LOW : HIGH); } } -#endif // NEEDS_HARDWARE_PWM +void MarlinHAL::init_pwm_timers() { + // Init some timer frequencies to a default 1KHz + const pin_t pwm_pin[] = { + #ifdef __AVR_ATmega2560__ + 10, 5, 6, 46 + #elif defined(__AVR_ATmega1280__) + 12, 31 + #elif defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284__) + 15, 6 + #elif defined(__AVR_AT90USB1286__) || defined(__AVR_mega64) || defined(__AVR_mega128) + 16, 24 + #endif + }; + + LOOP_L_N(i, COUNT(pwm_pin)) + set_pwm_frequency(pwm_pin[i], 1000); +} + #endif // __AVR__ diff --git a/Marlin/src/HAL/AVR/fastio.cpp b/Marlin/src/HAL/AVR/fastio.cpp index 70132e71ee..5c6ef18915 100644 --- a/Marlin/src/HAL/AVR/fastio.cpp +++ b/Marlin/src/HAL/AVR/fastio.cpp @@ -245,7 +245,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb float count = 0; if (hz > 0 && (dca || dcb || dcc)) { count = float(F_CPU) / hz; // 1x prescaler, TOP for 16MHz base freq. - uint16_t prescaler; // Range of 30.5Hz (65535) 64.5KHz (>31) + uint16_t prescaler; // Range of 30.5Hz (65535) 64.5kHz (>31) if (count >= 255. * 256.) { prescaler = 1024; SET_CS(5, PRESCALER_1024); } else if (count >= 255. * 64.) { prescaler = 256; SET_CS(5, PRESCALER_256); } @@ -257,7 +257,7 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb const float pwm_top = round(count); // Get the rounded count ICR5 = (uint16_t)pwm_top - 1; // Subtract 1 for TOP - OCR5A = pwm_top * ABS(dca); // Update and scale DCs + OCR5A = pwm_top * ABS(dca); // Update and scale DCs OCR5B = pwm_top * ABS(dcb); OCR5C = pwm_top * ABS(dcc); _SET_COM(5, A, dca ? (dca < 0 ? COM_SET_CLEAR : COM_CLEAR_SET) : COM_NORMAL); // Set compare modes @@ -267,17 +267,17 @@ uint16_t set_pwm_frequency_hz(const_float_t hz, const float dca, const float dcb SET_WGM(5, FAST_PWM_ICRn); // Fast PWM with ICR5 as TOP //SERIAL_ECHOLNPGM("Timer 5 Settings:"); - //SERIAL_ECHOLNPAIR(" Prescaler=", prescaler); - //SERIAL_ECHOLNPAIR(" TOP=", ICR5); - //SERIAL_ECHOLNPAIR(" OCR5A=", OCR5A); - //SERIAL_ECHOLNPAIR(" OCR5B=", OCR5B); - //SERIAL_ECHOLNPAIR(" OCR5C=", OCR5C); + //SERIAL_ECHOLNPGM(" Prescaler=", prescaler); + //SERIAL_ECHOLNPGM(" TOP=", ICR5); + //SERIAL_ECHOLNPGM(" OCR5A=", OCR5A); + //SERIAL_ECHOLNPGM(" OCR5B=", OCR5B); + //SERIAL_ECHOLNPGM(" OCR5C=", OCR5C); } else { // Restore the default for Timer 5 SET_WGM(5, PWM_PC_8); // PWM 8-bit (Phase Correct) SET_COMS(5, NORMAL, NORMAL, NORMAL); // Do nothing - SET_CS(5, PRESCALER_64); // 16MHz / 64 = 250KHz + SET_CS(5, PRESCALER_64); // 16MHz / 64 = 250kHz OCR5A = OCR5B = OCR5C = 0; } return round(count); diff --git a/Marlin/src/HAL/AVR/fastio.h b/Marlin/src/HAL/AVR/fastio.h index cf704179c8..612ab902e3 100644 --- a/Marlin/src/HAL/AVR/fastio.h +++ b/Marlin/src/HAL/AVR/fastio.h @@ -118,7 +118,7 @@ */ // Waveform Generation Modes -enum WaveGenMode : char { +enum WaveGenMode : uint8_t { WGM_NORMAL, // 0 WGM_PWM_PC_8, // 1 WGM_PWM_PC_9, // 2 @@ -138,19 +138,19 @@ enum WaveGenMode : char { }; // Wavefore Generation Modes (Timer 2 only) -enum WaveGenMode2 : char { - WGM2_NORMAL, // 0 - WGM2_PWM_PC, // 1 - WGM2_CTC_OCR2A, // 2 - WGM2_FAST_PWM, // 3 - WGM2_reserved_1, // 4 - WGM2_PWM_PC_OCR2A, // 5 - WGM2_reserved_2, // 6 - WGM2_FAST_PWM_OCR2A, // 7 +enum WaveGenMode2 : uint8_t { + WGM2_NORMAL, // 0 + WGM2_PWM_PC, // 1 + WGM2_CTC_OCR2A, // 2 + WGM2_FAST_PWM, // 3 + WGM2_reserved_1, // 4 + WGM2_PWM_PC_OCR2A, // 5 + WGM2_reserved_2, // 6 + WGM2_FAST_PWM_OCR2A, // 7 }; // Compare Modes -enum CompareMode : char { +enum CompareMode : uint8_t { COM_NORMAL, // 0 COM_TOGGLE, // 1 Non-PWM: OCnx ... Both PWM (WGM 9,11,14,15): OCnA only ... else NORMAL COM_CLEAR_SET, // 2 Non-PWM: OCnx ... Fast PWM: OCnx/Bottom ... PF-FC: OCnx Up/Down @@ -158,7 +158,7 @@ enum CompareMode : char { }; // Clock Sources -enum ClockSource : char { +enum ClockSource : uint8_t { CS_NONE, // 0 CS_PRESCALER_1, // 1 CS_PRESCALER_8, // 2 @@ -170,7 +170,7 @@ enum ClockSource : char { }; // Clock Sources (Timer 2 only) -enum ClockSource2 : char { +enum ClockSource2 : uint8_t { CS2_NONE, // 0 CS2_PRESCALER_1, // 1 CS2_PRESCALER_8, // 2 @@ -203,40 +203,33 @@ enum ClockSource2 : char { TCCR##T##B = (TCCR##T##B & ~(0x3 << WGM##T##2)) | (((int(V) >> 2) & 0x3) << WGM##T##2); \ }while(0) #define SET_WGM(T,V) _SET_WGM(T,WGM_##V) -// Runtime (see set_pwm_frequency): -#define _SET_WGMnQ(TCCRnQ, V) do{ \ - *(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << 0)) | (( int(V) & 0x3) << 0); \ - *(TCCRnQ)[1] = (*(TCCRnQ)[1] & ~(0x3 << 3)) | (((int(V) >> 2) & 0x3) << 3); \ - }while(0) // Set Clock Select bits // Ex: SET_CS3(PRESCALER_64); +#ifdef TCCR2 + #define HAS_TCCR2 1 +#endif #define _SET_CS(T,V) (TCCR##T##B = (TCCR##T##B & ~(0x7 << CS##T##0)) | ((int(V) & 0x7) << CS##T##0)) #define _SET_CS0(V) _SET_CS(0,V) #define _SET_CS1(V) _SET_CS(1,V) -#ifdef TCCR2 - #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20)) -#else - #define _SET_CS2(V) _SET_CS(2,V) -#endif #define _SET_CS3(V) _SET_CS(3,V) #define _SET_CS4(V) _SET_CS(4,V) #define _SET_CS5(V) _SET_CS(5,V) #define SET_CS0(V) _SET_CS0(CS_##V) #define SET_CS1(V) _SET_CS1(CS_##V) -#ifdef TCCR2 + +#if HAS_TCCR2 + #define _SET_CS2(V) (TCCR2 = (TCCR2 & ~(0x7 << CS20)) | (int(V) << CS20)) #define SET_CS2(V) _SET_CS2(CS2_##V) #else + #define _SET_CS2(V) _SET_CS(2,V) #define SET_CS2(V) _SET_CS2(CS_##V) #endif + #define SET_CS3(V) _SET_CS3(CS_##V) #define SET_CS4(V) _SET_CS4(CS_##V) #define SET_CS5(V) _SET_CS5(CS_##V) #define SET_CS(T,V) SET_CS##T(V) -// Runtime (see set_pwm_frequency) -#define _SET_CSn(TCCRnQ, V) do{ \ - (*(TCCRnQ)[1] = (*(TCCRnQ[1]) & ~(0x7 << 0)) | ((int(V) & 0x7) << 0)); \ - }while(0) // Set Compare Mode bits // Ex: SET_COMS(4,CLEAR_SET,CLEAR_SET,CLEAR_SET); @@ -246,22 +239,6 @@ enum ClockSource2 : char { #define SET_COMB(T,V) SET_COM(T,B,V) #define SET_COMC(T,V) SET_COM(T,C,V) #define SET_COMS(T,V1,V2,V3) do{ SET_COMA(T,V1); SET_COMB(T,V2); SET_COMC(T,V3); }while(0) -// Runtime (see set_pwm_duty) -#define _SET_COMnQ(TCCRnQ, Q, V) do{ \ - (*(TCCRnQ)[0] = (*(TCCRnQ)[0] & ~(0x3 << (6-2*(Q)))) | (int(V) << (6-2*(Q)))); \ - }while(0) - -// Set OCRnQ register -// Runtime (see set_pwm_duty): -#define _SET_OCRnQ(OCRnQ, Q, V) do{ \ - (*(OCRnQ)[(Q)] = (0x0000) | (int(V) & 0xFFFF)); \ - }while(0) - -// Set ICRn register (one per timer) -// Runtime (see set_pwm_frequency) -#define _SET_ICRn(ICRn, V) do{ \ - (*(ICRn) = (0x0000) | (int(V) & 0xFFFF)); \ - }while(0) // Set Noise Canceler bit // Ex: SET_ICNC(2,1) @@ -284,7 +261,7 @@ enum ClockSource2 : char { * PWM availability macros */ -// Determine which harware PWMs are already in use +// Determine which hardware PWMs are already in use #define _PWM_CHK_FAN_B(P) (P == E0_AUTO_FAN_PIN || P == E1_AUTO_FAN_PIN || P == E2_AUTO_FAN_PIN || P == E3_AUTO_FAN_PIN || P == E4_AUTO_FAN_PIN || P == E5_AUTO_FAN_PIN || P == E6_AUTO_FAN_PIN || P == E7_AUTO_FAN_PIN || P == CHAMBER_AUTO_FAN_PIN || P == COOLER_AUTO_FAN_PIN) #if PIN_EXISTS(CONTROLLER_FAN) #define PWM_CHK_FAN_B(P) (_PWM_CHK_FAN_B(P) || P == CONTROLLER_FAN_PIN) @@ -316,11 +293,11 @@ enum ClockSource2 : char { #if HAS_MOTOR_CURRENT_PWM #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) - #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY) + #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0 || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z || P == MOTOR_CURRENT_PWM_XY) #elif PIN_EXISTS(MOTOR_CURRENT_PWM_Z) - #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_Z) + #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0 || P == MOTOR_CURRENT_PWM_E1 || P == MOTOR_CURRENT_PWM_Z) #else - #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E) + #define PWM_CHK_MOTOR_CURRENT(P) (P == MOTOR_CURRENT_PWM_E || P == MOTOR_CURRENT_PWM_E0 || P == MOTOR_CURRENT_PWM_E1) #endif #else #define PWM_CHK_MOTOR_CURRENT(P) false diff --git a/Marlin/src/HAL/AVR/inc/SanityCheck.h b/Marlin/src/HAL/AVR/inc/SanityCheck.h index 51ba247953..ff1610f741 100644 --- a/Marlin/src/HAL/AVR/inc/SanityCheck.h +++ b/Marlin/src/HAL/AVR/inc/SanityCheck.h @@ -25,25 +25,67 @@ * Test AVR-specific configuration values for errors at compile-time. */ +/** + * Check for common serial pin conflicts + */ +#define CHECK_SERIAL_PIN(N) ( \ + X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \ + || X_MIN_PIN == N || Y_MIN_PIN == N || Z_MIN_PIN == N \ + || X_MAX_PIN == N || Y_MAX_PIN == N || Z_MAX_PIN == N \ + || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \ + || X_DIR_PIN == N || Y_DIR_PIN == N || Z_DIR_PIN == N \ + || X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \ + || BTN_EN1 == N || BTN_EN2 == N \ +) +#if SERIAL_IN_USE(0) + // D0-D1. No known conflicts. +#endif +#if SERIAL_IN_USE(1) + #if NOT_TARGET(__AVR_ATmega644P__, __AVR_ATmega1284P__) + #if CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19) + #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board." + #endif + #else + #if CHECK_SERIAL_PIN(10) || CHECK_SERIAL_PIN(11) + #error "Serial Port 1 pin D10 and/or D11 conflicts with another pin on the board." + #endif + #endif +#endif +#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17)) + #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board." +#endif +#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15)) + #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board." +#endif +#undef CHECK_SERIAL_PIN + /** * Checks for FAST PWM */ -#if ENABLED(FAST_PWM_FAN) && (ENABLED(USE_OCR2A_AS_TOP) && defined(TCCR2)) - #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2" +#if ALL(FAST_PWM_FAN, USE_OCR2A_AS_TOP, HAS_TCCR2) + #error "USE_OCR2A_AS_TOP does not apply to devices with a single output TIMER2." +#endif + +/** + * Checks for SOFT PWM + */ +#if HAS_FAN0 && FAN_PIN == 9 && DISABLED(FAN_SOFT_PWM) && ENABLED(SPEAKER) + #error "FAN_PIN 9 Hardware PWM uses Timer 2 which conflicts with Arduino AVR Tone Timer (for SPEAKER)." + #error "Disable SPEAKER or enable FAN_SOFT_PWM." #endif /** * Sanity checks for Spindle / Laser PWM */ -#if ENABLED(SPINDLE_LASER_PWM) +#if ENABLED(SPINDLE_LASER_USE_PWM) #include "../ServoTimers.h" // Needed to check timer availability (_useTimer3) #if SPINDLE_LASER_PWM_PIN == 4 || WITHIN(SPINDLE_LASER_PWM_PIN, 11, 13) #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by a system interrupt." #elif NUM_SERVOS > 0 && defined(_useTimer3) && (WITHIN(SPINDLE_LASER_PWM_PIN, 2, 3) || SPINDLE_LASER_PWM_PIN == 5) #error "Counter/Timer for SPINDLE_LASER_PWM_PIN is used by the servo system." #endif -#elif defined(SPINDLE_LASER_FREQUENCY) - #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_PWM." +#elif SPINDLE_LASER_FREQUENCY + #error "SPINDLE_LASER_FREQUENCY requires SPINDLE_LASER_USE_PWM." #endif /** @@ -63,3 +105,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) #error "POSTMORTEM_DEBUGGING is not supported on AVR boards." #endif + +#if USING_PULLDOWNS + #error "PULLDOWN pin mode is not available on AVR boards." +#endif diff --git a/Marlin/src/HAL/AVR/math.h b/Marlin/src/HAL/AVR/math.h index 7ede4accc0..7dd1018ff1 100644 --- a/Marlin/src/HAL/AVR/math.h +++ b/Marlin/src/HAL/AVR/math.h @@ -35,7 +35,7 @@ // C B A is longIn1 // D C B A is longIn2 // -static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) { +FORCE_INLINE static uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) { uint8_t tmp1; uint8_t tmp2; uint16_t intRes; @@ -89,7 +89,7 @@ static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2 // uses: // r26 to store 0 // r27 to store the byte 1 of the 24 bit result -static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) { +FORCE_INLINE static uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) { uint8_t tmp; uint16_t intRes; __asm__ __volatile__ ( diff --git a/Marlin/src/HAL/AVR/pinsDebug.h b/Marlin/src/HAL/AVR/pinsDebug.h index 6bf9f33a0c..dab4e44715 100644 --- a/Marlin/src/HAL/AVR/pinsDebug.h +++ b/Marlin/src/HAL/AVR/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -38,7 +41,7 @@ // portModeRegister takes a different argument #define digitalPinToTimer_DEBUG(p) digitalPinToTimer(p) #define digitalPinToBitMask_DEBUG(p) digitalPinToBitMask(p) - #define digitalPinToPort_DEBUG(p) digitalPinToPort_Teensy(p) + #define digitalPinToPort_DEBUG(p) digitalPinToPort(p) #define GET_PINMODE(pin) (*portModeRegister(pin) & digitalPinToBitMask_DEBUG(pin)) #elif AVR_ATmega2560_FAMILY_PLUS_70 // So we can access/display all the pins on boards using more than 70 @@ -71,7 +74,7 @@ #define MULTI_NAME_PAD 26 // space needed to be pretty if not first name assigned to a pin void PRINT_ARRAY_NAME(uint8_t x) { - char *name_mem_pointer = (char*)pgm_read_ptr(&pin_array[x].name); + PGM_P const name_mem_pointer = (PGM_P)pgm_read_ptr(&pin_array[x].name); LOOP_L_N(y, MAX_NAME_LENGTH) { char temp_char = pgm_read_byte(name_mem_pointer + y); if (temp_char != 0) @@ -99,7 +102,7 @@ void PRINT_ARRAY_NAME(uint8_t x) { return true; \ } else return false - +#define ABTEST(N) defined(TCCR##N##A) && defined(COM##N##A1) /** * Print a pin's PWM status. @@ -110,7 +113,7 @@ static bool pwm_status(uint8_t pin) { switch (digitalPinToTimer_DEBUG(pin)) { - #if defined(TCCR0A) && defined(COM0A1) + #if ABTEST(0) #ifdef TIMER0A #if !AVR_AT90USB1286_FAMILY // not available in Teensyduino type IDEs PWM_CASE(0, A); @@ -119,20 +122,20 @@ static bool pwm_status(uint8_t pin) { PWM_CASE(0, B); #endif - #if defined(TCCR1A) && defined(COM1A1) + #if ABTEST(1) PWM_CASE(1, A); PWM_CASE(1, B); - #if defined(COM1C1) && defined(TIMER1C) - PWM_CASE(1, C); - #endif + #if defined(COM1C1) && defined(TIMER1C) + PWM_CASE(1, C); + #endif #endif - #if defined(TCCR2A) && defined(COM2A1) + #if ABTEST(2) PWM_CASE(2, A); PWM_CASE(2, B); #endif - #if defined(TCCR3A) && defined(COM3A1) + #if ABTEST(3) PWM_CASE(3, A); PWM_CASE(3, B); #ifdef COM3C1 @@ -146,7 +149,7 @@ static bool pwm_status(uint8_t pin) { PWM_CASE(4, C); #endif - #if defined(TCCR5A) && defined(COM5A1) + #if ABTEST(5) PWM_CASE(5, A); PWM_CASE(5, B); PWM_CASE(5, C); @@ -163,16 +166,16 @@ static bool pwm_status(uint8_t pin) { const volatile uint8_t* const PWM_other[][3] PROGMEM = { { &TCCR0A, &TCCR0B, &TIMSK0 }, { &TCCR1A, &TCCR1B, &TIMSK1 }, - #if defined(TCCR2A) && defined(COM2A1) + #if ABTEST(2) { &TCCR2A, &TCCR2B, &TIMSK2 }, #endif - #if defined(TCCR3A) && defined(COM3A1) + #if ABTEST(3) { &TCCR3A, &TCCR3B, &TIMSK3 }, #endif #ifdef TCCR4A { &TCCR4A, &TCCR4B, &TIMSK4 }, #endif - #if defined(TCCR5A) && defined(COM5A1) + #if ABTEST(5) { &TCCR5A, &TCCR5B, &TIMSK5 }, #endif }; @@ -192,11 +195,11 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = { { (const uint8_t*)&OCR1A, (const uint8_t*)&OCR1B, 0 }, #endif - #if defined(TCCR2A) && defined(COM2A1) + #if ABTEST(2) { &OCR2A, &OCR2B, 0 }, #endif - #if defined(TCCR3A) && defined(COM3A1) + #if ABTEST(3) #ifdef COM3C1 { (const uint8_t*)&OCR3A, (const uint8_t*)&OCR3B, (const uint8_t*)&OCR3C }, #else @@ -208,7 +211,7 @@ const volatile uint8_t* const PWM_OCR[][3] PROGMEM = { { (const uint8_t*)&OCR4A, (const uint8_t*)&OCR4B, (const uint8_t*)&OCR4C }, #endif - #if defined(TCCR5A) && defined(COM5A1) + #if ABTEST(5) { (const uint8_t*)&OCR5A, (const uint8_t*)&OCR5B, (const uint8_t*)&OCR5C }, #endif }; @@ -235,9 +238,9 @@ static void print_is_also_tied() { SERIAL_ECHOPGM(" is also tied to this pin"); inline void com_print(const uint8_t N, const uint8_t Z) { const uint8_t *TCCRA = (uint8_t*)TCCR_A(N); - SERIAL_ECHOPAIR(" COM", AS_CHAR('0' + N)); + SERIAL_ECHOPGM(" COM", AS_DIGIT(N)); SERIAL_CHAR(Z); - SERIAL_ECHOPAIR(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03)); + SERIAL_ECHOPGM(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03)); } void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N - WGM bit layout @@ -247,7 +250,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N - uint8_t WGM = (((*TCCRB & _BV(WGM_2)) >> 1) | (*TCCRA & (_BV(WGM_0) | _BV(WGM_1)))); if (N == 4) WGM |= ((*TCCRB & _BV(WGM_3)) >> 1); - SERIAL_ECHOPAIR(" TIMER", AS_CHAR(T + '0')); + SERIAL_ECHOPGM(" TIMER", AS_DIGIT(T)); SERIAL_CHAR(L); SERIAL_ECHO_SP(3); @@ -259,14 +262,14 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N - const uint16_t *OCRVAL16 = (uint16_t*)OCR_VAL(T, L - 'A'); PWM_PRINT(*OCRVAL16); } - SERIAL_ECHOPAIR(" WGM: ", WGM); + SERIAL_ECHOPGM(" WGM: ", WGM); com_print(T,L); - SERIAL_ECHOPAIR(" CS: ", (*TCCRB & (_BV(CS_0) | _BV(CS_1) | _BV(CS_2)) )); - SERIAL_ECHOPAIR(" TCCR", AS_CHAR(T + '0'), "A: ", *TCCRA); - SERIAL_ECHOPAIR(" TCCR", AS_CHAR(T + '0'), "B: ", *TCCRB); + SERIAL_ECHOPGM(" CS: ", (*TCCRB & (_BV(CS_0) | _BV(CS_1) | _BV(CS_2)) )); + SERIAL_ECHOPGM(" TCCR", AS_DIGIT(T), "A: ", *TCCRA); + SERIAL_ECHOPGM(" TCCR", AS_DIGIT(T), "B: ", *TCCRB); const uint8_t *TMSK = (uint8_t*)TIMSK(T); - SERIAL_ECHOPAIR(" TIMSK", AS_CHAR(T + '0'), ": ", *TMSK); + SERIAL_ECHOPGM(" TIMSK", AS_DIGIT(T), ": ", *TMSK); const uint8_t OCIE = L - 'A' + 1; if (N == 3) { if (WGM == 0 || WGM == 2 || WGM == 4 || WGM == 6) err_is_counter(); } @@ -278,7 +281,7 @@ void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N - static void pwm_details(uint8_t pin) { switch (digitalPinToTimer_DEBUG(pin)) { - #if defined(TCCR0A) && defined(COM0A1) + #if ABTEST(0) #ifdef TIMER0A #if !AVR_AT90USB1286_FAMILY // not available in Teensyduino type IDEs case TIMER0A: timer_prefix(0, 'A', 3); break; @@ -287,7 +290,7 @@ static void pwm_details(uint8_t pin) { case TIMER0B: timer_prefix(0, 'B', 3); break; #endif - #if defined(TCCR1A) && defined(COM1A1) + #if ABTEST(1) case TIMER1A: timer_prefix(1, 'A', 4); break; case TIMER1B: timer_prefix(1, 'B', 4); break; #if defined(COM1C1) && defined(TIMER1C) @@ -295,12 +298,12 @@ static void pwm_details(uint8_t pin) { #endif #endif - #if defined(TCCR2A) && defined(COM2A1) + #if ABTEST(2) case TIMER2A: timer_prefix(2, 'A', 3); break; case TIMER2B: timer_prefix(2, 'B', 3); break; #endif - #if defined(TCCR3A) && defined(COM3A1) + #if ABTEST(3) case TIMER3A: timer_prefix(3, 'A', 4); break; case TIMER3B: timer_prefix(3, 'B', 4); break; #ifdef COM3C1 @@ -314,7 +317,7 @@ static void pwm_details(uint8_t pin) { case TIMER4C: timer_prefix(4, 'C', 4); break; #endif - #if defined(TCCR5A) && defined(COM5A1) + #if ABTEST(5) case TIMER5A: timer_prefix(5, 'A', 4); break; case TIMER5B: timer_prefix(5, 'B', 4); break; case TIMER5C: timer_prefix(5, 'C', 4); break; @@ -348,7 +351,6 @@ static void pwm_details(uint8_t pin) { #endif } // pwm_details - #ifndef digitalRead_mod // Use Teensyduino's version of digitalRead - it doesn't disable the PWMs int digitalRead_mod(const int8_t pin) { // same as digitalRead except the PWM stop section has been removed const uint8_t port = digitalPinToPort_DEBUG(pin); @@ -393,3 +395,6 @@ static void pwm_details(uint8_t pin) { #endif #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) + +#undef ABTEST diff --git a/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h b/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h index 051972a861..582ae79ba7 100644 --- a/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h +++ b/Marlin/src/HAL/AVR/pinsDebug_Teensyduino.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or diff --git a/Marlin/src/HAL/AVR/pinsDebug_plus_70.h b/Marlin/src/HAL/AVR/pinsDebug_plus_70.h index db3fdf1f76..d9aa44c3cb 100644 --- a/Marlin/src/HAL/AVR/pinsDebug_plus_70.h +++ b/Marlin/src/HAL/AVR/pinsDebug_plus_70.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or diff --git a/Marlin/src/HAL/AVR/timers.h b/Marlin/src/HAL/AVR/timers.h index 82eb8b14b1..33c3880b6b 100644 --- a/Marlin/src/HAL/AVR/timers.h +++ b/Marlin/src/HAL/AVR/timers.h @@ -34,14 +34,14 @@ typedef uint16_t hal_timer_t; #define HAL_TIMER_RATE ((F_CPU) / 8) // i.e., 2MHz or 2.5MHz -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 1 +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 1 #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 0 +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 0 #endif #define TEMP_TIMER_FREQUENCY ((F_CPU) / 64.0 / 256.0) @@ -58,13 +58,13 @@ typedef uint16_t hal_timer_t; #define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A) #define STEPPER_ISR_ENABLED() TEST(TIMSK1, OCIE1A) -#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0B) -#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B) -#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B) +#define ENABLE_TEMPERATURE_INTERRUPT() SBI(TIMSK0, OCIE0A) +#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0A) +#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0A) FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) { switch (timer_num) { - case STEP_TIMER_NUM: + case MF_TIMER_STEP: // waveform generation = 0100 = CTC SET_WGM(1, CTC_OCRnA); @@ -84,10 +84,10 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) { TCNT1 = 0; break; - case TEMP_TIMER_NUM: + case MF_TIMER_TEMP: // Use timer0 for temperature measurement // Interleave temperature interrupt with millies interrupt - OCR0B = 128; + OCR0A = 128; break; } } @@ -109,12 +109,12 @@ FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) { * (otherwise, characters will be lost due to UART overflow). * Then: Stepper, Endstops, Temperature, and -finally- all others. */ -#define HAL_timer_isr_prologue(TIMER_NUM) -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_prologue(T) NOOP +#define HAL_timer_isr_epilogue(T) NOOP -/* 18 cycles maximum latency */ #ifndef HAL_STEP_TIMER_ISR +/* 18 cycles maximum latency */ #define HAL_STEP_TIMER_ISR() \ extern "C" void TIMER1_COMPA_vect() __attribute__ ((signal, naked, used, externally_visible)); \ extern "C" void TIMER1_COMPA_vect_bottom() asm ("TIMER1_COMPA_vect_bottom") __attribute__ ((used, externally_visible, noinline)); \ @@ -180,7 +180,7 @@ void TIMER1_COMPA_vect() { \ : \ : [timsk0] "i" ((uint16_t)&TIMSK0), \ [timsk1] "i" ((uint16_t)&TIMSK1), \ - [msk0] "M" ((uint8_t)(1< +#include -uint8_t u8g_bitData, u8g_bitNotData, u8g_bitClock, u8g_bitNotClock; -volatile uint8_t *u8g_outData, *u8g_outClock; +static uint8_t u8g_bitData, u8g_bitNotData, u8g_bitClock, u8g_bitNotClock; +static volatile uint8_t *u8g_outData, *u8g_outClock; static void u8g_com_arduino_init_shift_out(uint8_t dataPin, uint8_t clockPin) { u8g_outData = portOutputRegister(digitalPinToPort(dataPin)); diff --git a/Marlin/src/HAL/AVR/watchdog.cpp b/Marlin/src/HAL/AVR/watchdog.cpp deleted file mode 100644 index 3f10c4adff..0000000000 --- a/Marlin/src/HAL/AVR/watchdog.cpp +++ /dev/null @@ -1,70 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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 __AVR__ - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include "watchdog.h" - -#include "../../MarlinCore.h" - -// Initialize watchdog with 8s timeout, if possible. Otherwise, make it 4s. -void watchdog_init() { - #if ENABLED(WATCHDOG_DURATION_8S) && defined(WDTO_8S) - #define WDTO_NS WDTO_8S - #else - #define WDTO_NS WDTO_4S - #endif - #if ENABLED(WATCHDOG_RESET_MANUAL) - // Enable the watchdog timer, but only for the interrupt. - // Take care, as this requires the correct order of operation, with interrupts disabled. - // See the datasheet of any AVR chip for details. - wdt_reset(); - cli(); - _WD_CONTROL_REG = _BV(_WD_CHANGE_BIT) | _BV(WDE); - _WD_CONTROL_REG = _BV(WDIE) | (WDTO_NS & 0x07) | ((WDTO_NS & 0x08) << 2); // WDTO_NS directly does not work. bit 0-2 are consecutive in the register but the highest value bit is at bit 5 - // So worked for up to WDTO_2S - sei(); - wdt_reset(); - #else - wdt_enable(WDTO_NS); // The function handles the upper bit correct. - #endif - //delay(10000); // test it! -} - -//=========================================================================== -//=================================== ISR =================================== -//=========================================================================== - -// Watchdog timer interrupt, called if main program blocks >4sec and manual reset is enabled. -#if ENABLED(WATCHDOG_RESET_MANUAL) - ISR(WDT_vect) { - sei(); // With the interrupt driven serial we need to allow interrupts. - SERIAL_ERROR_MSG(STR_WATCHDOG_FIRED); - minkill(); // interrupt-safe final kill and infinite loop - } -#endif - -#endif // USE_WATCHDOG -#endif // __AVR__ diff --git a/Marlin/src/HAL/DUE/HAL.cpp b/Marlin/src/HAL/DUE/HAL.cpp index a3985652e7..4353f16497 100644 --- a/Marlin/src/HAL/DUE/HAL.cpp +++ b/Marlin/src/HAL/DUE/HAL.cpp @@ -25,7 +25,7 @@ #ifdef ARDUINO_ARCH_SAM #include "../../inc/MarlinConfig.h" -#include "HAL.h" +#include "../../MarlinCore.h" #include #include "usb/usb_task.h" @@ -34,39 +34,33 @@ // Public Variables // ------------------------ -uint16_t HAL_adc_result; +uint16_t MarlinHAL::adc_result; // ------------------------ // Public functions // ------------------------ -TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); +#if ENABLED(POSTMORTEM_DEBUGGING) + extern void install_min_serial(); +#endif -// HAL initialization task -void HAL_init() { - // Initialize the USB stack +void MarlinHAL::init() { #if ENABLED(SDSUPPORT) OUT_WRITE(SDSS, HIGH); // Try to set SDSS inactive before any other SPI users start up #endif - usb_task_init(); + usb_task_init(); // Initialize the USB stack TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler } -// HAL idle task -void HAL_idletask() { - // Perform USB stack housekeeping - usb_task_idle(); +void MarlinHAL::init_board() { + #ifdef BOARD_INIT + BOARD_INIT(); + #endif } -// Disable interrupts -void cli() { noInterrupts(); } +void MarlinHAL::idletask() { usb_task_idle(); } // Perform USB stack housekeeping -// Enable interrupts -void sei() { interrupts(); } - -void HAL_clear_reset_source() { } - -uint8_t HAL_get_reset_source() { +uint8_t MarlinHAL::get_reset_source() { switch ((RSTC->RSTC_SR >> 8) & 0x07) { case 0: return RST_POWER_ON; case 1: return RST_BACKUP; @@ -77,13 +71,105 @@ uint8_t HAL_get_reset_source() { } } -void HAL_reboot() { rstc_start_software_reset(RSTC); } +void MarlinHAL::reboot() { rstc_start_software_reset(RSTC); } -void _delay_ms(const int delay_ms) { - // Todo: port for Due? - delay(delay_ms); +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + // Initialize watchdog - On SAM3X, Watchdog was already configured + // and enabled or disabled at startup, so no need to reconfigure it + // here. + void MarlinHAL::watchdog_init() { WDT_Restart(WDT); } // Reset watchdog to start clean + + // Reset watchdog. MUST be called at least every 4 seconds after the + // first watchdog_init or AVR will go into emergency procedures. + void MarlinHAL::watchdog_refresh() { watchdogReset(); } + +#endif + +// Override Arduino runtime to either config or disable the watchdog +// +// We need to configure the watchdog as soon as possible in the boot +// process, because watchdog initialization at hardware reset on SAM3X8E +// is unreliable, and there is risk of unintended resets if we delay +// that initialization to a later time. +void watchdogSetup() { + + #if ENABLED(USE_WATCHDOG) + + // 4 seconds timeout + uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000); + + // Calculate timeout value in WDT counter ticks: This assumes + // the slow clock is running at 32.768 kHz watchdog + // frequency is therefore 32768 / 128 = 256 Hz + timeout = (timeout << 8) / 1000; + if (timeout == 0) + timeout = 1; + else if (timeout > 0xFFF) + timeout = 0xFFF; + + // We want to enable the watchdog with the specified timeout + uint32_t value = + WDT_MR_WDV(timeout) | // With the specified timeout + WDT_MR_WDD(timeout) | // and no invalid write window + #if !(SAMV70 || SAMV71 || SAME70 || SAMS70) + WDT_MR_WDRPROC | // WDT fault resets processor only - We want + // to keep PIO controller state + #endif + WDT_MR_WDDBGHLT | // WDT stops in debug state. + WDT_MR_WDIDLEHLT; // WDT stops in idle state. + + #if ENABLED(WATCHDOG_RESET_MANUAL) + // We enable the watchdog timer, but only for the interrupt. + + // Configure WDT to only trigger an interrupt + value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt. + + // Disable WDT interrupt (just in case, to avoid triggering it!) + NVIC_DisableIRQ(WDT_IRQn); + + // 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(); + + // Initialize WDT with the given parameters + WDT_Enable(WDT, value); + + // Configure and enable WDT interrupt. + NVIC_ClearPendingIRQ(WDT_IRQn); + NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups + NVIC_EnableIRQ(WDT_IRQn); + + #else + + // a WDT fault triggers a reset + value |= WDT_MR_WDRSTEN; + + // Initialize WDT with the given parameters + WDT_Enable(WDT, value); + + #endif + + // Reset the watchdog + WDT_Restart(WDT); + + #else + + // Make sure to completely disable the Watchdog + WDT_Disable(WDT); + + #endif } +// ------------------------ +// Free Memory Accessor +// ------------------------ + extern "C" { extern unsigned int _ebss; // end of bss section } @@ -95,18 +181,9 @@ int freeMemory() { } // ------------------------ -// ADC +// Serial Ports // ------------------------ -void HAL_adc_start_conversion(const uint8_t ch) { - HAL_adc_result = analogRead(ch); -} - -uint16_t HAL_adc_get_result() { - // nop - return HAL_adc_result; -} - // Forward the default serial ports #if USING_HW_SERIAL0 DefaultSerial1 MSerial0(false, Serial); diff --git a/Marlin/src/HAL/DUE/HAL.h b/Marlin/src/HAL/DUE/HAL.h index 1bc3bf7410..585b893841 100644 --- a/Marlin/src/HAL/DUE/HAL.h +++ b/Marlin/src/HAL/DUE/HAL.h @@ -32,12 +32,15 @@ #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include #include "../../core/serial_hook.h" +// ------------------------ +// Serial ports +// ------------------------ + typedef ForwardSerial1Class< decltype(Serial) > DefaultSerial1; typedef ForwardSerial1Class< decltype(Serial1) > DefaultSerial2; typedef ForwardSerial1Class< decltype(Serial2) > DefaultSerial3; @@ -50,13 +53,12 @@ extern DefaultSerial4 MSerial3; #define _MSERIAL(X) MSerial##X #define MSERIAL(X) _MSERIAL(X) -// Define MYSERIAL1/2 before MarlinSerial includes! #if SERIAL_PORT == -1 || ENABLED(EMERGENCY_PARSER) #define MYSERIAL1 customizedSerial1 #elif WITHIN(SERIAL_PORT, 0, 3) #define MYSERIAL1 MSERIAL(SERIAL_PORT) #else - #error "The required SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB." + #error "The required SERIAL_PORT must be from 0 to 3, or -1 for USB Serial." #endif #ifdef SERIAL_PORT_2 @@ -65,7 +67,17 @@ extern DefaultSerial4 MSerial3; #elif WITHIN(SERIAL_PORT_2, 0, 3) #define MYSERIAL2 MSERIAL(SERIAL_PORT_2) #else - #error "SERIAL_PORT_2 must be from 0 to 3. You can also use -1 if the board supports Native USB." + #error "SERIAL_PORT_2 must be from 0 to 3, or -1 for USB Serial." + #endif +#endif + +#ifdef SERIAL_PORT_3 + #if SERIAL_PORT_3 == -1 || ENABLED(EMERGENCY_PARSER) + #define MYSERIAL3 customizedSerial3 + #elif WITHIN(SERIAL_PORT_3, 0, 3) + #define MYSERIAL3 MSERIAL(SERIAL_PORT_3) + #else + #error "SERIAL_PORT_3 must be from 0 to 3, or -1 for USB Serial." #endif #endif @@ -78,67 +90,48 @@ extern DefaultSerial4 MSerial3; #endif #ifdef LCD_SERIAL_PORT - #if LCD_SERIAL_PORT == -1 - #define LCD_SERIAL lcdSerial - #elif WITHIN(LCD_SERIAL_PORT, 0, 3) + #if WITHIN(LCD_SERIAL_PORT, 0, 3) #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT) #else - #error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB." + #error "LCD_SERIAL_PORT must be from 0 to 3." #endif #endif #include "MarlinSerial.h" #include "MarlinSerialUSB.h" -// On AVR this is in math.h? -#define square(x) ((x)*(x)) +// ------------------------ +// Types +// ------------------------ typedef int8_t pin_t; -#define SHARED_SERVOS HAS_SERVOS -#define HAL_SERVO_LIB Servo +#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp + +class Servo; +typedef Servo hal_servo_t; // // Interrupts // -#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq() -#define CRITICAL_SECTION_END() if (!primask) __enable_irq() -#define ISRS_ENABLED() (!__get_PRIMASK()) -#define ENABLE_ISRS() __enable_irq() -#define DISABLE_ISRS() __disable_irq() +#define sei() interrupts() +#define cli() noInterrupts() -void cli(); // Disable interrupts -void sei(); // Enable interrupts - -void HAL_clear_reset_source(); // clear reset reason -uint8_t HAL_get_reset_source(); // get reset reason - -void HAL_reboot(); +#define CRITICAL_SECTION_START() const bool _irqon = hal.isr_state(); hal.isr_off() +#define CRITICAL_SECTION_END() if (_irqon) hal.isr_on() // // ADC // -extern uint16_t HAL_adc_result; // result of last ADC conversion +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 10 #ifndef analogInputToDigitalPin #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) #endif -#define HAL_ANALOG_SELECT(ch) - -inline void HAL_adc_init() {}//todo - -#define HAL_ADC_VREF 3.3 -#define HAL_ADC_RESOLUTION 10 -#define HAL_START_ADC(ch) HAL_adc_start_conversion(ch) -#define HAL_READ_ADC() HAL_adc_result -#define HAL_ADC_READY() true - -void HAL_adc_start_conversion(const uint8_t ch); -uint16_t HAL_adc_get_result(); - // -// Pin Map +// Pin Mapping for M42, M43, M226 // #define GET_PIN_MAP_PIN(index) index #define GET_PIN_MAP_INDEX(pin) pin @@ -147,30 +140,19 @@ uint16_t HAL_adc_get_result(); // // Tone // -void toneInit(); void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0); void noTone(const pin_t _pin); -// Enable hooks into idle and setup for HAL -#define HAL_IDLETASK 1 -void HAL_idletask(); -void HAL_init(); - -// -// Utility functions -// -void _delay_ms(const int delay); +// ------------------------ +// Class Utilities +// ------------------------ +#pragma GCC diagnostic push #if GCC_VERSION <= 50000 - #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-function" #endif -int freeMemory(); - -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif +#pragma GCC diagnostic pop #ifdef __cplusplus extern "C" { @@ -179,3 +161,73 @@ char *dtostrf(double __val, signed char __width, unsigned char __prec, char *__s #ifdef __cplusplus } #endif + +// Return free RAM between end of heap (or end bss) and whatever is current +int freeMemory(); + +// ------------------------ +// 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 + + // Interrupts + static bool isr_state() { return !__get_PRIMASK(); } + static void isr_on() { __enable_irq(); } + static void isr_off() { __disable_irq(); } + + 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 channel. Called from Temperature::isr! + static void adc_start(const uint8_t ch) { adc_result = analogRead(ch); } + + // 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 inverting the duty cycle in this HAL. + * No changing the maximum size of the provided value to enable finer PWM duty control in this HAL. + */ + static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { + analogWrite(pin, v); + } + +}; diff --git a/Marlin/src/HAL/DUE/HAL_SPI.cpp b/Marlin/src/HAL/DUE/HAL_SPI.cpp index f42e8a9802..f5bcaacee5 100644 --- a/Marlin/src/HAL/DUE/HAL_SPI.cpp +++ b/Marlin/src/HAL/DUE/HAL_SPI.cpp @@ -31,8 +31,6 @@ /** * HAL for Arduino Due and compatible (SAM3X8E) - * - * For ARDUINO_ARCH_SAM */ #ifdef ARDUINO_ARCH_SAM @@ -240,7 +238,7 @@ } // all the others - static uint32_t spiDelayCyclesX4 = 4 * (F_CPU) / 1000000; // 4µs => 125khz + static uint16_t spiDelayNS = 4000; // 4000ns => 125khz static uint8_t spiTransferX(uint8_t b) { // using Mode 0 int bits = 8; @@ -249,12 +247,12 @@ b <<= 1; // little setup time WRITE(SD_SCK_PIN, HIGH); - DELAY_CYCLES(spiDelayCyclesX4); + DELAY_NS_VAR(spiDelayNS); b |= (READ(SD_MISO_PIN) != 0); WRITE(SD_SCK_PIN, LOW); - DELAY_CYCLES(spiDelayCyclesX4); + DELAY_NS_VAR(spiDelayNS); } while (--bits); return b; } @@ -437,7 +435,7 @@ } while (--todo); } - // Pointers to generic functions for block tranfers + // Pointers to generic functions for block transfers static pfnSpiTxBlock spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; static pfnSpiRxBlock spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; @@ -510,7 +508,7 @@ spiRxBlock = (pfnSpiRxBlock)spiRxBlockX; break; default: - spiDelayCyclesX4 = ((F_CPU) / 1000000) >> (6 - spiRate) << 2; // spiRate of 2 gives the maximum error with current CPU + spiDelayNS = 4000 >> (6 - spiRate); // spiRate of 2 gives the maximum error with current CPU spiTransferTx = (pfnSpiTransfer)spiTransferX; spiTransferRx = (pfnSpiTransfer)spiTransferX; spiTxBlock = (pfnSpiTxBlock)spiTxBlockX; @@ -594,18 +592,14 @@ SPI_Configure(SPI0, ID_SPI0, SPI_MR_MSTR | SPI_MR_MODFDIS | SPI_MR_PS); SPI_Enable(SPI0); - SET_OUTPUT(DAC0_SYNC); + SET_OUTPUT(DAC0_SYNC_PIN); #if HAS_MULTI_EXTRUDER - SET_OUTPUT(DAC1_SYNC); - WRITE(DAC1_SYNC, HIGH); + OUT_WRITE(DAC1_SYNC_PIN, HIGH); #endif - SET_OUTPUT(SPI_EEPROM1_CS); - SET_OUTPUT(SPI_EEPROM2_CS); - SET_OUTPUT(SPI_FLASH_CS); - WRITE(DAC0_SYNC, HIGH); - WRITE(SPI_EEPROM1_CS, HIGH); - WRITE(SPI_EEPROM2_CS, HIGH); - WRITE(SPI_FLASH_CS, HIGH); + WRITE(DAC0_SYNC_PIN, HIGH); + OUT_WRITE(SPI_EEPROM1_CS_PIN, HIGH); + OUT_WRITE(SPI_EEPROM2_CS_PIN, HIGH); + OUT_WRITE(SPI_FLASH_CS_PIN, HIGH); WRITE(SD_SS_PIN, HIGH); OUT_WRITE(SDSS, LOW); diff --git a/Marlin/src/HAL/DUE/InterruptVectors.cpp b/Marlin/src/HAL/DUE/InterruptVectors.cpp index e4e0ce99f2..70795d1c30 100644 --- a/Marlin/src/HAL/DUE/InterruptVectors.cpp +++ b/Marlin/src/HAL/DUE/InterruptVectors.cpp @@ -41,7 +41,7 @@ practice, we need alignment to 256 bytes to make this work in all cases */ __attribute__ ((aligned(256))) -static DeviceVectors ram_tab = { nullptr }; +static DeviceVectors ram_tab[61] = { nullptr }; /** * This function checks if the exception/interrupt table is already in SRAM or not. diff --git a/Marlin/src/HAL/STM32/watchdog.h b/Marlin/src/HAL/DUE/MarlinSPI.h similarity index 87% rename from Marlin/src/HAL/STM32/watchdog.h rename to Marlin/src/HAL/DUE/MarlinSPI.h index 49a0d9c631..0c447ba4cb 100644 --- a/Marlin/src/HAL/STM32/watchdog.h +++ b/Marlin/src/HAL/DUE/MarlinSPI.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -21,5 +21,6 @@ */ #pragma once -void watchdog_init(); -void HAL_watchdog_refresh(); +#include + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/DUE/MarlinSerial.cpp b/Marlin/src/HAL/DUE/MarlinSerial.cpp index 5b333fbeb5..638f7a1007 100644 --- a/Marlin/src/HAL/DUE/MarlinSerial.cpp +++ b/Marlin/src/HAL/DUE/MarlinSerial.cpp @@ -406,7 +406,7 @@ size_t MarlinSerial::write(const uint8_t c) { const uint8_t i = (tx_buffer.head + 1) & (Cfg::TX_SIZE - 1); // If global interrupts are disabled (as the result of being called from an ISR)... - if (!ISRS_ENABLED()) { + if (!hal.isr_state()) { // Make room by polling if it is possible to transmit, and do so! while (i == tx_buffer.tail) { @@ -454,7 +454,7 @@ void MarlinSerial::flushTX() { if (!_written) return; // If global interrupts are disabled (as the result of being called from an ISR)... - if (!ISRS_ENABLED()) { + if (!hal.isr_state()) { // Wait until everything was transmitted - We must do polling, as interrupts are disabled while (tx_buffer.head != tx_buffer.tail || !(HWUART->UART_SR & UART_SR_TXEMPTY)) { @@ -478,7 +478,7 @@ void MarlinSerial::flushTX() { // If not using the USB port as serial port #if defined(SERIAL_PORT) && SERIAL_PORT >= 0 template class MarlinSerial< MarlinSerialCfg >; - MSerialT customizedSerial1(MarlinSerialCfg::EMERGENCYPARSER); + MSerialT1 customizedSerial1(MarlinSerialCfg::EMERGENCYPARSER); #endif #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0 @@ -486,4 +486,9 @@ void MarlinSerial::flushTX() { MSerialT2 customizedSerial2(MarlinSerialCfg::EMERGENCYPARSER); #endif +#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0 + template class MarlinSerial< MarlinSerialCfg >; + MSerialT3 customizedSerial3(MarlinSerialCfg::EMERGENCYPARSER); +#endif + #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/DUE/MarlinSerial.h b/Marlin/src/HAL/DUE/MarlinSerial.h index 0fb15cf8ad..5a61bffee0 100644 --- a/Marlin/src/HAL/DUE/MarlinSerial.h +++ b/Marlin/src/HAL/DUE/MarlinSerial.h @@ -118,7 +118,7 @@ public: static size_t write(const uint8_t c); static void flushTX(); - static inline bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; } + static bool emergency_parser_enabled() { return Cfg::EMERGENCYPARSER; } FORCE_INLINE static uint8_t dropped() { return Cfg::DROPPED_RX ? rx_dropped_bytes : 0; } FORCE_INLINE static uint8_t buffer_overruns() { return Cfg::RX_OVERRUNS ? rx_buffer_overruns : 0; } @@ -141,11 +141,16 @@ struct MarlinSerialCfg { }; #if defined(SERIAL_PORT) && SERIAL_PORT >= 0 - typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT; - extern MSerialT customizedSerial1; + typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT1; + extern MSerialT1 customizedSerial1; #endif #if defined(SERIAL_PORT_2) && SERIAL_PORT_2 >= 0 typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT2; extern MSerialT2 customizedSerial2; #endif + +#if defined(SERIAL_PORT_3) && SERIAL_PORT_3 >= 0 + typedef Serial1Class< MarlinSerial< MarlinSerialCfg > > MSerialT3; + extern MSerialT3 customizedSerial3; +#endif diff --git a/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp b/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp index fca677c798..8de2dc7924 100644 --- a/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp +++ b/Marlin/src/HAL/DUE/MarlinSerialUSB.cpp @@ -19,13 +19,13 @@ * along with this program. If not, see . * */ +#ifdef ARDUINO_ARCH_SAM /** * MarlinSerial_Due.cpp - Hardware serial library for Arduino DUE * Copyright (c) 2017 Eduardo José Tagle. All right reserved * Based on MarlinSerial for AVR, copyright (c) 2006 Nicholas Zambetti. All right reserved. */ -#ifdef ARDUINO_ARCH_SAM #include "../../inc/MarlinConfig.h" @@ -41,7 +41,7 @@ extern "C" { int udi_cdc_getc(); bool udi_cdc_is_tx_ready(); int udi_cdc_putc(int value); -}; +} // Pending character static int pending_char = -1; @@ -65,7 +65,7 @@ int MarlinSerialUSB::peek() { pending_char = udi_cdc_getc(); - TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast(this)->emergency_state, (char)pending_char)); + TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast(this)->emergency_state, (char)pending_char)); return pending_char; } @@ -87,7 +87,7 @@ int MarlinSerialUSB::read() { int c = udi_cdc_getc(); - TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast(this)->emergency_state, (char)c)); + TERN_(EMERGENCY_PARSER, emergency_parser.update(static_cast(this)->emergency_state, (char)c)); return c; } @@ -129,10 +129,13 @@ size_t MarlinSerialUSB::write(const uint8_t c) { // Preinstantiate #if SERIAL_PORT == -1 - MSerialT customizedSerial1(TERN0(EMERGENCY_PARSER, true)); + MSerialT1 customizedSerial1(TERN0(EMERGENCY_PARSER, true)); #endif #if SERIAL_PORT_2 == -1 - MSerialT customizedSerial2(TERN0(EMERGENCY_PARSER, true)); + MSerialT2 customizedSerial2(TERN0(EMERGENCY_PARSER, true)); +#endif +#if SERIAL_PORT_3 == -1 + MSerialT3 customizedSerial3(TERN0(EMERGENCY_PARSER, true)); #endif #endif // HAS_USB_SERIAL diff --git a/Marlin/src/HAL/DUE/MarlinSerialUSB.h b/Marlin/src/HAL/DUE/MarlinSerialUSB.h index 4c299dced5..6da1ef8c08 100644 --- a/Marlin/src/HAL/DUE/MarlinSerialUSB.h +++ b/Marlin/src/HAL/DUE/MarlinSerialUSB.h @@ -27,11 +27,9 @@ */ #include "../../inc/MarlinConfig.h" -#if HAS_USB_SERIAL - -#include #include "../../core/serial_hook.h" +#include struct MarlinSerialUSB { void begin(const long); @@ -50,14 +48,18 @@ struct MarlinSerialUSB { FORCE_INLINE int rxMaxEnqueued() { return 0; } #endif }; -typedef Serial1Class MSerialT; #if SERIAL_PORT == -1 - extern MSerialT customizedSerial1; + typedef Serial1Class MSerialT1; + extern MSerialT1 customizedSerial1; #endif #if SERIAL_PORT_2 == -1 - extern MSerialT customizedSerial2; + typedef Serial1Class MSerialT2; + extern MSerialT2 customizedSerial2; #endif -#endif // HAS_USB_SERIAL +#if SERIAL_PORT_3 == -1 + typedef Serial1Class MSerialT3; + extern MSerialT3 customizedSerial3; +#endif diff --git a/Marlin/src/HAL/DUE/HAL_MinSerial.cpp b/Marlin/src/HAL/DUE/MinSerial.cpp similarity index 98% rename from Marlin/src/HAL/DUE/HAL_MinSerial.cpp rename to Marlin/src/HAL/DUE/MinSerial.cpp index 93c4ed67d6..e5b3dbfe6f 100644 --- a/Marlin/src/HAL/DUE/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/DUE/MinSerial.cpp @@ -25,7 +25,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" +#include "../shared/MinSerial.h" #include diff --git a/Marlin/src/HAL/DUE/Servo.cpp b/Marlin/src/HAL/DUE/Servo.cpp index 5524aa9cef..2dab88238d 100644 --- a/Marlin/src/HAL/DUE/Servo.cpp +++ b/Marlin/src/HAL/DUE/Servo.cpp @@ -47,12 +47,12 @@ #include "../shared/servo.h" #include "../shared/servo_private.h" -static volatile int8_t Channel[_Nbr_16timers]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) +static Flags<_Nbr_16timers> DisablePending; // ISR should disable the timer at the next timer reset // ------------------------ /// Interrupt handler for the TC0 channel 1. // ------------------------ -void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel); +void Servo_Handler(const timer16_Sequence_t, Tc*, const uint8_t); #ifdef _useTimer1 void HANDLER_FOR_TIMER1() { Servo_Handler(_timer1, TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); } @@ -70,88 +70,92 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel); void HANDLER_FOR_TIMER5() { Servo_Handler(_timer5, TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); } #endif -void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) { - // clear interrupt - tc->TC_CHANNEL[channel].TC_SR; - if (Channel[timer] < 0) - tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer - else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive) - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated +void Servo_Handler(const timer16_Sequence_t timer, Tc *tc, const uint8_t channel) { + static int8_t Channel[_Nbr_16timers]; // Servo counters to pulse (or -1 for refresh interval) + int8_t cho = Channel[timer]; // Handle the prior Channel[timer] first + if (cho < 0) { // Channel -1 indicates the refresh interval completed... + tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // ...so reset the timer + if (DisablePending[timer]) { + // Disabling only after the full servo period expires prevents + // pulses being too close together if immediately re-enabled. + DisablePending.clear(timer); + TC_Stop(tc, channel); + tc->TC_CHANNEL[channel].TC_SR; // clear interrupt + return; + } + } + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW - Channel[timer]++; // increment to the next channel - if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { - tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer,Channel[timer]).ticks; - if (SERVO(timer,Channel[timer]).Pin.isActive) // check if activated - extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, HIGH); // its an active channel so pulse it high + Channel[timer] = ++cho; // go to the next channel (or 0) + if (cho < SERVOS_PER_TIMER && SERVO_INDEX(timer, cho) < ServoCount) { + tc->TC_CHANNEL[channel].TC_RA = tc->TC_CHANNEL[channel].TC_CV + SERVO(timer, cho).ticks; + if (SERVO(timer, cho).Pin.isActive) // activated? + extDigitalWrite(SERVO(timer, cho).Pin.nbr, HIGH); // yes: pulse HIGH } else { // finished all channels so wait for the refresh period to expire before starting over - tc->TC_CHANNEL[channel].TC_RA = - tc->TC_CHANNEL[channel].TC_CV < usToTicks(REFRESH_INTERVAL) - 4 - ? (unsigned int)usToTicks(REFRESH_INTERVAL) // allow a few ticks to ensure the next OCR1A not missed - : tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed - Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + const unsigned int cval = tc->TC_CHANNEL[channel].TC_CV + 128 / (SERVO_TIMER_PRESCALER), // allow 128 cycles to ensure the next CV not missed + ival = (unsigned int)usToTicks(REFRESH_INTERVAL); // at least REFRESH_INTERVAL has elapsed + tc->TC_CHANNEL[channel].TC_RA = max(cval, ival); + + Channel[timer] = -1; // reset the timer CCR on the next call } + + tc->TC_CHANNEL[channel].TC_SR; // clear interrupt } static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) { pmc_enable_periph_clk(id); TC_Configure(tc, channel, - TC_CMR_TCCLKS_TIMER_CLOCK3 | // MCK/32 - TC_CMR_WAVE | // Waveform mode - TC_CMR_WAVSEL_UP_RC ); // Counter running up and reset when equals to RC + TC_CMR_WAVE // Waveform mode + | TC_CMR_WAVSEL_UP_RC // Counter running up and reset when equal to RC + | (SERVO_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) // MCK/2 + | (SERVO_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) // MCK/8 + | (SERVO_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) // MCK/32 + | (SERVO_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) // MCK/128 + ); - /* 84MHz, MCK/32, for 1.5ms: 3937 */ - TC_SetRA(tc, channel, 2625); // 1ms + // Wait 1ms before the first ISR + TC_SetRA(tc, channel, (F_CPU) / (SERVO_TIMER_PRESCALER) / 1000UL); // 1ms - /* Configure and enable interrupt */ + // Configure and enable interrupt NVIC_EnableIRQ(irqn); - // TC_IER_CPAS: RA Compare - tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; + tc->TC_CHANNEL[channel].TC_IER = TC_IER_CPAS; // TC_IER_CPAS: RA Compare // Enables the timer clock and performs a software reset to start the counting TC_Start(tc, channel); } -void initISR(timer16_Sequence_t timer) { - #ifdef _useTimer1 - if (timer == _timer1) - _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); - #endif - #ifdef _useTimer2 - if (timer == _timer2) - _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); - #endif - #ifdef _useTimer3 - if (timer == _timer3) - _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); - #endif - #ifdef _useTimer4 - if (timer == _timer4) - _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); - #endif - #ifdef _useTimer5 - if (timer == _timer5) - _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); - #endif +void initISR(const timer16_Sequence_t timer_index) { + CRITICAL_SECTION_START(); + const bool disable_soon = DisablePending[timer_index]; + DisablePending.clear(timer_index); + CRITICAL_SECTION_END(); + + if (!disable_soon) switch (timer_index) { + default: break; + #ifdef _useTimer1 + case _timer1: return _initISR(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1, ID_TC_FOR_TIMER1, IRQn_FOR_TIMER1); + #endif + #ifdef _useTimer2 + case _timer2: return _initISR(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2, ID_TC_FOR_TIMER2, IRQn_FOR_TIMER2); + #endif + #ifdef _useTimer3 + case _timer3: return _initISR(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3, ID_TC_FOR_TIMER3, IRQn_FOR_TIMER3); + #endif + #ifdef _useTimer4 + case _timer4: return _initISR(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4, ID_TC_FOR_TIMER4, IRQn_FOR_TIMER4); + #endif + #ifdef _useTimer5 + case _timer5: return _initISR(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5, ID_TC_FOR_TIMER5, IRQn_FOR_TIMER5); + #endif + } } -void finISR(timer16_Sequence_t) { - #ifdef _useTimer1 - TC_Stop(TC_FOR_TIMER1, CHANNEL_FOR_TIMER1); - #endif - #ifdef _useTimer2 - TC_Stop(TC_FOR_TIMER2, CHANNEL_FOR_TIMER2); - #endif - #ifdef _useTimer3 - TC_Stop(TC_FOR_TIMER3, CHANNEL_FOR_TIMER3); - #endif - #ifdef _useTimer4 - TC_Stop(TC_FOR_TIMER4, CHANNEL_FOR_TIMER4); - #endif - #ifdef _useTimer5 - TC_Stop(TC_FOR_TIMER5, CHANNEL_FOR_TIMER5); - #endif +void finISR(const timer16_Sequence_t timer_index) { + // Timer is disabled from the ISR, to ensure proper final pulse length. + DisablePending.set(timer_index); } #endif // HAS_SERVOS diff --git a/Marlin/src/HAL/DUE/ServoTimers.h b/Marlin/src/HAL/DUE/ServoTimers.h index c32c938253..95bd404c80 100644 --- a/Marlin/src/HAL/DUE/ServoTimers.h +++ b/Marlin/src/HAL/DUE/ServoTimers.h @@ -37,7 +37,7 @@ #define _useTimer5 #define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays -#define SERVO_TIMER_PRESCALER 32 // timer prescaler +#define SERVO_TIMER_PRESCALER 2 // timer prescaler /* TC0, chan 0 => TC0_Handler diff --git a/Marlin/src/HAL/DUE/Tone.cpp b/Marlin/src/HAL/DUE/Tone.cpp index 9beb602223..4bc8142aba 100644 --- a/Marlin/src/HAL/DUE/Tone.cpp +++ b/Marlin/src/HAL/DUE/Tone.cpp @@ -35,20 +35,20 @@ static pin_t tone_pin; volatile static int32_t toggles; -void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) { +void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) { tone_pin = _pin; toggles = 2 * frequency * duration / 1000; - HAL_timer_start(TONE_TIMER_NUM, 2 * frequency); + HAL_timer_start(MF_TIMER_TONE, 2 * frequency); } void noTone(const pin_t _pin) { - HAL_timer_disable_interrupt(TONE_TIMER_NUM); + HAL_timer_disable_interrupt(MF_TIMER_TONE); extDigitalWrite(_pin, LOW); } HAL_TONE_TIMER_ISR() { static uint8_t pin_state = 0; - HAL_timer_isr_prologue(TONE_TIMER_NUM); + HAL_timer_isr_prologue(MF_TIMER_TONE); if (toggles) { toggles--; diff --git a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_shared_hw_spi.cpp b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_shared_hw_spi.cpp index d07da15ad8..68f6a5c1a7 100644 --- a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_shared_hw_spi.cpp +++ b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_shared_hw_spi.cpp @@ -20,7 +20,6 @@ * */ - /** * Based on u8g_com_msp430_hw_spi.c * @@ -60,7 +59,7 @@ #if HAS_MARLINUI_U8GLIB -#include +#include #include "../../../MarlinCore.h" diff --git a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_st7920_sw_spi.cpp b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_st7920_sw_spi.cpp index d01cd4dd6b..8268cf307e 100644 --- a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_st7920_sw_spi.cpp +++ b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_st7920_sw_spi.cpp @@ -57,12 +57,12 @@ #include "../../../inc/MarlinConfigPre.h" -#if ENABLED(U8GLIB_ST7920) +#if IS_U8GLIB_ST7920 #include "../../../inc/MarlinConfig.h" #include "../../shared/Delay.h" -#include +#include #include "u8g_com_HAL_DUE_sw_spi_shared.h" @@ -182,5 +182,5 @@ uint8_t u8g_com_HAL_DUE_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_va } #endif // LIGHTWEIGHT_UI -#endif // U8GLIB_ST7920 +#endif // IS_U8GLIB_ST7920 #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi.cpp b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi.cpp index 890546af58..68e3e74a45 100644 --- a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi.cpp +++ b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi.cpp @@ -57,14 +57,14 @@ #include "../../../inc/MarlinConfigPre.h" -#if HAS_MARLINUI_U8GLIB && DISABLED(U8GLIB_ST7920) +#if HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920 #include "u8g_com_HAL_DUE_sw_spi_shared.h" #include "../../shared/Marduino.h" #include "../../shared/Delay.h" -#include +#include #if ENABLED(FYSETC_MINI_12864) #define SPISEND_SW_DUE u8g_spiSend_sw_DUE_mode_3 @@ -141,5 +141,5 @@ uint8_t u8g_com_HAL_DUE_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void return 1; } -#endif // HAS_MARLINUI_U8GLIB && !U8GLIB_ST7920 +#endif // HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920 #endif // ARDUINO_ARCH_SAM diff --git a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp index 4fb7a6e2c3..904924793b 100644 --- a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp +++ b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.cpp @@ -62,7 +62,7 @@ #include "../../../inc/MarlinConfig.h" #include "../../shared/Delay.h" -#include +#include #include "u8g_com_HAL_DUE_sw_spi_shared.h" diff --git a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.h b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.h index f076c503ca..45231fd091 100644 --- a/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.h +++ b/Marlin/src/HAL/DUE/dogm/u8g_com_HAL_DUE_sw_spi_shared.h @@ -23,7 +23,7 @@ #include "../../../inc/MarlinConfigPre.h" #include "../../shared/Marduino.h" -#include +#include void u8g_SetPIOutput_DUE(u8g_t *u8g, uint8_t pin_index); void u8g_SetPILevel_DUE(u8g_t *u8g, uint8_t pin_index, uint8_t level); diff --git a/Marlin/src/HAL/DUE/eeprom_flash.cpp b/Marlin/src/HAL/DUE/eeprom_flash.cpp index b4cb9912b2..607764155b 100644 --- a/Marlin/src/HAL/DUE/eeprom_flash.cpp +++ b/Marlin/src/HAL/DUE/eeprom_flash.cpp @@ -199,10 +199,9 @@ static bool ee_PageWrite(uint16_t page, const void *data) { for (i = 0; i > 2; i++) pageContents[i] = (((uint32_t*)data)[i]) | (~(pageContents[i] ^ ((uint32_t*)data)[i])); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM PageWrite ", page); - DEBUG_ECHOLNPAIR(" in FLASH address ", (uint32_t)addrflash); - DEBUG_ECHOLNPAIR(" base address ", (uint32_t)getFlashStorage(0)); + DEBUG_ECHO_MSG("EEPROM PageWrite ", page); + DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash); + DEBUG_ECHOLNPGM(" base address ", (uint32_t)getFlashStorage(0)); DEBUG_FLUSH(); // Get the page relative to the start of the EFC controller, and the EFC controller to use @@ -245,8 +244,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Unlock failure for page ", page); + DEBUG_ECHO_MSG("EEPROM Unlock failure for page ", page); return false; } @@ -270,8 +268,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Write failure for page ", page); + DEBUG_ECHO_MSG("EEPROM Write failure for page ", page); return false; } @@ -286,8 +283,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { if (memcmp(getFlashStorage(page),data,PageSize)) { #ifdef EE_EMU_DEBUG - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Verify Write failure for page ", page); + DEBUG_ECHO_MSG("EEPROM Verify Write failure for page ", page); ee_Dump( page, (uint32_t *)addrflash); ee_Dump(-page, data); @@ -306,7 +302,7 @@ static bool ee_PageWrite(uint16_t page, const void *data) { } } } - DEBUG_ECHOLNPAIR("--> Differing bits: ", count); + DEBUG_ECHOLNPGM("--> Differing bits: ", count); #endif return false; @@ -325,10 +321,9 @@ static bool ee_PageErase(uint16_t page) { uint16_t i; uint32_t addrflash = uint32_t(getFlashStorage(page)); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM PageErase ", page); - DEBUG_ECHOLNPAIR(" in FLASH address ", (uint32_t)addrflash); - DEBUG_ECHOLNPAIR(" base address ", (uint32_t)getFlashStorage(0)); + DEBUG_ECHO_MSG("EEPROM PageErase ", page); + DEBUG_ECHOLNPGM(" in FLASH address ", (uint32_t)addrflash); + DEBUG_ECHOLNPGM(" base address ", (uint32_t)getFlashStorage(0)); DEBUG_FLUSH(); // Get the page relative to the start of the EFC controller, and the EFC controller to use @@ -370,8 +365,7 @@ static bool ee_PageErase(uint16_t page) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Unlock failure for page ",page); + DEBUG_ECHO_MSG("EEPROM Unlock failure for page ",page); return false; } @@ -394,8 +388,7 @@ static bool ee_PageErase(uint16_t page) { // Reenable interrupts __enable_irq(); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Erase failure for page ",page); + DEBUG_ECHO_MSG("EEPROM Erase failure for page ",page); return false; } @@ -410,8 +403,7 @@ static bool ee_PageErase(uint16_t page) { uint32_t * aligned_src = (uint32_t *) addrflash; for (i = 0; i < PageSize >> 2; i++) { if (*aligned_src++ != 0xFFFFFFFF) { - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Verify Erase failure for page ",page); + DEBUG_ECHO_MSG("EEPROM Verify Erase failure for page ",page); ee_Dump(page, (uint32_t *)addrflash); return false; } @@ -921,8 +913,7 @@ static void ee_Init() { // If all groups seem to be used, default to first group if (curGroup >= GroupCount) curGroup = 0; - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Current Group: ",curGroup); + DEBUG_ECHO_MSG("EEPROM Current Group: ",curGroup); DEBUG_FLUSH(); // Now, validate that all the other group pages are empty @@ -931,8 +922,7 @@ static void ee_Init() { for (int page = 0; page < PagesPerGroup; page++) { if (!ee_IsPageClean(grp * PagesPerGroup + page)) { - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Page ", page, " not clean on group ", grp); + DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on group ", grp); DEBUG_FLUSH(); ee_PageErase(grp * PagesPerGroup + page); } @@ -948,15 +938,13 @@ static void ee_Init() { } } - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Active page: ", curPage); + DEBUG_ECHO_MSG("EEPROM Active page: ", curPage); DEBUG_FLUSH(); // Make sure the pages following the first clean one are also clean for (int page = curPage + 1; page < PagesPerGroup; page++) { if (!ee_IsPageClean(curGroup * PagesPerGroup + page)) { - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("EEPROM Page ", page, " not clean on active group ", curGroup); + DEBUG_ECHO_MSG("EEPROM Page ", page, " not clean on active group ", curGroup); DEBUG_FLUSH(); ee_Dump(curGroup * PagesPerGroup + page, getFlashStorage(curGroup * PagesPerGroup + page)); ee_PageErase(curGroup * PagesPerGroup + page); diff --git a/Marlin/src/HAL/DUE/endstop_interrupts.h b/Marlin/src/HAL/DUE/endstop_interrupts.h index 999ada5127..c1bbcb121b 100644 --- a/Marlin/src/HAL/DUE/endstop_interrupts.h +++ b/Marlin/src/HAL/DUE/endstop_interrupts.h @@ -64,4 +64,16 @@ void setup_endstop_interrupts() { 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/DUE/fastio.h b/Marlin/src/HAL/DUE/fastio.h index f375cb6b29..a609210d81 100644 --- a/Marlin/src/HAL/DUE/fastio.h +++ b/Marlin/src/HAL/DUE/fastio.h @@ -33,7 +33,7 @@ * For ARDUINO_ARCH_SAM * Note the code here was specifically crafted by disassembling what GCC produces * out of it, so GCC is able to optimize it out as much as possible to the least - * amount of instructions. Be very carefull if you modify them, as "clean code" + * amount of instructions. Be very careful if you modify them, as "clean code" * leads to less efficient compiled code!! */ diff --git a/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp b/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp index d9fbabce21..800915ff69 100644 --- a/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp +++ b/Marlin/src/HAL/DUE/fastio/G2_PWM.cpp @@ -25,7 +25,7 @@ * is NOT used to directly toggle pins. The ISR writes to the pin assigned to * that interrupt. * - * All PWMs use the same repetition rate. The G2 needs about 10KHz min in order to + * All PWMs use the same repetition rate. The G2 needs about 10kHz min in order to * not have obvious ripple on the Vref signals. * * The data structures are setup to minimize the computation done by the ISR which diff --git a/Marlin/src/HAL/DUE/inc/SanityCheck.h b/Marlin/src/HAL/DUE/inc/SanityCheck.h index 87b09cf292..1f5acc360c 100644 --- a/Marlin/src/HAL/DUE/inc/SanityCheck.h +++ b/Marlin/src/HAL/DUE/inc/SanityCheck.h @@ -25,6 +25,30 @@ * Test Arduino Due specific configuration values for errors at compile-time. */ +/** + * Check for common serial pin conflicts + */ +#define CHECK_SERIAL_PIN(N) ( \ + X_STOP_PIN == N || Y_STOP_PIN == N || Z_STOP_PIN == N \ + || X_MIN_PIN == N || Y_MIN_PIN == N || Z_MIN_PIN == N \ + || X_MAX_PIN == N || Y_MAX_PIN == N || Z_MAX_PIN == N \ + || X_STEP_PIN == N || Y_STEP_PIN == N || Z_STEP_PIN == N \ + || X_DIR_PIN == N || Y_DIR_PIN == N || Z_DIR_PIN == N \ + || X_ENA_PIN == N || Y_ENA_PIN == N || Z_ENA_PIN == N \ +) +#if SERIAL_IN_USE(0) // D0-D1. No known conflicts. +#endif +#if SERIAL_IN_USE(1) && (CHECK_SERIAL_PIN(18) || CHECK_SERIAL_PIN(19)) + #error "Serial Port 1 pin D18 and/or D19 conflicts with another pin on the board." +#endif +#if SERIAL_IN_USE(2) && (CHECK_SERIAL_PIN(16) || CHECK_SERIAL_PIN(17)) + #error "Serial Port 2 pin D16 and/or D17 conflicts with another pin on the board." +#endif +#if SERIAL_IN_USE(3) && (CHECK_SERIAL_PIN(14) || CHECK_SERIAL_PIN(15)) + #error "Serial Port 3 pin D14 and/or D15 conflicts with another pin on the board." +#endif +#undef CHECK_SERIAL_PIN + /** * HARDWARE VS. SOFTWARE SPI COMPATIBILITY * @@ -59,3 +83,7 @@ #if HAS_TMC_SW_SERIAL #error "TMC220x Software Serial is not supported on the DUE platform." #endif + +#if USING_PULLDOWNS + #error "PULLDOWN pin mode is not available on DUE boards." +#endif diff --git a/Marlin/src/HAL/DUE/pinsDebug.h b/Marlin/src/HAL/DUE/pinsDebug.h index a99ca8ecce..2aafe9be0c 100644 --- a/Marlin/src/HAL/DUE/pinsDebug.h +++ b/Marlin/src/HAL/DUE/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -50,7 +53,7 @@ * The net result is that both the g_pinStatus[pin] array and the PIO_OSR register * needs to be looked at when determining if a pin is an input or an output. * - * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs. FYI - they run at 1KHz + * b) Due has only pins 6, 7, 8 & 9 enabled for PWMs. FYI - they run at 1kHz * * c) NUM_DIGITAL_PINS does not include the analog pins * @@ -64,9 +67,10 @@ #define 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 PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), 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 ? 1 : 0) +#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL)) #define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0)) #define IS_ANALOG(P) WITHIN(P, char(analogInputToDigitalPin(0)), char(analogInputToDigitalPin(NUM_ANALOG_INPUTS - 1))) #define pwm_status(pin) (((g_pinStatus[pin] & 0xF) == PIN_STATUS_PWM) && \ @@ -82,11 +86,10 @@ bool GET_PINMODE(int8_t pin) { // 1: output, 0: input || pwm_status(pin)); } - void pwm_details(int32_t pin) { if (pwm_status(pin)) { uint32_t chan = g_APinDescription[pin].ulPWMChannel; - SERIAL_ECHOPAIR("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY); + SERIAL_ECHOPGM("PWM = ", PWM_INTERFACE->PWM_CH_NUM[chan].PWM_CDTY); } } diff --git a/Marlin/src/HAL/DUE/timers.cpp b/Marlin/src/HAL/DUE/timers.cpp index 65073c510d..e5647817b6 100644 --- a/Marlin/src/HAL/DUE/timers.cpp +++ b/Marlin/src/HAL/DUE/timers.cpp @@ -42,7 +42,7 @@ // Private Variables // ------------------------ -const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = { +const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = { { TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5] { TC0, 1, TC1_IRQn, 0}, // 1 { TC0, 2, TC2_IRQn, 2}, // 2 - stepper @@ -66,9 +66,9 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = { */ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { - Tc *tc = TimerConfig[timer_num].pTimerRegs; - IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; - uint32_t channel = TimerConfig[timer_num].channel; + Tc *tc = timer_config[timer_num].pTimerRegs; + IRQn_Type irq = timer_config[timer_num].IRQ_Id; + uint32_t channel = timer_config[timer_num].channel; // Disable interrupt, just in case it was already enabled NVIC_DisableIRQ(irq); @@ -86,13 +86,20 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { pmc_set_writeprotect(false); pmc_enable_periph_clk((uint32_t)irq); - NVIC_SetPriority(irq, TimerConfig [timer_num].priority); + NVIC_SetPriority(irq, timer_config[timer_num].priority); // wave mode, reset counter on match with RC, - TC_Configure(tc, channel, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK1); + TC_Configure(tc, channel, + TC_CMR_WAVE + | TC_CMR_WAVSEL_UP_RC + | (HAL_TIMER_PRESCALER == 2 ? TC_CMR_TCCLKS_TIMER_CLOCK1 : 0) + | (HAL_TIMER_PRESCALER == 8 ? TC_CMR_TCCLKS_TIMER_CLOCK2 : 0) + | (HAL_TIMER_PRESCALER == 32 ? TC_CMR_TCCLKS_TIMER_CLOCK3 : 0) + | (HAL_TIMER_PRESCALER == 128 ? TC_CMR_TCCLKS_TIMER_CLOCK4 : 0) + ); // Set compare value - TC_SetRC(tc, channel, VARIANT_MCK / 2 / frequency); + TC_SetRC(tc, channel, VARIANT_MCK / (HAL_TIMER_PRESCALER) / frequency); // And start timer TC_Start(tc, channel); @@ -105,12 +112,12 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { } void HAL_timer_enable_interrupt(const uint8_t timer_num) { - IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; + IRQn_Type irq = timer_config[timer_num].IRQ_Id; NVIC_EnableIRQ(irq); } void HAL_timer_disable_interrupt(const uint8_t timer_num) { - IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; + IRQn_Type irq = timer_config[timer_num].IRQ_Id; NVIC_DisableIRQ(irq); // We NEED memory barriers to ensure Interrupts are actually disabled! @@ -125,7 +132,7 @@ static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) { } bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { - IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; + IRQn_Type irq = timer_config[timer_num].IRQ_Id; return NVIC_GetEnabledIRQ(irq); } diff --git a/Marlin/src/HAL/DUE/timers.h b/Marlin/src/HAL/DUE/timers.h index 0e1ea07cc2..dc35c77e63 100644 --- a/Marlin/src/HAL/DUE/timers.h +++ b/Marlin/src/HAL/DUE/timers.h @@ -35,37 +35,38 @@ typedef uint32_t hal_timer_t; #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF -#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals +#define HAL_TIMER_PRESCALER 2 +#define HAL_TIMER_RATE ((F_CPU) / (HAL_TIMER_PRESCALER)) // frequency of timers peripherals -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 2 // Timer Index for Stepper +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 2 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 4 // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 4 // Timer Index for Temperature #endif -#ifndef TONE_TIMER_NUM - #define TONE_TIMER_NUM 6 // index of timer to use for beeper tones +#ifndef MF_TIMER_TONE + #define MF_TIMER_TONE 6 // index of timer to use for beeper tones #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 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 // frequency of pulse timer -#define PULSE_TIMER_PRESCALE STEPPER_TIMER_PRESCALE -#define PULSE_TIMER_TICKS_PER_US STEPPER_TIMER_TICKS_PER_US +#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 -#define ENABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_enable_interrupt(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) #ifndef HAL_STEP_TIMER_ISR #define HAL_STEP_TIMER_ISR() void TC2_Handler() @@ -92,7 +93,7 @@ typedef struct { // Public Variables // ------------------------ -extern const tTimerConfig TimerConfig[]; +extern const tTimerConfig timer_config[]; // ------------------------ // Public functions @@ -101,17 +102,17 @@ extern const tTimerConfig TimerConfig[]; 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) { - const tTimerConfig * const pConfig = &TimerConfig[timer_num]; + const tTimerConfig * const pConfig = &timer_config[timer_num]; pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC = compare; } FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { - const tTimerConfig * const pConfig = &TimerConfig[timer_num]; + const tTimerConfig * const pConfig = &timer_config[timer_num]; return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_RC; } FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { - const tTimerConfig * const pConfig = &TimerConfig[timer_num]; + const tTimerConfig * const pConfig = &timer_config[timer_num]; return pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_CV; } @@ -120,9 +121,9 @@ 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) { - const tTimerConfig * const pConfig = &TimerConfig[timer_num]; + const tTimerConfig * const pConfig = &timer_config[timer_num]; // Reading the status register clears the interrupt flag pConfig->pTimerRegs->TC_CHANNEL[pConfig->channel].TC_SR; } -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/DUE/upload_extra_script.py b/Marlin/src/HAL/DUE/upload_extra_script.py index d52a0a3642..ca12b3b54f 100644 --- a/Marlin/src/HAL/DUE/upload_extra_script.py +++ b/Marlin/src/HAL/DUE/upload_extra_script.py @@ -4,15 +4,16 @@ # Windows: bossac.exe # Other: leave unchanged # +import pioutil +if pioutil.is_pio_build(): + import platform + current_OS = platform.system() -import platform -current_OS = platform.system() + if current_OS == 'Windows': -if current_OS == 'Windows': + Import("env") - Import("env") - - # Use bossac.exe on Windows - env.Replace( - UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE" - ) + # Use bossac.exe on Windows + env.Replace( + UPLOADCMD="bossac --info --unlock --write --verify --reset --erase -U false --boot $SOURCE" + ) diff --git a/Marlin/src/HAL/DUE/usb/arduino_due_x.h b/Marlin/src/HAL/DUE/usb/arduino_due_x.h index d3b333fb34..e7b6f3dcb3 100644 --- a/Marlin/src/HAL/DUE/usb/arduino_due_x.h +++ b/Marlin/src/HAL/DUE/usb/arduino_due_x.h @@ -71,7 +71,7 @@ /* ------------------------------------------------------------------------ */ /** - * \page arduino_due_x_board_info "Arduino Due/X - Board informations" + * \page arduino_due_x_board_info "Arduino Due/X - Board information" * This page lists several definition related to the board description. * */ diff --git a/Marlin/src/HAL/DUE/usb/compiler.h b/Marlin/src/HAL/DUE/usb/compiler.h index f89e554c45..633197914e 100644 --- a/Marlin/src/HAL/DUE/usb/compiler.h +++ b/Marlin/src/HAL/DUE/usb/compiler.h @@ -1059,7 +1059,7 @@ static inline void convert_64_bit_to_byte_array(uint64_t value, uint8_t *data) while (val_index < 8) { data[val_index++] = value & 0xFF; - value = value >> 8; + value >>= 8; } } diff --git a/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp b/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp index 3dcbbaecd2..34cc256b30 100644 --- a/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp +++ b/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.cpp @@ -10,7 +10,7 @@ #include "../../../sd/cardreader.h" extern "C" { -#include "sd_mmc_spi_mem.h" + #include "sd_mmc_spi_mem.h" } #define SD_MMC_BLOCK_SIZE 512 diff --git a/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.h b/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.h index d77e4f9523..553fd3c29a 100644 --- a/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.h +++ b/Marlin/src/HAL/DUE/usb/sd_mmc_spi_mem.h @@ -74,7 +74,7 @@ #define SD_MMC_REMOVING 2 -//---- CONTROL FONCTIONS ---- +//---- CONTROL FUNCTIONS ---- //! //! @brief This function initializes the hw/sw resources required to drive the SD_MMC_SPI. //!/ @@ -134,7 +134,7 @@ extern bool sd_mmc_spi_wr_protect(void); extern bool sd_mmc_spi_removal(void); -//---- ACCESS DATA FONCTIONS ---- +//---- ACCESS DATA FUNCTIONS ---- #if ACCESS_USB == true // Standard functions for open in read/write mode the device diff --git a/Marlin/src/HAL/DUE/usb/udd.h b/Marlin/src/HAL/DUE/usb/udd.h index 7ec8c03dee..319d8842f7 100644 --- a/Marlin/src/HAL/DUE/usb/udd.h +++ b/Marlin/src/HAL/DUE/usb/udd.h @@ -90,7 +90,7 @@ typedef struct { //! This buffer must be word align for DATA IN phase (use prefix COMPILER_WORD_ALIGNED for buffer) uint8_t *payload; - //! Size of buffer to send or fill, and content the number of byte transfered + //! Size of buffer to send or fill, and content the number of byte transferred uint16_t payload_size; //! Callback called after reception of ZLP from setup request @@ -132,10 +132,10 @@ typedef void (*udd_callback_halt_cleared_t)(void); * * \param status UDD_EP_TRANSFER_OK, if transfer is complete * \param status UDD_EP_TRANSFER_ABORT, if transfer is aborted - * \param n number of data transfered + * \param n number of data transferred */ typedef void (*udd_callback_trans_t) (udd_ep_status_t status, - iram_size_t nb_transfered, udd_ep_id_t ep); + iram_size_t nb_transferred, udd_ep_id_t ep); /** * \brief Authorizes the VBUS event @@ -303,7 +303,7 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep, * The driver uses a specific DMA USB to transfer data * from internal RAM to endpoint, if this one is available. * When the transfer is finished or aborted (stall, reset, ...), the \a callback is called. - * The \a callback returns the transfer status and eventually the number of byte transfered. + * The \a callback returns the transfer status and eventually the number of byte transferred. * Note: The control endpoint is not authorized. * * \param ep The ID of the endpoint to use diff --git a/Marlin/src/HAL/DUE/usb/udi_cdc.c b/Marlin/src/HAL/DUE/usb/udi_cdc.c index cbe23dbb68..89debe57f1 100644 --- a/Marlin/src/HAL/DUE/usb/udi_cdc.c +++ b/Marlin/src/HAL/DUE/usb/udi_cdc.c @@ -162,7 +162,7 @@ static void udi_cdc_ctrl_state_notify(uint8_t port, udd_ep_id_t ep); * * \param status UDD_EP_TRANSFER_OK, if transfer finished * \param status UDD_EP_TRANSFER_ABORT, if transfer aborted - * \param n number of data transfered + * \param n number of data transferred */ static void udi_cdc_serial_state_msg_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep); @@ -200,7 +200,7 @@ static void udi_cdc_data_received(udd_ep_status_t status, iram_size_t n, udd_ep_ * * \param status UDD_EP_TRANSFER_OK, if transfer finished * \param status UDD_EP_TRANSFER_ABORT, if transfer aborted - * \param n number of data transfered + * \param n number of data transferred */ static void udi_cdc_data_sent(udd_ep_status_t status, iram_size_t n, udd_ep_id_t ep); diff --git a/Marlin/src/HAL/DUE/usb/udi_cdc_conf.h b/Marlin/src/HAL/DUE/usb/udi_cdc_conf.h index d406a87743..e61b8cbaad 100644 --- a/Marlin/src/HAL/DUE/usb/udi_cdc_conf.h +++ b/Marlin/src/HAL/DUE/usb/udi_cdc_conf.h @@ -106,7 +106,7 @@ extern "C" { */ //@{ # if UDI_CDC_PORT_NB > 2 -# error USBB, UDP, UDPHS and UOTGHS interfaces have not enought endpoints. +# error USBB, UDP, UDPHS and UOTGHS interfaces have not enough endpoints. # endif #define UDI_CDC_DATA_EP_IN_0 (1 | USB_EP_DIR_IN) // TX #define UDI_CDC_DATA_EP_OUT_0 (2 | USB_EP_DIR_OUT) // RX diff --git a/Marlin/src/HAL/DUE/usb/udi_msc.c b/Marlin/src/HAL/DUE/usb/udi_msc.c index b7c3bb5ea0..dd34048772 100644 --- a/Marlin/src/HAL/DUE/usb/udi_msc.c +++ b/Marlin/src/HAL/DUE/usb/udi_msc.c @@ -173,7 +173,7 @@ static void udi_msc_cbw_wait(void); * * \param status UDD_EP_TRANSFER_OK, if transfer is finished * \param status UDD_EP_TRANSFER_ABORT, if transfer is aborted - * \param nb_received number of data transfered + * \param nb_received number of data transferred */ static void udi_msc_cbw_received(udd_ep_status_t status, iram_size_t nb_received, udd_ep_id_t ep); @@ -211,7 +211,7 @@ static void udi_msc_data_send(uint8_t * buffer, uint8_t buf_size); * * \param status UDD_EP_TRANSFER_OK, if transfer finish * \param status UDD_EP_TRANSFER_ABORT, if transfer aborted - * \param nb_sent number of data transfered + * \param nb_sent number of data transferred */ static void udi_msc_data_sent(udd_ep_status_t status, iram_size_t nb_sent, udd_ep_id_t ep); @@ -244,7 +244,7 @@ void udi_msc_csw_send(void); * * \param status UDD_EP_TRANSFER_OK, if transfer is finished * \param status UDD_EP_TRANSFER_ABORT, if transfer is aborted - * \param nb_sent number of data transfered + * \param nb_sent number of data transferred */ static void udi_msc_csw_sent(udd_ep_status_t status, iram_size_t nb_sent, udd_ep_id_t ep); @@ -463,7 +463,7 @@ uint8_t udi_msc_getsetting(void) static void udi_msc_cbw_invalid(void) { if (!udi_msc_b_cbw_invalid) - return; // Don't re-stall endpoint if error reseted by setup + return; // Don't re-stall endpoint if error reset by setup udd_ep_set_halt(UDI_MSC_EP_OUT); // If stall cleared then re-stall it. Only Setup MSC Reset can clear it udd_ep_wait_stall_clear(UDI_MSC_EP_OUT, udi_msc_cbw_invalid); @@ -472,7 +472,7 @@ static void udi_msc_cbw_invalid(void) static void udi_msc_csw_invalid(void) { if (!udi_msc_b_cbw_invalid) - return; // Don't re-stall endpoint if error reseted by setup + return; // Don't re-stall endpoint if error reset by setup udd_ep_set_halt(UDI_MSC_EP_IN); // If stall cleared then re-stall it. Only Setup MSC Reset can clear it udd_ep_wait_stall_clear(UDI_MSC_EP_IN, udi_msc_csw_invalid); diff --git a/Marlin/src/HAL/DUE/usb/uotghs_device_due.c b/Marlin/src/HAL/DUE/usb/uotghs_device_due.c index e13232a39c..c7e8f8d991 100644 --- a/Marlin/src/HAL/DUE/usb/uotghs_device_due.c +++ b/Marlin/src/HAL/DUE/usb/uotghs_device_due.c @@ -325,7 +325,7 @@ static void udd_sleep_mode(bool b_idle) /** * \name Control endpoint low level management routine. * - * This function performs control endpoint mangement. + * This function performs control endpoint management. * It handle the SETUP/DATA/HANDSHAKE phases of a control transaction. */ //@{ @@ -397,9 +397,9 @@ static void udd_ctrl_endofrequest(void); /** * \brief Main interrupt routine for control endpoint * - * This switchs control endpoint events to correct sub function. + * This switches control endpoint events to correct sub function. * - * \return \c 1 if an event about control endpoint is occured, otherwise \c 0. + * \return \c 1 if an event about control endpoint is occurred, otherwise \c 0. */ static bool udd_ctrl_interrupt(void); @@ -410,7 +410,7 @@ static bool udd_ctrl_interrupt(void); * \name Management of bulk/interrupt/isochronous endpoints * * The UDD manages the data transfer on endpoints: - * - Start data tranfer on endpoint with USB Device DMA + * - Start data transfer on endpoint with USB Device DMA * - Send a ZLP packet if requested * - Call callback registered to signal end of transfer * The transfer abort and stall feature are supported. @@ -431,7 +431,7 @@ typedef struct { uint8_t *buf; //! Size of buffer to send or fill iram_size_t buf_size; - //!< Size of data transfered + //!< Size of data transferred iram_size_t buf_cnt; //!< Size of data loaded (or prepared for DMA) last time iram_size_t buf_load; @@ -486,7 +486,7 @@ static void udd_ep_finish_job(udd_ep_job_t * ptr_job, bool b_abort, uint8_t ep_n #ifdef UDD_EP_DMA_SUPPORTED /** - * \brief Start the next transfer if necessary or complet the job associated. + * \brief Start the next transfer if necessary or complete the job associated. * * \param ep endpoint number without direction flag */ @@ -496,9 +496,9 @@ static void udd_ep_finish_job(udd_ep_job_t * ptr_job, bool b_abort, uint8_t ep_n /** * \brief Main interrupt routine for bulk/interrupt/isochronous endpoints * - * This switchs endpoint events to correct sub function. + * This switches endpoint events to correct sub function. * - * \return \c 1 if an event about bulk/interrupt/isochronous endpoints has occured, otherwise \c 0. + * \return \c 1 if an event about bulk/interrupt/isochronous endpoints has occurred, otherwise \c 0. */ static bool udd_ep_interrupt(void); @@ -520,7 +520,7 @@ static bool udd_ep_interrupt(void); * * Note: * Here, the global interrupt mask is not clear when an USB interrupt is enabled - * because this one can not be occured during the USB ISR (=during INTX is masked). + * because this one can not be occurred during the USB ISR (=during INTX is masked). * See Technical reference $3.8.3 Masking interrupt requests in peripheral modules. */ #ifdef UHD_ENABLE @@ -787,7 +787,7 @@ void udd_attach(void) udd_sleep_mode(true); otg_unfreeze_clock(); - // This section of clock check can be improved with a chek of + // This section of clock check can be improved with a check of // USB clock source via sysclk() // Check USB clock because the source can be a PLL while (!Is_otg_clock_usable()); @@ -803,7 +803,7 @@ void udd_attach(void) #ifdef USB_DEVICE_HS_SUPPORT udd_enable_msof_interrupt(); #endif - // Reset following interupts flag + // Reset following interrupts flag udd_ack_reset(); udd_ack_sof(); udd_ack_msof(); @@ -902,7 +902,7 @@ bool udd_ep_alloc(udd_ep_id_t ep, uint8_t bmAttributes, } dbg_print("alloc(%x, %d) ", ep, MaxEndpointSize); - // Bank choise + // Bank choice switch (bmAttributes & USB_EP_TYPE_MASK) { case USB_EP_TYPE_ISOCHRONOUS: nb_bank = UDD_ISOCHRONOUS_NB_BANK(ep); @@ -1228,7 +1228,7 @@ bool udd_ep_wait_stall_clear(udd_ep_id_t ep, if (Is_udd_endpoint_stall_requested(ep) || ptr_job->stall_requested) { - // Endpoint halted then registes the callback + // Endpoint halted then registers the callback ptr_job->busy = true; ptr_job->call_nohalt = callback; } else { @@ -1386,7 +1386,7 @@ static void udd_ctrl_setup_received(void) // Decode setup request if (udc_process_setup() == false) { - // Setup request unknow then stall it + // Setup request unknown then stall it udd_ctrl_stall_data(); udd_ack_setup_received(0); return; @@ -1447,7 +1447,7 @@ static void udd_ctrl_in_sent(void) udd_ctrl_prev_payload_buf_cnt += udd_ctrl_payload_buf_cnt; if ((udd_g_ctrlreq.req.wLength == udd_ctrl_prev_payload_buf_cnt) || b_shortpacket) { - // All data requested are transfered or a short packet has been sent + // All data requested are transferred or a short packet has been sent // then it is the end of data phase. // Generate an OUT ZLP for handshake phase. udd_ctrl_send_zlp_out(); @@ -1516,7 +1516,7 @@ static void udd_ctrl_out_received(void) // End of SETUP request: // - Data IN Phase aborted, // - or last Data IN Phase hidden by ZLP OUT sending quiclky, - // - or ZLP OUT received normaly. + // - or ZLP OUT received normally. udd_ctrl_endofrequest(); } else { // Protocol error during SETUP request @@ -1544,7 +1544,7 @@ static void udd_ctrl_out_received(void) (udd_ctrl_prev_payload_buf_cnt + udd_ctrl_payload_buf_cnt))) { // End of reception because it is a short packet - // Before send ZLP, call intermediat calback + // Before send ZLP, call intermediate callback // in case of data receiv generate a stall udd_g_ctrlreq.payload_size = udd_ctrl_payload_buf_cnt; if (NULL != udd_g_ctrlreq.over_under_run) { @@ -1565,7 +1565,7 @@ static void udd_ctrl_out_received(void) if (udd_g_ctrlreq.payload_size == udd_ctrl_payload_buf_cnt) { // Overrun then request a new payload buffer if (!udd_g_ctrlreq.over_under_run) { - // No callback availabled to request a new payload buffer + // No callback available to request a new payload buffer udd_ctrl_stall_data(); // Ack reception of OUT to replace NAK by a STALL udd_ack_out_received(0); @@ -1805,7 +1805,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep) // transfer size of UDD_ENDPOINT_MAX_TRANS Bytes next_trans = UDD_ENDPOINT_MAX_TRANS; - // Set 0 to tranfer the maximum + // Set 0 to transfer the maximum udd_dma_ctrl = UOTGHS_DEVDMACONTROL_BUFF_LENGTH(0); } else { udd_dma_ctrl = UOTGHS_DEVDMACONTROL_BUFF_LENGTH(next_trans); @@ -1850,7 +1850,7 @@ static void udd_ep_trans_done(udd_ep_id_t ep) } cpu_irq_restore(flags); - // Here a ZLP has been recieved + // Here a ZLP has been received // and the DMA transfer must be not started. // It is the end of transfer ptr_job->buf_size = ptr_job->buf_cnt; @@ -1991,13 +1991,13 @@ static bool udd_ep_interrupt(void) } dbg_print("dma%x: ", ep); udd_disable_endpoint_dma_interrupt(ep); - // Save number of data no transfered + // Save number of data no transferred nb_remaining = (udd_endpoint_dma_get_status(ep) & UOTGHS_DEVDMASTATUS_BUFF_COUNT_Msk) >> UOTGHS_DEVDMASTATUS_BUFF_COUNT_Pos; if (nb_remaining) { // Transfer no complete (short packet or ZLP) then: - // Update number of data transfered + // Update number of data transferred ptr_job->buf_cnt -= nb_remaining; // Set transfer complete to stop the transfer ptr_job->buf_size = ptr_job->buf_cnt; @@ -2056,7 +2056,7 @@ static bool udd_ep_interrupt(void) udd_disable_endpoint_interrupt(ep); Assert(ptr_job->stall_requested); - // A stall has been requested during backgound transfer + // A stall has been requested during background transfer ptr_job->stall_requested = false; udd_disable_endpoint_bank_autoswitch(ep); udd_enable_stall_handshake(ep); diff --git a/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h b/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h index 0fef308046..e1e59237d8 100644 --- a/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h +++ b/Marlin/src/HAL/DUE/usb/usb_protocol_msc.h @@ -130,7 +130,7 @@ struct usb_msc_cbw { struct usb_msc_csw { le32_t dCSWSignature; //!< Must contain 'USBS' le32_t dCSWTag; //!< Same as dCBWTag - le32_t dCSWDataResidue; //!< Number of bytes not transfered + le32_t dCSWDataResidue; //!< Number of bytes not transferred uint8_t bCSWStatus; //!< Status code }; diff --git a/Marlin/src/HAL/DUE/usb/usb_task.c b/Marlin/src/HAL/DUE/usb/usb_task.c index 54a808d7f4..86ab27217a 100644 --- a/Marlin/src/HAL/DUE/usb/usb_task.c +++ b/Marlin/src/HAL/DUE/usb/usb_task.c @@ -62,7 +62,7 @@ void usb_task_idle(void) { // Attend SD card access from the USB MSD -- Prioritize access to improve speed int delay = 2; while (main_b_msc_enable && --delay > 0) { - if (udi_msc_process_trans()) delay = 10000; + if (udi_msc_process_trans()) delay = 20; // Reset the watchdog, just to be sure REG_WDT_CR = WDT_CR_WDRSTT | WDT_CR_KEY(0xA5); diff --git a/Marlin/src/HAL/DUE/watchdog.cpp b/Marlin/src/HAL/DUE/watchdog.cpp deleted file mode 100644 index e144db8291..0000000000 --- a/Marlin/src/HAL/DUE/watchdog.cpp +++ /dev/null @@ -1,114 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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_SAM - -#include "../../inc/MarlinConfig.h" -#include "../../MarlinCore.h" -#include "watchdog.h" - -// Override Arduino runtime to either config or disable the watchdog -// -// We need to configure the watchdog as soon as possible in the boot -// process, because watchdog initialization at hardware reset on SAM3X8E -// is unreliable, and there is risk of unintended resets if we delay -// that initialization to a later time. -void watchdogSetup() { - - #if ENABLED(USE_WATCHDOG) - - // 4 seconds timeout - uint32_t timeout = TERN(WATCHDOG_DURATION_8S, 8000, 4000); - - // Calculate timeout value in WDT counter ticks: This assumes - // the slow clock is running at 32.768 kHz watchdog - // frequency is therefore 32768 / 128 = 256 Hz - timeout = (timeout << 8) / 1000; - if (timeout == 0) - timeout = 1; - else if (timeout > 0xFFF) - timeout = 0xFFF; - - // We want to enable the watchdog with the specified timeout - uint32_t value = - WDT_MR_WDV(timeout) | // With the specified timeout - WDT_MR_WDD(timeout) | // and no invalid write window - #if !(SAMV70 || SAMV71 || SAME70 || SAMS70) - WDT_MR_WDRPROC | // WDT fault resets processor only - We want - // to keep PIO controller state - #endif - WDT_MR_WDDBGHLT | // WDT stops in debug state. - WDT_MR_WDIDLEHLT; // WDT stops in idle state. - - #if ENABLED(WATCHDOG_RESET_MANUAL) - // We enable the watchdog timer, but only for the interrupt. - - // Configure WDT to only trigger an interrupt - value |= WDT_MR_WDFIEN; // Enable WDT fault interrupt. - - // Disable WDT interrupt (just in case, to avoid triggering it!) - NVIC_DisableIRQ(WDT_IRQn); - - // 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(); - - // Initialize WDT with the given parameters - WDT_Enable(WDT, value); - - // Configure and enable WDT interrupt. - NVIC_ClearPendingIRQ(WDT_IRQn); - NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups - NVIC_EnableIRQ(WDT_IRQn); - - #else - - // a WDT fault triggers a reset - value |= WDT_MR_WDRSTEN; - - // Initialize WDT with the given parameters - WDT_Enable(WDT, value); - - #endif - - // Reset the watchdog - WDT_Restart(WDT); - - #else - - // Make sure to completely disable the Watchdog - WDT_Disable(WDT); - - #endif -} - -#if ENABLED(USE_WATCHDOG) - // Initialize watchdog - On SAM3X, Watchdog was already configured - // and enabled or disabled at startup, so no need to reconfigure it - // here. - void watchdog_init() { - // Reset watchdog to start clean - WDT_Restart(WDT); - } -#endif // USE_WATCHDOG - -#endif diff --git a/Marlin/src/HAL/ESP32/HAL.cpp b/Marlin/src/HAL/ESP32/HAL.cpp index 7818dbdd87..29f3be3c02 100644 --- a/Marlin/src/HAL/ESP32/HAL.cpp +++ b/Marlin/src/HAL/ESP32/HAL.cpp @@ -28,6 +28,10 @@ #include #include +#if ENABLED(USE_ESP32_TASK_WDT) + #include +#endif + #if ENABLED(WIFISUPPORT) #include #include "wifi.h" @@ -48,7 +52,7 @@ // Externs // ------------------------ -portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED; +portMUX_TYPE MarlinHAL::spinlock = portMUX_INITIALIZER_UNLOCKED; // ------------------------ // Local defines @@ -60,7 +64,8 @@ portMUX_TYPE spinlock = portMUX_INITIALIZER_UNLOCKED; // Public Variables // ------------------------ -uint16_t HAL_adc_result; +uint16_t MarlinHAL::adc_result; +pwm_pin_t MarlinHAL::pwm_pin_data[MAX_EXPANDER_BITS]; // ------------------------ // Private Variables @@ -69,9 +74,16 @@ uint16_t HAL_adc_result; esp_adc_cal_characteristics_t characteristics[ADC_ATTEN_MAX]; adc_atten_t attenuations[ADC1_CHANNEL_MAX] = {}; uint32_t thresholds[ADC_ATTEN_MAX]; -volatile int numPWMUsed = 0, - pwmPins[MAX_PWM_PINS], - pwmValues[MAX_PWM_PINS]; + +volatile int numPWMUsed = 0; +volatile struct { pin_t pin; int value; } pwmState[MAX_PWM_PINS]; + +pin_t chan_pin[CHANNEL_MAX_NUM + 1] = { 0 }; // PWM capable IOpins - not 0 or >33 on ESP32 + +struct { + uint32_t freq; // ledcReadFreq doesn't work if a duty hasn't been set yet! + uint16_t res; +} pwmInfo[(CHANNEL_MAX_NUM + 1) / 2]; // ------------------------ // Public functions @@ -90,8 +102,26 @@ volatile int numPWMUsed = 0, #endif -void HAL_init_board() { +#if ENABLED(USE_ESP32_EXIO) + HardwareSerial YSerial2(2); + + void Write_EXIO(uint8_t IO, uint8_t v) { + if (hal.isr_state()) { + hal.isr_off(); + YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100)); + hal.isr_on(); + } + else + YSerial2.write(0x80 | (((char)v) << 5) | (IO - 100)); + } + +#endif + +void MarlinHAL::init_board() { + #if ENABLED(USE_ESP32_TASK_WDT) + esp_task_wdt_init(10, true); + #endif #if ENABLED(ESP3D_WIFISUPPORT) esp3dlib.init(); #elif ENABLED(WIFISUPPORT) @@ -127,30 +157,58 @@ void HAL_init_board() { // Initialize the i2s peripheral only if the I2S stepper stream is enabled. // The following initialization is performed after Serial1 and Serial2 are defined as // their native pins might conflict with the i2s stream even when they are remapped. - TERN_(I2S_STEPPER_STREAM, i2s_init()); + #if ENABLED(USE_ESP32_EXIO) + YSerial2.begin(460800 * 3, SERIAL_8N1, 16, 17); + #elif ENABLED(I2S_STEPPER_STREAM) + i2s_init(); + #endif } -void HAL_idletask() { +void MarlinHAL::idletask() { #if BOTH(WIFISUPPORT, OTASUPPORT) OTA_handle(); #endif TERN_(ESP3D_WIFISUPPORT, esp3dlib.idletask()); } -void HAL_clear_reset_source() { } +uint8_t MarlinHAL::get_reset_source() { return rtc_get_reset_reason(1); } -uint8_t HAL_get_reset_source() { return rtc_get_reset_reason(1); } - -void HAL_reboot() { ESP.restart(); } +void MarlinHAL::reboot() { ESP.restart(); } void _delay_ms(int delay_ms) { delay(delay_ms); } // return free memory between end of heap (or end bss) and whatever is current -int freeMemory() { return ESP.getFreeHeap(); } +int MarlinHAL::freeMemory() { return ESP.getFreeHeap(); } + +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout + + extern "C" { + esp_err_t esp_task_wdt_reset(); + } + + void watchdogSetup() { + // do whatever. don't remove this function. + } + + void MarlinHAL::watchdog_init() { + // TODO + } + + // Reset watchdog. + void MarlinHAL::watchdog_refresh() { esp_task_wdt_reset(); } + +#endif // ------------------------ // ADC // ------------------------ + #define ADC1_CHANNEL(pin) ADC1_GPIO ## pin ## _CHANNEL adc1_channel_t get_channel(int pin) { @@ -172,22 +230,24 @@ void adc1_set_attenuation(adc1_channel_t chan, adc_atten_t atten) { } } -void HAL_adc_init() { +void MarlinHAL::adc_init() { // Configure ADC adc1_config_width(ADC_WIDTH_12Bit); // Configure channels only if used as (re-)configuring a pin for ADC that is used elsewhere might have adverse effects - TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db)); - TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db)); - TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_0, adc1_set_attenuation(get_channel(TEMP_0_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_1, adc1_set_attenuation(get_channel(TEMP_1_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_2, adc1_set_attenuation(get_channel(TEMP_2_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_3, adc1_set_attenuation(get_channel(TEMP_3_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_4, adc1_set_attenuation(get_channel(TEMP_4_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_5, adc1_set_attenuation(get_channel(TEMP_5_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_6, adc2_set_attenuation(get_channel(TEMP_6_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_ADC_7, adc3_set_attenuation(get_channel(TEMP_7_PIN), ADC_ATTEN_11db)); + TERN_(HAS_HEATED_BED, adc1_set_attenuation(get_channel(TEMP_BED_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_CHAMBER, adc1_set_attenuation(get_channel(TEMP_CHAMBER_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_PROBE, adc1_set_attenuation(get_channel(TEMP_PROBE_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_COOLER, adc1_set_attenuation(get_channel(TEMP_COOLER_PIN), ADC_ATTEN_11db)); + TERN_(HAS_TEMP_BOARD, adc1_set_attenuation(get_channel(TEMP_BOARD_PIN), ADC_ATTEN_11db)); TERN_(FILAMENT_WIDTH_SENSOR, adc1_set_attenuation(get_channel(FILWIDTH_PIN), ADC_ATTEN_11db)); // Note that adc2 is shared with the WiFi module, which has higher priority, so the conversion may fail. @@ -202,11 +262,16 @@ void HAL_adc_init() { } } -void HAL_adc_start_conversion(const uint8_t adc_pin) { - const adc1_channel_t chan = get_channel(adc_pin); +#ifndef ADC_REFERENCE_VOLTAGE + #define ADC_REFERENCE_VOLTAGE 3.3 +#endif + +void MarlinHAL::adc_start(const pin_t pin) { + const adc1_channel_t chan = get_channel(pin); uint32_t mv; esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv); - HAL_adc_result = mv * 1023.0 / 3300.0; + + adc_result = mv * isr_float_t(1023) / isr_float_t(ADC_REFERENCE_VOLTAGE) / isr_float_t(1000); // Change the attenuation level based on the new reading adc_atten_t atten; @@ -223,25 +288,106 @@ void HAL_adc_start_conversion(const uint8_t adc_pin) { adc1_set_attenuation(chan, atten); } -void analogWrite(pin_t pin, int value) { - // Use ledc hardware for internal pins - if (pin < 34) { - static int cnt_channel = 1, pin_to_channel[40] = { 0 }; - if (pin_to_channel[pin] == 0) { - ledcAttachPin(pin, cnt_channel); - ledcSetup(cnt_channel, 490, 8); - ledcWrite(cnt_channel, value); - pin_to_channel[pin] = cnt_channel++; +// ------------------------ +// PWM +// ------------------------ + +int8_t channel_for_pin(const uint8_t pin) { + for (int i = 0; i <= CHANNEL_MAX_NUM; i++) + if (chan_pin[i] == pin) return i; + return -1; +} + +// get PWM channel for pin - if none then attach a new one +// return -1 if fail or invalid pin#, channel # (0-15) if success +int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res) { + if (!WITHIN(pin, 1, MAX_PWM_IOPIN)) return -1; // Not a hardware PWM pin! + int8_t cid = channel_for_pin(pin); + if (cid >= 0) return cid; + + // Find an empty adjacent channel (same timer & freq/res) + for (int i = 0; i <= CHANNEL_MAX_NUM; i++) { + if (chan_pin[i] == 0) { + if (chan_pin[i ^ 0x1] != 0) { + if (pwmInfo[i / 2].freq == freq && pwmInfo[i / 2].res == res) { + chan_pin[i] = pin; // Allocate PWM to this channel + ledcAttachPin(pin, i); + return i; + } + } + else if (cid == -1) // Pair of empty channels? + cid = i & 0xFE; // Save lower channel number } - ledcWrite(pin_to_channel[pin], value); + } + // not attached, is an empty timer slot avail? + if (cid >= 0) { + chan_pin[cid] = pin; + pwmInfo[cid / 2].freq = freq; + pwmInfo[cid / 2].res = res; + ledcSetup(cid, freq, res); + ledcAttachPin(pin, cid); + } + return cid; // -1 if no channel avail +} + +void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=_BV(PWM_RESOLUTION)-1*/, const bool invert/*=false*/) { + #if ENABLED(I2S_STEPPER_STREAM) + if (pin > 127) { + const uint8_t pinlo = pin & 0x7F; + pwm_pin_t &pindata = pwm_pin_data[pinlo]; + const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, pindata.pwm_cycle_ticks); + if (duty == 0 || duty == pindata.pwm_cycle_ticks) { // max or min (i.e., on/off) + pindata.pwm_duty_ticks = 0; // turn off PWM for this pin + duty ? SBI32(i2s_port_data, pinlo) : CBI32(i2s_port_data, pinlo); // set pin level + } + else + pindata.pwm_duty_ticks = duty; // PWM duty count = # of 4µs ticks per full PWM cycle + } + else + #endif + { + const int8_t cid = get_pwm_channel(pin, PWM_FREQUENCY, PWM_RESOLUTION); + if (cid >= 0) { + const uint32_t duty = map(invert ? v_size - v : v, 0, v_size, 0, _BV(PWM_RESOLUTION)-1); + ledcWrite(cid, duty); + } + } +} + +int8_t MarlinHAL::set_pwm_frequency(const pin_t pin, const uint32_t f_desired) { + #if ENABLED(I2S_STEPPER_STREAM) + if (pin > 127) { + pwm_pin_data[pin & 0x7F].pwm_cycle_ticks = 1000000UL / f_desired / 4; // # of 4µs ticks per full PWM cycle + return 0; + } + else + #endif + { + const int8_t cid = channel_for_pin(pin); + if (cid >= 0) { + if (f_desired == ledcReadFreq(cid)) return cid; // no freq change + ledcDetachPin(chan_pin[cid]); + chan_pin[cid] = 0; // remove old freq channel + } + return get_pwm_channel(pin, f_desired, PWM_RESOLUTION); // try for new one + } +} + +// use hardware PWM if avail, if not then ISR +void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq/*=PWM_FREQUENCY*/, const uint16_t res/*=8*/) { // always 8 bit resolution! + // Use ledc hardware for internal pins + const int8_t cid = get_pwm_channel(pin, freq, res); + if (cid >= 0) { + ledcWrite(cid, value); // set duty value return; } + // not a hardware PWM pin OR no PWM channels available int idx = -1; // Search Pin for (int i = 0; i < numPWMUsed; ++i) - if (pwmPins[i] == pin) { idx = i; break; } + if (pwmState[i].pin == pin) { idx = i; break; } // not found ? if (idx < 0) { @@ -250,34 +396,34 @@ void analogWrite(pin_t pin, int value) { // Take new slot for pin idx = numPWMUsed; - pwmPins[idx] = pin; + pwmState[idx].pin = pin; // Start timer on first use - if (idx == 0) HAL_timer_start(PWM_TIMER_NUM, PWM_TIMER_FREQUENCY); + if (idx == 0) HAL_timer_start(MF_TIMER_PWM, PWM_TIMER_FREQUENCY); ++numPWMUsed; } // Use 7bit internal value - add 1 to have 100% high at 255 - pwmValues[idx] = (value + 1) / 2; + pwmState[idx].value = (value + 1) / 2; } // Handle PWM timer interrupt HAL_PWM_TIMER_ISR() { - HAL_timer_isr_prologue(PWM_TIMER_NUM); + HAL_timer_isr_prologue(MF_TIMER_PWM); static uint8_t count = 0; for (int i = 0; i < numPWMUsed; ++i) { if (count == 0) // Start of interval - WRITE(pwmPins[i], pwmValues[i] ? HIGH : LOW); - else if (pwmValues[i] == count) // End of duration - WRITE(pwmPins[i], LOW); + digitalWrite(pwmState[i].pin, pwmState[i].value ? HIGH : LOW); + else if (pwmState[i].value == count) // End of duration + digitalWrite(pwmState[i].pin, LOW); } // 128 for 7 Bit resolution count = (count + 1) & 0x7F; - HAL_timer_isr_epilogue(PWM_TIMER_NUM); + HAL_timer_isr_epilogue(MF_TIMER_PWM); } #endif // ARDUINO_ARCH_ESP32 diff --git a/Marlin/src/HAL/ESP32/HAL.h b/Marlin/src/HAL/ESP32/HAL.h index 0f92052030..ddfedf92ee 100644 --- a/Marlin/src/HAL/ESP32/HAL.h +++ b/Marlin/src/HAL/ESP32/HAL.h @@ -32,7 +32,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "i2s.h" #if ENABLED(WIFISUPPORT) @@ -49,8 +48,6 @@ // Defines // ------------------------ -extern portMUX_TYPE spinlock; - #define MYSERIAL1 flushableSerial #if EITHER(WIFISUPPORT, ESP3D_WIFISUPPORT) @@ -63,26 +60,33 @@ extern portMUX_TYPE spinlock; #endif #endif -#define CRITICAL_SECTION_START() portENTER_CRITICAL(&spinlock) -#define CRITICAL_SECTION_END() portEXIT_CRITICAL(&spinlock) -#define ISRS_ENABLED() (spinlock.owner == portMUX_FREE_VAL) -#define ENABLE_ISRS() if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock) -#define DISABLE_ISRS() portENTER_CRITICAL(&spinlock) +#define CRITICAL_SECTION_START() portENTER_CRITICAL(&hal.spinlock) +#define CRITICAL_SECTION_END() portEXIT_CRITICAL(&hal.spinlock) + +#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment +#define PWM_FREQUENCY 1000u // Default PWM frequency when set_pwm_duty() is called without set_pwm_frequency() +#define PWM_RESOLUTION 10u // Default PWM bit resolution +#define CHANNEL_MAX_NUM 15u // max PWM channel # to allocate (7 to only use low speed, 15 to use low & high) +#define MAX_PWM_IOPIN 33u // hardware pwm pins < 34 +#ifndef MAX_EXPANDER_BITS + #define MAX_EXPANDER_BITS 32 // I2S expander bit width (max 32) +#endif // ------------------------ // Types // ------------------------ +typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs. typedef int16_t pin_t; -#define HAL_SERVO_LIB Servo +typedef struct pwm_pin { + uint32_t pwm_cycle_ticks = 1000000UL / (PWM_FREQUENCY) / 4; // # ticks per pwm cycle + uint32_t pwm_tick_count = 0; // current tick count + uint32_t pwm_duty_ticks = 0; // # of ticks for current duty cycle +} pwm_pin_t; -// ------------------------ -// Public Variables -// ------------------------ - -/** result of last ADC conversion */ -extern uint16_t HAL_adc_result; +class Servo; +typedef Servo hal_servo_t; // ------------------------ // Public functions @@ -91,56 +95,21 @@ extern uint16_t HAL_adc_result; // // Tone // -void toneInit(); void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0); void noTone(const pin_t _pin); +int8_t get_pwm_channel(const pin_t pin, const uint32_t freq, const uint16_t res); +void analogWrite(const pin_t pin, const uint16_t value, const uint32_t freq=PWM_FREQUENCY, const uint16_t res=8); -// clear reset reason -void HAL_clear_reset_source(); - -// reset reason -uint8_t HAL_get_reset_source(); - -void HAL_reboot(); - -void _delay_ms(int delay); - -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wunused-function" -#endif - -int freeMemory(); - -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif - -void analogWrite(pin_t pin, int value); - -// ADC -#define HAL_ANALOG_SELECT(pin) - -void HAL_adc_init(); - -#define HAL_ADC_VREF 3.3 -#define HAL_ADC_RESOLUTION 10 -#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) -#define HAL_READ_ADC() HAL_adc_result -#define HAL_ADC_READY() true - -void HAL_adc_start_conversion(const uint8_t adc_pin); - +// +// 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) -// Enable hooks into idle and setup for HAL -#define HAL_IDLETASK 1 -#define BOARD_INIT() HAL_init_board(); -void HAL_idletask(); -inline void HAL_init() {} -void HAL_init_board(); +#if ENABLED(USE_ESP32_EXIO) + void Write_EXIO(uint8_t IO, uint8_t v); +#endif // // Delay in cycles (used by DELAY_NS / DELAY_US) @@ -182,3 +151,96 @@ FORCE_INLINE static void DELAY_CYCLES(uint32_t x) { } } + +// ------------------------ +// Class Utilities +// ------------------------ + +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif + +int freeMemory(); + +#pragma GCC diagnostic pop + +void _delay_ms(const int ms); + +// ------------------------ +// MarlinHAL Class +// ------------------------ + +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 10 + +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 + + // Interrupts + static portMUX_TYPE spinlock; + static bool isr_state() { return spinlock.owner == portMUX_FREE_VAL; } + static void isr_on() { if (spinlock.owner != portMUX_FREE_VAL) portEXIT_CRITICAL(&spinlock); } + static void isr_off() { portENTER_CRITICAL(&spinlock); } + + static void delay_ms(const int ms) { _delay_ms(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(); + + static pwm_pin_t pwm_pin_data[MAX_EXPANDER_BITS]; + + // + // 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) {} + + // 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; } + + /** + * If not already allocated, allocate a hardware PWM channel + * to the pin and set the duty cycle.. + * Optionally invert the duty cycle [default = false] + * Optionally 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 v_size=255, const bool invert=false); + + /** + * Allocate and set the frequency of a hardware PWM pin + * Returns -1 if no pin available. + */ + static int8_t set_pwm_frequency(const pin_t pin, const uint32_t f_desired); + +}; diff --git a/Marlin/src/HAL/ESP32/HAL_SPI.cpp b/Marlin/src/HAL/ESP32/HAL_SPI.cpp index 8743ac5be2..868ab1b671 100644 --- a/Marlin/src/HAL/ESP32/HAL_SPI.cpp +++ b/Marlin/src/HAL/ESP32/HAL_SPI.cpp @@ -53,11 +53,9 @@ static SPISettings spiConfig; // ------------------------ void spiBegin() { - #if !PIN_EXISTS(SD_SS) - #error "SD_SS_PIN not defined!" + #if ENABLED(SDSUPPORT) && PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); #endif - - OUT_WRITE(SD_SS_PIN, HIGH); } void spiInit(uint8_t spiRate) { diff --git a/Marlin/src/HAL/LPC1768/watchdog.h b/Marlin/src/HAL/ESP32/MarlinSPI.h similarity index 82% rename from Marlin/src/HAL/LPC1768/watchdog.h rename to Marlin/src/HAL/ESP32/MarlinSPI.h index c843f0ed55..0c447ba4cb 100644 --- a/Marlin/src/HAL/LPC1768/watchdog.h +++ b/Marlin/src/HAL/ESP32/MarlinSPI.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -21,8 +21,6 @@ */ #pragma once -void watchdog_init(); -void HAL_watchdog_refresh(); +#include -bool watchdog_timed_out(); -void watchdog_clear_timeout_flag(); +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/ESP32/Servo.cpp b/Marlin/src/HAL/ESP32/Servo.cpp index fcf5848581..ca3950d07f 100644 --- a/Marlin/src/HAL/ESP32/Servo.cpp +++ b/Marlin/src/HAL/ESP32/Servo.cpp @@ -31,20 +31,18 @@ // so we only allocate servo channels up high to avoid side effects with regards to analogWrite (fans, leds, laser pwm etc.) int Servo::channel_next_free = 12; -Servo::Servo() { - channel = channel_next_free++; -} +Servo::Servo() {} int8_t Servo::attach(const int inPin) { - if (channel >= CHANNEL_MAX_NUM) return -1; if (inPin > 0) pin = inPin; - - ledcSetup(channel, 50, 16); // channel X, 50 Hz, 16-bit depth - ledcAttachPin(pin, channel); - return true; + channel = get_pwm_channel(pin, 50u, 16u); + return channel; // -1 if no PWM avail. } -void Servo::detach() { ledcDetachPin(pin); } +// leave channel connected to servo - set duty to zero +void Servo::detach() { + if (channel >= 0) ledcWrite(channel, 0); +} int Servo::read() { return degrees; } @@ -52,7 +50,7 @@ void Servo::write(int inDegrees) { degrees = constrain(inDegrees, MIN_ANGLE, MAX_ANGLE); int us = map(degrees, MIN_ANGLE, MAX_ANGLE, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); int duty = map(us, 0, TAU_USEC, 0, MAX_COMPARE); - ledcWrite(channel, duty); + if (channel >= 0) ledcWrite(channel, duty); // don't save duty for servos! } void Servo::move(const int value) { diff --git a/Marlin/src/HAL/ESP32/Servo.h b/Marlin/src/HAL/ESP32/Servo.h index 8542092d66..1dbb416a83 100644 --- a/Marlin/src/HAL/ESP32/Servo.h +++ b/Marlin/src/HAL/ESP32/Servo.h @@ -30,8 +30,7 @@ class Servo { MAX_PULSE_WIDTH = 2400, // Longest pulse sent to a servo TAU_MSEC = 20, TAU_USEC = (TAU_MSEC * 1000), - MAX_COMPARE = _BV(16) - 1, // 65535 - CHANNEL_MAX_NUM = 16; + MAX_COMPARE = _BV(16) - 1; // 65535 public: Servo(); diff --git a/Marlin/src/HAL/ESP32/Tone.cpp b/Marlin/src/HAL/ESP32/Tone.cpp index 376c0f32e1..839c612b6a 100644 --- a/Marlin/src/HAL/ESP32/Tone.cpp +++ b/Marlin/src/HAL/ESP32/Tone.cpp @@ -35,19 +35,19 @@ static pin_t tone_pin; volatile static int32_t toggles; -void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration) { +void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration/*=0*/) { tone_pin = _pin; toggles = 2 * frequency * duration / 1000; - HAL_timer_start(TONE_TIMER_NUM, 2 * frequency); + HAL_timer_start(MF_TIMER_TONE, 2 * frequency); } void noTone(const pin_t _pin) { - HAL_timer_disable_interrupt(TONE_TIMER_NUM); + HAL_timer_disable_interrupt(MF_TIMER_TONE); WRITE(_pin, LOW); } HAL_TONE_TIMER_ISR() { - HAL_timer_isr_prologue(TONE_TIMER_NUM); + HAL_timer_isr_prologue(MF_TIMER_TONE); if (toggles) { toggles--; diff --git a/Marlin/src/HAL/ESP32/WebSocketSerial.cpp b/Marlin/src/HAL/ESP32/WebSocketSerial.cpp index 96769f261f..eb5b9d6039 100644 --- a/Marlin/src/HAL/ESP32/WebSocketSerial.cpp +++ b/Marlin/src/HAL/ESP32/WebSocketSerial.cpp @@ -29,7 +29,7 @@ #include "wifi.h" #include -MSerialT webSocketSerial(false); +MSerialWebSocketT webSocketSerial(false); AsyncWebSocket ws("/ws"); // TODO Move inside the class. // RingBuffer impl diff --git a/Marlin/src/HAL/ESP32/WebSocketSerial.h b/Marlin/src/HAL/ESP32/WebSocketSerial.h index 574f7b10f0..6b3e419d10 100644 --- a/Marlin/src/HAL/ESP32/WebSocketSerial.h +++ b/Marlin/src/HAL/ESP32/WebSocketSerial.h @@ -81,5 +81,5 @@ public: #endif }; -typedef Serial1Class MSerialT; -extern MSerialT webSocketSerial; +typedef Serial1Class MSerialWebSocketT; +extern MSerialWebSocketT webSocketSerial; diff --git a/Marlin/src/HAL/ESP32/endstop_interrupts.h b/Marlin/src/HAL/ESP32/endstop_interrupts.h index 743ccd99c9..0536864610 100644 --- a/Marlin/src/HAL/ESP32/endstop_interrupts.h +++ b/Marlin/src/HAL/ESP32/endstop_interrupts.h @@ -59,4 +59,16 @@ void setup_endstop_interrupts() { 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/ESP32/esp32.csv b/Marlin/src/HAL/ESP32/esp32.csv new file mode 100644 index 0000000000..8f6e101f02 --- /dev/null +++ b/Marlin/src/HAL/ESP32/esp32.csv @@ -0,0 +1,6 @@ +# Name, Type, SubType, Offset, Size, Flags +nvs, data, nvs, 0x9000, 0x5000, +otadata, data, ota, 0xe000, 0x2000, +app0, app, ota_0, 0x10000, 0x180000, +app1, app, ota_1, 0x190000, 0x180000, +spiffs, data, spiffs, 0x310000, 0xF0000, diff --git a/Marlin/src/HAL/ESP32/fastio.h b/Marlin/src/HAL/ESP32/fastio.h index 8db89dca12..c8e3f7e343 100644 --- a/Marlin/src/HAL/ESP32/fastio.h +++ b/Marlin/src/HAL/ESP32/fastio.h @@ -40,13 +40,19 @@ // Set pin as input with pullup mode #define _PULLUP(IO, v) pinMode(IO, v ? INPUT_PULLUP : INPUT) -// Read a pin wrapper -#define READ(IO) (IS_I2S_EXPANDER_PIN(IO) ? i2s_state(I2S_EXPANDER_PIN_INDEX(IO)) : digitalRead(IO)) +#if ENABLED(USE_ESP32_EXIO) + // Read a pin wrapper + #define READ(IO) digitalRead(IO) + // Write to a pin wrapper + #define WRITE(IO, v) (IO >= 100 ? Write_EXIO(IO, v) : digitalWrite(IO, v)) +#else + // Read a pin wrapper + #define READ(IO) (IS_I2S_EXPANDER_PIN(IO) ? i2s_state(I2S_EXPANDER_PIN_INDEX(IO)) : digitalRead(IO)) + // Write to a pin wrapper + #define WRITE(IO, v) (IS_I2S_EXPANDER_PIN(IO) ? i2s_write(I2S_EXPANDER_PIN_INDEX(IO), v) : digitalWrite(IO, v)) +#endif -// Write to a pin wrapper -#define WRITE(IO, v) (IS_I2S_EXPANDER_PIN(IO) ? i2s_write(I2S_EXPANDER_PIN_INDEX(IO), v) : digitalWrite(IO, v)) - -// Set pin as input wrapper +// Set pin as input wrapper (0x80 | (v << 5) | (IO - 100)) #define SET_INPUT(IO) _SET_INPUT(IO) // Set pin as input with pullup wrapper diff --git a/Marlin/src/HAL/ESP32/i2s.cpp b/Marlin/src/HAL/ESP32/i2s.cpp index c28c008793..d9bad4ec2d 100644 --- a/Marlin/src/HAL/ESP32/i2s.cpp +++ b/Marlin/src/HAL/ESP32/i2s.cpp @@ -23,6 +23,8 @@ #include "../../inc/MarlinConfigPre.h" +#if DISABLED(USE_ESP32_EXIO) + #include "i2s.h" #include "../shared/Marduino.h" @@ -62,12 +64,9 @@ uint32_t i2s_port_data = 0; #define I2S_EXIT_CRITICAL() portEXIT_CRITICAL(&i2s_spinlock[i2s_num]) static inline void gpio_matrix_out_check(uint32_t gpio, uint32_t signal_idx, bool out_inv, bool oen_inv) { - //if pin = -1, do not need to configure - if (gpio != -1) { - PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO); - gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT); - gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv); - } + PIN_FUNC_SELECT(GPIO_PIN_MUX_REG[gpio], PIN_FUNC_GPIO); + gpio_set_direction((gpio_num_t)gpio, (gpio_mode_t)GPIO_MODE_DEF_OUTPUT); + gpio_matrix_out(gpio, signal_idx, out_inv, oen_inv); } static esp_err_t i2s_reset_fifo(i2s_port_t i2s_num) { @@ -140,22 +139,40 @@ static void IRAM_ATTR i2s_intr_handler_default(void *arg) { } void stepperTask(void *parameter) { - uint32_t remaining = 0; + uint32_t nextMainISR = 0; + #if ENABLED(LIN_ADVANCE) + uint32_t nextAdvanceISR = Stepper::LA_ADV_NEVER; + #endif - while (1) { + for (;;) { xQueueReceive(dma.queue, &dma.current, portMAX_DELAY); dma.rw_pos = 0; while (dma.rw_pos < DMA_SAMPLE_COUNT) { // Fill with the port data post pulse_phase until the next step - if (remaining) { + if (nextMainISR && TERN1(LIN_ADVANCE, nextAdvanceISR)) i2s_push_sample(); - remaining--; - } - else { + + // i2s_push_sample() is also called from Stepper::pulse_phase_isr() and Stepper::advance_isr() + // in a rare case where both are called, we need to double decrement the counters + const uint8_t push_count = 1 + (!nextMainISR && TERN0(LIN_ADVANCE, !nextAdvanceISR)); + + #if ENABLED(LIN_ADVANCE) + if (!nextAdvanceISR) { + Stepper::advance_isr(); + nextAdvanceISR = Stepper::la_interval; + } + else if (nextAdvanceISR == Stepper::LA_ADV_NEVER) + nextAdvanceISR = Stepper::la_interval; + #endif + + if (!nextMainISR) { Stepper::pulse_phase_isr(); - remaining = Stepper::block_phase_isr(); + nextMainISR = Stepper::block_phase_isr(); } + + nextMainISR -= push_count; + TERN_(LIN_ADVANCE, nextAdvanceISR -= push_count); } } } @@ -254,13 +271,7 @@ int i2s_init() { I2S0.fifo_conf.dscr_en = 0; - I2S0.conf_chan.tx_chan_mod = ( - #if ENABLED(I2S_STEPPER_SPLIT_STREAM) - 4 - #else - 0 - #endif - ); + I2S0.conf_chan.tx_chan_mod = TERN(I2S_STEPPER_SPLIT_STREAM, 4, 0); I2S0.fifo_conf.tx_fifo_mod = 0; I2S0.conf.tx_mono = 0; @@ -311,9 +322,16 @@ int i2s_init() { xTaskCreatePinnedToCore(stepperTask, "StepperTask", 10000, nullptr, 1, nullptr, CONFIG_ARDUINO_RUNNING_CORE); // run I2S stepper task on same core as rest of Marlin // Route the i2s pins to the appropriate GPIO - gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0); - gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0); - gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0); + // If a pin is not defined, no need to configure + #if defined(I2S_DATA) && I2S_DATA >= 0 + gpio_matrix_out_check(I2S_DATA, I2S0O_DATA_OUT23_IDX, 0, 0); + #endif + #if defined(I2S_BCK) && I2S_BCK >= 0 + gpio_matrix_out_check(I2S_BCK, I2S0O_BCK_OUT_IDX, 0, 0); + #endif + #if defined(I2S_WS) && I2S_WS >= 0 + gpio_matrix_out_check(I2S_WS, I2S0O_WS_OUT_IDX, 0, 0); + #endif // Start the I2S peripheral return i2s_start(I2S_NUM_0); @@ -337,7 +355,28 @@ uint8_t i2s_state(uint8_t pin) { } void i2s_push_sample() { + // Every 4µs (when space in DMA buffer) toggle each expander PWM output using + // the current duty cycle/frequency so they sync with any steps (once + // through the DMA/FIFO buffers). PWM signal inversion handled by other functions + LOOP_L_N(p, MAX_EXPANDER_BITS) { + if (hal.pwm_pin_data[p].pwm_duty_ticks > 0) { // pin has active pwm? + if (hal.pwm_pin_data[p].pwm_tick_count == 0) { + if (TEST32(i2s_port_data, p)) { // hi->lo + CBI32(i2s_port_data, p); + hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_cycle_ticks - hal.pwm_pin_data[p].pwm_duty_ticks; + } + else { // lo->hi + SBI32(i2s_port_data, p); + hal.pwm_pin_data[p].pwm_tick_count = hal.pwm_pin_data[p].pwm_duty_ticks; + } + } + else + hal.pwm_pin_data[p].pwm_tick_count--; + } + } + dma.current[dma.rw_pos++] = i2s_port_data; } +#endif // !USE_ESP32_EXIO #endif // ARDUINO_ARCH_ESP32 diff --git a/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h b/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h index 5f1c4b1601..3ca806897a 100644 --- a/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h +++ b/Marlin/src/HAL/ESP32/inc/Conditionals_adv.h @@ -20,3 +20,10 @@ * */ #pragma once + +// +// Board-specific options need to be defined before HAL.h +// +#if MB(MKS_TINYBEE) + #define MAX_EXPANDER_BITS 24 // TinyBee has 3 x HC595 +#endif diff --git a/Marlin/src/HAL/ESP32/inc/SanityCheck.h b/Marlin/src/HAL/ESP32/inc/SanityCheck.h index 8bbc68d871..8c5621f10c 100644 --- a/Marlin/src/HAL/ESP32/inc/SanityCheck.h +++ b/Marlin/src/HAL/ESP32/inc/SanityCheck.h @@ -25,8 +25,8 @@ #error "EMERGENCY_PARSER is not yet implemented for ESP32. Disable EMERGENCY_PARSER to continue." #endif -#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY - #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on ESP32." +#if (ENABLED(SPINDLE_LASER_USE_PWM) && SPINDLE_LASER_FREQUENCY > 78125) || (ENABLED(FAST_PWM_FAN_FREQUENCY) && FAST_PWM_FAN_FREQUENCY > 78125) + #error "SPINDLE_LASER_FREQUENCY and FAST_PWM_FREQUENCY maximum value is 78125Hz for ESP32." #endif #if HAS_TMC_SW_SERIAL @@ -40,3 +40,19 @@ #if ENABLED(POSTMORTEM_DEBUGGING) #error "POSTMORTEM_DEBUGGING is not yet supported on ESP32." #endif + +#if MB(MKS_TINYBEE) && ENABLED(FAST_PWM_FAN) + #error "FAST_PWM_FAN is not available on TinyBee." +#endif + +#if BOTH(I2S_STEPPER_STREAM, BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING) + #error "BABYSTEPPING on I2S stream requires INTEGRATED_BABYSTEPPING." +#endif + +#if USING_PULLDOWNS + #error "PULLDOWN pin mode is not available on ESP32 boards." +#endif + +#if BOTH(I2S_STEPPER_STREAM, LIN_ADVANCE) && DISABLED(EXPERIMENTAL_I2S_LA) + #error "I2S stream is currently incompatible with LIN_ADVANCE." +#endif diff --git a/Marlin/src/HAL/ESP32/spi_pins.h b/Marlin/src/HAL/ESP32/spi_pins.h index cfe71eee4a..58881f0ea7 100644 --- a/Marlin/src/HAL/ESP32/spi_pins.h +++ b/Marlin/src/HAL/ESP32/spi_pins.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or diff --git a/Marlin/src/HAL/ESP32/timers.cpp b/Marlin/src/HAL/ESP32/timers.cpp index 57662a6658..c37ad2430c 100644 --- a/Marlin/src/HAL/ESP32/timers.cpp +++ b/Marlin/src/HAL/ESP32/timers.cpp @@ -41,7 +41,7 @@ static timg_dev_t *TG[2] = {&TIMERG0, &TIMERG1}; -const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = { +const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = { { TIMER_GROUP_0, TIMER_0, STEPPER_TIMER_PRESCALE, stepTC_Handler }, // 0 - Stepper { TIMER_GROUP_0, TIMER_1, TEMP_TIMER_PRESCALE, tempTC_Handler }, // 1 - Temperature { TIMER_GROUP_1, TIMER_0, PWM_TIMER_PRESCALE, pwmTC_Handler }, // 2 - PWM @@ -53,7 +53,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = { // ------------------------ void IRAM_ATTR timer_isr(void *para) { - const tTimerConfig& timer = TimerConfig[(int)para]; + const tTimerConfig& timer = timer_config[(int)para]; // Retrieve the interrupt status and the counter value // from the timer that reported the interrupt @@ -81,8 +81,8 @@ void IRAM_ATTR timer_isr(void *para) { * @param timer_num timer number to initialize * @param frequency frequency of the timer */ -void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) { - const tTimerConfig timer = TimerConfig[timer_num]; +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { + const tTimerConfig timer = timer_config[timer_num]; timer_config_t config; config.divider = timer.divider; @@ -115,7 +115,7 @@ void HAL_timer_start(const uint8_t timer_num, uint32_t frequency) { * @param count threshold at which the interrupt is triggered */ void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) { - const tTimerConfig timer = TimerConfig[timer_num]; + const tTimerConfig timer = timer_config[timer_num]; timer_set_alarm_value(timer.group, timer.idx, count); } @@ -125,7 +125,7 @@ void HAL_timer_set_compare(const uint8_t timer_num, hal_timer_t count) { * @return the timer current threshold for the alarm to be triggered */ hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { - const tTimerConfig timer = TimerConfig[timer_num]; + const tTimerConfig timer = timer_config[timer_num]; uint64_t alarm_value; timer_get_alarm_value(timer.group, timer.idx, &alarm_value); @@ -139,7 +139,7 @@ hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { * @return the current counter of the alarm */ hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { - const tTimerConfig timer = TimerConfig[timer_num]; + const tTimerConfig timer = timer_config[timer_num]; uint64_t counter_value; timer_get_counter_value(timer.group, timer.idx, &counter_value); return counter_value; @@ -150,7 +150,7 @@ hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { * @param timer_num timer number to enable interrupts on */ void HAL_timer_enable_interrupt(const uint8_t timer_num) { - //const tTimerConfig timer = TimerConfig[timer_num]; + //const tTimerConfig timer = timer_config[timer_num]; //timer_enable_intr(timer.group, timer.idx); } @@ -159,12 +159,12 @@ void HAL_timer_enable_interrupt(const uint8_t timer_num) { * @param timer_num timer number to disable interrupts on */ void HAL_timer_disable_interrupt(const uint8_t timer_num) { - //const tTimerConfig timer = TimerConfig[timer_num]; + //const tTimerConfig timer = timer_config[timer_num]; //timer_disable_intr(timer.group, timer.idx); } bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { - const tTimerConfig timer = TimerConfig[timer_num]; + const tTimerConfig timer = timer_config[timer_num]; return TG[timer.group]->int_ena.val | BIT(timer_num); } diff --git a/Marlin/src/HAL/ESP32/timers.h b/Marlin/src/HAL/ESP32/timers.h index a47697113d..aa4e1551f0 100644 --- a/Marlin/src/HAL/ESP32/timers.h +++ b/Marlin/src/HAL/ESP32/timers.h @@ -32,20 +32,20 @@ typedef uint64_t hal_timer_t; #define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFFULL -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 1 // Timer Index for Temperature #endif -#ifndef PWM_TIMER_NUM - #define PWM_TIMER_NUM 2 // index of timer to use for PWM outputs +#ifndef MF_TIMER_PWM + #define MF_TIMER_PWM 2 // index of timer to use for PWM outputs #endif -#ifndef TONE_TIMER_NUM - #define TONE_TIMER_NUM 3 // index of timer for beeper tones +#ifndef MF_TIMER_TONE + #define MF_TIMER_TONE 3 // index of timer for beeper tones #endif #define HAL_TIMER_RATE APB_CLK_FREQ // frequency of timer peripherals @@ -79,12 +79,12 @@ typedef uint64_t hal_timer_t; #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) #ifndef HAL_TEMP_TIMER_ISR #define HAL_TEMP_TIMER_ISR() extern "C" void tempTC_Handler() @@ -121,13 +121,13 @@ typedef struct { // Public Variables // ------------------------ -extern const tTimerConfig TimerConfig[]; +extern const tTimerConfig timer_config[]; // ------------------------ // Public functions // ------------------------ -void HAL_timer_start (const uint8_t timer_num, uint32_t frequency); +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t count); hal_timer_t HAL_timer_get_compare(const uint8_t timer_num); hal_timer_t HAL_timer_get_count(const uint8_t timer_num); @@ -136,5 +136,5 @@ 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); -#define HAL_timer_isr_prologue(TIMER_NUM) -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_prologue(T) NOOP +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp b/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp new file mode 100644 index 0000000000..bd7ecdc9f2 --- /dev/null +++ b/Marlin/src/HAL/ESP32/u8g_esp32_spi.cpp @@ -0,0 +1,106 @@ +/** + * 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 + * + * Copypaste of SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General 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_ESP32 + +#include "../../inc/MarlinConfig.h" + +#if EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1) + +#include +#include "../shared/HAL_SPI.h" +#include "HAL.h" +#include "SPI.h" + +#if ENABLED(SDSUPPORT) + #include "../../sd/cardreader.h" + #if ENABLED(ESP3D_WIFISUPPORT) + #include "sd_ESP32.h" + #endif +#endif + +static SPISettings spiConfig; + + +#ifndef LCD_SPI_SPEED + #ifdef SD_SPI_SPEED + #define LCD_SPI_SPEED SD_SPI_SPEED // Assume SPI speed shared with SD + #else + #define LCD_SPI_SPEED SPI_FULL_SPEED // Use full speed if SD speed is not supplied + #endif +#endif + +uint8_t u8g_eps_hw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { + static uint8_t msgInitCount = 2; // Ignore all messages until 2nd U8G_COM_MSG_INIT + + #if ENABLED(PAUSE_LCD_FOR_BUSY_SD) + if (card.flag.saving || card.flag.logging || TERN0(ESP3D_WIFISUPPORT, sd_busy_lock == true)) return 0; + #endif + + if (msgInitCount) { + if (msg == U8G_COM_MSG_INIT) msgInitCount--; + if (msgInitCount) return -1; + } + + switch (msg) { + case U8G_COM_MSG_STOP: break; + + case U8G_COM_MSG_INIT: + OUT_WRITE(DOGLCD_CS, HIGH); + OUT_WRITE(DOGLCD_A0, HIGH); + OUT_WRITE(LCD_RESET_PIN, HIGH); + u8g_Delay(5); + spiBegin(); + spiInit(LCD_SPI_SPEED); + break; + + case U8G_COM_MSG_ADDRESS: /* define cmd (arg_val = 0) or data mode (arg_val = 1) */ + WRITE(DOGLCD_A0, arg_val ? HIGH : LOW); + break; + + case U8G_COM_MSG_CHIP_SELECT: /* arg_val == 0 means HIGH level of U8G_PI_CS */ + WRITE(DOGLCD_CS, arg_val ? LOW : HIGH); + break; + + case U8G_COM_MSG_RESET: + WRITE(LCD_RESET_PIN, arg_val); + break; + + case U8G_COM_MSG_WRITE_BYTE: + spiSend((uint8_t)arg_val); + break; + + case U8G_COM_MSG_WRITE_SEQ: + uint8_t *ptr = (uint8_t*) arg_ptr; + while (arg_val > 0) { + spiSend(*ptr++); + arg_val--; + } + break; + } + return 1; +} + +#endif // EITHER(MKS_MINI_12864, FYSETC_MINI_12864_2_1) + +#endif // ARDUINO_ARCH_ESP32 diff --git a/Marlin/src/HAL/ESP32/wifi.cpp b/Marlin/src/HAL/ESP32/wifi.cpp index f4cf5a606a..060f3bdb48 100644 --- a/Marlin/src/HAL/ESP32/wifi.cpp +++ b/Marlin/src/HAL/ESP32/wifi.cpp @@ -59,7 +59,7 @@ void wifi_init() { MDNS.addService("http", "tcp", 80); - SERIAL_ECHOLNPAIR("Successfully connected to WiFi with SSID '" WIFI_SSID "', hostname: '" WIFI_HOSTNAME "', IP address: ", WiFi.localIP().toString().c_str()); + SERIAL_ECHOLNPGM("Successfully connected to WiFi with SSID '" WIFI_SSID "', hostname: '" WIFI_HOSTNAME "', IP address: ", WiFi.localIP().toString().c_str()); } #endif // WIFISUPPORT diff --git a/Marlin/src/HAL/HAL.h b/Marlin/src/HAL/HAL.h index 0cd836af2b..5186578019 100644 --- a/Marlin/src/HAL/HAL.h +++ b/Marlin/src/HAL/HAL.h @@ -28,6 +28,7 @@ #endif #include HAL_PATH(.,HAL.h) +extern MarlinHAL hal; #define HAL_ADC_RANGE _BV(HAL_ADC_RESOLUTION) @@ -44,7 +45,3 @@ #ifndef PGMSTR #define PGMSTR(NAM,STR) const char NAM[] = STR #endif - -inline void watchdog_refresh() { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); -} diff --git a/Marlin/src/HAL/LINUX/HAL.cpp b/Marlin/src/HAL/LINUX/HAL.cpp index 0b679170ef..db43f42eaa 100644 --- a/Marlin/src/HAL/LINUX/HAL.cpp +++ b/Marlin/src/HAL/LINUX/HAL.cpp @@ -24,6 +24,10 @@ #include "../../inc/MarlinConfig.h" #include "../shared/Delay.h" +// ------------------------ +// Serial ports +// ------------------------ + MSerialT usb_serial(TERN0(EMERGENCY_PARSER, true)); // U8glib required functions @@ -37,42 +41,21 @@ extern "C" { //************************// // return free heap space -int freeMemory() { - return 0; -} +int freeMemory() { return 0; } // ------------------------ // ADC // ------------------------ -void HAL_adc_init() { +uint8_t MarlinHAL::active_ch = 0; -} - -void HAL_adc_enable_channel(const uint8_t ch) { - -} - -uint8_t active_ch = 0; -void HAL_adc_start_conversion(const uint8_t ch) { - active_ch = ch; -} - -bool HAL_adc_finished() { - return true; -} - -uint16_t HAL_adc_get_result() { - pin_t pin = analogInputToDigitalPin(active_ch); +uint16_t MarlinHAL::adc_value() { + const pin_t pin = analogInputToDigitalPin(active_ch); if (!VALID_PIN(pin)) return 0; - uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF); + const uint16_t data = ((Gpio::get(pin) >> 2) & 0x3FF); return data; // return 10bit value as Marlin expects } -void HAL_pwm_init() { - -} - -void HAL_reboot() { /* Reset the application state and GPIO */ } +void MarlinHAL::reboot() { /* Reset the application state and GPIO */ } #endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/LINUX/HAL.h b/Marlin/src/HAL/LINUX/HAL.h index 36906bffc8..22c3e521f0 100644 --- a/Marlin/src/HAL/LINUX/HAL.h +++ b/Marlin/src/HAL/LINUX/HAL.h @@ -21,25 +21,42 @@ */ #pragma once -#define CPU_32_BIT +#include "../../inc/MarlinConfigPre.h" -#define F_CPU 100000000UL -#define SystemCoreClock F_CPU #include #include #include - #undef min #undef max - #include -void _printf (const char *format, ...); +#include "hardware/Clock.h" +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" +#include "fastio.h" +#include "serial.h" + +// ------------------------ +// Defines +// ------------------------ + +#define CPU_32_BIT +#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp + +#define F_CPU 100000000UL +#define SystemCoreClock F_CPU + +#define DELAY_CYCLES(x) Clock::delayCycles(x) + +#define CPU_ST7920_DELAY_1 600 +#define CPU_ST7920_DELAY_2 750 +#define CPU_ST7920_DELAY_3 750 + +void _printf(const char *format, ...); void _putc(uint8_t c); uint8_t _getc(); -//extern "C" volatile uint32_t _millis; - //arduino: Print.h #define DEC 10 #define HEX 16 @@ -49,67 +66,100 @@ uint8_t _getc(); #define B01 1 #define B10 2 -#include "hardware/Clock.h" - -#include "../shared/Marduino.h" -#include "../shared/math_32bit.h" -#include "../shared/HAL_SPI.h" -#include "fastio.h" -#include "watchdog.h" -#include "serial.h" - -#define SHARED_SERVOS HAS_SERVOS +// ------------------------ +// Serial ports +// ------------------------ extern MSerialT usb_serial; #define MYSERIAL1 usb_serial -#define ST7920_DELAY_1 DELAY_NS(600) -#define ST7920_DELAY_2 DELAY_NS(750) -#define ST7920_DELAY_3 DELAY_NS(750) - // // Interrupts // #define CRITICAL_SECTION_START() #define CRITICAL_SECTION_END() -#define ISRS_ENABLED() -#define ENABLE_ISRS() -#define DISABLE_ISRS() -inline void HAL_init() {} +// ADC +#define HAL_ADC_VREF 5.0 +#define HAL_ADC_RESOLUTION 10 -// Utility functions +// ------------------------ +// Class Utilities +// ------------------------ + +#pragma GCC diagnostic push #if GCC_VERSION <= 50000 - #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-function" #endif int freeMemory(); -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif +#pragma GCC diagnostic pop -// ADC -#define HAL_ADC_VREF 5.0 -#define HAL_ADC_RESOLUTION 10 -#define HAL_ANALOG_SELECT(ch) HAL_adc_enable_channel(ch) -#define HAL_START_ADC(ch) HAL_adc_start_conversion(ch) -#define HAL_READ_ADC() HAL_adc_get_result() -#define HAL_ADC_READY() true +// ------------------------ +// MarlinHAL Class +// ------------------------ -void HAL_adc_init(); -void HAL_adc_enable_channel(const uint8_t ch); -void HAL_adc_start_conversion(const uint8_t ch); -uint16_t HAL_adc_get_result(); +class MarlinHAL { +public: -// Reset source -inline void HAL_clear_reset_source(void) {} -inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; } + // Earliest possible init, before setup() + MarlinHAL() {} -void HAL_reboot(); // Reset the application state and GPIO + // Watchdog + static void watchdog_init() {} + static void watchdog_refresh() {} -/* ---------------- Delay in cycles */ -FORCE_INLINE static void DELAY_CYCLES(uint64_t x) { - Clock::delayCycles(x); -} + static void init() {} // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Reset the application state and GPIO + + // Interrupts + static bool isr_state() { return true; } + static void isr_on() {} + static void isr_off() {} + + static void delay_ms(const int ms) { _delay_ms(ms); } + + // Tasks, called from idle() + static void idletask() {} + + // Reset + static constexpr uint8_t reset_reason = RST_POWER_ON; + static uint8_t get_reset_source() { return reset_reason; } + static void clear_reset_source() {} + + // Free SRAM + static int freeMemory() { return ::freeMemory(); } + + // + // ADC Methods + // + + static uint8_t active_ch; + + // 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) {} + + // Begin ADC sampling on the given channel + static void adc_start(const uint8_t ch) { active_ch = ch; } + + // Is the ADC ready for reading? + static bool adc_ready() { return true; } + + // The current value of the ADC register + static uint16_t adc_value(); + + /** + * Set the PWM duty cycle for the pin to the given value. + * No option to change the resolution or invert the duty cycle. + */ + static void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t=255, const bool=false) { + analogWrite(pin, v); + } + + static void set_pwm_frequency(const pin_t, int) {} +}; diff --git a/Marlin/src/HAL/LINUX/MarlinSPI.h b/Marlin/src/HAL/LINUX/MarlinSPI.h new file mode 100644 index 0000000000..0c447ba4cb --- /dev/null +++ b/Marlin/src/HAL/LINUX/MarlinSPI.h @@ -0,0 +1,26 @@ +/** + * 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 + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/LINUX/arduino.cpp b/Marlin/src/HAL/LINUX/arduino.cpp index 4b56d02a38..075b4ccde2 100644 --- a/Marlin/src/HAL/LINUX/arduino.cpp +++ b/Marlin/src/HAL/LINUX/arduino.cpp @@ -31,9 +31,7 @@ void cli() { } // Disable void sei() { } // Enable // Time functions -void _delay_ms(const int delay_ms) { - delay(delay_ms); -} +void _delay_ms(const int ms) { delay(ms); } uint32_t millis() { return (uint32_t)Clock::millis(); diff --git a/Marlin/src/HAL/LINUX/eeprom.cpp b/Marlin/src/HAL/LINUX/eeprom.cpp index 532f323c6e..f878bba6a5 100644 --- a/Marlin/src/HAL/LINUX/eeprom.cpp +++ b/Marlin/src/HAL/LINUX/eeprom.cpp @@ -69,12 +69,12 @@ bool PersistentStore::write_data(int &pos, const uint8_t *value, size_t size, ui std::size_t bytes_written = 0; for (std::size_t i = 0; i < size; i++) { - buffer[pos+i] = value[i]; - bytes_written ++; + buffer[pos + i] = value[i]; + bytes_written++; } crc16(crc, value, size); - pos = pos + size; + pos += size; return (bytes_written != size); // return true for any error } @@ -82,21 +82,21 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uin std::size_t bytes_read = 0; if (writing) { for (std::size_t i = 0; i < size; i++) { - value[i] = buffer[pos+i]; - bytes_read ++; + value[i] = buffer[pos + i]; + bytes_read++; } crc16(crc, value, size); } else { uint8_t temp[size]; for (std::size_t i = 0; i < size; i++) { - temp[i] = buffer[pos+i]; - bytes_read ++; + temp[i] = buffer[pos + i]; + bytes_read++; } crc16(crc, temp, size); } - pos = pos + size; + pos += size; return bytes_read != size; // return true for any error } diff --git a/Marlin/src/HAL/LINUX/hardware/Gpio.h b/Marlin/src/HAL/LINUX/hardware/Gpio.h index 2d9b1f29eb..f946be6484 100644 --- a/Marlin/src/HAL/LINUX/hardware/Gpio.h +++ b/Marlin/src/HAL/LINUX/hardware/Gpio.h @@ -40,7 +40,7 @@ struct GpioEvent { pin_type pin_id; GpioEvent::Type event; - GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event){ + GpioEvent(uint64_t timestamp, pin_type pin_id, GpioEvent::Type event) { this->timestamp = timestamp; this->pin_id = pin_id; this->event = event; diff --git a/Marlin/src/HAL/LINUX/hardware/Heater.cpp b/Marlin/src/HAL/LINUX/hardware/Heater.cpp index 70df816182..44f11986c9 100644 --- a/Marlin/src/HAL/LINUX/hardware/Heater.cpp +++ b/Marlin/src/HAL/LINUX/hardware/Heater.cpp @@ -54,7 +54,7 @@ void Heater::update() { } void Heater::interrupt(GpioEvent ev) { - // ununsed + // unused } #endif // __PLAT_LINUX__ diff --git a/Marlin/src/HAL/LINUX/hardware/Heater.h b/Marlin/src/HAL/LINUX/hardware/Heater.h index b17078d0b7..6d590ce6c5 100644 --- a/Marlin/src/HAL/LINUX/hardware/Heater.h +++ b/Marlin/src/HAL/LINUX/hardware/Heater.h @@ -26,8 +26,8 @@ struct LowpassFilter { uint64_t data_delay = 0; uint16_t update(uint16_t value) { - data_delay = data_delay - (data_delay >> 6) + value; - return (uint16_t)(data_delay >> 6); + data_delay += value - (data_delay >> 6); + return uint16_t(data_delay >> 6); } }; diff --git a/Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp b/Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp index c5b3ccc986..e122ef3666 100644 --- a/Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp +++ b/Marlin/src/HAL/LINUX/hardware/LinearAxis.cpp @@ -51,7 +51,7 @@ void LinearAxis::update() { } void LinearAxis::interrupt(GpioEvent ev) { - if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value){ + if (ev.pin_id == step_pin && !Gpio::pin_map[enable_pin].value) { if (ev.event == GpioEvent::RISE) { last_update = ev.timestamp; position += -1 + 2 * Gpio::pin_map[dir_pin].value; diff --git a/Marlin/src/HAL/LINUX/hardware/Timer.h b/Marlin/src/HAL/LINUX/hardware/Timer.h index 757efdcdbd..1b3b800dca 100644 --- a/Marlin/src/HAL/LINUX/hardware/Timer.h +++ b/Marlin/src/HAL/LINUX/hardware/Timer.h @@ -52,7 +52,7 @@ public: return (*(intptr_t*)timerid); } - static void handler(int sig, siginfo_t *si, void *uc){ + static void handler(int sig, siginfo_t *si, void *uc) { Timer* _this = (Timer*)si->si_value.sival_ptr; _this->avg_error += (Clock::nanos() - _this->start_time) - _this->period; //high_resolution_clock is also limited in precision, but best we have _this->avg_error /= 2; //very crude precision analysis (actually within +-500ns usually) diff --git a/Marlin/src/HAL/LINUX/inc/SanityCheck.h b/Marlin/src/HAL/LINUX/inc/SanityCheck.h index 45bb2662ac..36d3190a3e 100644 --- a/Marlin/src/HAL/LINUX/inc/SanityCheck.h +++ b/Marlin/src/HAL/LINUX/inc/SanityCheck.h @@ -26,7 +26,7 @@ */ // Emulating RAMPS -#if ENABLED(SPINDLE_LASER_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11) +#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 diff --git a/Marlin/src/HAL/LINUX/include/Arduino.h b/Marlin/src/HAL/LINUX/include/Arduino.h index d4086e259a..f05aaed880 100644 --- a/Marlin/src/HAL/LINUX/include/Arduino.h +++ b/Marlin/src/HAL/LINUX/include/Arduino.h @@ -59,10 +59,9 @@ typedef uint8_t byte; #endif #define sq(v) ((v) * (v)) -#define square(v) sq(v) #define constrain(value, arg_min, arg_max) ((value) < (arg_min) ? (arg_min) :((value) > (arg_max) ? (arg_max) : (value))) -//Interrupts +// Interrupts void cli(); // Disable void sei(); // Enable void attachInterrupt(uint32_t pin, void (*callback)(), uint32_t mode); @@ -74,8 +73,8 @@ extern "C" { } // Time functions -extern "C" void delay(const int milis); -void _delay_ms(const int delay); +extern "C" void delay(const int ms); +void _delay_ms(const int ms); void delayMicroseconds(unsigned long); uint32_t millis(); diff --git a/Marlin/src/HAL/LINUX/include/pinmapping.cpp b/Marlin/src/HAL/LINUX/include/pinmapping.cpp index 870ab3a96e..5823668cd5 100644 --- a/Marlin/src/HAL/LINUX/include/pinmapping.cpp +++ b/Marlin/src/HAL/LINUX/include/pinmapping.cpp @@ -25,43 +25,6 @@ #include "../../../gcode/parser.h" -uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS; - -// Get the digital pin for an analog index -pin_t analogInputToDigitalPin(const int8_t p) { - return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC); -} - -// Return the index of a pin number -int16_t GET_PIN_MAP_INDEX(const pin_t pin) { - return pin; -} - -// Test whether the pin is valid -bool VALID_PIN(const pin_t p) { - return WITHIN(p, 0, NUM_DIGITAL_PINS); -} - -// Get the analog index for a digital pin -int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) { - return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC); -} - -// Test whether the pin is PWM -bool PWM_PIN(const pin_t p) { - return false; -} - -// Test whether the pin is interruptable -bool INTERRUPT_PIN(const pin_t p) { - return false; -} - -// Get the pin number at the given index -pin_t GET_PIN_MAP_PIN(const int16_t ind) { - return ind; -} - int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) { return parser.intval(code, dval); } diff --git a/Marlin/src/HAL/LINUX/include/pinmapping.h b/Marlin/src/HAL/LINUX/include/pinmapping.h index 98f4b812e8..cfac5e3b48 100644 --- a/Marlin/src/HAL/LINUX/include/pinmapping.h +++ b/Marlin/src/HAL/LINUX/include/pinmapping.h @@ -34,26 +34,32 @@ constexpr uint8_t NUM_ANALOG_INPUTS = 16; #define HAL_SENSITIVE_PINS +constexpr uint8_t analog_offset = NUM_DIGITAL_PINS - NUM_ANALOG_INPUTS; + // Get the digital pin for an analog index -pin_t analogInputToDigitalPin(const int8_t p); - -// Return the index of a pin number -int16_t GET_PIN_MAP_INDEX(const pin_t pin); - -// Test whether the pin is valid -bool VALID_PIN(const pin_t p); +constexpr pin_t analogInputToDigitalPin(const int8_t p) { + return (WITHIN(p, 0, NUM_ANALOG_INPUTS) ? analog_offset + p : P_NC); +} // Get the analog index for a digital pin -int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p); +constexpr int8_t DIGITAL_PIN_TO_ANALOG_PIN(const pin_t p) { + return (WITHIN(p, analog_offset, NUM_DIGITAL_PINS) ? p - analog_offset : P_NC); +} + +// Return the index of a pin number +constexpr int16_t GET_PIN_MAP_INDEX(const pin_t pin) { return pin; } + +// Test whether the pin is valid +constexpr bool VALID_PIN(const pin_t p) { return WITHIN(p, 0, NUM_DIGITAL_PINS); } // Test whether the pin is PWM -bool PWM_PIN(const pin_t p); +constexpr bool PWM_PIN(const pin_t p) { return false; } -// Test whether the pin is interruptable -bool INTERRUPT_PIN(const pin_t p); +// Test whether the pin is interruptible +constexpr bool INTERRUPT_PIN(const pin_t p) { return false; } // Get the pin number at the given index -pin_t GET_PIN_MAP_PIN(const int16_t ind); +constexpr pin_t GET_PIN_MAP_PIN(const int16_t ind) { return ind; } // Parse a G-code word into a pin index int16_t PARSED_PIN_INDEX(const char code, const int16_t dval); diff --git a/Marlin/src/HAL/LINUX/main.cpp b/Marlin/src/HAL/LINUX/main.cpp index 31f6de98ee..f2af2ff33f 100644 --- a/Marlin/src/HAL/LINUX/main.cpp +++ b/Marlin/src/HAL/LINUX/main.cpp @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -16,6 +19,7 @@ * along with this program. If not, see . * */ + #ifdef __PLAT_LINUX__ //#define GPIO_LOGGING // Full GPIO and Positional Logging diff --git a/Marlin/src/HAL/LINUX/pinsDebug.h b/Marlin/src/HAL/LINUX/pinsDebug.h index 8f8543ef59..7bfd97d024 100644 --- a/Marlin/src/HAL/LINUX/pinsDebug.h +++ b/Marlin/src/HAL/LINUX/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -34,6 +37,7 @@ #define GET_ARRAY_PIN(p) pin_array[p].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 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 MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin // active ADC function/mode/code values for PINSEL registers diff --git a/Marlin/src/HAL/LINUX/timers.h b/Marlin/src/HAL/LINUX/timers.h index 1beaea95ab..2d2a95774c 100644 --- a/Marlin/src/HAL/LINUX/timers.h +++ b/Marlin/src/HAL/LINUX/timers.h @@ -37,14 +37,14 @@ typedef uint32_t hal_timer_t; #define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 1 // Timer Index for Temperature #endif #define TEMP_TIMER_RATE 1000000 @@ -58,12 +58,12 @@ typedef uint32_t hal_timer_t; #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) #ifndef HAL_STEP_TIMER_ISR #define HAL_STEP_TIMER_ISR() extern "C" void TIMER0_IRQHandler() @@ -77,7 +77,6 @@ typedef uint32_t hal_timer_t; #define HAL_PWM_TIMER_ISR() extern "C" void TIMER3_IRQHandler() #define HAL_PWM_TIMER_IRQn - void HAL_timer_init(); void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); @@ -93,5 +92,5 @@ 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); -#define HAL_timer_isr_prologue(TIMER_NUM) -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_prologue(T) NOOP +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/LPC1768/HAL.cpp b/Marlin/src/HAL/LPC1768/HAL.cpp index cee9cfc5f7..9ff3a6ba59 100644 --- a/Marlin/src/HAL/LPC1768/HAL.cpp +++ b/Marlin/src/HAL/LPC1768/HAL.cpp @@ -25,13 +25,9 @@ #include "../shared/Delay.h" #include "../../../gcode/parser.h" -#if ENABLED(USE_WATCHDOG) - #include "watchdog.h" -#endif - DefaultSerial1 USBSerial(false, UsbSerial); -uint32_t HAL_adc_reading = 0; +uint32_t MarlinHAL::adc_result = 0; // U8glib required functions extern "C" { @@ -41,8 +37,6 @@ extern "C" { void u8g_Delay(uint16_t val) { delay(val); } } -//************************// - // return free heap space int freeMemory() { char stack_end; @@ -54,7 +48,71 @@ int freeMemory() { return result; } -// scan command line for code +void MarlinHAL::reboot() { NVIC_SystemReset(); } + +uint8_t MarlinHAL::get_reset_source() { + #if ENABLED(USE_WATCHDOG) + if (watchdog_timed_out()) return RST_WATCHDOG; + #endif + return RST_POWER_ON; +} + +void MarlinHAL::clear_reset_source() { watchdog_clear_timeout_flag(); } + +void flashFirmware(const int16_t) { + delay(500); // Give OS time to disconnect + USB_Connect(false); // USB clear connection + delay(1000); // Give OS time to notice + hal.reboot(); +} + +#if ENABLED(USE_WATCHDOG) + + #include + + #define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + #if ENABLED(WATCHDOG_RESET_MANUAL) + // We enable the watchdog timer, but only for the interrupt. + + // Configure WDT to only trigger an interrupt + // Disable WDT interrupt (just in case, to avoid triggering it!) + NVIC_DisableIRQ(WDT_IRQn); + + // 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(); + + // Configure WDT to only trigger an interrupt + // Initialize WDT with the given parameters + WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY); + + // Configure and enable WDT interrupt. + NVIC_ClearPendingIRQ(WDT_IRQn); + NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups + NVIC_EnableIRQ(WDT_IRQn); + #else + WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET); + #endif + WDT_Start(WDT_TIMEOUT_US); + } + + void MarlinHAL::watchdog_refresh() { + WDT_Feed(); + #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) + TOGGLE(LED_PIN); // heartbeat indicator + #endif + } + + // Timeout state + bool MarlinHAL::watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); } + void MarlinHAL::watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); } + +#endif // USE_WATCHDOG + +// For M42/M43, scan command line for pin code // return index into pin map array if found and the pin is valid. // return dval if not found or not a valid pin. int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) { @@ -63,24 +121,4 @@ int16_t PARSED_PIN_INDEX(const char code, const int16_t dval) { return ind > -1 ? ind : dval; } -void flashFirmware(const int16_t) { - delay(500); // Give OS time to disconnect - USB_Connect(false); // USB clear connection - delay(1000); // Give OS time to notice - HAL_reboot(); -} - -void HAL_clear_reset_source(void) { - TERN_(USE_WATCHDOG, watchdog_clear_timeout_flag()); -} - -uint8_t HAL_get_reset_source(void) { - #if ENABLED(USE_WATCHDOG) - if (watchdog_timed_out()) return RST_WATCHDOG; - #endif - return RST_POWER_ON; -} - -void HAL_reboot() { NVIC_SystemReset(); } - #endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/HAL.h b/Marlin/src/HAL/LPC1768/HAL.h index bcfa6c412f..b0eeb983b4 100644 --- a/Marlin/src/HAL/LPC1768/HAL.h +++ b/Marlin/src/HAL/LPC1768/HAL.h @@ -28,8 +28,6 @@ #define CPU_32_BIT -void HAL_init(); - #include #include #include @@ -40,25 +38,15 @@ extern "C" volatile uint32_t _millis; #include "../shared/math_32bit.h" #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include "MarlinSerial.h" #include #include #include -// -// Default graphical display delays -// -#ifndef ST7920_DELAY_1 - #define ST7920_DELAY_1 DELAY_NS(600) -#endif -#ifndef ST7920_DELAY_2 - #define ST7920_DELAY_2 DELAY_NS(750) -#endif -#ifndef ST7920_DELAY_3 - #define ST7920_DELAY_3 DELAY_NS(750) -#endif +// ------------------------ +// Serial ports +// ------------------------ typedef ForwardSerial1Class< decltype(UsbSerial) > DefaultSerial1; extern DefaultSerial1 USBSerial; @@ -84,6 +72,16 @@ extern DefaultSerial1 USBSerial; #endif #endif +#ifdef SERIAL_PORT_3 + #if SERIAL_PORT_3 == -1 + #define MYSERIAL3 USBSerial + #elif WITHIN(SERIAL_PORT_3, 0, 3) + #define MYSERIAL3 MSERIAL(SERIAL_PORT_3) + #else + #error "SERIAL_PORT_3 must be from 0 to 3. 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 @@ -103,35 +101,19 @@ extern DefaultSerial1 USBSerial; #error "LCD_SERIAL_PORT must be from 0 to 3. You can also use -1 if the board supports Native USB." #endif #if HAS_DGUS_LCD - #define SERIAL_GET_TX_BUFFER_FREE() MSerial0.available() + #define SERIAL_GET_TX_BUFFER_FREE() LCD_SERIAL.available() #endif #endif // // Interrupts // -#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq() -#define CRITICAL_SECTION_END() if (!primask) __enable_irq() -#define ISRS_ENABLED() (!__get_PRIMASK()) -#define ENABLE_ISRS() __enable_irq() -#define DISABLE_ISRS() __disable_irq() + +#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq() +#define CRITICAL_SECTION_END() if (irqon) __enable_irq() // -// Utility functions -// -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wunused-function" -#endif - -int freeMemory(); - -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif - -// -// ADC API +// ADC // #define ADC_MEDIAN_FILTER_SIZE (23) // Higher values increase step delay (phase shift), @@ -150,20 +132,9 @@ int freeMemory(); #define HAL_ADC_RESOLUTION 12 // 15 bit maximum, raw temperature is stored as int16_t #define HAL_ADC_FILTERED // Disable oversampling done in Marlin as ADC values already filtered in HAL -using FilteredADC = LPC176x::ADC; -extern uint32_t HAL_adc_reading; -[[gnu::always_inline]] inline void HAL_start_adc(const pin_t pin) { - HAL_adc_reading = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits -} -[[gnu::always_inline]] inline uint16_t HAL_read_adc() { - return HAL_adc_reading; -} - -#define HAL_adc_init() -#define HAL_ANALOG_SELECT(pin) FilteredADC::enable_channel(pin) -#define HAL_START_ADC(pin) HAL_start_adc(pin) -#define HAL_READ_ADC() HAL_read_adc() -#define HAL_ADC_READY() (true) +// +// Pin Mapping for M42, M43, M226 +// // Test whether the pin is valid constexpr bool VALID_PIN(const pin_t pin) { @@ -188,34 +159,109 @@ constexpr pin_t GET_PIN_MAP_PIN(const int16_t index) { // Parse a G-code word into a pin index int16_t PARSED_PIN_INDEX(const char code, const int16_t dval); // P0.6 thru P0.9 are for the onboard SD card -#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09 +#define HAL_SENSITIVE_PINS P0_06, P0_07, P0_08, P0_09, -#define HAL_IDLETASK 1 -void HAL_idletask(); +// ------------------------ +// Defines +// ------------------------ #define PLATFORM_M997_SUPPORT void flashFirmware(const int16_t); #define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment -/** - * set_pwm_frequency - * Set the frequency of the timer corresponding to the provided pin - * All Hardware PWM pins run at the same frequency and all - * Software PWM pins run at the same frequency - */ -void set_pwm_frequency(const pin_t pin, int f_desired); +// Default graphical display delays +#define CPU_ST7920_DELAY_1 600 +#define CPU_ST7920_DELAY_2 750 +#define CPU_ST7920_DELAY_3 750 -/** - * set_pwm_duty - * Set the PWM duty cycle of the provided pin to the provided value - * Optionally allows inverting the duty cycle [default = false] - * Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255] - */ -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false); +// ------------------------ +// Free Memory Accessor +// ------------------------ -// Reset source -void HAL_clear_reset_source(void); -uint8_t HAL_get_reset_source(void); +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif -void HAL_reboot(); +int freeMemory(); + +#pragma GCC diagnostic pop + +// ------------------------ +// MarlinHAL Class +// ------------------------ + +class MarlinHAL { +public: + + // Earliest possible init, before setup() + MarlinHAL() {} + + 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() { __enable_irq(); } + static void isr_off() { __disable_irq(); } + + static void delay_ms(const int ms) { _delay_ms(ms); } + + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); + static bool watchdog_timed_out() IF_DISABLED(USE_WATCHDOG, { return false; }); + static void watchdog_clear_timeout_flag() IF_DISABLED(USE_WATCHDOG, {}); + + // 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 + // + + using FilteredADC = LPC176x::ADC; + + // 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) { + FilteredADC::enable_channel(pin); + } + + // Begin ADC sampling on the given pin. Called from Temperature::isr! + static uint32_t adc_result; + static void adc_start(const pin_t pin) { + adc_result = FilteredADC::read(pin) >> (16 - HAL_ADC_RESOLUTION); // returns 16bit value, reduce to required bits + } + + // 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 uint16_t(adc_result); } + + /** + * Set the PWM duty cycle for the pin to the given value. + * Optionally invert the duty cycle [default = false] + * Optionally 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 v_size=255, const bool invert=false); + + /** + * Set the frequency of the timer corresponding to the provided pin + * All Hardware PWM pins will run at the same frequency and + * All Software PWM pins will 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/LPC1768/HAL_SPI.cpp b/Marlin/src/HAL/LPC1768/HAL_SPI.cpp index 99db15f6e9..257d8579e2 100644 --- a/Marlin/src/HAL/LPC1768/HAL_SPI.cpp +++ b/Marlin/src/HAL/LPC1768/HAL_SPI.cpp @@ -66,11 +66,7 @@ #include - #ifndef HAL_SPI_SPEED - #define HAL_SPI_SPEED SPI_FULL_SPEED - #endif - - static uint8_t SPI_speed = HAL_SPI_SPEED; + static uint8_t SPI_speed = SPI_FULL_SPEED; static uint8_t spiTransfer(uint8_t b) { return swSpiTransfer(b, SPI_speed, SD_SCK_PIN, SD_MISO_PIN, SD_MOSI_PIN); @@ -106,15 +102,13 @@ #else - #ifndef HAL_SPI_SPEED - #ifdef SD_SPI_SPEED - #define HAL_SPI_SPEED SD_SPI_SPEED - #else - #define HAL_SPI_SPEED SPI_FULL_SPEED - #endif + #ifdef SD_SPI_SPEED + #define INIT_SPI_SPEED SD_SPI_SPEED + #else + #define INIT_SPI_SPEED SPI_FULL_SPEED #endif - void spiBegin() { spiInit(HAL_SPI_SPEED); } // Set up SCK, MOSI & MISO pins for SSP0 + void spiBegin() { spiInit(INIT_SPI_SPEED); } // Set up SCK, MOSI & MISO pins for SSP0 void spiInit(uint8_t spiRate) { #if SD_MISO_PIN == BOARD_SPI1_MISO_PIN @@ -324,8 +318,16 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) { // Enable DMA GPDMA_ChannelCmd(0, ENABLE); + /* + * Observed behaviour on normal data transfer completion (SKR 1.3 board / LPC1768 MCU) + * GPDMA_STAT_INTTC flag is SET + * GPDMA_STAT_INTERR flag is NOT SET + * GPDMA_STAT_RAWINTTC flag is NOT SET + * GPDMA_STAT_RAWINTERR flag is SET + */ + // Wait for data transfer - while (!GPDMA_IntGetStatus(GPDMA_STAT_RAWINTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_RAWINTERR, 0)) { } + while (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0) && !GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) {} // Clear err and int GPDMA_ClearIntPending (GPDMA_STATCLR_INTTC, 0); @@ -339,6 +341,43 @@ void SPIClass::dmaSend(void *buf, uint16_t length, bool minc) { SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, DISABLE); } +void SPIClass::dmaSendAsync(void *buf, uint16_t length, bool minc) { + //TODO: LPC dma can only write 0xFFF bytes at once. + GPDMA_Channel_CFG_Type GPDMACfg; + + /* Configure GPDMA channel 0 -------------------------------------------------------------*/ + /* DMA Channel 0 */ + GPDMACfg.ChannelNum = 0; + // Source memory + GPDMACfg.SrcMemAddr = (uint32_t)buf; + // Destination memory - Not used + GPDMACfg.DstMemAddr = 0; + // Transfer size + GPDMACfg.TransferSize = length; + // Transfer width + GPDMACfg.TransferWidth = (_currentSetting->dataSize == DATA_SIZE_16BIT) ? GPDMA_WIDTH_HALFWORD : GPDMA_WIDTH_BYTE; + // Transfer type + GPDMACfg.TransferType = GPDMA_TRANSFERTYPE_M2P; + // Source connection - unused + GPDMACfg.SrcConn = 0; + // Destination connection + GPDMACfg.DstConn = (_currentSetting->spi_d == LPC_SSP0) ? GPDMA_CONN_SSP0_Tx : GPDMA_CONN_SSP1_Tx; + + GPDMACfg.DMALLI = 0; + + // Enable dma on SPI + SSP_DMACmd(_currentSetting->spi_d, SSP_DMA_TX, ENABLE); + + // Only increase memory if minc is true + GPDMACfg.MemoryIncrease = (minc ? GPDMA_DMACCxControl_SI : 0); + + // Setup channel with given parameter + GPDMA_Setup(&GPDMACfg); + + // Enable DMA + GPDMA_ChannelCmd(0, ENABLE); +} + uint16_t SPIClass::read() { return SSP_ReceiveData(_currentSetting->spi_d); } diff --git a/Marlin/src/HAL/LPC1768/MarlinSerial.cpp b/Marlin/src/HAL/LPC1768/MarlinSerial.cpp index f35328d22f..f2aecf54a0 100644 --- a/Marlin/src/HAL/LPC1768/MarlinSerial.cpp +++ b/Marlin/src/HAL/LPC1768/MarlinSerial.cpp @@ -26,9 +26,9 @@ #include "../../inc/MarlinConfig.h" #if USING_HW_SERIAL0 - MarlinSerial _MSerial(LPC_UART0); - MSerialT MSerial0(true, _MSerial); - extern "C" void UART0_IRQHandler() { _MSerial.IRQHandler(); } + MarlinSerial _MSerial0(LPC_UART0); + MSerialT MSerial0(true, _MSerial0); + extern "C" void UART0_IRQHandler() { _MSerial0.IRQHandler(); } #endif #if USING_HW_SERIAL1 MarlinSerial _MSerial1((LPC_UART_TypeDef *) LPC_UART1); @@ -52,7 +52,7 @@ // Need to figure out which serial port we are and react in consequence (Marlin does not have CONTAINER_OF macro) if (false) {} #if USING_HW_SERIAL0 - else if (this == &_MSerial) emergency_parser.update(MSerial0.emergency_state, c); + else if (this == &_MSerial0) emergency_parser.update(MSerial0.emergency_state, c); #endif #if USING_HW_SERIAL1 else if (this == &_MSerial1) emergency_parser.update(MSerial1.emergency_state, c); diff --git a/Marlin/src/HAL/LPC1768/MarlinSerial.h b/Marlin/src/HAL/LPC1768/MarlinSerial.h index 489bd8cc6c..3e6848a1e3 100644 --- a/Marlin/src/HAL/LPC1768/MarlinSerial.h +++ b/Marlin/src/HAL/LPC1768/MarlinSerial.h @@ -46,6 +46,8 @@ public: void end() {} + uint8_t availableForWrite(void) { /* flushTX(); */ return TX_BUFFER_SIZE; } + #if ENABLED(EMERGENCY_PARSER) bool recv_callback(const char c) override; #endif @@ -60,8 +62,8 @@ extern MSerialT MSerial1; extern MSerialT MSerial2; extern MSerialT MSerial3; -// Consequently, we can't use a RuntimeSerial either. The workaround would be to use a RuntimeSerial> type here -// Right now, let's ignore this until it's actually required. +// Consequently, we can't use a RuntimeSerial either. The workaround would be to use +// a RuntimeSerial> type here. Ignore for now until it's actually required. #if ENABLED(SERIAL_RUNTIME_HOOK) #error "SERIAL_RUNTIME_HOOK is not yet supported for LPC176x." #endif diff --git a/Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp b/Marlin/src/HAL/LPC1768/MinSerial.cpp similarity index 96% rename from Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp rename to Marlin/src/HAL/LPC1768/MinSerial.cpp index ab9af1fe00..7a1c038c0b 100644 --- a/Marlin/src/HAL/LPC1768/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/LPC1768/MinSerial.cpp @@ -21,11 +21,12 @@ */ #ifdef TARGET_LPC1768 +#include "../../inc/MarlinConfig.h" #include "HAL.h" #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" +#include "../shared/MinSerial.h" #include static void TX(char c) { _DBC(c); } diff --git a/Marlin/src/HAL/LPC1768/Servo.h b/Marlin/src/HAL/LPC1768/Servo.h index eb12fd20f4..f02f503a67 100644 --- a/Marlin/src/HAL/LPC1768/Servo.h +++ b/Marlin/src/HAL/LPC1768/Servo.h @@ -65,4 +65,5 @@ class libServo: public Servo { } }; -#define HAL_SERVO_LIB libServo +class libServo; +typedef libServo hal_servo_t; diff --git a/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp b/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp index 70395251df..1991d79719 100644 --- a/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp +++ b/Marlin/src/HAL/LPC1768/eeprom_sdcard.cpp @@ -1,10 +1,9 @@ /** * 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 + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,12 +19,19 @@ * along with this program. If not, see . * */ + +/** + * Implementation of EEPROM settings in SD Card + */ + #ifdef TARGET_LPC1768 #include "../../inc/MarlinConfig.h" #if ENABLED(SDCARD_EEPROM_EMULATION) +//#define DEBUG_SD_EEPROM_EMULATION + #include "../shared/eeprom_api.h" #include @@ -38,9 +44,11 @@ FATFS fat_fs; FIL eeprom_file; bool eeprom_file_open = false; +#define EEPROM_FILENAME "eeprom.dat" #ifndef MARLIN_EEPROM_SIZE #define MARLIN_EEPROM_SIZE size_t(0x1000) // 4KiB of Emulated EEPROM #endif + size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } bool PersistentStore::access_start() { @@ -50,7 +58,7 @@ bool PersistentStore::access_start() { MSC_Release_Lock(); return false; } - FRESULT res = f_open(&eeprom_file, "eeprom.dat", FA_OPEN_ALWAYS | FA_WRITE | FA_READ); + FRESULT res = f_open(&eeprom_file, EEPROM_FILENAME, FA_OPEN_ALWAYS | FA_WRITE | FA_READ); if (res) MSC_Release_Lock(); if (res == FR_OK) { @@ -81,18 +89,20 @@ bool PersistentStore::access_finish() { // This extra chit-chat goes away soon, but is helpful for now // to see errors that are happening in read_data / write_data static void debug_rw(const bool write, int &pos, const uint8_t *value, const size_t size, const FRESULT s, const size_t total=0) { - PGM_P const rw_str = write ? PSTR("write") : PSTR("read"); - SERIAL_CHAR(' '); - SERIAL_ECHOPGM_P(rw_str); - SERIAL_ECHOLNPAIR("_data(", pos, ",", value, ",", size, ", ...)"); - if (total) { - SERIAL_ECHOPGM(" f_"); - SERIAL_ECHOPGM_P(rw_str); - SERIAL_ECHOPAIR("()=", s, "\n size=", size, "\n bytes_"); - SERIAL_ECHOLNPAIR_P(write ? PSTR("written=") : PSTR("read="), total); - } - else - SERIAL_ECHOLNPAIR(" f_lseek()=", s); + #if ENABLED(DEBUG_SD_EEPROM_EMULATION) + FSTR_P const rw_str = write ? F("write") : F("read"); + SERIAL_CHAR(' '); + SERIAL_ECHOF(rw_str); + SERIAL_ECHOLNPGM("_data(", pos, ",", *value, ",", size, ", ...)"); + if (total) { + SERIAL_ECHOPGM(" f_"); + SERIAL_ECHOF(rw_str); + SERIAL_ECHOPGM("()=", s, "\n size=", size, "\n bytes_"); + SERIAL_ECHOLNF(write ? F("written=") : F("read="), total); + } + else + SERIAL_ECHOLNPGM(" f_lseek()=", s); + #endif } // File function return codes for type FRESULT. This goes away soon, but diff --git a/Marlin/src/HAL/LPC1768/eeprom_wired.cpp b/Marlin/src/HAL/LPC1768/eeprom_wired.cpp index f9286a74ac..1bbc39d4a2 100644 --- a/Marlin/src/HAL/LPC1768/eeprom_wired.cpp +++ b/Marlin/src/HAL/LPC1768/eeprom_wired.cpp @@ -34,7 +34,7 @@ #include "../shared/eeprom_api.h" #ifndef MARLIN_EEPROM_SIZE - #define MARLIN_EEPROM_SIZE 0x8000 // 32KB‬ + #define MARLIN_EEPROM_SIZE 0x8000 // 32K #endif size_t PersistentStore::capacity() { return MARLIN_EEPROM_SIZE; } diff --git a/Marlin/src/HAL/LPC1768/endstop_interrupts.h b/Marlin/src/HAL/LPC1768/endstop_interrupts.h index 126d6e7d5b..e4ac17f608 100644 --- a/Marlin/src/HAL/LPC1768/endstop_interrupts.h +++ b/Marlin/src/HAL/LPC1768/endstop_interrupts.h @@ -122,4 +122,70 @@ void setup_endstop_interrupts() { #endif _ATTACH(Z_MIN_PROBE_PIN); #endif + #if HAS_I_MAX + #if !LPC1768_PIN_INTERRUPT_M(I_MAX_PIN) + #error "I_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(I_MAX_PIN); + #elif HAS_I_MIN + #if !LPC1768_PIN_INTERRUPT_M(I_MIN_PIN) + #error "I_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(I_MIN_PIN); + #endif + #if HAS_J_MAX + #if !LPC1768_PIN_INTERRUPT_M(J_MAX_PIN) + #error "J_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(J_MAX_PIN); + #elif HAS_J_MIN + #if !LPC1768_PIN_INTERRUPT_M(J_MIN_PIN) + #error "J_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(J_MIN_PIN); + #endif + #if HAS_K_MAX + #if !LPC1768_PIN_INTERRUPT_M(K_MAX_PIN) + #error "K_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(K_MAX_PIN); + #elif HAS_K_MIN + #if !LPC1768_PIN_INTERRUPT_M(K_MIN_PIN) + #error "K_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(K_MIN_PIN); + #endif + #if HAS_U_MAX + #if !LPC1768_PIN_INTERRUPT_M(U_MAX_PIN) + #error "U_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(U_MAX_PIN); + #elif HAS_U_MIN + #if !LPC1768_PIN_INTERRUPT_M(U_MIN_PIN) + #error "U_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(U_MIN_PIN); + #endif + #if HAS_V_MAX + #if !LPC1768_PIN_INTERRUPT_M(V_MAX_PIN) + #error "V_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(V_MAX_PIN); + #elif HAS_V_MIN + #if !LPC1768_PIN_INTERRUPT_M(V_MIN_PIN) + #error "V_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(V_MIN_PIN); + #endif + #if HAS_W_MAX + #if !LPC1768_PIN_INTERRUPT_M(W_MAX_PIN) + #error "W_MAX_PIN is not INTERRUPT-capable." + #endif + _ATTACH(W_MAX_PIN); + #elif HAS_W_MIN + #if !LPC1768_PIN_INTERRUPT_M(W_MIN_PIN) + #error "W_MIN_PIN is not INTERRUPT-capable." + #endif + _ATTACH(W_MIN_PIN); + #endif } diff --git a/Marlin/src/HAL/LPC1768/fast_pwm.cpp b/Marlin/src/HAL/LPC1768/fast_pwm.cpp index dd440b5e77..6d2b1a9002 100644 --- a/Marlin/src/HAL/LPC1768/fast_pwm.cpp +++ b/Marlin/src/HAL/LPC1768/fast_pwm.cpp @@ -21,19 +21,17 @@ */ #ifdef TARGET_LPC1768 -#include "../../inc/MarlinConfigPre.h" - -#if NEEDS_HARDWARE_PWM // Specific meta-flag for features that mandate PWM - +#include "../../inc/MarlinConfig.h" #include -void set_pwm_frequency(const pin_t pin, int f_desired) { +void MarlinHAL::set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { + if (!LPC176x::pin_is_valid(pin)) return; + if (LPC176x::pwm_attach_pin(pin)) + LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size); // map 1-254 onto PWM range +} + +void MarlinHAL::set_pwm_frequency(const pin_t pin, const uint16_t f_desired) { LPC176x::pwm_set_frequency(pin, f_desired); } -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { - LPC176x::pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size); -} - -#endif // NEEDS_HARDWARE_PWM #endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h b/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h index be574a96e4..3549950008 100644 --- a/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h +++ b/Marlin/src/HAL/LPC1768/inc/Conditionals_post.h @@ -29,6 +29,6 @@ // LPC1768 boards seem to lose steps when saving to EEPROM during print (issue #20785) // TODO: Which other boards are incompatible? -#if defined(MCU_LPC1768) && PRINTCOUNTER_SAVE_INTERVAL > 0 +#if defined(MCU_LPC1768) && ENABLED(FLASH_EEPROM_EMULATION) && PRINTCOUNTER_SAVE_INTERVAL > 0 #define PRINTCOUNTER_SYNC 1 #endif diff --git a/Marlin/src/HAL/LPC1768/inc/SanityCheck.h b/Marlin/src/HAL/LPC1768/inc/SanityCheck.h index a6286ba6f4..8265d58a6e 100644 --- a/Marlin/src/HAL/LPC1768/inc/SanityCheck.h +++ b/Marlin/src/HAL/LPC1768/inc/SanityCheck.h @@ -67,7 +67,7 @@ static_assert(!(NUM_SERVOS && ENABLED(FAST_PWM_FAN)), "BLTOUCH and Servos are in * Test LPC176x-specific configuration values for errors at compile-time. */ -//#if ENABLED(SPINDLE_LASER_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11) +//#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 @@ -113,7 +113,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #define _IS_RX1_1 IS_RX1 #if IS_TX1(TMC_SW_SCK) #error "Serial port pins (1) conflict with other pins!" - #elif HAS_WIRED_LCD + #elif HAS_ROTARY_ENCODER #if IS_TX1(BTN_EN2) || IS_RX1(BTN_EN1) #error "Serial port pins (1) conflict with Encoder Buttons!" #elif ANY_TX(1, SD_SCK_PIN, LCD_PINS_D4, DOGLCD_SCK, LCD_RESET_PIN, LCD_PINS_RS, SHIFT_CLK_PIN) \ @@ -144,9 +144,9 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #error "Serial port pins (2) conflict with Z4 pins!" #elif ANY_RX(2, X_DIR_PIN, Y_DIR_PIN) #error "Serial port pins (2) conflict with other pins!" - #elif Y_HOME_DIR < 0 && IS_TX2(Y_STOP_PIN) + #elif Y_HOME_TO_MIN && IS_TX2(Y_STOP_PIN) #error "Serial port pins (2) conflict with Y endstop pin!" - #elif HAS_CUSTOM_PROBE_PIN && IS_TX2(Z_MIN_PROBE_PIN) + #elif USES_Z_MIN_PROBE_PIN && IS_TX2(Z_MIN_PROBE_PIN) #error "Serial port pins (2) conflict with probe pin!" #elif ANY_TX(2, X_ENABLE_PIN, Y_ENABLE_PIN) || ANY_RX(2, X_DIR_PIN, Y_DIR_PIN) #error "Serial port pins (2) conflict with X/Y stepper pins!" @@ -237,7 +237,7 @@ static_assert(DISABLED(BAUD_RATE_GCODE), "BAUD_RATE_GCODE is not yet supported o #define PIN_IS_SCL2(P) (P##_PIN == P0_11) #if PIN_IS_SDA2(Y_STOP) #error "i2c SDA2 overlaps with Y endstop pin!" - #elif HAS_CUSTOM_PROBE_PIN && PIN_IS_SDA2(Z_MIN_PROBE) + #elif USES_Z_MIN_PROBE_PIN && PIN_IS_SDA2(Z_MIN_PROBE) #error "i2c SDA2 overlaps with Z probe pin!" #elif PIN_IS_SDA2(X_ENABLE) || PIN_IS_SDA2(Y_ENABLE) #error "i2c SDA2 overlaps with X/Y ENABLE pin!" diff --git a/Marlin/src/HAL/LPC1768/include/SPI.h b/Marlin/src/HAL/LPC1768/include/SPI.h index ecd91f6a3b..03d34becd8 100644 --- a/Marlin/src/HAL/LPC1768/include/SPI.h +++ b/Marlin/src/HAL/LPC1768/include/SPI.h @@ -77,7 +77,7 @@ public: //uint32_t spiRate() const { return spi_speed; } - static inline uint32_t spiRate2Clock(uint32_t spiRate) { + static uint32_t spiRate2Clock(uint32_t spiRate) { uint32_t Marlin_speed[7]; // CPSR is always 2 Marlin_speed[0] = 8333333; //(SCR: 2) desired: 8,000,000 actual: 8,333,333 +4.2% SPI_FULL_SPEED Marlin_speed[1] = 4166667; //(SCR: 5) desired: 4,000,000 actual: 4,166,667 +4.2% SPI_HALF_SPEED @@ -155,6 +155,7 @@ public: void read(uint8_t *buf, uint32_t len); void dmaSend(void *buf, uint16_t length, bool minc); + void dmaSendAsync(void *buf, uint16_t length, bool minc); /** * @brief Sets the number of the SPI peripheral to be used by diff --git a/Marlin/src/HAL/LPC1768/include/digipot_mcp4451_I2C_routines.c b/Marlin/src/HAL/LPC1768/include/digipot_mcp4451_I2C_routines.c index f442ab71c0..c489c16e5e 100644 --- a/Marlin/src/HAL/LPC1768/include/digipot_mcp4451_I2C_routines.c +++ b/Marlin/src/HAL/LPC1768/include/digipot_mcp4451_I2C_routines.c @@ -29,7 +29,7 @@ #include "../../../inc/MarlinConfigPre.h" -#if MB(MKS_SBASE) +#if ENABLED(DIGIPOT_MCP4451) && MB(MKS_SBASE) #ifdef __cplusplus extern "C" { @@ -37,35 +37,6 @@ #include "digipot_mcp4451_I2C_routines.h" -// These two routines are exact copies of the lpc17xx_i2c.c routines. Couldn't link to -// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them. - -static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) { - // Reset STA, STO, SI - I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC; - - // Enter to Master Transmitter mode - I2Cx->I2CONSET = I2C_I2CONSET_STA; - - // Wait for complete - while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI)); - I2Cx->I2CONCLR = I2C_I2CONCLR_STAC; - return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK); -} - -static void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) { - // Make sure start bit is not active - if (I2Cx->I2CONSET & I2C_I2CONSET_STA) - I2Cx->I2CONCLR = I2C_I2CONCLR_STAC; - - I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA; - I2Cx->I2CONCLR = I2C_I2CONCLR_SIC; -} - -I2C_M_SETUP_Type transferMCfg; - -#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK) - uint8_t digipot_mcp4451_start(uint8_t sla) { // send slave address and write bit // Sometimes TX data ACK or NAK status is returned. That mean the start state didn't // happen which means only the value of the slave address was send. Keep looping until @@ -102,5 +73,5 @@ uint8_t digipot_mcp4451_send_byte(uint8_t data) { } #endif -#endif // MB(MKS_SBASE) +#endif // DIGIPOT_MCP4451 && MKS_SBASE #endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/include/i2c_util.c b/Marlin/src/HAL/LPC1768/include/i2c_util.c index e52fb7c4de..4e24f23236 100644 --- a/Marlin/src/HAL/LPC1768/include/i2c_util.c +++ b/Marlin/src/HAL/LPC1768/include/i2c_util.c @@ -63,6 +63,32 @@ void configure_i2c(const uint8_t clock_option) { I2C_Cmd(I2CDEV_M, I2C_MASTER_MODE, ENABLE); } +////////////////////////////////////////////////////////////////////////////////////// +// These two routines are exact copies of the lpc17xx_i2c.c routines. Couldn't link to +// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them. + +uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) { + // Reset STA, STO, SI + I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC; + + // Enter to Master Transmitter mode + I2Cx->I2CONSET = I2C_I2CONSET_STA; + + // Wait for complete + while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI)); + I2Cx->I2CONCLR = I2C_I2CONCLR_STAC; + return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK); +} + +void _I2C_Stop(LPC_I2C_TypeDef *I2Cx) { + /* Make sure start bit is not active */ + if (I2Cx->I2CONSET & I2C_I2CONSET_STA) + I2Cx->I2CONCLR = I2C_I2CONCLR_STAC; + + I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA; + I2Cx->I2CONCLR = I2C_I2CONCLR_SIC; +} + #ifdef __cplusplus } #endif diff --git a/Marlin/src/HAL/LPC1768/include/i2c_util.h b/Marlin/src/HAL/LPC1768/include/i2c_util.h index a57f68a407..1f1c19f279 100644 --- a/Marlin/src/HAL/LPC1768/include/i2c_util.h +++ b/Marlin/src/HAL/LPC1768/include/i2c_util.h @@ -51,6 +51,11 @@ void configure_i2c(const uint8_t clock_option); +uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx); +void _I2C_Stop(LPC_I2C_TypeDef *I2Cx); + +#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK) + #ifdef __cplusplus } #endif diff --git a/Marlin/src/HAL/LPC1768/main.cpp b/Marlin/src/HAL/LPC1768/main.cpp index 08fb1a1ed5..419c99793f 100644 --- a/Marlin/src/HAL/LPC1768/main.cpp +++ b/Marlin/src/HAL/LPC1768/main.cpp @@ -48,7 +48,7 @@ void SysTick_Callback() { disk_timerproc(); } TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); -void HAL_init() { +void MarlinHAL::init() { // Init LEDs #if PIN_EXISTS(LED) @@ -117,7 +117,7 @@ void HAL_init() { PinCfg.Pinmode = 2; // no pull-up/pull-down PINSEL_ConfigPin(&PinCfg); // now set CLKOUT_EN bit - LPC_SC->CLKOUTCFG |= (1<<8); + SBI(LPC_SC->CLKOUTCFG, 8); #endif USB_Init(); // USB Initialization @@ -130,7 +130,7 @@ void HAL_init() { const millis_t usb_timeout = millis() + 2000; while (!USB_Configuration && PENDING(millis(), usb_timeout)) { delay(50); - HAL_idletask(); + idletask(); #if PIN_EXISTS(LED) TOGGLE(LED_PIN); // Flash quickly during USB initialization #endif @@ -142,7 +142,7 @@ void HAL_init() { } // HAL idle task -void HAL_idletask() { +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. diff --git a/Marlin/src/HAL/LPC1768/pinsDebug.h b/Marlin/src/HAL/LPC1768/pinsDebug.h index f80551604f..a2f5c123a2 100644 --- a/Marlin/src/HAL/LPC1768/pinsDebug.h +++ b/Marlin/src/HAL/LPC1768/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -33,8 +36,9 @@ #define PRINT_PORT(p) #define GET_ARRAY_PIN(p) pin_array[p].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 PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%d.%02d"), LPC176x::pin_port(p), LPC176x::pin_bit(p)); SERIAL_ECHO(buffer); }while(0) -#define MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin +#define PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("P%d_%02d"), LPC176x::pin_port(p), LPC176x::pin_bit(p)); SERIAL_ECHO(buffer); }while(0) +#define PRINT_PIN_ANALOG(p) do{ sprintf_P(buffer, PSTR("_A%d "), LPC176x::pin_get_adc_channel(pin)); SERIAL_ECHO(buffer); }while(0) +#define MULTI_NAME_PAD 17 // 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 @@ -48,6 +52,4 @@ bool GET_PINMODE(const pin_t pin) { return LPC176x::gpio_direction(pin); } -bool GET_ARRAY_IS_DIGITAL(const pin_t pin) { - return (!LPC176x::pin_has_adc(pin) || !LPC176x::pin_adc_enabled(pin)); -} +#define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital) diff --git a/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp b/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp index a2cb66ab5b..804fc85e79 100644 --- a/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp +++ b/Marlin/src/HAL/LPC1768/tft/tft_spi.cpp @@ -26,69 +26,22 @@ #include "tft_spi.h" -//TFT_SPI tft; - -SPIClass TFT_SPI::SPIx(1); - -#define TFT_CS_H WRITE(TFT_CS_PIN, HIGH) -#define TFT_CS_L WRITE(TFT_CS_PIN, LOW) - -#define TFT_DC_H WRITE(TFT_DC_PIN, HIGH) -#define TFT_DC_L WRITE(TFT_DC_PIN, LOW) - -#define TFT_RST_H WRITE(TFT_RESET_PIN, HIGH) -#define TFT_RST_L WRITE(TFT_RESET_PIN, LOW) - -#define TFT_BLK_H WRITE(TFT_BACKLIGHT_PIN, HIGH) -#define TFT_BLK_L WRITE(TFT_BACKLIGHT_PIN, LOW) +SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE); void TFT_SPI::Init() { #if PIN_EXISTS(TFT_RESET) - SET_OUTPUT(TFT_RESET_PIN); - TFT_RST_H; + OUT_WRITE(TFT_RESET_PIN, HIGH); delay(100); #endif #if PIN_EXISTS(TFT_BACKLIGHT) - SET_OUTPUT(TFT_BACKLIGHT_PIN); - TFT_BLK_H; + OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH); #endif - SET_OUTPUT(TFT_DC_PIN); - SET_OUTPUT(TFT_CS_PIN); + OUT_WRITE(TFT_DC_PIN, HIGH); + OUT_WRITE(TFT_CS_PIN, HIGH); - TFT_DC_H; - TFT_CS_H; - - /** - * 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 0 - #if 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 - } - #endif - - #if TFT_MISO_PIN == BOARD_SPI1_MISO_PIN - SPIx.setModule(1); - #elif TFT_MISO_PIN == BOARD_SPI2_MISO_PIN - SPIx.setModule(2); - #endif + SPIx.setModule(TFT_SPI_DEVICE); SPIx.setClock(SPI_CLOCK_MAX_TFT); SPIx.setBitOrder(MSBFIRST); SPIx.setDataMode(SPI_MODE0); @@ -97,7 +50,7 @@ void TFT_SPI::Init() { void TFT_SPI::DataTransferBegin(uint16_t DataSize) { SPIx.setDataSize(DataSize); SPIx.begin(); - TFT_CS_L; + WRITE(TFT_CS_PIN, LOW); } uint32_t TFT_SPI::GetID() { @@ -116,7 +69,7 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) { SPIx.setDataSize(DATASIZE_8BIT); SPIx.setClock(SPI_CLOCK_DIV64); SPIx.begin(); - TFT_CS_L; + WRITE(TFT_CS_PIN, LOW); WriteReg(Reg); LOOP_L_N(i, 4) { @@ -132,22 +85,61 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) { } bool TFT_SPI::isBusy() { + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->DMACCSrcAddr != 0) + + // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend() + if (!__IS_DMA_CONFIGURED(LPC_GPDMACH0)) return false; + + if (GPDMA_IntGetStatus(GPDMA_STAT_INTERR, 0)) { + // 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 (!GPDMA_IntGetStatus(GPDMA_STAT_INTTC, 0)) return true; + // Check if SPI TX butter is empty and SPI is idle + if ((SSP_GetStatus(LPC_SSPx, SSP_STAT_TXFIFO_EMPTY) == RESET) || (SSP_GetStatus(LPC_SSPx, SSP_STAT_BUSY) == SET)) return true; + } + + Abort(); return false; } void TFT_SPI::Abort() { + // DMA Channel 0 is hardcoded in dmaSendAsync() and dmaSend() + + // Disable DMA + GPDMA_ChannelCmd(0, DISABLE); + + // Clear ERR and TC + GPDMA_ClearIntPending(GPDMA_STATCLR_INTTC, 0); + GPDMA_ClearIntPending(GPDMA_STATCLR_INTERR, 0); + + // Disable DMA on SPI + SSP_DMACmd(LPC_SSPx, SSP_DMA_TX, DISABLE); + + // Deconfigure DMA Channel 0 + LPC_GPDMACH0->DMACCControl = 0U; + LPC_GPDMACH0->DMACCConfig = 0U; + LPC_GPDMACH0->DMACCSrcAddr = 0U; + LPC_GPDMACH0->DMACCDestAddr = 0U; + DataTransferEnd(); } -void TFT_SPI::Transmit(uint16_t Data) { - SPIx.transfer(Data); +void TFT_SPI::Transmit(uint16_t Data) { SPIx.transfer(Data); } + +void TFT_SPI::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { + DataTransferBegin(DATASIZE_16BIT); + SPIx.dmaSend(Data, Count, MemoryIncrease); + Abort(); } void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { - DataTransferBegin(DATASIZE_16BIT); //16 - TFT_DC_H; - SPIx.dmaSend(Data, Count, MemoryIncrease); - DataTransferEnd(); + DataTransferBegin(DATASIZE_16BIT); + SPIx.dmaSendAsync(Data, Count, MemoryIncrease); + + TERN_(TFT_SHARED_SPI, while (isBusy())); } #endif // HAS_SPI_TFT diff --git a/Marlin/src/HAL/LPC1768/tft/tft_spi.h b/Marlin/src/HAL/LPC1768/tft/tft_spi.h index 4753fdbae9..dad393981e 100644 --- a/Marlin/src/HAL/LPC1768/tft/tft_spi.h +++ b/Marlin/src/HAL/LPC1768/tft/tft_spi.h @@ -27,6 +27,18 @@ #include // #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 LPC_SSPx LPC_SSP0 +#elif IS_SPI(2) + #define TFT_SPI_DEVICE 2 + #define LPC_SSPx LPC_SSP1 +#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 @@ -34,17 +46,19 @@ #define LCD_READ_ID4 0xD3 // Read display identification information (0xD3 on ILI9341) #endif -#define DATASIZE_8BIT SSP_DATABIT_8 -#define DATASIZE_16BIT SSP_DATABIT_16 -#define TFT_IO_DRIVER TFT_SPI +#define DATASIZE_8BIT SSP_DATABIT_8 +#define DATASIZE_16BIT SSP_DATABIT_16 +#define TFT_IO_DRIVER TFT_SPI +#define DMA_MAX_SIZE 0xFFF -#define DMA_MINC_ENABLE 1 -#define DMA_MINC_DISABLE 0 +#define DMA_MINC_ENABLE 1 +#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: @@ -56,22 +70,20 @@ public: static void Abort(); static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT); - static void DataTransferEnd() { OUT_WRITE(TFT_CS_PIN, HIGH); SPIx.end(); }; + static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); SSP_Cmd(LPC_SSPx, DISABLE); }; static void DataTransferAbort(); static void WriteData(uint16_t Data) { Transmit(Data); } - static void WriteReg(uint16_t Reg) { OUT_WRITE(TFT_A0_PIN, LOW); Transmit(Reg); OUT_WRITE(TFT_A0_PIN, HIGH); } + static void WriteReg(uint16_t Reg) { WRITE(TFT_DC_PIN, LOW); Transmit(Reg); WRITE(TFT_DC_PIN, HIGH); } - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } - // static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } + 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) { - static uint16_t Data; Data = Color; - //LPC dma can only write 0xFFF bytes at once. - #define MAX_DMA_SIZE (0xFFF - 1) while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > MAX_DMA_SIZE ? MAX_DMA_SIZE : Count); - Count = Count > MAX_DMA_SIZE ? Count - MAX_DMA_SIZE : 0; + Transmit(DMA_MINC_DISABLE, &Color, Count > DMA_MAX_SIZE ? DMA_MAX_SIZE : Count); + Count = Count > DMA_MAX_SIZE ? Count - DMA_MAX_SIZE : 0; } - #undef MAX_DMA_SIZE } }; diff --git a/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp b/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp index cf14405484..68a2176f5e 100644 --- a/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp +++ b/Marlin/src/HAL/LPC1768/tft/xpt2046.cpp @@ -22,7 +22,7 @@ #include "../../../inc/MarlinConfig.h" -#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS +#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS #include "xpt2046.h" #include @@ -44,9 +44,11 @@ uint16_t delta(uint16_t a, uint16_t b) { return a > b ? a - b : b - a; } #endif void XPT2046::Init() { - SET_INPUT(TOUCH_MISO_PIN); - SET_OUTPUT(TOUCH_MOSI_PIN); - SET_OUTPUT(TOUCH_SCK_PIN); + #if DISABLED(TOUCH_BUTTONS_HW_SPI) + SET_INPUT(TOUCH_MISO_PIN); + SET_OUTPUT(TOUCH_MOSI_PIN); + SET_OUTPUT(TOUCH_SCK_PIN); + #endif OUT_WRITE(TOUCH_CS_PIN, HIGH); #if PIN_EXISTS(TOUCH_INT) diff --git a/Marlin/src/HAL/LPC1768/tft/xpt2046.h b/Marlin/src/HAL/LPC1768/tft/xpt2046.h index 65602bda0f..7c456cf00e 100644 --- a/Marlin/src/HAL/LPC1768/tft/xpt2046.h +++ b/Marlin/src/HAL/LPC1768/tft/xpt2046.h @@ -54,7 +54,7 @@ enum XPTCoordinate : uint8_t { XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE, }; -#if !defined(XPT2046_Z1_THRESHOLD) +#ifndef XPT2046_Z1_THRESHOLD #define XPT2046_Z1_THRESHOLD 10 #endif @@ -65,8 +65,8 @@ private: static uint16_t getRawData(const XPTCoordinate coordinate); static bool isTouched(); - static inline void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); }; - static inline void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + 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 diff --git a/Marlin/src/HAL/LPC1768/timers.cpp b/Marlin/src/HAL/LPC1768/timers.cpp index a7a40584da..bbb13f81da 100644 --- a/Marlin/src/HAL/LPC1768/timers.cpp +++ b/Marlin/src/HAL/LPC1768/timers.cpp @@ -40,7 +40,7 @@ void HAL_timer_init() { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { switch (timer_num) { - case 0: + case MF_TIMER_STEP: LPC_TIM0->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them LPC_TIM0->MR0 = uint32_t(STEPPER_TIMER_RATE) / frequency; // Match value (period) to set frequency LPC_TIM0->TCR = _BV(SBIT_CNTEN); // Counter Enable @@ -49,7 +49,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { NVIC_EnableIRQ(TIMER0_IRQn); break; - case 1: + case MF_TIMER_TEMP: LPC_TIM1->MCR = _BV(SBIT_MR0I) | _BV(SBIT_MR0R); // Match on MR0, reset on MR0, interrupts when NVIC enables them LPC_TIM1->MR0 = uint32_t(TEMP_TIMER_RATE) / frequency; LPC_TIM1->TCR = _BV(SBIT_CNTEN); // Counter Enable diff --git a/Marlin/src/HAL/LPC1768/timers.h b/Marlin/src/HAL/LPC1768/timers.h index 4b63854685..c6d7bc632e 100644 --- a/Marlin/src/HAL/LPC1768/timers.h +++ b/Marlin/src/HAL/LPC1768/timers.h @@ -60,17 +60,17 @@ typedef uint32_t hal_timer_t; #define HAL_TIMER_RATE ((F_CPU) / 4) // frequency of timers peripherals -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 1 // Timer Index for Temperature #endif -#ifndef PWM_TIMER_NUM - #define PWM_TIMER_NUM 3 // Timer Index for PWM +#ifndef MF_TIMER_PWM + #define MF_TIMER_PWM 3 // Timer Index for PWM #endif #define TEMP_TIMER_RATE 1000000 @@ -84,23 +84,23 @@ typedef uint32_t hal_timer_t; #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) #ifndef HAL_STEP_TIMER_ISR - #define HAL_STEP_TIMER_ISR() _HAL_TIMER_ISR(STEP_TIMER_NUM) + #define HAL_STEP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_STEP) #endif #ifndef HAL_TEMP_TIMER_ISR - #define HAL_TEMP_TIMER_ISR() _HAL_TIMER_ISR(TEMP_TIMER_NUM) + #define HAL_TEMP_TIMER_ISR() _HAL_TIMER_ISR(MF_TIMER_TEMP) #endif // Timer references by index -#define STEP_TIMER_PTR _HAL_TIMER(STEP_TIMER_NUM) -#define TEMP_TIMER_PTR _HAL_TIMER(TEMP_TIMER_NUM) +#define STEP_TIMER_PTR _HAL_TIMER(MF_TIMER_STEP) +#define TEMP_TIMER_PTR _HAL_TIMER(MF_TIMER_TEMP) // ------------------------ // Public functions @@ -110,38 +110,38 @@ 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) { switch (timer_num) { - case 0: STEP_TIMER_PTR->MR0 = compare; break; // Stepper Timer Match Register 0 - case 1: TEMP_TIMER_PTR->MR0 = compare; break; // Temp Timer Match Register 0 + case MF_TIMER_STEP: STEP_TIMER_PTR->MR0 = compare; break; // Stepper Timer Match Register 0 + case MF_TIMER_TEMP: TEMP_TIMER_PTR->MR0 = compare; break; // Temp Timer Match Register 0 } } FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { switch (timer_num) { - case 0: return STEP_TIMER_PTR->MR0; // Stepper Timer Match Register 0 - case 1: return TEMP_TIMER_PTR->MR0; // Temp Timer Match Register 0 + case MF_TIMER_STEP: return STEP_TIMER_PTR->MR0; // Stepper Timer Match Register 0 + case MF_TIMER_TEMP: return TEMP_TIMER_PTR->MR0; // Temp Timer Match Register 0 } return 0; } FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { switch (timer_num) { - case 0: return STEP_TIMER_PTR->TC; // Stepper Timer Count - case 1: return TEMP_TIMER_PTR->TC; // Temp Timer Count + case MF_TIMER_STEP: return STEP_TIMER_PTR->TC; // Stepper Timer Count + case MF_TIMER_TEMP: return TEMP_TIMER_PTR->TC; // Temp Timer Count } return 0; } FORCE_INLINE static void HAL_timer_enable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: NVIC_EnableIRQ(TIMER0_IRQn); break; // Enable interrupt handler - case 1: NVIC_EnableIRQ(TIMER1_IRQn); break; // Enable interrupt handler + case MF_TIMER_STEP: NVIC_EnableIRQ(TIMER0_IRQn); break; // Enable interrupt handler + case MF_TIMER_TEMP: NVIC_EnableIRQ(TIMER1_IRQn); break; // Enable interrupt handler } } FORCE_INLINE static void HAL_timer_disable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: NVIC_DisableIRQ(TIMER0_IRQn); break; // Disable interrupt handler - case 1: NVIC_DisableIRQ(TIMER1_IRQn); break; // Disable interrupt handler + case MF_TIMER_STEP: NVIC_DisableIRQ(TIMER0_IRQn); break; // Disable interrupt handler + case MF_TIMER_TEMP: NVIC_DisableIRQ(TIMER1_IRQn); break; // Disable interrupt handler } // We NEED memory barriers to ensure Interrupts are actually disabled! @@ -157,17 +157,17 @@ FORCE_INLINE static bool NVIC_GetEnableIRQ(IRQn_Type IRQn) { FORCE_INLINE static bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { switch (timer_num) { - case 0: return NVIC_GetEnableIRQ(TIMER0_IRQn); // Check if interrupt is enabled or not - case 1: return NVIC_GetEnableIRQ(TIMER1_IRQn); // Check if interrupt is enabled or not + case MF_TIMER_STEP: return NVIC_GetEnableIRQ(TIMER0_IRQn); // Check if interrupt is enabled or not + case MF_TIMER_TEMP: return NVIC_GetEnableIRQ(TIMER1_IRQn); // Check if interrupt is enabled or not } return false; } FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { switch (timer_num) { - case 0: SBI(STEP_TIMER_PTR->IR, SBIT_CNTEN); break; - case 1: SBI(TEMP_TIMER_PTR->IR, SBIT_CNTEN); break; + case MF_TIMER_STEP: SBI(STEP_TIMER_PTR->IR, SBIT_CNTEN); break; + case MF_TIMER_TEMP: SBI(TEMP_TIMER_PTR->IR, SBIT_CNTEN); break; } } -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/LPC1768/u8g/LCD_I2C_routines.cpp b/Marlin/src/HAL/LPC1768/u8g/LCD_I2C_routines.cpp index a48a820dc4..e714c3c16d 100644 --- a/Marlin/src/HAL/LPC1768/u8g/LCD_I2C_routines.cpp +++ b/Marlin/src/HAL/LPC1768/u8g/LCD_I2C_routines.cpp @@ -36,40 +36,7 @@ extern int millis(); ////////////////////////////////////////////////////////////////////////////////////// -// These two routines are exact copies of the lpc17xx_i2c.c routines. Couldn't link to -// to the lpc17xx_i2c.c routines so had to copy them into this file & rename them. - -static uint32_t _I2C_Start(LPC_I2C_TypeDef *I2Cx) { - // Reset STA, STO, SI - I2Cx->I2CONCLR = I2C_I2CONCLR_SIC|I2C_I2CONCLR_STOC|I2C_I2CONCLR_STAC; - - // Enter to Master Transmitter mode - I2Cx->I2CONSET = I2C_I2CONSET_STA; - - // Wait for complete - while (!(I2Cx->I2CONSET & I2C_I2CONSET_SI)); - I2Cx->I2CONCLR = I2C_I2CONCLR_STAC; - return (I2Cx->I2STAT & I2C_STAT_CODE_BITMASK); -} - -static void _I2C_Stop (LPC_I2C_TypeDef *I2Cx) { - /* Make sure start bit is not active */ - if (I2Cx->I2CONSET & I2C_I2CONSET_STA) - I2Cx->I2CONCLR = I2C_I2CONCLR_STAC; - - I2Cx->I2CONSET = I2C_I2CONSET_STO|I2C_I2CONSET_AA; - I2Cx->I2CONCLR = I2C_I2CONCLR_SIC; -} - -////////////////////////////////////////////////////////////////////////////////////// - -#define I2CDEV_S_ADDR 0x78 // from SSD1306 //actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write - -#define BUFFER_SIZE 0x1 // only do single byte transfers with LCDs - -I2C_M_SETUP_Type transferMCfg; - -#define I2C_status (LPC_I2C1->I2STAT & I2C_STAT_CODE_BITMASK) +#define I2CDEV_S_ADDR 0x78 // From SSD1306 (actual address is 0x3C - shift left 1 with LSB set to 0 to indicate write) // Send slave address and write bit uint8_t u8g_i2c_start(const uint8_t sla) { @@ -115,7 +82,6 @@ uint8_t u8g_i2c_send_byte(uint8_t data) { void u8g_i2c_stop() { } - #ifdef __cplusplus } #endif diff --git a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_hw_spi.cpp b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_hw_spi.cpp index b1eea13d57..0118f92847 100644 --- a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_hw_spi.cpp +++ b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_hw_spi.cpp @@ -59,7 +59,7 @@ #if HAS_MARLINUI_U8GLIB -#include +#include #include "../../shared/HAL_SPI.h" #ifndef LCD_SPI_SPEED diff --git a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_ssd_hw_i2c.cpp b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_ssd_hw_i2c.cpp index 6f7efba4ae..bf76eaf0f4 100644 --- a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_ssd_hw_i2c.cpp +++ b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_ssd_hw_i2c.cpp @@ -79,7 +79,7 @@ #if HAS_MARLINUI_U8GLIB -#include +#include #define I2C_SLA (0x3C*2) //#define I2C_CMD_MODE 0x080 diff --git a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_hw_spi.cpp b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_hw_spi.cpp index 0b0626de79..ce7b338019 100644 --- a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_hw_spi.cpp +++ b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_hw_spi.cpp @@ -59,7 +59,7 @@ #if HAS_MARLINUI_U8GLIB -#include +#include #include "../../shared/HAL_SPI.h" #include "../../shared/Delay.h" diff --git a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_sw_spi.cpp b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_sw_spi.cpp index 61211d9d88..e159ebaa0c 100644 --- a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_sw_spi.cpp +++ b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_st7920_sw_spi.cpp @@ -57,9 +57,9 @@ #include "../../../inc/MarlinConfigPre.h" -#if ENABLED(U8GLIB_ST7920) +#if IS_U8GLIB_ST7920 -#include +#include #include #include "../../shared/Delay.h" #include "../../shared/HAL_SPI.h" @@ -143,5 +143,5 @@ uint8_t u8g_com_HAL_LPC1768_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t ar return 1; } -#endif // U8GLIB_ST7920 +#endif // IS_U8GLIB_ST7920 #endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp index 7f38ec54af..f116a9b80a 100644 --- a/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp +++ b/Marlin/src/HAL/LPC1768/u8g/u8g_com_HAL_LPC1768_sw_spi.cpp @@ -57,7 +57,7 @@ #include "../../../inc/MarlinConfigPre.h" -#if HAS_MARLINUI_U8GLIB && DISABLED(U8GLIB_ST7920) +#if HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920 #include #include "../../shared/HAL_SPI.h" @@ -71,7 +71,7 @@ #include #include -#include +#include uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin ) { @@ -205,5 +205,5 @@ uint8_t u8g_com_HAL_LPC1768_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, return 1; } -#endif // HAS_MARLINUI_U8GLIB && !U8GLIB_ST7920 +#endif // HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920 #endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/LPC1768/upload_extra_script.py b/Marlin/src/HAL/LPC1768/upload_extra_script.py index 5967a9970f..efd46fdd63 100755 --- a/Marlin/src/HAL/LPC1768/upload_extra_script.py +++ b/Marlin/src/HAL/LPC1768/upload_extra_script.py @@ -1,120 +1,135 @@ # -# sets output_port +# upload_extra_script.py +# set the output_port # if target_filename is found then that drive is used # else if target_drive is found then that drive is used # from __future__ import print_function -target_filename = "FIRMWARE.CUR" -target_drive = "REARM" +import pioutil +if pioutil.is_pio_build(): -import os,getpass,platform + target_filename = "FIRMWARE.CUR" + target_drive = "REARM" -current_OS = platform.system() -Import("env") + import platform -def print_error(e): - print('\nUnable to find destination disk (%s)\n' \ - 'Please select it in platformio.ini using the upload_port keyword ' \ - '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \ - 'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \ - %(e, env.get('PIOENV'))) + current_OS = platform.system() + Import("env") -try: - # - # Find a disk for upload - # - upload_disk = 'Disk not found' - target_file_found = False - target_drive_found = False - if current_OS == 'Windows': - # - # platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:' - # Windows - doesn't care about the disk's name, only cares about the drive letter - import subprocess,string - from ctypes import windll + def print_error(e): + print('\nUnable to find destination disk (%s)\n' \ + 'Please select it in platformio.ini using the upload_port keyword ' \ + '(https://docs.platformio.org/en/latest/projectconf/section_env_upload.html) ' \ + 'or copy the firmware (.pio/build/%s/firmware.bin) manually to the appropriate disk\n' \ + %(e, env.get('PIOENV'))) - # getting list of drives - # https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python - drives = [] - bitmask = windll.kernel32.GetLogicalDrives() - for letter in string.ascii_uppercase: - if bitmask & 1: - drives.append(letter) - bitmask >>= 1 + def before_upload(source, target, env): + try: + from pathlib import Path + # + # Find a disk for upload + # + upload_disk = 'Disk not found' + target_file_found = False + target_drive_found = False + if current_OS == 'Windows': + # + # platformio.ini will accept this for a Windows upload port designation: 'upload_port = L:' + # Windows - doesn't care about the disk's name, only cares about the drive letter + import subprocess,string + from ctypes import windll + from pathlib import PureWindowsPath - for drive in drives: - final_drive_name = drive + ':\\' - # print ('disc check: {}'.format(final_drive_name)) - try: - volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT)) - except Exception as e: - print ('error:{}'.format(e)) - continue - else: - if target_drive in volume_info and not target_file_found: # set upload if not found target file yet - target_drive_found = True - upload_disk = final_drive_name - if target_filename in volume_info: - if not target_file_found: - upload_disk = final_drive_name - target_file_found = True + # getting list of drives + # https://stackoverflow.com/questions/827371/is-there-a-way-to-list-all-the-available-drive-letters-in-python + drives = [] + bitmask = windll.kernel32.GetLogicalDrives() + for letter in string.ascii_uppercase: + if bitmask & 1: + drives.append(letter) + bitmask >>= 1 - elif current_OS == 'Linux': - # - # platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive' - # - drives = os.listdir(os.path.join(os.sep, 'media', getpass.getuser())) - if target_drive in drives: # If target drive is found, use it. - target_drive_found = True - upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), target_drive) + os.sep - else: - for drive in drives: - try: - files = os.listdir(os.path.join(os.sep, 'media', getpass.getuser(), drive)) - except: - continue - else: - if target_filename in files: - upload_disk = os.path.join(os.sep, 'media', getpass.getuser(), drive) + os.sep - target_file_found = True - break - # - # set upload_port to drive if found - # + for drive in drives: + final_drive_name = drive + ':' + # print ('disc check: {}'.format(final_drive_name)) + try: + volume_info = str(subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT)) + except Exception as e: + print ('error:{}'.format(e)) + continue + else: + if target_drive in volume_info and not target_file_found: # set upload if not found target file yet + target_drive_found = True + upload_disk = PureWindowsPath(final_drive_name) + if target_filename in volume_info: + if not target_file_found: + upload_disk = PureWindowsPath(final_drive_name) + target_file_found = True - if target_file_found or target_drive_found: - env.Replace( - UPLOAD_FLAGS="-P$UPLOAD_PORT" - ) + elif current_OS == 'Linux': + # + # platformio.ini will accept this for a Linux upload port designation: 'upload_port = /media/media_name/drive' + # + import getpass + user = getpass.getuser() + mpath = Path('/media', user) + drives = [ x for x in mpath.iterdir() if x.is_dir() ] + if target_drive in drives: # If target drive is found, use it. + target_drive_found = True + upload_disk = mpath / target_drive + else: + for drive in drives: + try: + fpath = mpath / drive + filenames = [ x.name for x in fpath.iterdir() if x.is_file() ] + except: + continue + else: + if target_filename in filenames: + upload_disk = mpath / drive + target_file_found = True + break + # + # set upload_port to drive if found + # - elif current_OS == 'Darwin': # MAC - # - # platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive' - # - drives = os.listdir('/Volumes') # human readable names - if target_drive in drives and not target_file_found: # set upload if not found target file yet - target_drive_found = True - upload_disk = '/Volumes/' + target_drive + '/' - for drive in drives: - try: - filenames = os.listdir('/Volumes/' + drive + '/') # will get an error if the drive is protected - except: - continue - else: - if target_filename in filenames: - if not target_file_found: - upload_disk = '/Volumes/' + drive + '/' - target_file_found = True + if target_file_found or target_drive_found: + env.Replace( + UPLOAD_FLAGS="-P$UPLOAD_PORT" + ) - # - # Set upload_port to drive if found - # - if target_file_found or target_drive_found: - env.Replace(UPLOAD_PORT=upload_disk) - print('\nUpload disk: ', upload_disk, '\n') - else: - print_error('Autodetect Error') + elif current_OS == 'Darwin': # MAC + # + # platformio.ini will accept this for a OSX upload port designation: 'upload_port = /media/media_name/drive' + # + dpath = Path('/Volumes') # human readable names + drives = [ x for x in dpath.iterdir() if x.is_dir() ] + if target_drive in drives and not target_file_found: # set upload if not found target file yet + target_drive_found = True + upload_disk = dpath / target_drive + for drive in drives: + try: + fpath = dpath / drive # will get an error if the drive is protected + filenames = [ x.name for x in fpath.iterdir() if x.is_file() ] + except: + continue + else: + if target_filename in filenames: + upload_disk = dpath / drive + target_file_found = True + break -except Exception as e: - print_error(str(e)) + # + # Set upload_port to drive if found + # + if target_file_found or target_drive_found: + env.Replace(UPLOAD_PORT=str(upload_disk)) + print('\nUpload disk: ', upload_disk, '\n') + else: + print_error('Autodetect Error') + + except Exception as e: + print_error(str(e)) + + env.AddPreAction("upload", before_upload) diff --git a/Marlin/src/HAL/LPC1768/watchdog.cpp b/Marlin/src/HAL/LPC1768/watchdog.cpp deleted file mode 100644 index f23ccf5b51..0000000000 --- a/Marlin/src/HAL/LPC1768/watchdog.cpp +++ /dev/null @@ -1,72 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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 TARGET_LPC1768 - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include -#include "watchdog.h" - -#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout - -void watchdog_init() { - #if ENABLED(WATCHDOG_RESET_MANUAL) - // We enable the watchdog timer, but only for the interrupt. - - // Configure WDT to only trigger an interrupt - // Disable WDT interrupt (just in case, to avoid triggering it!) - NVIC_DisableIRQ(WDT_IRQn); - - // 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(); - - // Configure WDT to only trigger an interrupt - // Initialize WDT with the given parameters - WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_INT_ONLY); - - // Configure and enable WDT interrupt. - NVIC_ClearPendingIRQ(WDT_IRQn); - NVIC_SetPriority(WDT_IRQn, 0); // Use highest priority, so we detect all kinds of lockups - NVIC_EnableIRQ(WDT_IRQn); - #else - WDT_Init(WDT_CLKSRC_IRC, WDT_MODE_RESET); - #endif - WDT_Start(WDT_TIMEOUT_US); -} - -void HAL_watchdog_refresh() { - WDT_Feed(); - #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) - TOGGLE(LED_PIN); // heartbeat indicator - #endif -} - -// Timeout state -bool watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); } -void watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); } - -#endif // USE_WATCHDOG -#endif // TARGET_LPC1768 diff --git a/Marlin/src/HAL/NATIVE_SIM/HAL.h b/Marlin/src/HAL/NATIVE_SIM/HAL.h new file mode 100644 index 0000000000..6620361144 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/HAL.h @@ -0,0 +1,266 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2021 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 + +#include +#include +#undef min +#undef max +#include +#include "pinmapping.h" + +void _printf (const char *format, ...); +void _putc(uint8_t c); +uint8_t _getc(); + +//arduino: Print.h +#define DEC 10 +#define HEX 16 +#define OCT 8 +#define BIN 2 +//arduino: binary.h (weird defines) +#define B01 1 +#define B10 2 + +#include "../shared/Marduino.h" +#include "../shared/math_32bit.h" +#include "../shared/HAL_SPI.h" +#include "fastio.h" +#include "serial.h" + +// ------------------------ +// Defines +// ------------------------ + +#define CPU_32_BIT +#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp + +#define F_CPU 100000000 +#define SystemCoreClock F_CPU + +#define CPU_ST7920_DELAY_1 600 +#define CPU_ST7920_DELAY_2 750 +#define CPU_ST7920_DELAY_3 750 + +// ------------------------ +// Serial ports +// ------------------------ + +extern MSerialT serial_stream_0; +extern MSerialT serial_stream_1; +extern MSerialT serial_stream_2; +extern MSerialT serial_stream_3; + +#define _MSERIAL(X) serial_stream_##X +#define MSERIAL(X) _MSERIAL(X) + +#if WITHIN(SERIAL_PORT, 0, 3) + #define MYSERIAL1 MSERIAL(SERIAL_PORT) +#else + #error "SERIAL_PORT must be from 0 to 3. Please update your configuration." +#endif + +#ifdef SERIAL_PORT_2 + #if WITHIN(SERIAL_PORT_2, 0, 3) + #define MYSERIAL2 MSERIAL(SERIAL_PORT_2) + #else + #error "SERIAL_PORT_2 must be from 0 to 3. Please update your configuration." + #endif +#endif + +#ifdef MMU2_SERIAL_PORT + #if WITHIN(MMU2_SERIAL_PORT, 0, 3) + #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT) + #else + #error "MMU2_SERIAL_PORT must be from 0 to 3. Please update your configuration." + #endif +#endif + +#ifdef LCD_SERIAL_PORT + #if WITHIN(LCD_SERIAL_PORT, 0, 3) + #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT) + #else + #error "LCD_SERIAL_PORT must be from 0 to 3. Please update your configuration." + #endif +#endif + +// ------------------------ +// Interrupts +// ------------------------ + +#define CRITICAL_SECTION_START() +#define CRITICAL_SECTION_END() + +// ------------------------ +// ADC +// ------------------------ + +#define HAL_ADC_VREF 5.0 +#define HAL_ADC_RESOLUTION 10 + +/* ---------------- Delay in cycles */ + +#define DELAY_CYCLES(x) Kernel::delayCycles(x) +#define SYSTEM_YIELD() Kernel::yield() + +// Maple Compatibility +typedef void (*systickCallback_t)(void); +void systick_attach_callback(systickCallback_t cb); +extern volatile uint32_t systick_uptime_millis; + +// Marlin uses strstr in constexpr context, this is not supported, workaround by defining constexpr versions of the required functions. +#define strstr(a, b) strstr_constexpr((a), (b)) + +constexpr inline std::size_t strlen_constexpr(const char* str) { + // https://github.com/gcc-mirror/gcc/blob/5c7634a0e5f202935aa6c11b6ea953b8bf80a00a/libstdc%2B%2B-v3/include/bits/char_traits.h#L329 + if (str != nullptr) { + std::size_t i = 0; + while (str[i] != '\0') ++i; + return i; + } + return 0; +} + +constexpr inline int strncmp_constexpr(const char* lhs, const char* rhs, std::size_t count) { + // https://github.com/gcc-mirror/gcc/blob/13b9cbfc32fe3ac4c81c4dd9c42d141c8fb95db4/libstdc%2B%2B-v3/include/bits/char_traits.h#L655 + if (lhs == nullptr || rhs == nullptr) + return rhs != nullptr ? -1 : 1; + + for (std::size_t i = 0; i < count; ++i) + if (lhs[i] != rhs[i]) + return lhs[i] < rhs[i] ? -1 : 1; + else if (lhs[i] == '\0') + return 0; + + return 0; +} + +constexpr inline const char* strstr_constexpr(const char* str, const char* target) { + // https://github.com/freebsd/freebsd/blob/master/sys/libkern/strstr.c + if (char c = target != nullptr ? *target++ : '\0'; c != '\0' && str != nullptr) { + std::size_t len = strlen_constexpr(target); + do { + char sc = {}; + do { + if ((sc = *str++) == '\0') return nullptr; + } while (sc != c); + } while (strncmp_constexpr(str, target, len) != 0); + --str; + } + return str; +} + +constexpr inline char* strstr_constexpr(char* str, const char* target) { + // https://github.com/freebsd/freebsd/blob/master/sys/libkern/strstr.c + if (char c = target != nullptr ? *target++ : '\0'; c != '\0' && str != nullptr) { + std::size_t len = strlen_constexpr(target); + do { + char sc = {}; + do { + if ((sc = *str++) == '\0') return nullptr; + } while (sc != c); + } while (strncmp_constexpr(str, target, len) != 0); + --str; + } + return str; +} + +// ------------------------ +// Free Memory Accessor +// ------------------------ + +#pragma GCC diagnostic push +#if GCC_VERSION <= 50000 + #pragma GCC diagnostic ignored "-Wunused-function" +#endif + +int freeMemory(); + +#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 true; } + static void isr_on() {} + static void isr_off() {} + + static void delay_ms(const int ms) { _delay_ms(ms); } + + // Tasks, called from idle() + static void idletask(); + + // Reset + static constexpr uint8_t reset_reason = RST_POWER_ON; + static uint8_t get_reset_source() { return reset_reason; } + static void clear_reset_source() {} + + // Free SRAM + static int freeMemory() { return ::freeMemory(); } + + // + // ADC Methods + // + + static uint8_t active_ch; + + // 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 channel. Called from Temperature::isr! + static void adc_start(const uint8_t ch); + + // Is the ADC ready for reading? + static bool adc_ready(); + + // The current value of the ADC register + static uint16_t adc_value(); + + /** + * 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); + } + +}; diff --git a/Marlin/src/HAL/NATIVE_SIM/MarlinSPI.h b/Marlin/src/HAL/NATIVE_SIM/MarlinSPI.h new file mode 100644 index 0000000000..b5cc6f02a4 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/MarlinSPI.h @@ -0,0 +1,26 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2021 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 + +#include + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/NATIVE_SIM/fastio.h b/Marlin/src/HAL/NATIVE_SIM/fastio.h new file mode 100644 index 0000000000..f501afdbaa --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/fastio.h @@ -0,0 +1,111 @@ +/** + * 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 + +/** + * Fast I/O Routines for X86_64 + */ + +#include "../shared/Marduino.h" +#include + +#define SET_DIR_INPUT(IO) Gpio::setDir(IO, 1) +#define SET_DIR_OUTPUT(IO) Gpio::setDir(IO, 0) + +#define SET_MODE(IO, mode) Gpio::setMode(IO, mode) + +#define WRITE_PIN_SET(IO) Gpio::set(IO) +#define WRITE_PIN_CLR(IO) Gpio::clear(IO) + +#define READ_PIN(IO) Gpio::get(IO) +#define WRITE_PIN(IO,V) Gpio::set(IO, V) + +/** + * Magic I/O routines + * + * Now you can simply SET_OUTPUT(STEP); WRITE(STEP, HIGH); WRITE(STEP, LOW); + * + * Why double up on these macros? see https://gcc.gnu.org/onlinedocs/cpp/Stringification.html + */ + +/// Read a pin +#define _READ(IO) READ_PIN(IO) + +/// Write to a pin +#define _WRITE(IO,V) WRITE_PIN(IO,V) + +/// toggle a pin +#define _TOGGLE(IO) _WRITE(IO, !READ(IO)) + +/// set pin as input +#define _SET_INPUT(IO) SET_DIR_INPUT(IO) + +/// set pin as output +#define _SET_OUTPUT(IO) SET_DIR_OUTPUT(IO) + +/// set pin as input with pullup mode +#define _PULLUP(IO,V) pinMode(IO, (V) ? INPUT_PULLUP : INPUT) + +/// set pin as input with pulldown mode +#define _PULLDOWN(IO,V) pinMode(IO, (V) ? INPUT_PULLDOWN : INPUT) + +// hg42: all pins can be input or output (I hope) +// hg42: undefined pins create compile error (IO, is no pin) +// hg42: currently not used, but was used by pinsDebug + +/// check if pin is an input +#define _IS_INPUT(IO) (IO >= 0) + +/// check if pin is an output +#define _IS_OUTPUT(IO) (IO >= 0) + +/// Read a pin wrapper +#define READ(IO) _READ(IO) + +/// Write to a pin wrapper +#define WRITE(IO,V) _WRITE(IO,V) + +/// toggle a pin wrapper +#define TOGGLE(IO) _TOGGLE(IO) + +/// set pin as input wrapper +#define SET_INPUT(IO) _SET_INPUT(IO) +/// set pin as input with pullup wrapper +#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0) +/// set pin as input with pulldown wrapper +#define SET_INPUT_PULLDOWN(IO) do{ _SET_INPUT(IO); _PULLDOWN(IO, HIGH); }while(0) +/// set pin as output wrapper - reads the pin and sets the output to that value +#define SET_OUTPUT(IO) do{ _WRITE(IO, _READ(IO)); _SET_OUTPUT(IO); }while(0) +// set pin as PWM +#define SET_PWM(IO) SET_OUTPUT(IO) + +/// check if pin is an input wrapper +#define IS_INPUT(IO) _IS_INPUT(IO) +/// check if pin is an output wrapper +#define IS_OUTPUT(IO) _IS_OUTPUT(IO) + +// Shorthand +#define OUT_WRITE(IO,V) do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0) + +// digitalRead/Write wrappers +#define extDigitalRead(IO) digitalRead(IO) +#define extDigitalWrite(IO,V) digitalWrite(IO,V) diff --git a/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_LCD.h b/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_LCD.h new file mode 100644 index 0000000000..1ac02f1182 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_LCD.h @@ -0,0 +1,22 @@ +/** + * 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 diff --git a/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_adv.h b/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_adv.h new file mode 100644 index 0000000000..69b6b4848f --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_adv.h @@ -0,0 +1,31 @@ +/** + * 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 + +// Add strcmp_P if missing +#ifndef strcmp_P + #define strcmp_P(a, b) strcmp((a), (b)) +#endif + +#ifndef strcat_P + #define strcat_P(dest, src) strcat((dest), (src)) +#endif diff --git a/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_post.h b/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_post.h new file mode 100644 index 0000000000..1ac02f1182 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/inc/Conditionals_post.h @@ -0,0 +1,22 @@ +/** + * 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 diff --git a/Marlin/src/HAL/NATIVE_SIM/inc/SanityCheck.h b/Marlin/src/HAL/NATIVE_SIM/inc/SanityCheck.h new file mode 100644 index 0000000000..2d7bef23a3 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/inc/SanityCheck.h @@ -0,0 +1,43 @@ +/** + * 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 + +/** + * Test X86_64-specific configuration values for errors at compile-time. + */ + +// Emulating RAMPS +#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(FAST_PWM_FAN) || SPINDLE_LASER_FREQUENCY + #error "Features requiring Hardware PWM (FAST_PWM_FAN, SPINDLE_LASER_FREQUENCY) are not yet supported on LINUX." +#endif + +#if HAS_TMC_SW_SERIAL + #error "TMC220x Software Serial is not supported on LINUX." +#endif + +#if ENABLED(POSTMORTEM_DEBUGGING) + #error "POSTMORTEM_DEBUGGING is not yet supported on LINUX." +#endif diff --git a/Marlin/src/HAL/NATIVE_SIM/pinsDebug.h b/Marlin/src/HAL/NATIVE_SIM/pinsDebug.h new file mode 100644 index 0000000000..aa90eb39a3 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/pinsDebug.h @@ -0,0 +1,61 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * Support routines for X86_64 + */ +#pragma once + +/** + * Translation of routines & variables used by pinsDebug.h + */ + +#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS +#define pwm_details(pin) pin = pin // do nothing // print PWM details +#define pwm_status(pin) false //Print a pin's PWM status. Return true if it's currently a PWM pin. +#define IS_ANALOG(P) (DIGITAL_PIN_TO_ANALOG_PIN(P) >= 0 ? 1 : 0) +#define digitalRead_mod(p) digitalRead(p) +#define PRINT_PORT(p) +#define GET_ARRAY_PIN(p) pin_array[p].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 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 MULTI_NAME_PAD 16 // space needed to be pretty if not first name assigned to a pin + +// active ADC function/mode/code values for PINSEL registers +inline constexpr int8_t ADC_pin_mode(pin_t pin) { + return (-1); +} + +inline int8_t get_pin_mode(pin_t pin) { + if (!VALID_PIN(pin)) return -1; + return 0; +} + +inline bool GET_PINMODE(pin_t pin) { + int8_t pin_mode = get_pin_mode(pin); + if (pin_mode == -1 || pin_mode == ADC_pin_mode(pin)) // found an invalid pin or active analog pin + return false; + + return (Gpio::getMode(pin) != 0); //input/output state +} + +inline bool GET_ARRAY_IS_DIGITAL(pin_t pin) { + return (!IS_ANALOG(pin) || get_pin_mode(pin) != ADC_pin_mode(pin)); +} diff --git a/Marlin/src/HAL/NATIVE_SIM/servo_private.h b/Marlin/src/HAL/NATIVE_SIM/servo_private.h new file mode 100644 index 0000000000..06be1893f6 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/servo_private.h @@ -0,0 +1,80 @@ +/** + * 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 + +/** + * 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 + */ + +/** + * Based on "servo.h - Interrupt driven Servo library for Arduino using 16 bit timers - + * Version 2 Copyright (c) 2009 Michael Margolis. All right reserved. + * + * The only modification was to update/delete macros to match the LPC176x. + * + */ + +#include + +// Macros +//values in microseconds +#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 MAX_SERVOS 4 + +#define INVALID_SERVO 255 // flag indicating an invalid servo index + + +// Types + +typedef struct { + uint8_t nbr : 8 ; // a pin number from 0 to 254 (255 signals invalid pin) + uint8_t isActive : 1 ; // true if this channel is enabled, pin not pulsed if false +} ServoPin_t; + +typedef struct { + ServoPin_t Pin; + unsigned int pulse_width; // pulse width in microseconds +} ServoInfo_t; + +// Global variables + +extern uint8_t ServoCount; +extern ServoInfo_t servo_info[MAX_SERVOS]; diff --git a/Marlin/src/HAL/NATIVE_SIM/spi_pins.h b/Marlin/src/HAL/NATIVE_SIM/spi_pins.h new file mode 100644 index 0000000000..a5138e0ccb --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/spi_pins.h @@ -0,0 +1,55 @@ +/** + * 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/macros.h" +#include "../../inc/MarlinConfigPre.h" + +#if BOTH(HAS_MARLINUI_U8GLIB, SDSUPPORT) && (LCD_PINS_D4 == SD_SCK_PIN || LCD_PINS_ENABLE == SD_MOSI_PIN || DOGLCD_SCK == SD_SCK_PIN || DOGLCD_MOSI == SD_MOSI_PIN) + #define LPC_SOFTWARE_SPI // If the SD card and LCD adapter share the same SPI pins, then software SPI is currently + // needed due to the speed and mode required for communicating with each device being different. + // This requirement can be removed if the SPI access to these devices is updated to use + // spiBeginTransaction. +#endif + +// Onboard SD +//#define SD_SCK_PIN P0_07 +//#define SD_MISO_PIN P0_08 +//#define SD_MOSI_PIN P0_09 +//#define SD_SS_PIN P0_06 + +// External SD +#ifndef SD_SCK_PIN + #define SD_SCK_PIN 50 +#endif +#ifndef SD_MISO_PIN + #define SD_MISO_PIN 51 +#endif +#ifndef SD_MOSI_PIN + #define SD_MOSI_PIN 52 +#endif +#ifndef SD_SS_PIN + #define SD_SS_PIN 53 +#endif +#ifndef SDSS + #define SDSS SD_SS_PIN +#endif diff --git a/Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h b/Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h new file mode 100644 index 0000000000..b3e622f19a --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/tft/tft_spi.h @@ -0,0 +1,64 @@ +/** + * 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" + +#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 8 +#define DATASIZE_16BIT 16 +#define TFT_IO_DRIVER TFT_SPI + +#define DMA_MINC_ENABLE 1 +#define DMA_MINC_DISABLE 0 + +class TFT_SPI { +private: + static uint32_t ReadID(uint16_t Reg); + static void Transmit(uint16_t Data); + 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 = DATASIZE_16BIT); + static void DataTransferEnd(); + static void DataTransferAbort(); + + static void WriteData(uint16_t Data); + static void WriteReg(uint16_t Reg); + + static void WriteSequence(uint16_t *Data, uint16_t Count); + // static void WriteMultiple(uint16_t Color, uint16_t Count); + static void WriteMultiple(uint16_t Color, uint32_t Count); +}; diff --git a/Marlin/src/HAL/NATIVE_SIM/tft/xpt2046.h b/Marlin/src/HAL/NATIVE_SIM/tft/xpt2046.h new file mode 100644 index 0000000000..4e999f88ff --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/tft/xpt2046.h @@ -0,0 +1,80 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General 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(); + static void DataTransferEnd(); + #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/NATIVE_SIM/timers.h b/Marlin/src/HAL/NATIVE_SIM/timers.h new file mode 100644 index 0000000000..be38d583b6 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/timers.h @@ -0,0 +1,91 @@ +/** + * Marlin 3D Printer Firmware + * + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2016 Bob Cousins bobcousins42@googlemail.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 + +/** + * HAL timers for Linux X86_64 + */ + +#include + +// ------------------------ +// Defines +// ------------------------ + +#define FORCE_INLINE __attribute__((always_inline)) inline + +typedef uint64_t hal_timer_t; +#define HAL_TIMER_TYPE_MAX 0xFFFFFFFFFFFFFFFF + +#define HAL_TIMER_RATE ((SystemCoreClock) / 4) // frequency of timers peripherals + +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // 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 1 // Timer Index for Temperature +#endif +#ifndef MF_TIMER_SYSTICK + #define MF_TIMER_SYSTICK 2 // Timer Index for Systick +#endif +#define SYSTICK_TIMER_FREQUENCY 1000 + +#define TEMP_TIMER_RATE 1000000 +#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 // frequency of pulse timer +#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) + +#ifndef HAL_STEP_TIMER_ISR + #define HAL_STEP_TIMER_ISR() extern "C" void TIMER0_IRQHandler() +#endif +#ifndef HAL_TEMP_TIMER_ISR + #define HAL_TEMP_TIMER_ISR() extern "C" void TIMER1_IRQHandler() +#endif + +void HAL_timer_init(); +void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency); + +void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare); +hal_timer_t HAL_timer_get_compare(const uint8_t timer_num); +hal_timer_t HAL_timer_get_count(const uint8_t timer_num); + +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); + +#define HAL_timer_isr_prologue(T) NOOP +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.cpp new file mode 100644 index 0000000000..745454394a --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.cpp @@ -0,0 +1,52 @@ +/** + * 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 . + * + */ + +// 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 __PLAT_NATIVE_SIM__ + +#include + +#ifdef __cplusplus + extern "C" { +#endif + +uint8_t u8g_i2c_start(const uint8_t sla) { + return 1; +} + +void u8g_i2c_init(const uint8_t clock_option) { +} + +uint8_t u8g_i2c_send_byte(uint8_t data) { + return 1; +} + +void u8g_i2c_stop() { +} + +#ifdef __cplusplus + } +#endif + +#endif // __PLAT_NATIVE_SIM__ diff --git a/Marlin/src/HAL/ESP32/watchdog.h b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.h similarity index 77% rename from Marlin/src/HAL/ESP32/watchdog.h rename to Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.h index b6c169e347..6d5f91d3ba 100644 --- a/Marlin/src/HAL/ESP32/watchdog.h +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_I2C_routines.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -25,14 +25,13 @@ extern "C" { #endif - esp_err_t esp_task_wdt_reset(); +void u8g_i2c_init(const uint8_t clock_options); +//uint8_t u8g_i2c_wait(uint8_t mask, uint8_t pos); +uint8_t u8g_i2c_start(uint8_t sla); +uint8_t u8g_i2c_send_byte(uint8_t data); +void u8g_i2c_stop(); #ifdef __cplusplus } #endif -// Initialize watchdog with a 4 second interrupt time -void watchdog_init(); - -// Reset watchdog. -inline void HAL_watchdog_refresh() { esp_task_wdt_reset(); } diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_defines.h b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_defines.h new file mode 100644 index 0000000000..44ffbfeb90 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_defines.h @@ -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 . + * + */ +#pragma once + +void usleep(uint64_t microsec); +// The following are optional depending on the platform. + +// definitions of HAL specific com and device drivers. +uint8_t u8g_com_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr); +uint8_t u8g_com_ST7920_sw_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_SW_SPI u8g_com_sw_spi_fn +#define U8G_COM_ST7920_SW_SPI u8g_com_ST7920_sw_spi_fn + +// let these default for now +#define U8G_COM_HW_SPI u8g_com_null_fn +#define U8G_COM_ST7920_HW_SPI u8g_com_null_fn +#define U8G_COM_SSD_I2C u8g_com_null_fn +#define U8G_COM_PARALLEL u8g_com_null_fn +#define U8G_COM_T6963 u8g_com_null_fn +#define U8G_COM_FAST_PARALLEL u8g_com_null_fn +#define U8G_COM_UC_I2C u8g_com_null_fn + + diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_delay.h b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_delay.h new file mode 100644 index 0000000000..297361cd44 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_delay.h @@ -0,0 +1,43 @@ +/** + * 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 + +/** + * LCD delay routines - used by all the drivers. + * + * These are based on the LPC1768 routines. + * + * Couldn't just call exact copies because the overhead + * results in a one microsecond delay taking about 4µS. + */ + +#ifdef __cplusplus + extern "C" { +#endif + +void U8g_delay(int msec); +void u8g_MicroDelay(); +void u8g_10MicroDelay(); + +#ifdef __cplusplus + } +#endif diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp new file mode 100644 index 0000000000..91b7e0f67f --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.cpp @@ -0,0 +1,52 @@ +/** + * 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 . + * + */ + +/** + * Low level pin manipulation routines - used by all the drivers. + * + * These are based on the LPC1768 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 __PLAT_NATIVE_SIM__ + +#include "../fastio.h" +#include "LCD_pin_routines.h" + +#ifdef __cplusplus + extern "C" { +#endif + +void u8g_SetPinOutput(uint8_t internal_pin_number) { SET_DIR_OUTPUT(internal_pin_number); } +void u8g_SetPinInput(uint8_t internal_pin_number) { SET_DIR_INPUT(internal_pin_number); } +void u8g_SetPinLevel(uint8_t pin, uint8_t pin_status) { WRITE_PIN(pin, pin_status); } +uint8_t u8g_GetPinLevel(uint8_t pin) { return READ_PIN(pin); } +void usleep(uint64_t microsec) { assert(false); /* why we here? */ } + +#ifdef __cplusplus + } +#endif + +#endif // __PLAT_NATIVE_SIM__ diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.h b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.h new file mode 100644 index 0000000000..c27c84e8c3 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/LCD_pin_routines.h @@ -0,0 +1,46 @@ +/** + * 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 + +/** + * Low level pin manipulation routines - used by all the drivers. + * + * These are based on the LPC1768 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 __cplusplus + extern "C" { +#endif + +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); + +#ifdef __cplusplus + } +#endif diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp new file mode 100644 index 0000000000..a3254774bf --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_st7920_sw_spi.cpp @@ -0,0 +1,171 @@ +/** + * 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 . + * + */ + +/** + * Based on u8g_com_st7920_hw_spi.c + * + * Universal 8bit Graphics Library + * + * Copyright (c) 2011, 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 __PLAT_NATIVE_SIM__ + +#include "../../../inc/MarlinConfig.h" + +#if IS_U8GLIB_ST7920 + +#include +#include "../../shared/Delay.h" + +#undef SPI_SPEED +#define SPI_SPEED 6 +#define SPI_DELAY_CYCLES (1 + SPI_SPEED * 10) + +static pin_t SCK_pin_ST7920_HAL, MOSI_pin_ST7920_HAL_HAL; +static uint8_t SPI_speed = 0; + +static uint8_t swSpiTransfer(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin) { + for (uint8_t i = 0; i < 8; i++) { + WRITE_PIN(mosi_pin, !!(b & 0x80)); + DELAY_CYCLES(SPI_SPEED); + WRITE_PIN(sck_pin, HIGH); + DELAY_CYCLES(SPI_SPEED); + b <<= 1; + if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1; + WRITE_PIN(sck_pin, LOW); + DELAY_CYCLES(SPI_SPEED); + } + return b; +} + +static uint8_t swSpiInit(const uint8_t spiRate, const pin_t sck_pin, const pin_t mosi_pin) { + WRITE_PIN(mosi_pin, HIGH); + WRITE_PIN(sck_pin, LOW); + return spiRate; +} + +static void u8g_com_st7920_write_byte_sw_spi(uint8_t rs, uint8_t val) { + static uint8_t rs_last_state = 255; + if (rs != rs_last_state) { + // Transfer Data (FA) or Command (F8) + swSpiTransfer(rs ? 0x0FA : 0x0F8, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL); + rs_last_state = rs; + DELAY_US(40); // Give the controller time to process the data: 20 is bad, 30 is OK, 40 is safe + } + swSpiTransfer(val & 0x0F0, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL); + swSpiTransfer(val << 4, SPI_speed, SCK_pin_ST7920_HAL, -1, MOSI_pin_ST7920_HAL_HAL); +} +#ifdef __cplusplus + extern "C" { +#endif + +uint8_t u8g_com_ST7920_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { + switch (msg) { + case U8G_COM_MSG_INIT: + SCK_pin_ST7920_HAL = u8g->pin_list[U8G_PI_SCK]; + MOSI_pin_ST7920_HAL_HAL = u8g->pin_list[U8G_PI_MOSI]; + + u8g_SetPIOutput(u8g, U8G_PI_CS); + u8g_SetPIOutput(u8g, U8G_PI_SCK); + u8g_SetPIOutput(u8g, U8G_PI_MOSI); + u8g_Delay(5); + + SPI_speed = swSpiInit(SPI_SPEED, SCK_pin_ST7920_HAL, MOSI_pin_ST7920_HAL_HAL); + + u8g_SetPILevel(u8g, U8G_PI_CS, 0); + u8g_SetPILevel(u8g, U8G_PI_SCK, 0); + u8g_SetPILevel(u8g, U8G_PI_MOSI, 0); + + u8g->pin_list[U8G_PI_A0_STATE] = 0; /* initial RS state: command mode */ + break; + + case U8G_COM_MSG_STOP: + break; + + case U8G_COM_MSG_RESET: + if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_RESET]) u8g_SetPILevel(u8g, U8G_PI_RESET, arg_val); + break; + + case U8G_COM_MSG_ADDRESS: /* define cmd (arg_val = 0) or data mode (arg_val = 1) */ + u8g->pin_list[U8G_PI_A0_STATE] = arg_val; + break; + + case U8G_COM_MSG_CHIP_SELECT: + if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_CS]) u8g_SetPILevel(u8g, U8G_PI_CS, arg_val); //note: the st7920 has an active high chip select + break; + + case U8G_COM_MSG_WRITE_BYTE: + u8g_com_st7920_write_byte_sw_spi(u8g->pin_list[U8G_PI_A0_STATE], arg_val); + break; + + case U8G_COM_MSG_WRITE_SEQ: { + uint8_t *ptr = (uint8_t*) arg_ptr; + while (arg_val > 0) { + u8g_com_st7920_write_byte_sw_spi(u8g->pin_list[U8G_PI_A0_STATE], *ptr++); + arg_val--; + } + } + break; + + case U8G_COM_MSG_WRITE_SEQ_P: { + uint8_t *ptr = (uint8_t*) arg_ptr; + while (arg_val > 0) { + u8g_com_st7920_write_byte_sw_spi(u8g->pin_list[U8G_PI_A0_STATE], *ptr++); + arg_val--; + } + } + break; + } + return 1; +} +#ifdef __cplusplus + } +#endif + +#endif // IS_U8GLIB_ST7920 +#endif // __PLAT_NATIVE_SIM__ diff --git a/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp new file mode 100644 index 0000000000..7be84580b1 --- /dev/null +++ b/Marlin/src/HAL/NATIVE_SIM/u8g/u8g_com_sw_spi.cpp @@ -0,0 +1,218 @@ +/** + * 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 . + * + */ + +/** + * Based on u8g_com_std_sw_spi.c + * + * Universal 8bit Graphics Library + * + * Copyright (c) 2015, 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 __PLAT_NATIVE_SIM__ + +#include "../../../inc/MarlinConfig.h" + +#if HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920 + +#undef SPI_SPEED +#define SPI_SPEED 2 // About 2 MHz + +#include +#include + +#ifdef __cplusplus + extern "C" { +#endif + +uint8_t swSpiTransfer_mode_0(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin ) { + LOOP_L_N(i, 8) { + if (spi_speed == 0) { + WRITE_PIN(mosi_pin, !!(b & 0x80)); + WRITE_PIN(sck_pin, HIGH); + b <<= 1; + if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1; + WRITE_PIN(sck_pin, LOW); + } + else { + const uint8_t state = (b & 0x80) ? HIGH : LOW; + LOOP_L_N(j, spi_speed) + WRITE_PIN(mosi_pin, state); + + LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + WRITE_PIN(sck_pin, HIGH); + + b <<= 1; + if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1; + + LOOP_L_N(j, spi_speed) + WRITE_PIN(sck_pin, LOW); + } + } + + return b; +} + +uint8_t swSpiTransfer_mode_3(uint8_t b, const uint8_t spi_speed, const pin_t sck_pin, const pin_t miso_pin, const pin_t mosi_pin ) { + + LOOP_L_N(i, 8) { + const uint8_t state = (b & 0x80) ? HIGH : LOW; + if (spi_speed == 0) { + WRITE_PIN(sck_pin, LOW); + WRITE_PIN(mosi_pin, state); + WRITE_PIN(mosi_pin, state); // need some setup time + WRITE_PIN(sck_pin, HIGH); + } + else { + LOOP_L_N(j, spi_speed + (miso_pin >= 0 ? 0 : 1)) + WRITE_PIN(sck_pin, LOW); + + LOOP_L_N(j, spi_speed) + WRITE_PIN(mosi_pin, state); + + LOOP_L_N(j, spi_speed) + WRITE_PIN(sck_pin, HIGH); + } + b <<= 1; + if (miso_pin >= 0 && READ_PIN(miso_pin)) b |= 1; + } + + return b; +} + +static uint8_t SPI_speed = 0; + +static uint8_t swSpiInit(const uint8_t spi_speed, const uint8_t clk_pin, const uint8_t mosi_pin) { + return spi_speed; +} + +static void u8g_sw_spi_shift_out(uint8_t dataPin, uint8_t clockPin, uint8_t val) { + #if EITHER(FYSETC_MINI_12864, MKS_MINI_12864) + swSpiTransfer_mode_3(val, SPI_speed, clockPin, -1, dataPin); + #else + swSpiTransfer_mode_0(val, SPI_speed, clockPin, -1, dataPin); + #endif +} + +uint8_t u8g_com_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) { + switch (msg) { + case U8G_COM_MSG_INIT: + u8g_SetPIOutput(u8g, U8G_PI_SCK); + u8g_SetPIOutput(u8g, U8G_PI_MOSI); + u8g_SetPIOutput(u8g, U8G_PI_CS); + u8g_SetPIOutput(u8g, U8G_PI_A0); + if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_RESET]) u8g_SetPIOutput(u8g, U8G_PI_RESET); + SPI_speed = swSpiInit(SPI_SPEED, u8g->pin_list[U8G_PI_SCK], u8g->pin_list[U8G_PI_MOSI]); + u8g_SetPILevel(u8g, U8G_PI_SCK, 0); + u8g_SetPILevel(u8g, U8G_PI_MOSI, 0); + break; + + case U8G_COM_MSG_STOP: + break; + + case U8G_COM_MSG_RESET: + if (U8G_PIN_NONE != u8g->pin_list[U8G_PI_RESET]) u8g_SetPILevel(u8g, U8G_PI_RESET, arg_val); + break; + + case U8G_COM_MSG_CHIP_SELECT: + #if EITHER(FYSETC_MINI_12864, MKS_MINI_12864) // 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 + u8g_SetPILevel(u8g, U8G_PI_SCK, 1); // Set SCK to mode 3 idle state before CS goes active + u8g_SetPILevel(u8g, U8G_PI_CS, LOW); + } + else { + u8g_SetPILevel(u8g, U8G_PI_CS, HIGH); + u8g_SetPILevel(u8g, U8G_PI_SCK, 0); // Set SCK to mode 0 idle state after CS goes inactive + } + #else + u8g_SetPILevel(u8g, U8G_PI_CS, !arg_val); + #endif + break; + + case U8G_COM_MSG_WRITE_BYTE: + u8g_sw_spi_shift_out(u8g->pin_list[U8G_PI_MOSI], u8g->pin_list[U8G_PI_SCK], arg_val); + break; + + case U8G_COM_MSG_WRITE_SEQ: { + uint8_t *ptr = (uint8_t *)arg_ptr; + while (arg_val > 0) { + u8g_sw_spi_shift_out(u8g->pin_list[U8G_PI_MOSI], u8g->pin_list[U8G_PI_SCK], *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_shift_out(u8g->pin_list[U8G_PI_MOSI], u8g->pin_list[U8G_PI_SCK], u8g_pgm_read(ptr)); + ptr++; + arg_val--; + } + } + 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); + break; + } + return 1; +} + +#ifdef __cplusplus + } +#endif + +#elif NONE(TFT_COLOR_UI, TFT_CLASSIC_UI, TFT_LVGL_UI, HAS_MARLINUI_HD44780) && HAS_MARLINUI_U8GLIB + + #include + uint8_t u8g_com_sw_spi_fn(u8g_t *u8g, uint8_t msg, uint8_t arg_val, void *arg_ptr) {return 0;} + +#endif // HAS_MARLINUI_U8GLIB && !IS_U8GLIB_ST7920 + +#endif // __PLAT_NATIVE_SIM__ 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/TEENSY35_36/watchdog.h b/Marlin/src/HAL/SAMD21/MarlinSPI.h similarity index 78% rename from Marlin/src/HAL/TEENSY35_36/watchdog.h rename to Marlin/src/HAL/SAMD21/MarlinSPI.h index 981b1f0bd2..7b5392793e 100644 --- a/Marlin/src/HAL/TEENSY35_36/watchdog.h +++ b/Marlin/src/HAL/SAMD21/MarlinSPI.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,12 +19,13 @@ * 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 -void watchdog_init(); +#include -inline void HAL_watchdog_refresh() { - // Watchdog refresh sequence - WDOG_REFRESH = 0xA602; - WDOG_REFRESH = 0xB480; -} +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/TEENSY40_41/watchdog.h b/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h similarity index 81% rename from Marlin/src/HAL/TEENSY40_41/watchdog.h rename to Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h index 03ab151b07..d6a3c4fe0b 100644 --- a/Marlin/src/HAL/TEENSY40_41/watchdog.h +++ b/Marlin/src/HAL/SAMD21/inc/Conditionals_adv.h @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,12 +19,9 @@ * along with this program. If not, see . * */ -#pragma once /** - * HAL Watchdog for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A) + * SAMD21 HAL developed by Bart Meijer (brupje) + * Based on SAMD51 HAL by Giuliano Zaro (AKA GMagician) */ - -void watchdog_init(); - -void HAL_watchdog_refresh(); +#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..bd26ba079f --- /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/LINUX/watchdog.cpp b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp similarity index 68% rename from Marlin/src/HAL/LINUX/watchdog.cpp rename to Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp index 84202e48b6..41da7c10fc 100644 --- a/Marlin/src/HAL/LINUX/watchdog.cpp +++ b/Marlin/src/HAL/SAMD21/u8g/LCD_I2C_routines.cpp @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2022 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,19 +19,14 @@ * along with this program. If not, see . * */ -#ifdef __PLAT_LINUX__ -#include "../../inc/MarlinConfig.h" +/** + * 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 -#if ENABLED(USE_WATCHDOG) +#ifdef __SAMD21__ -#include "watchdog.h" - -#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout - -void watchdog_init() {} -void HAL_watchdog_refresh() {} - -#endif - -#endif // __PLAT_LINUX__ +#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/SAMD51/HAL.cpp b/Marlin/src/HAL/SAMD51/HAL.cpp index 5aa23cdaeb..8c102b643d 100644 --- a/Marlin/src/HAL/SAMD51/HAL.cpp +++ b/Marlin/src/HAL/SAMD51/HAL.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" @@ -42,10 +47,6 @@ #endif #endif -// ------------------------ -// Local defines -// ------------------------ - #define GET_TEMP_0_ADC() TERN(HAS_TEMP_ADC_0, PIN_TO_ADC(TEMP_0_PIN), -1) #define GET_TEMP_1_ADC() TERN(HAS_TEMP_ADC_1, PIN_TO_ADC(TEMP_1_PIN), -1) #define GET_TEMP_2_ADC() TERN(HAS_TEMP_ADC_2, PIN_TO_ADC(TEMP_2_PIN), -1) @@ -54,22 +55,28 @@ #define GET_TEMP_5_ADC() TERN(HAS_TEMP_ADC_5, PIN_TO_ADC(TEMP_5_PIN), -1) #define GET_TEMP_6_ADC() TERN(HAS_TEMP_ADC_6, PIN_TO_ADC(TEMP_6_PIN), -1) #define GET_TEMP_7_ADC() TERN(HAS_TEMP_ADC_7, PIN_TO_ADC(TEMP_7_PIN), -1) -#define GET_PROBE_ADC() TERN(HAS_TEMP_PROBE, PIN_TO_ADC(TEMP_PROBE_PIN), -1) #define GET_BED_ADC() TERN(HAS_TEMP_ADC_BED, PIN_TO_ADC(TEMP_BED_PIN), -1) #define GET_CHAMBER_ADC() TERN(HAS_TEMP_ADC_CHAMBER, PIN_TO_ADC(TEMP_CHAMBER_PIN), -1) +#define GET_PROBE_ADC() TERN(HAS_TEMP_ADC_PROBE, PIN_TO_ADC(TEMP_PROBE_PIN), -1) #define GET_COOLER_ADC() TERN(HAS_TEMP_ADC_COOLER, PIN_TO_ADC(TEMP_COOLER_PIN), -1) +#define GET_BOARD_ADC() TERN(HAS_TEMP_ADC_BOARD, PIN_TO_ADC(TEMP_BOARD_PIN), -1) #define GET_FILAMENT_WIDTH_ADC() TERN(FILAMENT_WIDTH_SENSOR, PIN_TO_ADC(FILWIDTH_PIN), -1) #define GET_BUTTONS_ADC() TERN(HAS_ADC_BUTTONS, PIN_TO_ADC(ADC_KEYPAD_PIN), -1) +#define GET_JOY_ADC_X() TERN(HAS_JOY_ADC_X, PIN_TO_ADC(JOY_X_PIN), -1) +#define GET_JOY_ADC_Y() TERN(HAS_JOY_ADC_Y, PIN_TO_ADC(JOY_Y_PIN), -1) +#define GET_JOY_ADC_Z() TERN(HAS_JOY_ADC_Z, PIN_TO_ADC(JOY_Z_PIN), -1) #define IS_ADC_REQUIRED(n) ( \ GET_TEMP_0_ADC() == n || GET_TEMP_1_ADC() == n || GET_TEMP_2_ADC() == n || GET_TEMP_3_ADC() == n \ || GET_TEMP_4_ADC() == n || GET_TEMP_5_ADC() == n || GET_TEMP_6_ADC() == n || GET_TEMP_7_ADC() == n \ - || GET_PROBE_ADC() == n \ - || GET_BED_ADC() == n \ - || GET_CHAMBER_ADC() == n \ - || GET_COOLER_ADC() == n \ + || GET_BED_ADC() == n \ + || GET_CHAMBER_ADC() == n \ + || GET_PROBE_ADC() == n \ + || GET_COOLER_ADC() == n \ + || GET_BOARD_ADC() == n \ || GET_FILAMENT_WIDTH_ADC() == n \ - || GET_BUTTONS_ADC() == n \ + || GET_BUTTONS_ADC() == n \ + || GET_JOY_ADC_X() == n || GET_JOY_ADC_Y() == n || GET_JOY_ADC_Z() == n \ ) #if IS_ADC_REQUIRED(0) @@ -89,6 +96,152 @@ #define DMA_IS_REQUIRED 1 #endif +enum ADCIndex { + #if GET_TEMP_0_ADC() == 0 + TEMP_0, + #endif + #if GET_TEMP_1_ADC() == 0 + TEMP_1, + #endif + #if GET_TEMP_2_ADC() == 0 + TEMP_2, + #endif + #if GET_TEMP_3_ADC() == 0 + TEMP_3, + #endif + #if GET_TEMP_4_ADC() == 0 + TEMP_4, + #endif + #if GET_TEMP_5_ADC() == 0 + TEMP_5, + #endif + #if GET_TEMP_6_ADC() == 0 + TEMP_6, + #endif + #if GET_TEMP_7_ADC() == 0 + TEMP_7, + #endif + #if GET_BED_ADC() == 0 + TEMP_BED, + #endif + #if GET_CHAMBER_ADC() == 0 + TEMP_CHAMBER, + #endif + #if GET_PROBE_ADC() == 0 + TEMP_PROBE, + #endif + #if GET_COOLER_ADC() == 0 + TEMP_COOLER, + #endif + #if GET_BOARD_ADC() == 0 + TEMP_BOARD, + #endif + #if GET_FILAMENT_WIDTH_ADC() == 0 + FILWIDTH, + #endif + #if GET_BUTTONS_ADC() == 0 + ADC_KEY, + #endif + #if GET_JOY_ADC_X() == 0 + JOY_X, + #endif + #if GET_JOY_ADC_Y() == 0 + JOY_Y, + #endif + #if GET_JOY_ADC_Z() == 0 + JOY_Z, + #endif + #if GET_TEMP_0_ADC() == 1 + TEMP_0, + #endif + #if GET_TEMP_1_ADC() == 1 + TEMP_1, + #endif + #if GET_TEMP_2_ADC() == 1 + TEMP_2, + #endif + #if GET_TEMP_3_ADC() == 1 + TEMP_3, + #endif + #if GET_TEMP_4_ADC() == 1 + TEMP_4, + #endif + #if GET_TEMP_5_ADC() == 1 + TEMP_5, + #endif + #if GET_TEMP_6_ADC() == 1 + TEMP_6, + #endif + #if GET_TEMP_7_ADC() == 1 + TEMP_7, + #endif + #if GET_BED_ADC() == 1 + TEMP_BED, + #endif + #if GET_CHAMBER_ADC() == 1 + TEMP_CHAMBER, + #endif + #if GET_PROBE_ADC() == 1 + TEMP_PROBE, + #endif + #if GET_COOLER_ADC() == 1 + TEMP_COOLER, + #endif + #if GET_BOARD_ADC() == 1 + TEMP_BOARD, + #endif + #if GET_FILAMENT_WIDTH_ADC() == 1 + FILWIDTH, + #endif + #if GET_BUTTONS_ADC() == 1 + ADC_KEY, + #endif + #if GET_JOY_ADC_X() == 1 + JOY_X, + #endif + #if GET_JOY_ADC_Y() == 1 + JOY_Y, + #endif + #if GET_JOY_ADC_Z() == 1 + JOY_Z, + #endif + ADC_COUNT +}; + +#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() { + // The low-power oscillator used by the WDT runs at 32,768 Hz with + // a 1:32 prescale, thus 1024 Hz, though probably not super precise. + + // Setup WDT clocks + MCLK->APBAMASK.bit.OSC32KCTRL_ = true; + MCLK->APBAMASK.bit.WDT_ = true; + OSC32KCTRL->OSCULP32K.bit.EN1K = true; // Enable out 1K (this is what WDT uses) + + WDT->CTRLA.bit.ENABLE = false; // Disable watchdog for config + SYNC(WDT->SYNCBUSY.bit.ENABLE); + + WDT->INTENCLR.reg = WDT_INTENCLR_EW; // Disable early warning interrupt + WDT->CONFIG.reg = WDT_TIMEOUT_REG; // Set a 4s or 8s period for chip reset + + hal.watchdog_refresh(); + + WDT->CTRLA.reg = WDT_CTRLA_ENABLE; // Start watchdog now in normal mode + SYNC(WDT->SYNCBUSY.bit.ENABLE); + } + + // 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() { + SYNC(WDT->SYNCBUSY.bit.CLEAR); // Test first if previous is 'ongoing' to save time waiting for command execution + WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY; + } + +#endif + // ------------------------ // Types // ------------------------ @@ -98,7 +251,7 @@ // Struct must be 32 bits aligned because of DMA accesses but fields needs to be 8 bits packed typedef struct __attribute__((aligned(4), packed)) { ADC_INPUTCTRL_Type INPUTCTRL; - } HAL_DMA_DAC_Registers; // DMA transfered registers + } HAL_DMA_DAC_Registers; // DMA transferred registers #endif @@ -106,12 +259,10 @@ // Private Variables // ------------------------ -uint16_t HAL_adc_result; - #if ADC_IS_REQUIRED // Pins used by ADC inputs. Order must be ADC0 inputs first then ADC1 - const uint8_t adc_pins[] = { + static constexpr uint8_t adc_pins[ADC_COUNT] = { // ADC0 pins #if GET_TEMP_0_ADC() == 0 TEMP_0_PIN, @@ -137,24 +288,36 @@ uint16_t HAL_adc_result; #if GET_TEMP_7_ADC() == 0 TEMP_7_PIN, #endif - #if GET_PROBE_ADC() == 0 - TEMP_PROBE_PIN, - #endif #if GET_BED_ADC() == 0 TEMP_BED_PIN, #endif #if GET_CHAMBER_ADC() == 0 TEMP_CHAMBER_PIN, #endif + #if GET_PROBE_ADC() == 0 + TEMP_PROBE_PIN, + #endif #if GET_COOLER_ADC() == 0 TEMP_COOLER_PIN, #endif + #if GET_BOARD_ADC() == 0 + TEMP_BOARD_PIN, + #endif #if GET_FILAMENT_WIDTH_ADC() == 0 FILWIDTH_PIN, #endif #if GET_BUTTONS_ADC() == 0 ADC_KEYPAD_PIN, #endif + #if GET_JOY_ADC_X() == 0 + JOY_X_PIN, + #endif + #if GET_JOY_ADC_Y() == 0 + JOY_Y_PIN, + #endif + #if GET_JOY_ADC_Z() == 0 + JOY_Z_PIN, + #endif // ADC1 pins #if GET_TEMP_0_ADC() == 1 TEMP_0_PIN, @@ -180,33 +343,44 @@ uint16_t HAL_adc_result; #if GET_TEMP_7_ADC() == 1 TEMP_7_PIN, #endif - #if GET_PROBE_ADC() == 1 - TEMP_PROBE_PIN, - #endif #if GET_BED_ADC() == 1 TEMP_BED_PIN, #endif #if GET_CHAMBER_ADC() == 1 TEMP_CHAMBER_PIN, #endif + #if GET_PROBE_ADC() == 1 + TEMP_PROBE_PIN, + #endif #if GET_COOLER_ADC() == 1 TEMP_COOLER_PIN, #endif + #if GET_BOARD_ADC() == 1 + TEMP_BOARD_PIN, + #endif #if GET_FILAMENT_WIDTH_ADC() == 1 FILWIDTH_PIN, #endif #if GET_BUTTONS_ADC() == 1 ADC_KEYPAD_PIN, #endif + #if GET_JOY_ADC_X() == 1 + JOY_X_PIN, + #endif + #if GET_JOY_ADC_Y() == 1 + JOY_Y_PIN, + #endif + #if GET_JOY_ADC_Z() == 1 + JOY_Z_PIN, + #endif }; - uint16_t HAL_adc_results[COUNT(adc_pins)]; + static uint16_t adc_results[ADC_COUNT]; #if ADC0_IS_REQUIRED - Adafruit_ZeroDMA adc0DMAProgram, - adc0DMARead; + Adafruit_ZeroDMA adc0DMAProgram, adc0DMARead; - const HAL_DMA_DAC_Registers adc0_dma_regs_list[] = { + static constexpr HAL_DMA_DAC_Registers adc0_dma_regs_list[ADC_COUNT] = { #if GET_TEMP_0_ADC() == 0 { PIN_TO_INPUTCTRL(TEMP_0_PIN) }, #endif @@ -231,34 +405,45 @@ uint16_t HAL_adc_result; #if GET_TEMP_7_ADC() == 0 { PIN_TO_INPUTCTRL(TEMP_7_PIN) }, #endif - #if GET_PROBE_ADC() == 0 - { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) }, - #endif #if GET_BED_ADC() == 0 { PIN_TO_INPUTCTRL(TEMP_BED_PIN) }, #endif #if GET_CHAMBER_ADC() == 0 { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) }, #endif + #if GET_PROBE_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) }, + #endif #if GET_COOLER_ADC() == 0 { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) }, #endif + #if GET_BOARD_ADC() == 0 + { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) }, + #endif #if GET_FILAMENT_WIDTH_ADC() == 0 { PIN_TO_INPUTCTRL(FILWIDTH_PIN) }, #endif #if GET_BUTTONS_ADC() == 0 { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) }, #endif + #if GET_JOY_ADC_X() == 0 + { PIN_TO_INPUTCTRL(JOY_X_PIN) }, + #endif + #if GET_JOY_ADC_Y() == 0 + { PIN_TO_INPUTCTRL(JOY_Y_PIN) }, + #endif + #if GET_JOY_ADC_Z() == 0 + { PIN_TO_INPUTCTRL(JOY_Z_PIN) }, + #endif }; #define ADC0_AINCOUNT COUNT(adc0_dma_regs_list) #endif // ADC0_IS_REQUIRED #if ADC1_IS_REQUIRED - Adafruit_ZeroDMA adc1DMAProgram, - adc1DMARead; + Adafruit_ZeroDMA adc1DMAProgram, adc1DMARead; - const HAL_DMA_DAC_Registers adc1_dma_regs_list[] = { + static constexpr HAL_DMA_DAC_Registers adc1_dma_regs_list[ADC_COUNT] = { #if GET_TEMP_0_ADC() == 1 { PIN_TO_INPUTCTRL(TEMP_0_PIN) }, #endif @@ -283,24 +468,36 @@ uint16_t HAL_adc_result; #if GET_TEMP_7_ADC() == 1 { PIN_TO_INPUTCTRL(TEMP_7_PIN) }, #endif - #if GET_PROBE_ADC() == 1 - { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) }, - #endif #if GET_BED_ADC() == 1 { PIN_TO_INPUTCTRL(TEMP_BED_PIN) }, #endif #if GET_CHAMBER_ADC() == 1 { PIN_TO_INPUTCTRL(TEMP_CHAMBER_PIN) }, #endif + #if GET_PROBE_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_PROBE_PIN) }, + #endif #if GET_COOLER_ADC() == 1 { PIN_TO_INPUTCTRL(TEMP_COOLER_PIN) }, #endif + #if GET_BOARD_ADC() == 1 + { PIN_TO_INPUTCTRL(TEMP_BOARD_PIN) }, + #endif #if GET_FILAMENT_WIDTH_ADC() == 1 { PIN_TO_INPUTCTRL(FILWIDTH_PIN) }, #endif #if GET_BUTTONS_ADC() == 1 { PIN_TO_INPUTCTRL(ADC_KEYPAD_PIN) }, #endif + #if GET_JOY_ADC_X() == 1 + { PIN_TO_INPUTCTRL(JOY_X_PIN) }, + #endif + #if GET_JOY_ADC_Y() == 1 + { PIN_TO_INPUTCTRL(JOY_Y_PIN) }, + #endif + #if GET_JOY_ADC_Z() == 1 + { PIN_TO_INPUTCTRL(JOY_Z_PIN) }, + #endif }; #define ADC1_AINCOUNT COUNT(adc1_dma_regs_list) @@ -312,9 +509,10 @@ uint16_t HAL_adc_result; // Private functions // ------------------------ -#if DMA_IS_REQUIRED +void MarlinHAL::dma_init() { + + #if DMA_IS_REQUIRED - void dma_init() { DmacDescriptor *descriptor; #if ADC0_IS_REQUIRED @@ -343,7 +541,7 @@ uint16_t HAL_adc_result; if (adc0DMARead.allocate() == DMA_STATUS_OK) { adc0DMARead.addDescriptor( (void *)&ADC0->RESULT.reg, // SRC - &HAL_adc_results, // DEST + &adc_results, // DEST ADC0_AINCOUNT, // CNT DMA_BEAT_SIZE_HWORD, false, // SRCINC @@ -380,7 +578,7 @@ uint16_t HAL_adc_result; if (adc1DMARead.allocate() == DMA_STATUS_OK) { adc1DMARead.addDescriptor( (void *)&ADC1->RESULT.reg, // SRC - &HAL_adc_results[ADC0_AINCOUNT], // DEST + &adc_results[ADC0_AINCOUNT], // DEST ADC1_AINCOUNT, // CNT DMA_BEAT_SIZE_HWORD, false, // SRCINC @@ -393,36 +591,28 @@ uint16_t HAL_adc_result; #endif DMAC->PRICTRL0.bit.RRLVLEN0 = true; // Activate round robin for DMA channels required by ADCs - } -#endif // DMA_IS_REQUIRED + #endif // DMA_IS_REQUIRED +} // ------------------------ // Public functions // ------------------------ // HAL initialization task -void HAL_init() { +void MarlinHAL::init() { TERN_(DMA_IS_REQUIRED, dma_init()); #if ENABLED(SDSUPPORT) - #if SD_CONNECTION_IS(ONBOARD) && PIN_EXISTS(SD_DETECT) + #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 } -// HAL idle task -/* -void HAL_idletask() { -} -*/ - -void HAL_clear_reset_source() { } - #pragma push_macro("WDT") #undef WDT // Required to be able to use '.bit.WDT'. Compiler wrongly replace struct field with WDT define -uint8_t HAL_get_reset_source() { +uint8_t MarlinHAL::get_reset_source() { RSTC_RCAUSE_Type resetCause; resetCause.reg = REG_RSTC_RCAUSE; @@ -436,7 +626,7 @@ uint8_t HAL_get_reset_source() { } #pragma pop_macro("WDT") -void HAL_reboot() { NVIC_SystemReset(); } +void MarlinHAL::reboot() { NVIC_SystemReset(); } extern "C" { void * _sbrk(int incr); @@ -454,9 +644,11 @@ int freeMemory() { // ADC // ------------------------ -void HAL_adc_init() { +uint16_t MarlinHAL::adc_result; + +void MarlinHAL::adc_init() { #if ADC_IS_REQUIRED - memset(HAL_adc_results, 0xFF, sizeof(HAL_adc_results)); // Fill result with invalid values + memset(adc_results, 0xFF, sizeof(adc_results)); // Fill result with invalid values LOOP_L_N(pi, COUNT(adc_pins)) pinPeripheral(adc_pins[pi], PIO_ANALOG); @@ -491,17 +683,13 @@ void HAL_adc_init() { #endif // ADC_IS_REQUIRED } -void HAL_adc_start_conversion(const uint8_t adc_pin) { +void MarlinHAL::adc_start(const pin_t pin) { #if ADC_IS_REQUIRED - LOOP_L_N(pi, COUNT(adc_pins)) { - if (adc_pin == adc_pins[pi]) { - HAL_adc_result = HAL_adc_results[pi]; - return; - } - } + LOOP_L_N(pi, COUNT(adc_pins)) + if (pin == adc_pins[pi]) { adc_result = adc_results[pi]; return; } #endif - HAL_adc_result = 0xFFFF; + adc_result = 0xFFFF; } #endif // __SAMD51__ diff --git a/Marlin/src/HAL/SAMD51/HAL.h b/Marlin/src/HAL/SAMD51/HAL.h index 85ac5dd00c..fe29d6c7f4 100644 --- a/Marlin/src/HAL/SAMD51/HAL.h +++ b/Marlin/src/HAL/SAMD51/HAL.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,13 +21,16 @@ */ #pragma once +/** + * SAMD51 HAL developed 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" -#include "watchdog.h" #ifdef ADAFRUIT_GRAND_CENTRAL_M4 #include "MarlinSerial_AGCM4.h" @@ -43,8 +47,6 @@ extern DefaultSerial4 MSerial3; extern DefaultSerial5 MSerial4; - // MYSERIAL1 required before MarlinSerial includes! - #define __MSERIAL(X) MSerial##X #define _MSERIAL(X) __MSERIAL(X) #define MSERIAL(X) _MSERIAL(INCREMENT(X)) @@ -91,46 +93,30 @@ typedef int8_t pin_t; -#define SHARED_SERVOS HAS_SERVOS -#define HAL_SERVO_LIB Servo +#define SHARED_SERVOS HAS_SERVOS // Use shared/servos.cpp + +class Servo; +typedef Servo hal_servo_t; // // Interrupts // -#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq() -#define CRITICAL_SECTION_END() if (!primask) __enable_irq() -#define ISRS_ENABLED() (!__get_PRIMASK()) -#define ENABLE_ISRS() __enable_irq() -#define DISABLE_ISRS() __disable_irq() +#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 - -void HAL_clear_reset_source(); // clear reset reason -uint8_t HAL_get_reset_source(); // get reset reason - -void HAL_reboot(); +#define cli() __disable_irq() // Disable interrupts +#define sei() __enable_irq() // Enable interrupts // // ADC // -extern uint16_t HAL_adc_result; // Most recent ADC conversion - -#define HAL_ANALOG_SELECT(pin) - -void HAL_adc_init(); //#define HAL_ADC_FILTERED // Disable Marlin's oversampling. The HAL filters ADC values. #define HAL_ADC_VREF 3.3 #define HAL_ADC_RESOLUTION 10 // ... 12 -#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) -#define HAL_READ_ADC() HAL_adc_result -#define HAL_ADC_READY() true - -void HAL_adc_start_conversion(const uint8_t adc_pin); // -// Pin Map +// Pin Mapping for M42, M43, M226 // #define GET_PIN_MAP_PIN(index) index #define GET_PIN_MAP_INDEX(pin) pin @@ -139,37 +125,97 @@ void HAL_adc_start_conversion(const uint8_t adc_pin); // // Tone // -void toneInit(); void tone(const pin_t _pin, const unsigned int frequency, const unsigned long duration=0); void noTone(const pin_t _pin); -// Enable hooks into idle and setup for HAL -void HAL_init(); -/* -#define HAL_IDLETASK 1 -void HAL_idletask(); -*/ - -// -// Utility functions -// -FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); } +// ------------------------ +// Class Utilities +// ------------------------ +#pragma GCC diagnostic push #if GCC_VERSION <= 50000 - #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-function" #endif -int freeMemory(); - -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#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/SAMD51/HAL_SPI.cpp b/Marlin/src/HAL/SAMD51/HAL_SPI.cpp index 77f4d5ecd5..58fdfe9499 100644 --- a/Marlin/src/HAL/SAMD51/HAL_SPI.cpp +++ b/Marlin/src/HAL/SAMD51/HAL_SPI.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -19,6 +20,10 @@ * */ +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * Hardware and software SPI implementations are included in this file. * diff --git a/Marlin/src/HAL/SAMD51/MarlinSPI.h b/Marlin/src/HAL/SAMD51/MarlinSPI.h new file mode 100644 index 0000000000..0c447ba4cb --- /dev/null +++ b/Marlin/src/HAL/SAMD51/MarlinSPI.h @@ -0,0 +1,26 @@ +/** + * 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 + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp index a16ea2f758..baa7a38503 100644 --- a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp +++ b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef ADAFRUIT_GRAND_CENTRAL_M4 /** diff --git a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h index ac5a379398..1044d9fcd0 100644 --- a/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h +++ b/Marlin/src/HAL/SAMD51/MarlinSerial_AGCM4.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #include "../../core/serial_hook.h" typedef Serial1Class UartT; diff --git a/Marlin/src/HAL/SAMD51/QSPIFlash.h b/Marlin/src/HAL/SAMD51/QSPIFlash.h index db4abec91c..58822fe05f 100644 --- a/Marlin/src/HAL/SAMD51/QSPIFlash.h +++ b/Marlin/src/HAL/SAMD51/QSPIFlash.h @@ -25,7 +25,6 @@ * * Derived from Adafruit_SPIFlash class with no SdFat references */ - #pragma once #include diff --git a/Marlin/src/HAL/SAMD51/SAMD51.h b/Marlin/src/HAL/SAMD51/SAMD51.h index 783956140d..8cc19d7155 100644 --- a/Marlin/src/HAL/SAMD51/SAMD51.h +++ b/Marlin/src/HAL/SAMD51/SAMD51.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #define SYNC(sc) while (sc) { \ asm(""); \ } diff --git a/Marlin/src/HAL/SAMD51/Servo.cpp b/Marlin/src/HAL/SAMD51/Servo.cpp index 9bab8e89be..e533eee301 100644 --- a/Marlin/src/HAL/SAMD51/Servo.cpp +++ b/Marlin/src/HAL/SAMD51/Servo.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -19,6 +20,10 @@ * */ +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * This comes from Arduino library which at the moment is buggy and uncompilable */ @@ -53,7 +58,7 @@ 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() { - Tc * const tc = TimerConfig[SERVO_TC].pTc; + Tc * const tc = timer_config[SERVO_TC].pTc; tc->COUNT16.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; SYNC(tc->COUNT16.SYNCBUSY.bit.CTRLB || tc->COUNT16.SYNCBUSY.bit.COUNT); @@ -65,7 +70,7 @@ FORCE_INLINE static uint16_t getTimerCount() { // Interrupt handler for the TC // ---------------------------- HAL_SERVO_TIMER_ISR() { - Tc * const tc = TimerConfig[SERVO_TC].pTc; + Tc * const tc = timer_config[SERVO_TC].pTc; const timer16_Sequence_t timer = #ifndef _useTimer1 _timer2 @@ -77,7 +82,8 @@ HAL_SERVO_TIMER_ISR() { ; const uint8_t tcChannel = TIMER_TCCHANNEL(timer); - if (currentServoIndex[timer] < 0) { + 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 @@ -86,46 +92,38 @@ HAL_SERVO_TIMER_ISR() { return; } #endif - tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; + tc->COUNT16.COUNT.reg = TC_COUNTER_START_VAL; // ...so reset the timer SYNC(tc->COUNT16.SYNCBUSY.bit.COUNT); } - else if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && SERVO(timer, currentServoIndex[timer]).Pin.isActive) - digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, LOW); // pulse this channel low if activated + else if (SERVO_INDEX(timer, cho) < ServoCount) // prior channel handled? + digitalWrite(SERVO(timer, cho).Pin.nbr, LOW); // pulse the prior channel LOW - // Select the next servo controlled by this timer - currentServoIndex[timer]++; + 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 - if (SERVO_INDEX(timer, currentServoIndex[timer]) < ServoCount && currentServoIndex[timer] < SERVOS_PER_TIMER) { - if (SERVO(timer, currentServoIndex[timer]).Pin.isActive) // check if activated - digitalWrite(SERVO(timer, currentServoIndex[timer]).Pin.nbr, HIGH); // it's an active channel so pulse it high - - tc->COUNT16.CC[tcChannel].reg = getTimerCount() - (uint16_t)SERVO(timer, currentServoIndex[timer]).ticks; + tc->COUNT16.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; // this will get incremented at the end of the refresh period to start again at the first channel - - const uint16_t tcCounterValue = getTimerCount(); - - if ((TC_COUNTER_START_VAL - tcCounterValue) + 4UL < usToTicks(REFRESH_INTERVAL)) // allow a few ticks to ensure the next OCR1A not missed - tc->COUNT16.CC[tcChannel].reg = TC_COUNTER_START_VAL - (uint16_t)usToTicks(REFRESH_INTERVAL); - else - tc->COUNT16.CC[tcChannel].reg = (uint16_t)(tcCounterValue - 4UL); // at least REFRESH_INTERVAL has elapsed + 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->COUNT16.CC[tcChannel].reg = min(cval, ival); } if (tcChannel == 0) { SYNC(tc->COUNT16.SYNCBUSY.bit.CC0); - // Clear the interrupt - tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC0; // Clear the interrupt } else { SYNC(tc->COUNT16.SYNCBUSY.bit.CC1); - // Clear the interrupt - tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; + tc->COUNT16.INTFLAG.reg = TC_INTFLAG_MC1; // Clear the interrupt } } -void initISR(timer16_Sequence_t timer) { - Tc * const tc = TimerConfig[SERVO_TC].pTc; +void initISR(const timer16_Sequence_t timer) { + Tc * const tc = timer_config[SERVO_TC].pTc; const uint8_t tcChannel = TIMER_TCCHANNEL(timer); static bool initialized = false; // Servo TC has been initialized @@ -201,9 +199,9 @@ void initISR(timer16_Sequence_t timer) { } } -void finISR(timer16_Sequence_t timer) { - Tc * const tc = TimerConfig[SERVO_TC].pTc; - const uint8_t tcChannel = TIMER_TCCHANNEL(timer); +void finISR(const timer16_Sequence_t timer_index) { + Tc * const tc = timer_config[SERVO_TC].pTc; + const uint8_t tcChannel = TIMER_TCCHANNEL(timer_index); // Disable the match channel interrupt request tc->COUNT16.INTENCLR.reg = (tcChannel == 0) ? TC_INTENCLR_MC0 : TC_INTENCLR_MC1; diff --git a/Marlin/src/HAL/SAMD51/ServoTimers.h b/Marlin/src/HAL/SAMD51/ServoTimers.h index 948d515356..47e0a190aa 100644 --- a/Marlin/src/HAL/SAMD51/ServoTimers.h +++ b/Marlin/src/HAL/SAMD51/ServoTimers.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #define _useTimer1 #define _useTimer2 diff --git a/Marlin/src/HAL/SAMD51/eeprom_flash.cpp b/Marlin/src/HAL/SAMD51/eeprom_flash.cpp index 871bf22b7f..7d5518956c 100644 --- a/Marlin/src/HAL/SAMD51/eeprom_flash.cpp +++ b/Marlin/src/HAL/SAMD51/eeprom_flash.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" diff --git a/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp b/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp index faa7637197..1c82ede040 100644 --- a/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp +++ b/Marlin/src/HAL/SAMD51/eeprom_qspi.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" diff --git a/Marlin/src/HAL/SAMD51/eeprom_wired.cpp b/Marlin/src/HAL/SAMD51/eeprom_wired.cpp index 3481fe539c..7a03d4eaa3 100644 --- a/Marlin/src/HAL/SAMD51/eeprom_wired.cpp +++ b/Marlin/src/HAL/SAMD51/eeprom_wired.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ #include "../../inc/MarlinConfig.h" diff --git a/Marlin/src/HAL/SAMD51/endstop_interrupts.h b/Marlin/src/HAL/SAMD51/endstop_interrupts.h index daac773387..e0e811c3a0 100644 --- a/Marlin/src/HAL/SAMD51/endstop_interrupts.h +++ b/Marlin/src/HAL/SAMD51/endstop_interrupts.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * Endstop interrupts for ATMEL SAMD51 based targets. * @@ -47,80 +52,47 @@ #include "../../module/endstops.h" -#define MATCH_EILINE(P1,P2) (P1 != P2 && PIN_TO_EILINE(P1) == PIN_TO_EILINE(P2)) -#if HAS_X_MAX - #define MATCH_X_MAX_EILINE(P) MATCH_EILINE(P, X_MAX_PIN) -#else - #define MATCH_X_MAX_EILINE(P) false -#endif -#if HAS_X_MIN - #define MATCH_X_MIN_EILINE(P) MATCH_EILINE(P, X_MIN_PIN) -#else - #define MATCH_X_MIN_EILINE(P) false -#endif -#if HAS_Y_MAX - #define MATCH_Y_MAX_EILINE(P) MATCH_EILINE(P, Y_MAX_PIN) -#else - #define MATCH_Y_MAX_EILINE(P) false -#endif -#if HAS_Y_MIN - #define MATCH_Y_MIN_EILINE(P) MATCH_EILINE(P, Y_MIN_PIN) -#else - #define MATCH_Y_MIN_EILINE(P) false -#endif -#if HAS_Z_MAX - #define MATCH_Z_MAX_EILINE(P) MATCH_EILINE(P, Z_MAX_PIN) -#else - #define MATCH_Z_MAX_EILINE(P) false -#endif -#if HAS_Z_MIN - #define MATCH_Z_MIN_EILINE(P) MATCH_EILINE(P, Z_MIN_PIN) -#else - #define MATCH_Z_MIN_EILINE(P) false -#endif -#if HAS_Z2_MAX - #define MATCH_Z2_MAX_EILINE(P) MATCH_EILINE(P, Z2_MAX_PIN) -#else - #define MATCH_Z2_MAX_EILINE(P) false -#endif -#if HAS_Z2_MIN - #define MATCH_Z2_MIN_EILINE(P) MATCH_EILINE(P, Z2_MIN_PIN) -#else - #define MATCH_Z2_MIN_EILINE(P) false -#endif -#if HAS_Z3_MAX - #define MATCH_Z3_MAX_EILINE(P) MATCH_EILINE(P, Z3_MAX_PIN) -#else - #define MATCH_Z3_MAX_EILINE(P) false -#endif -#if HAS_Z3_MIN - #define MATCH_Z3_MIN_EILINE(P) MATCH_EILINE(P, Z3_MIN_PIN) -#else - #define MATCH_Z3_MIN_EILINE(P) false -#endif -#if HAS_Z4_MAX - #define MATCH_Z4_MAX_EILINE(P) MATCH_EILINE(P, Z4_MAX_PIN) -#else - #define MATCH_Z4_MAX_EILINE(P) false -#endif -#if HAS_Z4_MIN - #define MATCH_Z4_MIN_EILINE(P) MATCH_EILINE(P, Z4_MIN_PIN) -#else - #define MATCH_Z4_MIN_EILINE(P) false -#endif -#if HAS_Z_MIN_PROBE_PIN - #define MATCH_Z_MIN_PROBE_EILINE(P) MATCH_EILINE(P, Z_MIN_PROBE_PIN) -#else - #define MATCH_Z_MIN_PROBE_EILINE(P) false -#endif -#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_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)) +#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(); } @@ -205,4 +177,76 @@ void setup_endstop_interrupts() { #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/SAMD51/fastio.h b/Marlin/src/HAL/SAMD51/fastio.h index a95b7cac0c..0acf481317 100644 --- a/Marlin/src/HAL/SAMD51/fastio.h +++ b/Marlin/src/HAL/SAMD51/fastio.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + /** * Fast IO functions for SAMD51 */ @@ -131,7 +136,7 @@ */ #define PWM_PIN(P) (WITHIN(P, 2, 13) || WITHIN(P, 22, 23) || WITHIN(P, 44, 45) || P == 48) - // Return fullfilled ADCx->INPUTCTRL.reg + // Return fulfilled ADCx->INPUTCTRL.reg #define PIN_TO_INPUTCTRL(P) ( (PIN_TO_AIN(P) == 0) ? ADC_INPUTCTRL_MUXPOS_AIN0 \ : (PIN_TO_AIN(P) == 1) ? ADC_INPUTCTRL_MUXPOS_AIN1 \ : (PIN_TO_AIN(P) == 2) ? ADC_INPUTCTRL_MUXPOS_AIN2 \ diff --git a/Marlin/src/HAL/SAMD51/inc/SanityCheck.h b/Marlin/src/HAL/SAMD51/inc/SanityCheck.h index 2a4bde98e6..ae1bc2f3ef 100644 --- a/Marlin/src/HAL/SAMD51/inc/SanityCheck.h +++ b/Marlin/src/HAL/SAMD51/inc/SanityCheck.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,11 @@ * along with this program. If not, see . * */ +#pragma once + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ /** * Test SAMD51 specific configuration values for errors at compile-time. @@ -31,11 +37,12 @@ #error "No custom SD drive cable defined for this board." #endif -#if defined(MAX6675_SCK_PIN) && defined(MAX6675_DO_PIN) && (MAX6675_SCK_PIN == SCK1 || MAX6675_DO_PIN == MISO1) +#if (defined(TEMP_0_SCK_PIN) && defined(TEMP_0_MISO_PIN) && (TEMP_0_SCK_PIN == SCK1 || TEMP_0_MISO_PIN == MISO1)) || \ + (defined(TEMP_1_SCK_PIN) && defined(TEMP_1_MISO_PIN) && (TEMP_1_SCK_PIN == SCK1 || TEMP_1_MISO_PIN == MISO1)) #error "OnBoard SPI BUS can't be shared with other devices." #endif -#if SERVO_TC == RTC_TIMER_NUM +#if SERVO_TC == MF_TIMER_RTC #error "Servos can't use RTC timer" #endif diff --git a/Marlin/src/HAL/SAMD51/pinsDebug.h b/Marlin/src/HAL/SAMD51/pinsDebug.h index 81376db79a..94f91c77bc 100644 --- a/Marlin/src/HAL/SAMD51/pinsDebug.h +++ b/Marlin/src/HAL/SAMD51/pinsDebug.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,15 +21,20 @@ */ #pragma once +/** + * SAMD51 HAL developed 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 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) @@ -47,7 +53,7 @@ bool GET_PINMODE(int8_t pin) { // 1: output, 0: input void pwm_details(int32_t pin) { if (pwm_status(pin)) { //uint32_t chan = g_APinDescription[pin].ulPWMChannel TODO when fast pwm is operative; - //SERIAL_ECHOPAIR("PWM = ", duty); + //SERIAL_ECHOPGM("PWM = ", duty); } } diff --git a/Marlin/src/HAL/SAMD51/spi_pins.h b/Marlin/src/HAL/SAMD51/spi_pins.h index 2a667bcaa1..f1e4fd4302 100644 --- a/Marlin/src/HAL/SAMD51/spi_pins.h +++ b/Marlin/src/HAL/SAMD51/spi_pins.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,6 +21,10 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #ifdef ADAFRUIT_GRAND_CENTRAL_M4 /* diff --git a/Marlin/src/HAL/SAMD51/timers.cpp b/Marlin/src/HAL/SAMD51/timers.cpp index 5c55d32407..7a211eb36a 100644 --- a/Marlin/src/HAL/SAMD51/timers.cpp +++ b/Marlin/src/HAL/SAMD51/timers.cpp @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -18,6 +19,10 @@ * along with this program. If not, see . * */ + +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ #ifdef __SAMD51__ // -------------------------------------------------------------------------- @@ -31,13 +36,13 @@ // Local defines // -------------------------------------------------------------------------- -#define NUM_HARDWARE_TIMERS 8 +#define NUM_HARDWARE_TIMERS 9 // -------------------------------------------------------------------------- // Private Variables // -------------------------------------------------------------------------- -const tTimerConfig TimerConfig[NUM_HARDWARE_TIMERS+1] = { +const tTimerConfig timer_config[NUM_HARDWARE_TIMERS] = { { {.pTc=TC0}, TC0_IRQn, TC_PRIORITY(0) }, // 0 - stepper (assigned priority 2) { {.pTc=TC1}, TC1_IRQn, TC_PRIORITY(1) }, // 1 - stepper (needed by 32 bit timers) { {.pTc=TC2}, TC2_IRQn, 5 }, // 2 - tone (reserved by framework and fixed assigned priority 5) @@ -67,19 +72,19 @@ FORCE_INLINE void Disable_Irq(IRQn_Type irq) { // -------------------------------------------------------------------------- void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { - IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; + IRQn_Type irq = timer_config[timer_num].IRQ_Id; // Disable interrupt, just in case it was already enabled Disable_Irq(irq); - if (timer_num == RTC_TIMER_NUM) { - Rtc * const rtc = TimerConfig[timer_num].pRtc; + if (timer_num == MF_TIMER_RTC) { + Rtc * const rtc = timer_config[timer_num].pRtc; // Disable timer interrupt rtc->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0; // RTC clock setup - OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K; // External 32.768KHz oscillator + OSC32KCTRL->RTCCTRL.reg = OSC32KCTRL_RTCCTRL_RTCSEL_XOSC32K; // External 32.768kHz oscillator // Stop timer, just in case, to be able to reconfigure it rtc->MODE0.CTRLA.bit.ENABLE = false; @@ -101,13 +106,13 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { SYNC(rtc->MODE0.SYNCBUSY.bit.ENABLE); } else { - Tc * const tc = TimerConfig[timer_num].pTc; + Tc * const tc = timer_config[timer_num].pTc; // Disable timer interrupt tc->COUNT32.INTENCLR.reg = TC_INTENCLR_OVF; // disable overflow interrupt // TCn clock setup - const uint8_t clockID = GCLK_CLKCTRL_IDs[TCC_INST_NUM + timer_num]; // TC clock are preceeded by TCC ones + const uint8_t clockID = GCLK_CLKCTRL_IDs[TCC_INST_NUM + timer_num]; // TC clock are preceded by TCC ones GCLK->PCHCTRL[clockID].bit.CHEN = false; SYNC(GCLK->PCHCTRL[clockID].bit.CHEN); GCLK->PCHCTRL[clockID].reg = GCLK_PCHCTRL_GEN_GCLK0 | GCLK_PCHCTRL_CHEN; // 120MHz startup code programmed @@ -141,17 +146,17 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { } // Finally, enable IRQ - NVIC_SetPriority(irq, TimerConfig[timer_num].priority); + 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 = TimerConfig[timer_num].IRQ_Id; + 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 = TimerConfig[timer_num].IRQ_Id; + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; Disable_Irq(irq); } @@ -161,7 +166,7 @@ static bool NVIC_GetEnabledIRQ(IRQn_Type IRQn) { } bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { - const IRQn_Type irq = TimerConfig[timer_num].IRQ_Id; + const IRQn_Type irq = timer_config[timer_num].IRQ_Id; return NVIC_GetEnabledIRQ(irq); } diff --git a/Marlin/src/HAL/SAMD51/timers.h b/Marlin/src/HAL/SAMD51/timers.h index dc6e38b730..86c3241892 100644 --- a/Marlin/src/HAL/SAMD51/timers.h +++ b/Marlin/src/HAL/SAMD51/timers.h @@ -1,8 +1,9 @@ /** * Marlin 3D Printer Firmware - * * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by @@ -20,26 +21,31 @@ */ #pragma once +/** + * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) + */ + #include // -------------------------------------------------------------------------- // Defines // -------------------------------------------------------------------------- -#define RTC_TIMER_NUM 8 // This is not a TC but a RTC typedef uint32_t hal_timer_t; #define HAL_TIMER_TYPE_MAX 0xFFFFFFFF #define HAL_TIMER_RATE F_CPU // frequency of timers peripherals -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#define MF_TIMER_RTC 8 // This is not a TC but a RTC + +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM RTC_TIMER_NUM // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP MF_TIMER_RTC // Timer Index for Temperature #endif #define TEMP_TIMER_FREQUENCY 1000 // temperature interrupt frequency @@ -52,30 +58,29 @@ typedef uint32_t hal_timer_t; #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#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 == STEP_TIMER_NUM || t == PULSE_TIMER_NUM) ? 2 \ - : (t == TEMP_TIMER_NUM) ? 6 \ - : 7 +#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(STEP_TIMER_NUM) + #define HAL_STEP_TIMER_ISR() TC_HANDLER(MF_TIMER_STEP) #endif -#if STEP_TIMER_NUM != PULSE_TIMER_NUM - #define HAL_PULSE_TIMER_ISR() TC_HANDLER(PULSE_TIMER_NUM) +#if MF_TIMER_STEP != MF_TIMER_PULSE + #define HAL_PULSE_TIMER_ISR() TC_HANDLER(MF_TIMER_PULSE) #endif -#if TEMP_TIMER_NUM == RTC_TIMER_NUM +#if MF_TIMER_TEMP == MF_TIMER_RTC #define HAL_TEMP_TIMER_ISR() void RTC_Handler() #else - #define HAL_TEMP_TIMER_ISR() TC_HANDLER(TEMP_TIMER_NUM) + #define HAL_TEMP_TIMER_ISR() TC_HANDLER(MF_TIMER_TEMP) #endif // -------------------------------------------------------------------------- @@ -95,7 +100,7 @@ typedef struct { // Public Variables // -------------------------------------------------------------------------- -extern const tTimerConfig TimerConfig[]; +extern const tTimerConfig timer_config[]; // -------------------------------------------------------------------------- // Public functions @@ -104,20 +109,20 @@ extern const tTimerConfig TimerConfig[]; 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 RTC_TIMER_NUM - Tc * const tc = TimerConfig[timer_num].pTc; + // 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 RTC_TIMER_NUM - Tc * const tc = TimerConfig[timer_num].pTc; + // 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 RTC_TIMER_NUM - Tc * const tc = TimerConfig[timer_num].pTc; + // Should never be called with timer MF_TIMER_RTC + Tc * const tc = timer_config[timer_num].pTc; tc->COUNT32.CTRLBSET.reg = TC_CTRLBCLR_CMD_READSYNC; SYNC(tc->COUNT32.SYNCBUSY.bit.CTRLB || tc->COUNT32.SYNCBUSY.bit.COUNT); return tc->COUNT32.COUNT.reg; @@ -128,13 +133,13 @@ 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 == RTC_TIMER_NUM) { - Rtc * const rtc = TimerConfig[timer_num].pRtc; + 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; } else { - Tc * const tc = TimerConfig[timer_num].pTc; + Tc * const tc = timer_config[timer_num].pTc; // Clear interrupt flag tc->COUNT32.INTFLAG.reg = TC_INTFLAG_OVF; } diff --git a/Marlin/src/HAL/SAMD51/watchdog.cpp b/Marlin/src/HAL/SAMD51/watchdog.cpp deleted file mode 100644 index 9de451836a..0000000000 --- a/Marlin/src/HAL/SAMD51/watchdog.cpp +++ /dev/null @@ -1,54 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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 __SAMD51__ - -#include "../../inc/MarlinConfig.h" - -#if ENABLED(USE_WATCHDOG) - -#include "watchdog.h" - -#define WDT_TIMEOUT_REG TERN(WATCHDOG_DURATION_8S, WDT_CONFIG_PER_CYC8192, WDT_CONFIG_PER_CYC4096) // 4 or 8 second timeout - -void watchdog_init() { - // The low-power oscillator used by the WDT runs at 32,768 Hz with - // a 1:32 prescale, thus 1024 Hz, though probably not super precise. - - // Setup WDT clocks - MCLK->APBAMASK.bit.OSC32KCTRL_ = true; - MCLK->APBAMASK.bit.WDT_ = true; - OSC32KCTRL->OSCULP32K.bit.EN1K = true; // Enable out 1K (this is what WDT uses) - - WDT->CTRLA.bit.ENABLE = false; // Disable watchdog for config - SYNC(WDT->SYNCBUSY.bit.ENABLE); - - WDT->INTENCLR.reg = WDT_INTENCLR_EW; // Disable early warning interrupt - WDT->CONFIG.reg = WDT_TIMEOUT_REG; // Set a 4s or 8s period for chip reset - - HAL_watchdog_refresh(); - - WDT->CTRLA.reg = WDT_CTRLA_ENABLE; // Start watchdog now in normal mode - SYNC(WDT->SYNCBUSY.bit.ENABLE); -} - -#endif // USE_WATCHDOG - -#endif // __SAMD51__ diff --git a/Marlin/src/HAL/SAMD51/watchdog.h b/Marlin/src/HAL/SAMD51/watchdog.h deleted file mode 100644 index 2cd4788229..0000000000 --- a/Marlin/src/HAL/SAMD51/watchdog.h +++ /dev/null @@ -1,31 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * SAMD51 HAL developed by Giuliano Zaro (AKA GMagician) - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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 - -// Initialize watchdog with a 4 second interrupt time -void watchdog_init(); - -// Reset watchdog. MUST be called at least every 4 seconds after the -// first watchdog_init or SAMD will go into emergency procedures. -inline void HAL_watchdog_refresh() { - SYNC(WDT->SYNCBUSY.bit.CLEAR); // Test first if previous is 'ongoing' to save time waiting for command execution - WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY; -} diff --git a/Marlin/src/HAL/STM32/HAL.cpp b/Marlin/src/HAL/STM32/HAL.cpp index 3bb12fd9e0..aff52f597f 100644 --- a/Marlin/src/HAL/STM32/HAL.cpp +++ b/Marlin/src/HAL/STM32/HAL.cpp @@ -20,16 +20,17 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" -#include "HAL.h" -#include "usb_serial.h" +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" #include "../shared/Delay.h" +#include "usb_serial.h" + #ifdef USBCON - DefaultSerial1 MSerial0(false, SerialUSB); + DefaultSerial1 MSerialUSB(false, SerialUSB); #endif #if ENABLED(SRAM_EEPROM_EMULATION) @@ -51,18 +52,18 @@ // Public Variables // ------------------------ -uint16_t HAL_adc_result; +uint16_t MarlinHAL::adc_result; // ------------------------ // Public functions // ------------------------ -TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); +#if ENABLED(POSTMORTEM_DEBUGGING) + extern void install_min_serial(); +#endif // HAL initialization task -void HAL_init() { - FastIO_init(); - +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. @@ -87,19 +88,23 @@ void HAL_init() { SetTimerInterruptPriorities(); - #if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC + #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_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the min serial handler - #if HAS_SD_HOST_DRIVE - MSC_SD_init(); // Enable USB SD card access + 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 HAL_idletask() { +void MarlinHAL::idletask() { #if HAS_SHARED_MEDIA // Stm32duino currently doesn't have a "loop/idle" method CDC_resume_receive(); @@ -107,9 +112,9 @@ void HAL_idletask() { #endif } -void HAL_clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); } +void MarlinHAL::reboot() { NVIC_SystemReset(); } -uint8_t HAL_get_reset_source() { +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 : @@ -133,24 +138,37 @@ uint8_t HAL_get_reset_source() { ; } -void HAL_reboot() { NVIC_SystemReset(); } +void MarlinHAL::clear_reset_source() { __HAL_RCC_CLEAR_RESET_FLAGS(); } -void _delay_ms(const int delay_ms) { delay(delay_ms); } +// ------------------------ +// 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 } -// ------------------------ -// ADC -// ------------------------ - -// TODO: Make sure this doesn't cause any delay -void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); } -uint16_t HAL_adc_get_result() { return HAL_adc_result; } - // Reset the system to initiate a firmware flash -void flashFirmware(const int16_t) { HAL_reboot(); } +WEAK void flashFirmware(const int16_t) { hal.reboot(); } // Maple Compatibility volatile uint32_t systick_uptime_millis = 0; @@ -161,4 +179,4 @@ void HAL_SYSTICK_Callback() { if (systick_user_callback) systick_user_callback(); } -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/HAL.h b/Marlin/src/HAL/STM32/HAL.h index 469d08e435..3e85aca293 100644 --- a/Marlin/src/HAL/STM32/HAL.h +++ b/Marlin/src/HAL/STM32/HAL.h @@ -30,61 +30,87 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" #include "Servo.h" -#include "watchdog.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 MSerial0; + extern DefaultSerial1 MSerialUSB; #endif -// ------------------------ -// Defines -// ------------------------ #define _MSERIAL(X) MSerial##X #define MSERIAL(X) _MSERIAL(X) -#if SERIAL_PORT == -1 - #define MYSERIAL1 MSerial0 -#elif WITHIN(SERIAL_PORT, 1, 6) +#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. You can also use -1 if the board supports Native USB." + #error "SERIAL_PORT must be from 1 to 6, or -1 for Native USB." #endif #ifdef SERIAL_PORT_2 - #if SERIAL_PORT_2 == -1 - #define MYSERIAL2 MSerial0 - #elif WITHIN(SERIAL_PORT_2, 1, 6) + #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. You can also use -1 if the board supports Native USB." + #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 MMU2_SERIAL_PORT == -1 - #define MMU2_SERIAL MSerial0 - #elif WITHIN(MMU2_SERIAL_PORT, 1, 6) + #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. You can also use -1 if the board supports Native USB." + #error "MMU2_SERIAL_PORT must be from 1 to 6, or -1 for Native USB." #endif #endif #ifdef LCD_SERIAL_PORT - #if LCD_SERIAL_PORT == -1 - #define LCD_SERIAL MSerial0 - #elif WITHIN(LCD_SERIAL_PORT, 1, 6) + #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. You can also use -1 if the board supports Native USB." + #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() @@ -98,86 +124,46 @@ #define analogInputToDigitalPin(p) (p) #endif -#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq() -#define CRITICAL_SECTION_END() if (!primask) __enable_irq() -#define ISRS_ENABLED() (!__get_PRIMASK()) -#define ENABLE_ISRS() __enable_irq() -#define DISABLE_ISRS() __disable_irq() +// +// 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() -// On AVR this is in math.h? -#define square(x) ((x)*(x)) - // ------------------------ // Types // ------------------------ -typedef int16_t pin_t; +typedef double isr_float_t; // FPU ops are used for single-precision, so use double for ISRs. -#define HAL_SERVO_LIB libServo +#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() // ------------------------ -// Public Variables -// ------------------------ - -// result of last ADC conversion -extern uint16_t HAL_adc_result; - -// ------------------------ -// Public functions -// ------------------------ - -// Memory related -#define __bss_end __bss_end__ - -// Enable hooks into setup for HAL -void HAL_init(); -#define HAL_IDLETASK 1 -void HAL_idletask(); - -// Clear reset reason -void HAL_clear_reset_source(); - -// Reset reason -uint8_t HAL_get_reset_source(); - -void HAL_reboot(); - -void _delay_ms(const int delay); - -extern "C" char* _sbrk(int incr); - -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-function" - -static inline int freeMemory() { - volatile char top; - return &top - reinterpret_cast(_sbrk(0)); -} - -#pragma GCC diagnostic pop - -// // ADC -// +// ------------------------ -#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT) +#ifdef ADC_RESOLUTION + #define HAL_ADC_RESOLUTION ADC_RESOLUTION +#else + #define HAL_ADC_RESOLUTION 12 +#endif #define HAL_ADC_VREF 3.3 -#define HAL_ADC_RESOLUTION ADC_RESOLUTION // 12 -#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) -#define HAL_READ_ADC() HAL_adc_result -#define HAL_ADC_READY() true - -inline void HAL_adc_init() { analogReadResolution(HAL_ADC_RESOLUTION); } - -void HAL_adc_start_conversion(const uint8_t adc_pin); - -uint16_t HAL_adc_get_result(); +// +// 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) @@ -185,6 +171,7 @@ uint16_t HAL_adc_get_result(); #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 @@ -199,17 +186,96 @@ extern volatile uint32_t systick_uptime_millis; #define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment -/** - * set_pwm_frequency - * Set the frequency of the timer corresponding to the provided pin - * All Timer PWM pins run at the same frequency - */ -void set_pwm_frequency(const pin_t pin, int f_desired); +// ------------------------ +// Class Utilities +// ------------------------ -/** - * set_pwm_duty - * Set the PWM duty cycle of the provided pin to the provided value - * Optionally allows inverting the duty cycle [default = false] - * Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255] - */ -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false); +// 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 index 80347e115d..40d320d5e8 100644 --- a/Marlin/src/HAL/STM32/HAL_SPI.cpp +++ b/Marlin/src/HAL/STM32/HAL_SPI.cpp @@ -20,7 +20,9 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" @@ -45,7 +47,9 @@ static SPISettings spiConfig; #include "../shared/Delay.h" void spiBegin(void) { - OUT_WRITE(SD_SS_PIN, HIGH); + #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); @@ -98,9 +102,9 @@ static SPISettings spiConfig; // Soft SPI receive byte uint8_t spiRec() { - DISABLE_ISRS(); // No interrupts during byte receive + hal.isr_off(); // No interrupts during byte receive const uint8_t data = HAL_SPI_STM32_SpiTransfer_Mode_3(0xFF); - ENABLE_ISRS(); // Enable interrupts + hal.isr_on(); // Enable interrupts return data; } @@ -112,9 +116,9 @@ static SPISettings spiConfig; // Soft SPI send byte void spiSend(uint8_t data) { - DISABLE_ISRS(); // No interrupts during byte send + hal.isr_off(); // No interrupts during byte send HAL_SPI_STM32_SpiTransfer_Mode_3(data); // Don't care what is received - ENABLE_ISRS(); // Enable interrupts + hal.isr_on(); // Enable interrupts } // Soft SPI send block @@ -163,11 +167,9 @@ static SPISettings spiConfig; } spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); - #if ENABLED(CUSTOM_SPI_PINS) - SPI.setMISO(SD_MISO_PIN); - SPI.setMOSI(SD_MOSI_PIN); - SPI.setSCLK(SD_SCK_PIN); - #endif + SPI.setMISO(SD_MISO_PIN); + SPI.setMOSI(SD_MOSI_PIN); + SPI.setSCLK(SD_SCK_PIN); SPI.begin(); } @@ -226,4 +228,4 @@ static SPISettings spiConfig; #endif // SOFTWARE_SPI -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/MarlinSPI.cpp b/Marlin/src/HAL/STM32/MarlinSPI.cpp index 896ec1433f..f7c603d77e 100644 --- a/Marlin/src/HAL/STM32/MarlinSPI.cpp +++ b/Marlin/src/HAL/STM32/MarlinSPI.cpp @@ -19,7 +19,10 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) && !defined(STM32H7xx) + +#include "../platforms.h" + +#if defined(HAL_STM32) && !defined(STM32H7xx) #include "MarlinSPI.h" @@ -111,16 +114,19 @@ byte MarlinSPI::transfer(uint8_t _data) { 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 ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) //only enable if disabled + //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); - SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_RXDMAEN); /* Enable Rx DMA Request */ + LL_SPI_EnableDMAReq_RX(_spi.handle.Instance); // Enable Rx DMA Request } // check for 2 lines transfer @@ -133,7 +139,7 @@ uint8_t MarlinSPI::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16 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); - SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_TXDMAEN); /* Enable Tx DMA Request */ + LL_SPI_EnableDMAReq_TX(_spi.handle.Instance); // Enable Tx DMA Request } if (transmitBuf) { @@ -157,7 +163,7 @@ 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); - SET_BIT(_spi.handle.Instance->CR2, SPI_CR2_TXDMAEN); /* Enable Tx DMA Request */ + 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 @@ -165,4 +171,4 @@ uint8_t MarlinSPI::dmaSend(const void * transmitBuf, uint16_t length, bool minc) return 1; } -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 && !STM32H7xx diff --git a/Marlin/src/HAL/STM32/MarlinSerial.cpp b/Marlin/src/HAL/STM32/MarlinSerial.cpp index 265e8b5ab6..37a8f40fd0 100644 --- a/Marlin/src/HAL/STM32/MarlinSerial.cpp +++ b/Marlin/src/HAL/STM32/MarlinSerial.cpp @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -16,7 +19,10 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) + +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" #include "MarlinSerial.h" @@ -101,4 +107,4 @@ void MarlinSerial::_rx_complete_irq(serial_t *obj) { } } -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/MarlinSerial.h b/Marlin/src/HAL/STM32/MarlinSerial.h index ab5c4260af..bf861fb8a7 100644 --- a/Marlin/src/HAL/STM32/MarlinSerial.h +++ b/Marlin/src/HAL/STM32/MarlinSerial.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or diff --git a/Marlin/src/HAL/STM32/HAL_MinSerial.cpp b/Marlin/src/HAL/STM32/MinSerial.cpp similarity index 88% rename from Marlin/src/HAL/STM32/HAL_MinSerial.cpp rename to Marlin/src/HAL/STM32/MinSerial.cpp index 823bb6e8f5..b0fcff20c1 100644 --- a/Marlin/src/HAL/STM32/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/STM32/MinSerial.cpp @@ -20,14 +20,15 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfigPre.h" #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" -#include "watchdog.h" +#include "../shared/MinSerial.h" /* Instruction Synchronization Barrier */ #define isb() __asm__ __volatile__ ("isb" : : : "memory") @@ -71,8 +72,8 @@ static void TXBegin() { volatile uint32_t ICER[32]; }; - NVICMin * nvicBase = (NVICMin*)0xE000E100; - nvicBase->ICER[nvicIndex / 32] |= _BV32(nvicIndex % 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 ) @@ -118,12 +119,12 @@ 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)) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + hal.watchdog_refresh(); sw_barrier(); } regs->DR = c; #else - // Let's hope a mystical guru will fix this, one day by writting interrupt-free USB CDC ACM code (or, at least, by polling the registers since interrupt will be queued but will never trigger) + // 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 } @@ -133,7 +134,7 @@ void install_min_serial() { HAL_min_serial_out = &TX; } -#if DISABLED(DYNAMIC_VECTORTABLE) && DISABLED(STM32F0xx) // 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 +#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__ ( @@ -149,4 +150,4 @@ extern "C" { #endif #endif // POSTMORTEM_DEBUGGING -#endif // ARDUINO_ARCH_STM32 +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/Servo.cpp b/Marlin/src/HAL/STM32/Servo.cpp index 1cf117a056..a00186e0e7 100644 --- a/Marlin/src/HAL/STM32/Servo.cpp +++ b/Marlin/src/HAL/STM32/Servo.cpp @@ -20,7 +20,9 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" @@ -37,7 +39,7 @@ static_assert(COUNT(servoDelay) == NUM_SERVOS, "SERVO_DELAY must be an array NUM // 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 intialized the timer. +// 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(). @@ -107,4 +109,4 @@ void libServo::setInterruptPriority(uint32_t preemptPriority, uint32_t subPriori } #endif // HAS_SERVOS -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 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 index 5862090f1b..6bd519877d 100644 --- a/Marlin/src/HAL/STM32/eeprom_flash.cpp +++ b/Marlin/src/HAL/STM32/eeprom_flash.cpp @@ -20,7 +20,9 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" @@ -28,6 +30,10 @@ #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. @@ -89,7 +95,7 @@ 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 +#endif // FLASH_EEPROM_LEVELING static bool eeprom_data_written = false; @@ -100,6 +106,8 @@ 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) { @@ -117,7 +125,7 @@ bool PersistentStore::access_start() { address += sizeof(uint32_t); } if (current_slot == -1) { - // We didn't find anything, so we'll just intialize to empty + // 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; } @@ -125,7 +133,7 @@ bool PersistentStore::access_start() { // 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_ECHOLNPAIR("EEPROM loaded from slot ", current_slot, "."); + DEBUG_ECHOLNPGM("EEPROM loaded from slot ", current_slot, "."); } eeprom_data_written = false; } @@ -166,14 +174,14 @@ bool PersistentStore::access_finish() { UNLOCK_FLASH(); TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT()); - DISABLE_ISRS(); + hal.isr_off(); status = HAL_FLASHEx_Erase(&EraseInitStruct, &SectorError); - ENABLE_ISRS(); + hal.isr_on(); TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT()); if (status != HAL_OK) { - DEBUG_ECHOLNPAIR("HAL_FLASHEx_Erase=", status); - DEBUG_ECHOLNPAIR("GetError=", HAL_FLASH_GetError()); - DEBUG_ECHOLNPAIR("SectorError=", SectorError); + DEBUG_ECHOLNPGM("HAL_FLASHEx_Erase=", status); + DEBUG_ECHOLNPGM("GetError=", HAL_FLASH_GetError()); + DEBUG_ECHOLNPGM("SectorError=", SectorError); LOCK_FLASH(); return false; } @@ -181,24 +189,24 @@ bool PersistentStore::access_finish() { UNLOCK_FLASH(); - uint32_t offset = 0; - uint32_t address = SLOT_ADDRESS(current_slot); - uint32_t address_end = address + MARLIN_EEPROM_SIZE; - uint32_t data = 0; + 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(uint32_t)); + 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_ECHOLNPAIR("HAL_FLASH_Program=", status); - DEBUG_ECHOLNPAIR("GetError=", HAL_FLASH_GetError()); - DEBUG_ECHOLNPAIR("address=", address); + DEBUG_ECHOLNPGM("HAL_FLASH_Program=", status); + DEBUG_ECHOLNPGM("GetError=", HAL_FLASH_GetError()); + DEBUG_ECHOLNPGM("address=", address); success = false; break; } @@ -208,12 +216,13 @@ bool PersistentStore::access_finish() { if (success) { eeprom_data_written = false; - DEBUG_ECHOLNPAIR("EEPROM saved to slot ", current_slot, "."); + DEBUG_ECHOLNPGM("EEPROM saved to slot ", current_slot, "."); } return success; - #else + #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. @@ -221,13 +230,14 @@ bool PersistentStore::access_finish() { // output. Servo output still glitches with interrupts disabled, but recovers after the // erase. TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT()); - DISABLE_ISRS(); + hal.isr_off(); eeprom_buffer_flush(); - ENABLE_ISRS(); + hal.isr_on(); TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT()); eeprom_data_written = false; - #endif + + #endif // !FLASH_EEPROM_LEVELING } return true; @@ -266,4 +276,4 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t } #endif // FLASH_EEPROM_EMULATION -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/TEENSY40_41/watchdog.cpp b/Marlin/src/HAL/STM32/eeprom_if_iic.cpp similarity index 58% rename from Marlin/src/HAL/TEENSY40_41/watchdog.cpp rename to Marlin/src/HAL/STM32/eeprom_if_iic.cpp index dd7c0aa92f..ad8712c0c0 100644 --- a/Marlin/src/HAL/TEENSY40_41/watchdog.cpp +++ b/Marlin/src/HAL/STM32/eeprom_if_iic.cpp @@ -19,34 +19,38 @@ * along with this program. If not, see . * */ -#ifdef __IMXRT1062__ + +#include "../platforms.h" + +#ifdef HAL_STM32 /** - * HAL Watchdog for Teensy 4.0 (IMXRT1062DVL6A) / 4.1 (IMXRT1062DVJ6A) + * Platform-independent Arduino functions for I2C EEPROM. + * Enable USE_SHARED_EEPROM if not supplied by the framework. */ #include "../../inc/MarlinConfig.h" -#if ENABLED(USE_WATCHDOG) +#if ENABLED(IIC_BL24CXX_EEPROM) -#include "watchdog.h" +#include "../../libs/BL24CXX.h" +#include "../shared/eeprom_if.h" -#define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout +void eeprom_init() { BL24CXX::init(); } -constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f; +// ------------------------ +// Public functions +// ------------------------ -void watchdog_init() { - CCM_CCGR3 |= CCM_CCGR3_WDOG1(3); // enable WDOG1 clocks - WDOG1_WMCR = 0; // disable power down PDE - WDOG1_WCR |= WDOG_WCR_SRS | WDOG_WCR_WT(timeoutval); - WDOG1_WCR |= WDOG_WCR_WDE | WDOG_WCR_WDT | WDOG_WCR_SRE; +void eeprom_write_byte(uint8_t *pos, uint8_t value) { + const unsigned eeprom_address = (unsigned)pos; + return BL24CXX::writeOneByte(eeprom_address, value); } -void HAL_watchdog_refresh() { - // Watchdog refresh sequence - WDOG1_WSR = 0x5555; - WDOG1_WSR = 0xAAAA; +uint8_t eeprom_read_byte(uint8_t *pos) { + const unsigned eeprom_address = (unsigned)pos; + return BL24CXX::readOneByte(eeprom_address); } -#endif // USE_WATCHDOG -#endif // __IMXRT1062__ +#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 index f811468fb4..473b656f9a 100644 --- a/Marlin/src/HAL/STM32/eeprom_sdcard.cpp +++ b/Marlin/src/HAL/STM32/eeprom_sdcard.cpp @@ -19,7 +19,10 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) + +#include "../platforms.h" + +#ifdef HAL_STM32 /** * Implementation of EEPROM settings in SD Card @@ -88,4 +91,4 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, const size_t size, uin } #endif // SDCARD_EEPROM_EMULATION -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/eeprom_sram.cpp b/Marlin/src/HAL/STM32/eeprom_sram.cpp index 135bcabde9..687e7f55c2 100644 --- a/Marlin/src/HAL/STM32/eeprom_sram.cpp +++ b/Marlin/src/HAL/STM32/eeprom_sram.cpp @@ -20,7 +20,9 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" @@ -65,4 +67,4 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t } #endif // SRAM_EEPROM_EMULATION -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/eeprom_wired.cpp b/Marlin/src/HAL/STM32/eeprom_wired.cpp index 6aa2f1d360..cf0468151e 100644 --- a/Marlin/src/HAL/STM32/eeprom_wired.cpp +++ b/Marlin/src/HAL/STM32/eeprom_wired.cpp @@ -20,7 +20,9 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" @@ -75,4 +77,4 @@ bool PersistentStore::read_data(int &pos, uint8_t *value, size_t size, uint16_t } #endif // USE_WIRED_EEPROM -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/endstop_interrupts.h b/Marlin/src/HAL/STM32/endstop_interrupts.h index fdff8cc644..d2f20ba1c7 100644 --- a/Marlin/src/HAL/STM32/endstop_interrupts.h +++ b/Marlin/src/HAL/STM32/endstop_interrupts.h @@ -46,4 +46,16 @@ void setup_endstop_interrupts() { 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 index 42eecb5e1a..a0d8ecc612 100644 --- a/Marlin/src/HAL/STM32/fast_pwm.cpp +++ b/Marlin/src/HAL/STM32/fast_pwm.cpp @@ -19,41 +19,70 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) -#include "../../inc/MarlinConfigPre.h" +#include "../platforms.h" -#if NEEDS_HARDWARE_PWM +#ifdef HAL_STM32 -#include "HAL.h" -#include "timers.h" +#include "../../inc/MarlinConfig.h" -void set_pwm_frequency(const pin_t pin, int f_desired) { - if (!PWM_PIN(pin)) return; // Don't proceed if no hardware timer +// Array to support sticky frequency sets per timer +static uint16_t timer_freq[TIMER_NUM]; - PinName pin_name = digitalPinToPinName(pin); - TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); // Get HAL timer instance +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); - LOOP_S_L_N(i, 0, NUM_HARDWARE_TIMERS) // Protect used timers - if (timer_instance[i] && timer_instance[i]->getHandle()->Instance == Instance) - return; + 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)); - pwm_start(pin_name, f_desired, 0, RESOLUTION_8B_COMPARE_FORMAT); -} + 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); -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { - PinName pin_name = digitalPinToPinName(pin); - TIM_TypeDef *Instance = (TIM_TypeDef *)pinmap_peripheral(pin_name, PinMap_PWM); - uint16_t adj_val = Instance->ARR * v / v_size; - if (invert) adj_val = Instance->ARR - adj_val; + 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. - switch (get_pwm_channel(pin_name)) { - case TIM_CHANNEL_1: LL_TIM_OC_SetCompareCH1(Instance, adj_val); break; - case TIM_CHANNEL_2: LL_TIM_OC_SetCompareCH2(Instance, adj_val); break; - case TIM_CHANNEL_3: LL_TIM_OC_SetCompareCH3(Instance, adj_val); break; - case TIM_CHANNEL_4: LL_TIM_OC_SetCompareCH4(Instance, adj_val); break; + // 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); } } -#endif // NEEDS_HARDWARE_PWM -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +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 index 0d55579d88..b34555b8c8 100644 --- a/Marlin/src/HAL/STM32/fastio.cpp +++ b/Marlin/src/HAL/STM32/fastio.cpp @@ -20,15 +20,17 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" -GPIO_TypeDef* FastIOPortMap[LastPort + 1]; +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 +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/fastio.h b/Marlin/src/HAL/STM32/fastio.h index 17751c44dd..4a48954471 100644 --- a/Marlin/src/HAL/STM32/fastio.h +++ b/Marlin/src/HAL/STM32/fastio.h @@ -38,6 +38,7 @@ extern GPIO_TypeDef * FastIOPortMap[]; // ------------------------ void FastIO_init(); // Must be called before using fast io macros +#define FASTIO_INIT() FastIO_init() // ------------------------ // Defines diff --git a/Marlin/src/HAL/STM32/inc/Conditionals_adv.h b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h index 9c9a7014c7..451c94f25d 100644 --- a/Marlin/src/HAL/STM32/inc/Conditionals_adv.h +++ b/Marlin/src/HAL/STM32/inc/Conditionals_adv.h @@ -21,7 +21,7 @@ */ #pragma once -#if defined(USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE) +#if BOTH(SDSUPPORT, USBD_USE_CDC_MSC) && DISABLED(NO_SD_HOST_DRIVE) #define HAS_SD_HOST_DRIVE 1 #endif @@ -30,3 +30,6 @@ #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 index 18826e11d2..c5ce66a26f 100644 --- a/Marlin/src/HAL/STM32/inc/Conditionals_post.h +++ b/Marlin/src/HAL/STM32/inc/Conditionals_post.h @@ -27,3 +27,8 @@ #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 index 12ff2abec7..e8ddfa1720 100644 --- a/Marlin/src/HAL/STM32/inc/SanityCheck.h +++ b/Marlin/src/HAL/STM32/inc/SanityCheck.h @@ -24,7 +24,7 @@ /** * Test STM32-specific configuration values for errors at compile-time. */ -//#if ENABLED(SPINDLE_LASER_PWM) && !(SPINDLE_LASER_PWM_PIN == 4 || SPINDLE_LASER_PWM_PIN == 6 || SPINDLE_LASER_PWM_PIN == 11) +//#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 @@ -37,11 +37,6 @@ #error "SDCARD_EEPROM_EMULATION requires SDSUPPORT. Enable SDSUPPORT or choose another EEPROM emulation." #endif -#if defined(STM32F4xx) && BOTH(PRINTCOUNTER, FLASH_EEPROM_EMULATION) - #warning "FLASH_EEPROM_EMULATION may cause long delays when writing and should not be used while printing." - #error "Disable PRINTCOUNTER 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 @@ -55,3 +50,62 @@ #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 index 20e1ab3cf9..a40bec9d64 100644 --- a/Marlin/src/HAL/STM32/msc_sd.cpp +++ b/Marlin/src/HAL/STM32/msc_sd.cpp @@ -13,32 +13,37 @@ * along with this program. If not, see . * */ +#include "../platforms.h" + +#ifdef HAL_STM32 + #include "../../inc/MarlinConfigPre.h" -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) && HAS_SD_HOST_DRIVE +#if HAS_SD_HOST_DRIVE -#include "msc_sd.h" #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 -#include "../../sd/cardreader.h" - class Sd2CardUSBMscHandler : public USBMscHandler { public: DiskIODriver* diskIODriver() { #if ENABLED(MULTI_VOLUME) #if SHARED_VOLUME_IS(SD_ONBOARD) - return &card.media_sd_spi; + return &card.media_driver_sdcard; #elif SHARED_VOLUME_IS(USB_FLASH_DRIVE) - return &card.media_usbFlashDrive; + return &card.media_driver_usbFlash; #endif #else - return diskIODriver(); + return card.diskIODriver(); #endif } @@ -52,15 +57,15 @@ public: auto sd2card = diskIODriver(); // single block if (blkLen == 1) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->writeBlock(blkAddr, pBuf); return true; } - // multi block optmization + // multi block optimization sd2card->writeStart(blkAddr, blkLen); while (blkLen--) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->writeData(pBuf); pBuf += BLOCK_SIZE; } @@ -72,15 +77,15 @@ public: auto sd2card = diskIODriver(); // single block if (blkLen == 1) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->readBlock(blkAddr, pBuf); return true; } - // multi block optmization + // multi block optimization sd2card->readStart(blkAddr); while (blkLen--) { - watchdog_refresh(); + hal.watchdog_refresh(); sd2card->readData(pBuf); pBuf += BLOCK_SIZE; } @@ -121,4 +126,5 @@ void MSC_SD_init() { USBDevice.begin(); } -#endif // __STM32F1__ && HAS_SD_HOST_DRIVE +#endif // HAS_SD_HOST_DRIVE +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/pinsDebug.h b/Marlin/src/HAL/STM32/pinsDebug.h index 048f788e3d..29a4e003f9 100644 --- a/Marlin/src/HAL/STM32/pinsDebug.h +++ b/Marlin/src/HAL/STM32/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -76,7 +79,6 @@ // make a list of the Arduino pin numbers in the Port/Pin order // -#define _PIN_ADD_2(NAME_ALPHA, ARDUINO_NUM) { {NAME_ALPHA}, ARDUINO_NUM }, #define _PIN_ADD(NAME_ALPHA, ARDUINO_NUM) { NAME_ALPHA, ARDUINO_NUM }, #define PIN_ADD(NAME) _PIN_ADD(#NAME, NAME) @@ -100,18 +102,23 @@ const XrefInfo pin_xref[] PROGMEM = { #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)) +#define PORT_ALPHA(P) ('A' + (P >> 4)) /** * Translation of routines & variables used by pinsDebug.h */ -#define NUMBER_PINS_TOTAL NUM_DIGITAL_PINS -#define VALID_PIN(ANUM) ((ANUM) >= 0 && (ANUM) < NUMBER_PINS_TOTAL) + +#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 -#define GET_PIN_MAP_PIN_M43(Index) pin_xref[Index].Ard_num // x is a variable used to search pin_array #define GET_ARRAY_IS_DIGITAL(x) ((bool) pin_array[x].is_digital) @@ -119,6 +126,11 @@ const XrefInfo pin_xref[] PROGMEM = { #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 @@ -156,17 +168,20 @@ bool GET_PINMODE(const pin_t 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(pin_t Ard_num) { - Ard_num -= NUM_ANALOG_FIRST; - return (Ard_num >= 0 && Ard_num < NUM_ANALOG_INPUTS) ? Ard_num : -1; +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 x) { - const uint8_t pin_mode = get_pin_mode(pin_array[x].pin); +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; } @@ -192,10 +207,18 @@ void port_print(const pin_t Ard_num) { SERIAL_ECHO_SP(7); // Print number to be used with M42 - sprintf_P(buffer, PSTR(" M42 P%d "), Ard_num); - SERIAL_ECHO(buffer); - if (Ard_num < 10) SERIAL_CHAR(' '); - if (Ard_num < 100) SERIAL_CHAR(' '); + 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) { @@ -217,26 +240,26 @@ void pwm_details(const pin_t Ard_num) { case 'D' : alt_all = GPIOD->AFR[ind]; break; #ifdef PE_0 case 'E' : alt_all = GPIOE->AFR[ind]; break; - #elif defined (PF_0) + #elif defined(PF_0) case 'F' : alt_all = GPIOF->AFR[ind]; break; - #elif defined (PG_0) + #elif defined(PG_0) case 'G' : alt_all = GPIOG->AFR[ind]; break; - #elif defined (PH_0) + #elif defined(PH_0) case 'H' : alt_all = GPIOH->AFR[ind]; break; - #elif defined (PI_0) + #elif defined(PI_0) case 'I' : alt_all = GPIOI->AFR[ind]; break; - #elif defined (PJ_0) + #elif defined(PJ_0) case 'J' : alt_all = GPIOJ->AFR[ind]; break; - #elif defined (PK_0) + #elif defined(PK_0) case 'K' : alt_all = GPIOK->AFR[ind]; break; - #elif defined (PL_0) + #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_ECHOPAIR("Alt Function: ", alt_func); + SERIAL_ECHOPGM("Alt Function: ", alt_func); if (alt_func < 10) SERIAL_CHAR(' '); SERIAL_ECHOPGM(" - "); switch (alt_func) { diff --git a/Marlin/src/HAL/STM32/Sd2Card_sdio_stm32duino.cpp b/Marlin/src/HAL/STM32/sdio.cpp similarity index 53% rename from Marlin/src/HAL/STM32/Sd2Card_sdio_stm32duino.cpp rename to Marlin/src/HAL/STM32/sdio.cpp index 3353f8c36b..41fe90b825 100644 --- a/Marlin/src/HAL/STM32/Sd2Card_sdio_stm32duino.cpp +++ b/Marlin/src/HAL/STM32/sdio.cpp @@ -19,107 +19,59 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) + +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" #if ENABLED(SDIO_SUPPORT) +#include "sdio.h" + #include #include -#if NONE(STM32F103xE, STM32F103xG, STM32F4xx, STM32F7xx) - #error "ERROR - Only STM32F103xE, STM32F103xG, STM32F4xx or STM32F7xx CPUs supported" +#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 -#if HAS_SD_HOST_DRIVE +// SDIO Max Clock (naming from STM Manual, don't change) +#define SDIOCLK 48000000 - // use USB drivers +// Target Clock, configurable. Default is 18MHz, from STM32F1 +#ifndef SDIO_CLOCK + #define SDIO_CLOCK 18000000 // 18 MHz +#endif - extern "C" { - int8_t SD_MSC_Read(uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16_t blk_len); - int8_t SD_MSC_Write(uint8_t lun, uint8_t *buf, uint32_t blk_addr, uint16_t blk_len); - extern SD_HandleTypeDef hsd; - } +SD_HandleTypeDef hsd; // SDIO structure - bool SDIO_Init() { - return hsd.State == HAL_SD_STATE_READY; // return pass/fail status - } - - bool SDIO_ReadBlock(uint32_t block, uint8_t *src) { - int8_t status = SD_MSC_Read(0, (uint8_t*)src, block, 1); // read one 512 byte block - return (bool) status; - } - - bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) { - int8_t status = SD_MSC_Write(0, (uint8_t*)src, block, 1); // write one 512 byte block - return (bool) status; - } - -#else // !USBD_USE_CDC_COMPOSITE - - // use local drivers - #if defined(STM32F103xE) || defined(STM32F103xG) - #include - #include - #elif defined(STM32F4xx) - #include - #include - #include - #include - #elif defined(STM32F7xx) - #include - #include - #include - #include +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 - #error "ERROR - Only STM32F103xE, STM32F103xG, STM32F4xx or STM32F7xx CPUs supported" - #endif - - // Fixed - #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 - - SD_HandleTypeDef hsd; // create SDIO structure - // 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; - - /* - 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 board seems to have stable SDIO with BusWide 1bit and ClockDiv 8 i.e. 4.8MHz SDIO clock frequency - Additional testing is required as there are clearly some 4bit initialization problems - */ - - #ifndef USBD_OK - #define USBD_OK 0 - #endif - - // Target Clock, configurable. Default is 18MHz, from STM32F1 - #ifndef SDIO_CLOCK - #define SDIO_CLOCK 18000000 // 18 MHz - #endif - - // SDIO retries, configurable. Default is 3, from STM32F1 - #ifndef SDIO_READ_RETRIES - #define SDIO_READ_RETRIES 3 - #endif - - // SDIO Max Clock (naming from STM Manual, don't change) - #define SDIOCLK 48000000 - - static uint32_t clock_to_divider(uint32_t clk) { // 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(); @@ -129,8 +81,101 @@ // 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; @@ -144,16 +189,17 @@ SDIO_Init(hsd.Instance, hsd.Init); } - void SD_LowLevel_Init(void) { + void SD_LowLevel_Init() { uint32_t tempreg; - __HAL_RCC_GPIOC_CLK_ENABLE(); //enable GPIO clocks - __HAL_RCC_GPIOD_CLK_ENABLE(); //enable GPIO clocks + // 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.Pull = 1; // GPIO_NOPULL GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH; #if DISABLED(STM32F1xx) @@ -173,7 +219,7 @@ HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); // Setup DMA - #if defined(STM32F1xx) + #ifdef STM32F1xx hdma_sdio.Init.Mode = DMA_NORMAL; hdma_sdio.Instance = DMA2_Channel4; HAL_NVIC_EnableIRQ(DMA2_Channel4_5_IRQn); @@ -196,28 +242,24 @@ __HAL_LINKDMA(&hsd, hdmarx, hdma_sdio); __HAL_LINKDMA(&hsd, hdmatx, hdma_sdio); - #if defined(STM32F1xx) + #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_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_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 - tempreg |= SDIO_CLKCR_CLKEN; // Clock enabled - tempreg |= 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 + // 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 @@ -225,11 +267,6 @@ hsd.Instance = SDIO; } - void HAL_SD_MspInit(SD_HandleTypeDef *hsd) { // application specific init - UNUSED(hsd); // Prevent unused argument(s) compilation warning - __HAL_RCC_SDIO_CLK_ENABLE(); // turn on SDIO clock - } - bool SDIO_Init() { uint8_t retryCnt = SDIO_READ_RETRIES; @@ -241,7 +278,7 @@ uint8_t retry_Cnt = retryCnt; for (;;) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + hal.watchdog_refresh(); status = (bool) HAL_SD_Init(&hsd); if (!status) break; if (!--retry_Cnt) return false; // return failing status if retries are exhausted @@ -252,7 +289,7 @@ #if PINS_EXIST(SDIO_D1, SDIO_D2, SDIO_D3) // go to 4 bit wide mode if pins are defined retry_Cnt = retryCnt; for (;;) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + 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; } @@ -261,7 +298,7 @@ SD_LowLevel_Init(); retry_Cnt = retryCnt; for (;;) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + hal.watchdog_refresh(); status = (bool) HAL_SD_Init(&hsd); if (!status) break; if (!--retry_Cnt) return false; // return failing status if retries are exhausted @@ -273,21 +310,31 @@ 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; - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + 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); + 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); + ret = HAL_SD_ReadBlocks_DMA(&hsd, (uint8_t*)dst, block, 1); } if (ret != HAL_OK) { @@ -296,7 +343,7 @@ return false; } - millis_t timeout = millis() + 500; + millis_t timeout = millis() + SD_TIMEOUT; // Wait the transfer while (hsd.State != HAL_SD_STATE_READY) { if (ELAPSED(millis(), timeout)) { @@ -312,35 +359,93 @@ HAL_DMA_Abort_IT(&hdma_sdio); HAL_DMA_DeInit(&hdma_sdio); - timeout = millis() + 500; + timeout = millis() + SD_TIMEOUT; while (HAL_SD_GetCardState(&hsd) != HAL_SD_CARD_TRANSFER) if (ELAPSED(millis(), timeout)) return false; return true; } - bool SDIO_ReadBlock(uint32_t block, uint8_t *dst) { - uint8_t retries = SDIO_READ_RETRIES; - while (retries--) if (SDIO_ReadWriteBlock_DMA(block, NULL, dst)) return true; - return false; - } +#endif // !SDIO_FOR_STM32H7 - bool SDIO_WriteBlock(uint32_t block, const uint8_t *src) { - uint8_t retries = SDIO_READ_RETRIES; - while (retries--) if (SDIO_ReadWriteBlock_DMA(block, src, NULL)) return true; - return false; - } +/** + * @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; - #if defined(STM32F1xx) - #define DMA_IRQ_HANDLER DMA2_Channel4_5_IRQHandler - #elif defined(STM32F4xx) - #define DMA_IRQ_HANDLER DMA2_Stream3_IRQHandler #else - #error "Unknown STM32 architecture." + + uint8_t retries = SDIO_READ_RETRIES; + while (retries--) if (SDIO_ReadWriteBlock_DMA(block, nullptr, dst)) return true; + return false; + #endif +} - extern "C" void SDIO_IRQHandler(void) { HAL_SD_IRQHandler(&hsd); } - extern "C" void DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&hdma_sdio); } +/** + * @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; + 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 // !USBD_USE_CDC_COMPOSITE #endif // SDIO_SUPPORT -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#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 index e2052c5c77..7f341a8c25 100644 --- a/Marlin/src/HAL/STM32/spi_pins.h +++ b/Marlin/src/HAL/STM32/spi_pins.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or 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 index 87ca2dbbe1..cf9e569336 100644 --- a/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp +++ b/Marlin/src/HAL/STM32/tft/tft_fsmc.cpp @@ -19,7 +19,10 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) + +#include "../../platforms.h" + +#ifdef HAL_STM32 #include "../../../inc/MarlinConfig.h" @@ -34,16 +37,6 @@ LCD_CONTROLLER_TypeDef *TFT_FSMC::LCD; void TFT_FSMC::Init() { uint32_t controllerAddress; - - #if PIN_EXISTS(TFT_RESET) - OUT_WRITE(TFT_RESET_PIN, HIGH); - HAL_Delay(100); - #endif - - #if PIN_EXISTS(TFT_BACKLIGHT) - OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH); - #endif - FSMC_NORSRAM_TimingTypeDef Timing, ExtTiming; uint32_t NSBank = (uint32_t)pinmap_peripheral(digitalPinToPinName(TFT_CS_PIN), PinMap_FSMC_CS); @@ -154,21 +147,36 @@ uint32_t TFT_FSMC::ReadID(tft_data_t Reg) { } bool TFT_FSMC::isBusy() { - #if defined(STM32F1xx) - volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET; + #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) - volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN; + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CR & DMA_SxCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->PAR != 0) #endif - if (dmaEnabled) { - if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0) - Abort(); - } - else - Abort(); - return dmaEnabled; + + 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(); @@ -178,4 +186,4 @@ void TFT_FSMC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Cou } #endif // HAS_FSMC_TFT -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/tft_fsmc.h b/Marlin/src/HAL/STM32/tft/tft_fsmc.h index 2200abaa10..41ff8c9a83 100644 --- a/Marlin/src/HAL/STM32/tft/tft_fsmc.h +++ b/Marlin/src/HAL/STM32/tft/tft_fsmc.h @@ -41,6 +41,7 @@ #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; @@ -59,13 +60,14 @@ class TFT_FSMC { 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() { __HAL_DMA_DISABLE(&DMAtx); } + static void Abort(); static void DataTransferBegin(uint16_t DataWidth = TFT_DATASIZE) {} static void DataTransferEnd() {}; @@ -73,13 +75,14 @@ class TFT_FSMC { 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(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); } + 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) { - static uint16_t Data; Data = Color; while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 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/tft_ltdc.cpp b/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp index 6039593f46..2be900618f 100644 --- a/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp +++ b/Marlin/src/HAL/STM32/tft/tft_ltdc.cpp @@ -19,7 +19,9 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../../platforms.h" + +#ifdef HAL_STM32 #include "../../../inc/MarlinConfig.h" @@ -45,7 +47,6 @@ #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; @@ -192,7 +193,7 @@ void LTDC_Config() { hltdc_F.Instance = LTDC; -/* Layer0 Configuration ------------------------------------------------------*/ + /* Layer0 Configuration ------------------------------------------------------*/ /* Windowing configuration */ pLayerCfg.WindowX0 = 0; @@ -289,22 +290,21 @@ void TFT_LTDC::DrawRect(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint uint16_t offline = TFT_WIDTH - (ex - sx); uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx]; - DMA2D->CR &= ~(1 << 0); + 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; - DMA2D->CR |= 1<<0; + SBI(DMA2D->CR, 0); uint32_t timeout = 0; - while((DMA2D->ISR & (1<<1)) == 0) - { + while (!TEST(DMA2D->ISR, 1)) { timeout++; - if(timeout>0X1FFFFF)break; + if (timeout > 0x1FFFFF) break; } - DMA2D->IFCR |= 1<<1; + SBI(DMA2D->IFCR, 1); } void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uint16_t *colors) { @@ -314,7 +314,7 @@ void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uin uint16_t offline = TFT_WIDTH - (ex - sx); uint32_t addr = (uint32_t)&framebuffer[(TFT_WIDTH * sy) + sx]; - DMA2D->CR &= ~(1 << 0); + CBI(DMA2D->CR, 0); DMA2D->CR = 0 << 16; DMA2D->FGPFCCR = 0X02; DMA2D->FGOR = 0; @@ -322,15 +322,14 @@ void TFT_LTDC::DrawImage(uint16_t sx, uint16_t sy, uint16_t ex, uint16_t ey, uin DMA2D->FGMAR = (uint32_t)colors; DMA2D->OMAR = addr; DMA2D->NLR = (ey - sy) | ((ex - sx) << 16); - DMA2D->CR |= 1<<0; + SBI(DMA2D->CR, 0); uint32_t timeout = 0; - while((DMA2D->ISR & (1<<1)) == 0) - { + while (!TEST(DMA2D->ISR, 1)) { timeout++; - if(timeout>0X1FFFFF)break; + if (timeout > 0x1FFFFF) break; } - DMA2D->IFCR |= 1<<1; + SBI(DMA2D->IFCR, 1); } void TFT_LTDC::WriteData(uint16_t data) { @@ -357,7 +356,7 @@ void TFT_LTDC::WriteReg(uint16_t Reg) { reg = Reg; } -void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { +void TFT_LTDC::Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { while (x_cur != x_min && Count) { Transmit(*Data); @@ -373,9 +372,9 @@ void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Cou 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); } + else + DrawRect(x_min, y_cur, x_min + width, y_cur + height, *Data); y_cur += height; } @@ -387,4 +386,4 @@ void TFT_LTDC::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Cou } #endif // HAS_LTDC_TFT -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/tft_ltdc.h b/Marlin/src/HAL/STM32/tft/tft_ltdc.h index 7b63d6929b..8d83839bb3 100644 --- a/Marlin/src/HAL/STM32/tft/tft_ltdc.h +++ b/Marlin/src/HAL/STM32/tft/tft_ltdc.h @@ -32,6 +32,7 @@ #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; @@ -49,7 +50,7 @@ class TFT_LTDC { 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 TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + static void Transmit(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); public: static void Init(); @@ -63,13 +64,15 @@ class TFT_LTDC { static void WriteData(uint16_t Data); static void WriteReg(uint16_t Reg); - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_ENABLE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_PINC_DISABLE, &Data, Count); } + // 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) { - static uint16_t Data; Data = Color; while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 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/STM32/tft/tft_spi.cpp b/Marlin/src/HAL/STM32/tft/tft_spi.cpp index 32af67d158..5e79f156d2 100644 --- a/Marlin/src/HAL/STM32/tft/tft_spi.cpp +++ b/Marlin/src/HAL/STM32/tft/tft_spi.cpp @@ -19,7 +19,10 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) + +#include "../../platforms.h" + +#ifdef HAL_STM32 #include "../../../inc/MarlinConfig.h" @@ -125,12 +128,20 @@ void TFT_SPI::DataTransferBegin(uint16_t DataSize) { 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) + 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; } @@ -149,16 +160,13 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) { for (i = 0; i < 4; i++) { #if TFT_MISO_PIN != TFT_MOSI_PIN - //if (hspi->Init.Direction == SPI_DIRECTION_2LINES) { - while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {} - SPIx.Instance->DR = 0; - //} + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_TXE)) {} + SPIx.Instance->DR = 0; #endif - while ((SPIx.Instance->SR & SPI_FLAG_RXNE) != SPI_FLAG_RXNE) {} + while (!__HAL_SPI_GET_FLAG(&SPIx, SPI_FLAG_RXNE)) {} Data = (Data << 8) | SPIx.Instance->DR; } - __HAL_SPI_DISABLE(&SPIx); DataTransferEnd(); SPIx.Init.BaudRatePrescaler = BaudRatePrescaler; @@ -168,52 +176,77 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) { } bool TFT_SPI::isBusy() { - #if defined(STM32F1xx) - volatile bool dmaEnabled = (DMAtx.Instance->CCR & DMA_CCR_EN) != RESET; + #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) - volatile bool dmaEnabled = DMAtx.Instance->CR & DMA_SxCR_EN; + #define __IS_DMA_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CR & DMA_SxCR_EN) + #define __IS_DMA_CONFIGURED(__HANDLE__) ((__HANDLE__)->Instance->PAR != 0) #endif - if (dmaEnabled) { - if (__HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TC_FLAG_INDEX(&DMAtx)) != 0 || __HAL_DMA_GET_FLAG(&DMAtx, __HAL_DMA_GET_TE_FLAG_INDEX(&DMAtx)) != 0) - Abort(); + + 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 - Abort(); - return dmaEnabled; + 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() { - // Wait for any running spi - while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {} - while ((SPIx.Instance->SR & SPI_FLAG_BSY) == SPI_FLAG_BSY) {} - // First, abort any running dma - HAL_DMA_Abort(&DMAtx); - // DeInit objects + HAL_DMA_Abort(&DMAtx); // Abort DMA transfer if any HAL_DMA_DeInit(&DMAtx); - HAL_SPI_DeInit(&SPIx); - // Deselect CS - DataTransferEnd(); + + 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) + #if TFT_MISO_PIN == TFT_MOSI_PIN SPI_1LINE_TX(&SPIx); + #endif __HAL_SPI_ENABLE(&SPIx); SPIx.Instance->DR = Data; - while ((SPIx.Instance->SR & SPI_FLAG_TXE) != SPI_FLAG_TXE) {} - while ((SPIx.Instance->SR & SPI_FLAG_BSY) == SPI_FLAG_BSY) {} + 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 is not read + #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) { - // Wait last dma finish, to start another - while (isBusy()) { /* nada */ } + 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); @@ -231,5 +264,27 @@ void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Coun 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 // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/tft_spi.h b/Marlin/src/HAL/STM32/tft/tft_spi.h index 667b5f366b..6b8613e3f8 100644 --- a/Marlin/src/HAL/STM32/tft/tft_spi.h +++ b/Marlin/src/HAL/STM32/tft/tft_spi.h @@ -36,9 +36,10 @@ #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 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: @@ -47,7 +48,11 @@ 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); + #if ENABLED(USE_SPI_DMA_TC) + static void TransmitDMA_IT(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count); + #endif public: static void Init(); @@ -56,19 +61,25 @@ public: static void Abort(); static void DataTransferBegin(uint16_t DataWidth = DATASIZE_16BIT); - static void DataTransferEnd() { WRITE(TFT_CS_PIN, HIGH); }; + 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(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } + 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) { - static uint16_t Data; Data = Color; while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 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 index 04294e669c..cf4a8f18e9 100644 --- a/Marlin/src/HAL/STM32/tft/xpt2046.cpp +++ b/Marlin/src/HAL/STM32/tft/xpt2046.cpp @@ -19,11 +19,14 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) + +#include "../../platforms.h" + +#ifdef HAL_STM32 #include "../../../inc/MarlinConfig.h" -#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS +#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS #include "xpt2046.h" #include "pinconfig.h" @@ -167,4 +170,4 @@ uint16_t XPT2046::SoftwareIO(uint16_t data) { } #endif // HAS_TFT_XPT2046 -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/tft/xpt2046.h b/Marlin/src/HAL/STM32/tft/xpt2046.h index 5b8acf4b87..71de6b0025 100644 --- a/Marlin/src/HAL/STM32/tft/xpt2046.h +++ b/Marlin/src/HAL/STM32/tft/xpt2046.h @@ -56,7 +56,7 @@ enum XPTCoordinate : uint8_t { XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE, }; -#if !defined(XPT2046_Z1_THRESHOLD) +#ifndef XPT2046_Z1_THRESHOLD #define XPT2046_Z1_THRESHOLD 10 #endif @@ -69,8 +69,8 @@ private: static uint16_t getRawData(const XPTCoordinate coordinate); static bool isTouched(); - static inline void DataTransferBegin() { if (SPIx.Instance) { HAL_SPI_Init(&SPIx); } WRITE(TOUCH_CS_PIN, LOW); }; - static inline void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + 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); } diff --git a/Marlin/src/HAL/STM32/timers.cpp b/Marlin/src/HAL/STM32/timers.cpp index 03353c2ca3..e68b59c46f 100644 --- a/Marlin/src/HAL/STM32/timers.cpp +++ b/Marlin/src/HAL/STM32/timers.cpp @@ -19,7 +19,9 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" @@ -65,17 +67,17 @@ #endif #endif -#ifdef STM32F0xx +#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 + #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 // STM32F401 has no TIM6, TIM7, or TIM8 + #define MCU_STEP_TIMER 6 #define MCU_TEMP_TIMER 14 // TIM7 is consumed by Software Serial if used. #endif @@ -95,9 +97,15 @@ #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 }; @@ -108,7 +116,7 @@ HardwareTimer *timer_instance[NUM_HARDWARE_TIMERS] = { nullptr }; 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[STEP_TIMER_NUM]->getTimerClkFreq(); + static uint32_t clkfreq = timer_instance[MF_TIMER_STEP]->getTimerClkFreq(); return clkfreq; } @@ -116,7 +124,7 @@ uint32_t GetStepperTimerClkFreq() { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { if (!HAL_timer_initialized(timer_num)) { switch (timer_num) { - case STEP_TIMER_NUM: // STEPPER TIMER - use a 32bit timer if possible + 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 @@ -135,7 +143,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { 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 TEMP_TIMER_NUM: // TEMP TIMER - any available 16bit timer + 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); @@ -155,10 +163,10 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { // These calls can be removed and replaced with // timer_instance[timer_num]->setInterruptPriority switch (timer_num) { - case STEP_TIMER_NUM: + case MF_TIMER_STEP: timer_instance[timer_num]->setInterruptPriority(STEP_TIMER_IRQ_PRIO, 0); break; - case TEMP_TIMER_NUM: + case MF_TIMER_TEMP: timer_instance[timer_num]->setInterruptPriority(TEMP_TIMER_IRQ_PRIO, 0); break; } @@ -168,10 +176,10 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { 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 STEP_TIMER_NUM: + case MF_TIMER_STEP: timer_instance[timer_num]->attachInterrupt(Step_Handler); break; - case TEMP_TIMER_NUM: + case MF_TIMER_TEMP: timer_instance[timer_num]->attachInterrupt(Temp_Handler); break; } @@ -295,16 +303,16 @@ enum TimerPurpose { TP_SERIAL, TP_TONE, TP_SERVO, TP_STEP, TP_TEMP }; // 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 + { 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 + { 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 + { 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}, + { TP_STEP, STEP_TIMER }, + { TP_TEMP, TEMP_TIMER }, }; static constexpr bool verify_no_timer_conflicts() { @@ -319,4 +327,4 @@ static constexpr bool verify_no_timer_conflicts() { // 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 // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/timers.h b/Marlin/src/HAL/STM32/timers.h index 4649824303..6828998198 100644 --- a/Marlin/src/HAL/STM32/timers.h +++ b/Marlin/src/HAL/STM32/timers.h @@ -21,15 +21,12 @@ */ #pragma once -#include #include "../../inc/MarlinConfig.h" // ------------------------ // Defines // ------------------------ -#define FORCE_INLINE __attribute__((always_inline)) inline - // 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, @@ -43,17 +40,13 @@ #define hal_timer_t uint32_t #define HAL_TIMER_TYPE_MAX UINT16_MAX -#define NUM_HARDWARE_TIMERS 2 +// 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 -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper -#endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM -#endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 1 // Timer Index for Temperature -#endif +#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 @@ -67,12 +60,12 @@ extern uint32_t GetStepperTimerClkFreq(); #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#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(); @@ -123,5 +116,5 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha } } -#define HAL_timer_isr_prologue(TIMER_NUM) -#define HAL_timer_isr_epilogue(TIMER_NUM) +#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 index 8fa49ccbcc..d77f0b28e9 100644 --- a/Marlin/src/HAL/STM32/usb_host.cpp +++ b/Marlin/src/HAL/STM32/usb_host.cpp @@ -20,7 +20,9 @@ * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfig.h" @@ -87,9 +89,9 @@ void USBHost::setUsbTaskState(uint8_t state) { capacity = info.capacity.block_nbr / 2000; block_size = info.capacity.block_size; block_count = info.capacity.block_nbr; - // SERIAL_ECHOLNPAIR("info.capacity.block_nbr : %ld\n", info.capacity.block_nbr); - // SERIAL_ECHOLNPAIR("info.capacity.block_size: %d\n", info.capacity.block_size); - // SERIAL_ECHOLNPAIR("capacity : %d MB\n", capacity); + //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); } }; @@ -114,4 +116,4 @@ uint8_t BulkStorage::Write(uint8_t lun, uint32_t addr, uint16_t bsize, uint8_t b } #endif // USE_OTG_USB_HOST && USBHOST -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/usb_serial.cpp b/Marlin/src/HAL/STM32/usb_serial.cpp index 705d649ff5..0b2372f3a7 100644 --- a/Marlin/src/HAL/STM32/usb_serial.cpp +++ b/Marlin/src/HAL/STM32/usb_serial.cpp @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -16,11 +19,14 @@ * along with this program. If not, see . * */ -#if defined(ARDUINO_ARCH_STM32) && !defined(STM32GENERIC) + +#include "../platforms.h" + +#ifdef HAL_STM32 #include "../../inc/MarlinConfigPre.h" -#if ENABLED(EMERGENCY_PARSER) && USBD_USE_CDC +#if ENABLED(EMERGENCY_PARSER) && (USBD_USE_CDC || USBD_USE_CDC_MSC) #include "usb_serial.h" #include "../../feature/e_parser.h" @@ -51,4 +57,4 @@ void USB_Hook_init() { } #endif // EMERGENCY_PARSER && USBD_USE_CDC -#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC +#endif // HAL_STM32 diff --git a/Marlin/src/HAL/STM32/usb_serial.h b/Marlin/src/HAL/STM32/usb_serial.h index ca61b9ed23..3edb6fd618 100644 --- a/Marlin/src/HAL/STM32/usb_serial.h +++ b/Marlin/src/HAL/STM32/usb_serial.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or diff --git a/Marlin/src/HAL/STM32F1/HAL.cpp b/Marlin/src/HAL/STM32F1/HAL.cpp index 2efea4f001..4d3140001e 100644 --- a/Marlin/src/HAL/STM32F1/HAL.cpp +++ b/Marlin/src/HAL/STM32F1/HAL.cpp @@ -79,10 +79,11 @@ #define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ // ------------------------ -// Public Variables +// Serial ports // ------------------------ #if defined(SERIAL_USB) && !HAS_SD_HOST_DRIVE + USBSerial SerialUSB; DefaultSerial1 MSerial0(true, SerialUSB); @@ -112,148 +113,78 @@ #endif #endif -uint16_t HAL_adc_result; +// ------------------------ +// 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 // ------------------------ -// Private Variables +// ADC // ------------------------ -STM32ADC adc(ADC1); -const uint8_t adc_pins[] = { - #if HAS_TEMP_ADC_0 - TEMP_0_PIN, - #endif - #if HAS_TEMP_ADC_PROBE - TEMP_PROBE_PIN, - #endif - #if HAS_HEATED_BED - TEMP_BED_PIN, - #endif - #if HAS_TEMP_CHAMBER - TEMP_CHAMBER_PIN, - #endif - #if HAS_TEMP_COOLER - TEMP_COOLER_PIN, - #endif - #if HAS_TEMP_ADC_1 - TEMP_1_PIN, - #endif - #if HAS_TEMP_ADC_2 - TEMP_2_PIN, - #endif - #if HAS_TEMP_ADC_3 - TEMP_3_PIN, - #endif - #if HAS_TEMP_ADC_4 - TEMP_4_PIN, - #endif - #if HAS_TEMP_ADC_5 - TEMP_5_PIN, - #endif - #if HAS_TEMP_ADC_6 - TEMP_6_PIN, - #endif - #if HAS_TEMP_ADC_7 - TEMP_7_PIN, - #endif - #if ENABLED(FILAMENT_WIDTH_SENSOR) - FILWIDTH_PIN, - #endif - #if HAS_ADC_BUTTONS - ADC_KEYPAD_PIN, - #endif - #if HAS_JOY_ADC_X - JOY_X_PIN, - #endif - #if HAS_JOY_ADC_Y - JOY_Y_PIN, - #endif - #if HAS_JOY_ADC_Z - JOY_Z_PIN, - #endif - #if ENABLED(POWER_MONITOR_CURRENT) - POWER_MONITOR_CURRENT_PIN, - #endif - #if ENABLED(POWER_MONITOR_VOLTAGE) - POWER_MONITOR_VOLTAGE_PIN, - #endif -}; +// Watch out for recursion here! Our pin_t is signed, so pass through to Arduino -> analogRead(uint8_t) -enum TempPinIndex : char { - #if HAS_TEMP_ADC_0 - TEMP_0, - #endif - #if HAS_TEMP_ADC_PROBE - TEMP_PROBE, - #endif - #if HAS_HEATED_BED - TEMP_BED, - #endif - #if HAS_TEMP_CHAMBER - TEMP_CHAMBER, - #endif - #if HAS_TEMP_COOLER - TEMP_COOLER_PIN, - #endif - #if HAS_TEMP_ADC_1 - TEMP_1, - #endif - #if HAS_TEMP_ADC_2 - TEMP_2, - #endif - #if HAS_TEMP_ADC_3 - TEMP_3, - #endif - #if HAS_TEMP_ADC_4 - TEMP_4, - #endif - #if HAS_TEMP_ADC_5 - TEMP_5, - #endif - #if HAS_TEMP_ADC_6 - TEMP_6, - #endif - #if HAS_TEMP_ADC_7 - TEMP_7, - #endif - #if ENABLED(FILAMENT_WIDTH_SENSOR) - FILWIDTH, - #endif - #if HAS_ADC_BUTTONS - ADC_KEY, - #endif - #if HAS_JOY_ADC_X - JOY_X, - #endif - #if HAS_JOY_ADC_Y - JOY_Y, - #endif - #if HAS_JOY_ADC_Z - JOY_Z, - #endif - #if ENABLED(POWER_MONITOR_CURRENT) - POWERMON_CURRENT, - #endif - #if ENABLED(POWER_MONITOR_VOLTAGE) - POWERMON_VOLTS, - #endif - ADC_PIN_COUNT -}; +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; +} -uint16_t HAL_adc_results[ADC_PIN_COUNT]; +// 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 */ + 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 = 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 and priorty group */ + (PriorityGroupTmp << 8)); // Insert write key & priority group SCB->AIRCR = reg_value; } @@ -261,6 +192,8 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) { // Public functions // ------------------------ +void flashFirmware(const int16_t) { hal.reboot(); } + // // Leave PA11/PA12 intact if USBSerial is not used // @@ -280,7 +213,11 @@ static void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) { TERN_(POSTMORTEM_DEBUGGING, extern void install_min_serial()); -void HAL_init() { +// ------------------------ +// MarlinHAL class +// ------------------------ + +void MarlinHAL::init() { NVIC_SetPriorityGrouping(0x3); #if PIN_EXISTS(LED) OUT_WRITE(LED_PIN, LOW); @@ -293,13 +230,13 @@ void HAL_init() { #if PIN_EXISTS(USB_CONNECT) OUT_WRITE(USB_CONNECT_PIN, !USB_CONNECT_INVERTING); // USB clear connection delay(1000); // Give OS time to notice - OUT_WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING); + WRITE(USB_CONNECT_PIN, USB_CONNECT_INVERTING); #endif TERN_(POSTMORTEM_DEBUGGING, install_min_serial()); // Install the minimal serial handler } // HAL idle task -void HAL_idletask() { +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. @@ -314,14 +251,11 @@ void HAL_idletask() { #endif } -void HAL_clear_reset_source() { } +void MarlinHAL::reboot() { nvic_sys_reset(); } -/** - * TODO: Check this and change or remove. - */ -uint8_t HAL_get_reset_source() { return RST_POWER_ON; } - -void _delay_ms(const int delay_ms) { delay(delay_ms); } +// ------------------------ +// Free Memory Accessor +// ------------------------ extern "C" { extern unsigned int _ebss; // end of bss section @@ -358,103 +292,96 @@ extern "C" { // ------------------------ // 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 HAL_adc_init() { +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(); - #if F_CPU > 72000000 - adc.setSampleRate(ADC_SMPR_71_5); // 71.5 ADC cycles - #else - adc.setSampleRate(ADC_SMPR_41_5); // 41.5 ADC cycles - #endif - adc.setPins((uint8_t *)adc_pins, ADC_PIN_COUNT); - adc.setDMA(HAL_adc_results, (uint16_t)ADC_PIN_COUNT, (uint32_t)(DMA_MINC_MODE | DMA_CIRC_MODE), nullptr); + 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 HAL_adc_start_conversion(const uint8_t adc_pin) { - //TEMP_PINS pin_index; - TempPinIndex pin_index; - switch (adc_pin) { +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; - #if HAS_TEMP_ADC_0 - case TEMP_0_PIN: pin_index = TEMP_0; break; - #endif - #if HAS_TEMP_ADC_PROBE - case TEMP_PROBE_PIN: pin_index = TEMP_PROBE; break; - #endif - #if HAS_HEATED_BED - case TEMP_BED_PIN: pin_index = TEMP_BED; break; - #endif - #if HAS_TEMP_CHAMBER - case TEMP_CHAMBER_PIN: pin_index = TEMP_CHAMBER; break; - #endif - #if HAS_TEMP_COOLER - case TEMP_COOLER_PIN: pin_index = TEMP_COOLER; break; - #endif - #if HAS_TEMP_ADC_1 - case TEMP_1_PIN: pin_index = TEMP_1; break; - #endif - #if HAS_TEMP_ADC_2 - case TEMP_2_PIN: pin_index = TEMP_2; break; - #endif - #if HAS_TEMP_ADC_3 - case TEMP_3_PIN: pin_index = TEMP_3; break; - #endif - #if HAS_TEMP_ADC_4 - case TEMP_4_PIN: pin_index = TEMP_4; break; - #endif - #if HAS_TEMP_ADC_5 - case TEMP_5_PIN: pin_index = TEMP_5; break; - #endif - #if HAS_TEMP_ADC_6 - case TEMP_6_PIN: pin_index = TEMP_6; break; - #endif - #if HAS_TEMP_ADC_7 - case TEMP_7_PIN: pin_index = TEMP_7; break; - #endif - #if HAS_JOY_ADC_X - case JOY_X_PIN: pin_index = JOY_X; break; - #endif - #if HAS_JOY_ADC_Y - case JOY_Y_PIN: pin_index = JOY_Y; break; - #endif - #if HAS_JOY_ADC_Z - case JOY_Z_PIN: pin_index = JOY_Z; break; - #endif - #if ENABLED(FILAMENT_WIDTH_SENSOR) - case FILWIDTH_PIN: pin_index = FILWIDTH; break; - #endif - #if HAS_ADC_BUTTONS - case ADC_KEYPAD_PIN: pin_index = ADC_KEY; break; - #endif - #if ENABLED(POWER_MONITOR_CURRENT) - case POWER_MONITOR_CURRENT_PIN: pin_index = POWERMON_CURRENT; break; - #endif - #if ENABLED(POWER_MONITOR_VOLTAGE) - case POWER_MONITOR_VOLTAGE_PIN: pin_index = POWERMON_VOLTS; break; - #endif + _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) } - HAL_adc_result = (HAL_adc_results[(int)pin_index] >> 2) & 0x3FF; // shift to get 10 bits only. + adc_result = (adc_results[(int)pin_index] & 0xFFF) >> (12 - HAL_ADC_RESOLUTION); // shift out unused bits } -uint16_t HAL_adc_get_result() { return HAL_adc_result; } - -uint16_t analogRead(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(pin_t pin, int pwm_val8) { - if (PWM_PIN(pin)) - analogWrite(uint8_t(pin), pwm_val8); -} - -void HAL_reboot() { nvic_sys_reset(); } - -void flashFirmware(const int16_t) { HAL_reboot(); } - #endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/HAL.h b/Marlin/src/HAL/STM32F1/HAL.h index af4d27f43e..b14b5f7e79 100644 --- a/Marlin/src/HAL/STM32F1/HAL.h +++ b/Marlin/src/HAL/STM32F1/HAL.h @@ -34,8 +34,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" - #include #include @@ -52,6 +50,13 @@ // 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 @@ -60,14 +65,17 @@ #endif #endif +// ------------------------ +// Serial ports +// ------------------------ + #ifdef SERIAL_USB typedef ForwardSerial1Class< USBSerial > DefaultSerial1; extern DefaultSerial1 MSerial0; - - #if !HAS_SD_HOST_DRIVE - #define UsbSerial MSerial0 - #else + #if HAS_SD_HOST_DRIVE #define UsbSerial MarlinCompositeSerial + #else + #define UsbSerial MSerial0 #endif #endif @@ -86,11 +94,7 @@ #define MYSERIAL1 MSERIAL(SERIAL_PORT) #else #define MYSERIAL1 MSERIAL(1) // dummy port - #if NUM_UARTS == 5 - #error "SERIAL_PORT must be from 1 to 5. You can also use -1 if the board supports Native USB." - #else - #error "SERIAL_PORT must be from 1 to 3. You can also use -1 if the board supports Native USB." - #endif + 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 @@ -100,11 +104,18 @@ #define MYSERIAL2 MSERIAL(SERIAL_PORT_2) #else #define MYSERIAL2 MSERIAL(1) // dummy port - #if NUM_UARTS == 5 - #error "SERIAL_PORT_2 must be from 1 to 5. You can also use -1 if the board supports Native USB." - #else - #error "SERIAL_PORT_2 must be from 1 to 3. You can also use -1 if the board supports Native USB." - #endif + 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 @@ -115,11 +126,7 @@ #define MMU2_SERIAL MSERIAL(MMU2_SERIAL_PORT) #else #define MMU2_SERIAL MSERIAL(1) // dummy port - #if NUM_UARTS == 5 - #error "MMU2_SERIAL_PORT must be from 1 to 5. You can also use -1 if the board supports Native USB." - #else - #error "MMU2_SERIAL_PORT must be from 1 to 3. You can also use -1 if the board supports Native USB." - #endif + 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 @@ -130,22 +137,13 @@ #define LCD_SERIAL MSERIAL(LCD_SERIAL_PORT) #else #define LCD_SERIAL MSERIAL(1) // dummy port - #if NUM_UARTS == 5 - #error "LCD_SERIAL_PORT must be from 1 to 5. You can also use -1 if the board supports Native USB." - #else - #error "LCD_SERIAL_PORT must be from 1 to 3. You can also use -1 if the board supports Native USB." - #endif + 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 -// Set interrupt grouping for this MCU -void HAL_init(); -#define HAL_IDLETASK 1 -void HAL_idletask(); - /** * TODO: review this to return 1 for pins that are not analog input */ @@ -158,15 +156,7 @@ void HAL_idletask(); #define NO_COMPILE_TIME_PWM #endif -#define CRITICAL_SECTION_START() uint32_t primask = __get_primask(); (void)__iCliRetVal() -#define CRITICAL_SECTION_END() if (!primask) (void)__iSeiRetVal() -#define ISRS_ENABLED() (!__get_primask()) -#define ENABLE_ISRS() ((void)__iSeiRetVal()) -#define DISABLE_ISRS() ((void)__iCliRetVal()) - -// On AVR this is in math.h? -#define square(x) ((x)*(x)) - +// Reset Reason #define RST_POWER_ON 1 #define RST_EXTERNAL 2 #define RST_BROWN_OUT 4 @@ -182,46 +172,63 @@ void HAL_idletask(); typedef int8_t pin_t; // ------------------------ -// Public Variables +// Interrupts // ------------------------ -// Result of last ADC conversion -extern uint16_t HAL_adc_result; - -// ------------------------ -// Public functions -// ------------------------ - -// Disable interrupts +#define CRITICAL_SECTION_START() const bool irqon = !__get_primask(); (void)__iCliRetVal() +#define CRITICAL_SECTION_END() if (!irqon) (void)__iSeiRetVal() #define cli() noInterrupts() - -// Enable interrupts #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__ -// Clear reset reason -void HAL_clear_reset_source(); - -// Reset reason -uint8_t HAL_get_reset_source(); - -void HAL_reboot(); - -void _delay_ms(const int delay); - -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wunused-function" - -/* -extern "C" { - int freeMemory(); -} -*/ +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); @@ -229,49 +236,74 @@ static inline int freeMemory() { #pragma GCC diagnostic pop -// -// ADC -// +// ------------------------ +// MarlinHAL Class +// ------------------------ -#define HAL_ANALOG_SELECT(pin) pinMode(pin, INPUT_ANALOG); +class MarlinHAL { +public: -void HAL_adc_init(); + // Earliest possible init, before setup() + MarlinHAL() {} -#define HAL_ADC_VREF 3.3 -#define HAL_ADC_RESOLUTION 10 -#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) -#define HAL_READ_ADC() HAL_adc_result -#define HAL_ADC_READY() true + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); -void HAL_adc_start_conversion(const uint8_t adc_pin); -uint16_t HAL_adc_get_result(); + static void init(); // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 -uint16_t analogRead(pin_t pin); // need HAL_ANALOG_SELECT() first -void analogWrite(pin_t pin, int pwm_val8); // PWM only! mul by 257 in maple!? + // Interrupts + static bool isr_state() { return !__get_primask(); } + static void isr_on() { ((void)__iSeiRetVal()); } + static void isr_off() { ((void)__iCliRetVal()); } -#define GET_PIN_MAP_PIN(index) index -#define GET_PIN_MAP_INDEX(pin) pin -#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + static void delay_ms(const int ms) { delay(ms); } -#define JTAG_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY) -#define JTAGSWD_DISABLE() afio_cfg_debug_ports(AFIO_DEBUG_NONE) + // Tasks, called from idle() + static void idletask(); -#define PLATFORM_M997_SUPPORT -void flashFirmware(const int16_t); + // Reset + static uint8_t get_reset_source() { return RST_POWER_ON; } + static void clear_reset_source() {} -#define HAL_CAN_SET_PWM_FREQ // This HAL supports PWM Frequency adjustment + // Free SRAM + static int freeMemory() { return ::freeMemory(); } -/** - * set_pwm_frequency - * Set the frequency of the timer corresponding to the provided pin - * All Timer PWM pins run at the same frequency - */ -void set_pwm_frequency(const pin_t pin, int f_desired); + // + // ADC Methods + // -/** - * set_pwm_duty - * Set the PWM duty cycle of the provided pin to the provided value - * Optionally allows inverting the duty cycle [default = false] - * Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255] - */ -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false); + 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/MarlinSerial.cpp b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp index fa8bb7eaa8..6dabcde51e 100644 --- a/Marlin/src/HAL/STM32F1/MarlinSerial.cpp +++ b/Marlin/src/HAL/STM32F1/MarlinSerial.cpp @@ -167,6 +167,15 @@ constexpr bool IsSerialClassAllowed(const HardwareSerial&) { return false; } #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 diff --git a/Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp b/Marlin/src/HAL/STM32F1/MinSerial.cpp similarity index 96% rename from Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp rename to Marlin/src/HAL/STM32F1/MinSerial.cpp index 2cb75bb1e9..6cf68d8d8f 100644 --- a/Marlin/src/HAL/STM32F1/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/STM32F1/MinSerial.cpp @@ -26,8 +26,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) -#include "../shared/HAL_MinSerial.h" -#include "watchdog.h" +#include "../shared/MinSerial.h" #include #include @@ -55,7 +54,7 @@ static void TXBegin() { nvic_irq_disable(dev->irq_num); // Use this if removing libmaple - //NVIC_BASE->ICER[1] |= _BV(irq - 32); + //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 ) @@ -82,7 +81,7 @@ 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)) { - TERN_(USE_WATCHDOG, HAL_watchdog_refresh()); + hal.watchdog_refresh(); sw_barrier(); } dev->regs->DR = c; diff --git a/Marlin/src/HAL/STM32F1/SPI.cpp b/Marlin/src/HAL/STM32F1/SPI.cpp index c0a35b88d1..a180684757 100644 --- a/Marlin/src/HAL/STM32F1/SPI.cpp +++ b/Marlin/src/HAL/STM32F1/SPI.cpp @@ -91,6 +91,14 @@ static const spi_pins board_spi_pins[] __FLASH__ = { 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 */ @@ -363,8 +371,8 @@ uint16_t SPIClass::transfer16(uint16_t data) const { /** * 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 lenght of the transfer. - * On exit TX buffer is not modified, and RX buffer cotains the received data. + * 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) { @@ -518,23 +526,22 @@ 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); + #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 { @@ -546,23 +553,22 @@ 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); + #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 { diff --git a/Marlin/src/HAL/STM32F1/SPI.h b/Marlin/src/HAL/STM32F1/SPI.h index 828644f1dd..0941fa55b7 100644 --- a/Marlin/src/HAL/STM32F1/SPI.h +++ b/Marlin/src/HAL/STM32F1/SPI.h @@ -33,6 +33,15 @@ #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() @@ -138,8 +147,8 @@ private: spi_dev *spi_d; dma_channel spiRxDmaChannel, spiTxDmaChannel; dma_dev* spiDmaDev; - void (*receiveCallback)() = NULL; - void (*transmitCallback)() = NULL; + void (*receiveCallback)() = nullptr; + void (*transmitCallback)() = nullptr; friend class SPIClass; }; @@ -414,12 +423,4 @@ private: */ }; -/** - * @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 -} - extern SPIClass SPI; diff --git a/Marlin/src/HAL/STM32F1/Servo.cpp b/Marlin/src/HAL/STM32F1/Servo.cpp index 36f7c6d512..47ffb631cf 100644 --- a/Marlin/src/HAL/STM32F1/Servo.cpp +++ b/Marlin/src/HAL/STM32F1/Servo.cpp @@ -60,7 +60,7 @@ uint8_t ServoCount = 0; #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 SERVO0_TIMER_NUM + #ifdef MF_TIMER_SERVO0 if (servoIndex == 0) { pwmSetDuty(duty_cycle); return; @@ -74,7 +74,7 @@ void libServo::servoWrite(uint8_t inPin, uint16_t duty_cycle) { libServo::libServo() { servoIndex = ServoCount < MAX_SERVOS ? ServoCount++ : INVALID_SERVO; - timer_set_interrupt_priority(SERVO0_TIMER_NUM, SERVO0_TIMER_IRQ_PRIO); + 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) { @@ -85,7 +85,7 @@ bool libServo::attach(const int32_t inPin, const int32_t inMinAngle, const int32 maxAngle = inMaxAngle; angle = -1; - #ifdef SERVO0_TIMER_NUM + #ifdef MF_TIMER_SERVO0 if (servoIndex == 0 && setupSoftPWM(inPin)) { pin = inPin; // set attached() return true; @@ -119,7 +119,7 @@ bool libServo::detach() { int32_t libServo::read() const { if (attached()) { - #ifdef SERVO0_TIMER_NUM + #ifdef MF_TIMER_SERVO0 if (servoIndex == 0) return angle; #endif timer_dev *tdev = PIN_MAP[pin].timer_device; @@ -141,35 +141,35 @@ void libServo::move(const int32_t value) { } } -#ifdef SERVO0_TIMER_NUM +#ifdef MF_TIMER_SERVO0 extern "C" void Servo_IRQHandler() { - static timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); + 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, 1); // off + OUT_WRITE_OD(SERVO0_PIN, HIGH); // off #else - OUT_WRITE(SERVO0_PIN, 0); + 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, 0); // on + OUT_WRITE_OD(SERVO0_PIN, LOW); // on #else - OUT_WRITE(SERVO0_PIN, 1); + 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 = get_timer_dev(SERVO0_TIMER_NUM); + timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); if (!tdev) return false; #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(inPin, 1); + OUT_WRITE_OD(inPin, HIGH); #else - OUT_WRITE(inPin, 0); + OUT_WRITE(inPin, LOW); #endif timer_pause(tdev); @@ -189,7 +189,7 @@ void libServo::move(const int32_t value) { } void libServo::pwmSetDuty(const uint16_t duty_cycle) { - timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); + timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); timer_set_compare(tdev, 1, duty_cycle); timer_generate_update(tdev); if (duty_cycle) { @@ -200,15 +200,15 @@ void libServo::move(const int32_t value) { timer_disable_irq(tdev, 1); timer_disable_irq(tdev, 2); #ifdef SERVO0_PWM_OD - OUT_WRITE_OD(pin, 1); // off + OUT_WRITE_OD(pin, HIGH); // off #else - OUT_WRITE(pin, 0); + OUT_WRITE(pin, LOW); #endif } } void libServo::pauseSoftPWM() { // detach - timer_dev *tdev = get_timer_dev(SERVO0_TIMER_NUM); + timer_dev *tdev = HAL_get_timer_dev(MF_TIMER_SERVO0); timer_pause(tdev); pwmSetDuty(0); } diff --git a/Marlin/src/HAL/STM32F1/Servo.h b/Marlin/src/HAL/STM32F1/Servo.h index b6143de81d..745a1c93f0 100644 --- a/Marlin/src/HAL/STM32F1/Servo.h +++ b/Marlin/src/HAL/STM32F1/Servo.h @@ -35,7 +35,8 @@ #define SERVO_DEFAULT_MIN_ANGLE 0 #define SERVO_DEFAULT_MAX_ANGLE 180 -#define HAL_SERVO_LIB libServo +class libServo; +typedef libServo hal_servo_t; class libServo { public: diff --git a/Marlin/src/HAL/STM32F1/build_flags.py b/Marlin/src/HAL/STM32F1/build_flags.py index c51fd4fa58..970ca8b767 100755 --- a/Marlin/src/HAL/STM32F1/build_flags.py +++ b/Marlin/src/HAL/STM32F1/build_flags.py @@ -11,6 +11,7 @@ if __name__ == "__main__": "-fsigned-char", "-fno-move-loop-invariants", "-fno-strict-aliasing", + "-fsingle-precision-constant", "--specs=nano.specs", "--specs=nosys.specs", @@ -29,25 +30,27 @@ if __name__ == "__main__": # extra script for linker options else: - from SCons.Script import DefaultEnvironment - env = DefaultEnvironment() - env.Append( + 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" + "-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", + "-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 index 784a80c29f..26ea1ea19a 100644 --- a/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp +++ b/Marlin/src/HAL/STM32F1/dogm/u8g_com_stm32duino_swspi.cpp @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -16,13 +19,14 @@ * along with this program. If not, see . * */ + #ifdef __STM32F1__ #include "../../../inc/MarlinConfig.h" #if BOTH(HAS_MARLINUI_U8GLIB, FORCE_SOFT_SPI) -#include +#include #include "../../shared/HAL_SPI.h" #ifndef LCD_SPI_SPEED diff --git a/Marlin/src/HAL/STM32F1/eeprom_wired.cpp b/Marlin/src/HAL/STM32F1/eeprom_wired.cpp index 0ad69065cf..bc48eef34f 100644 --- a/Marlin/src/HAL/STM32F1/eeprom_wired.cpp +++ b/Marlin/src/HAL/STM32F1/eeprom_wired.cpp @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -44,7 +47,7 @@ bool PersistentStore::access_start() { SET_OUTPUT(BOARD_SPI1_SCK_PIN); SET_OUTPUT(BOARD_SPI1_MOSI_PIN); SET_INPUT(BOARD_SPI1_MISO_PIN); - SET_OUTPUT(SPI_EEPROM1_CS); + SET_OUTPUT(SPI_EEPROM1_CS_PIN); #endif spiInit(0); #endif diff --git a/Marlin/src/HAL/STM32F1/endstop_interrupts.h b/Marlin/src/HAL/STM32F1/endstop_interrupts.h index bcb07d991d..a1ef8a8c3a 100644 --- a/Marlin/src/HAL/STM32F1/endstop_interrupts.h +++ b/Marlin/src/HAL/STM32F1/endstop_interrupts.h @@ -71,4 +71,16 @@ void setup_endstop_interrupts() { 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 index 884d482af5..297804a3ac 100644 --- a/Marlin/src/HAL/STM32F1/fast_pwm.cpp +++ b/Marlin/src/HAL/STM32F1/fast_pwm.cpp @@ -21,32 +21,57 @@ */ #ifdef __STM32F1__ -#include "../../inc/MarlinConfigPre.h" - -#if NEEDS_HARDWARE_PWM +#include "../../inc/MarlinConfig.h" #include -#include "HAL.h" -#include "timers.h" -void set_pwm_frequency(const pin_t pin, int f_desired) { +#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; UNUSED(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 = PIN_MAP[pin].timer_device; - uint8_t channel = PIN_MAP[pin].timer_channel; + timer_dev *timer; UNUSED(timer); + timer_freq[timer_and_index_for_pin(pin, &timer)] = f_desired; // Protect used timers - if (timer == get_timer_dev(TEMP_TIMER_NUM)) return; - if (timer == get_timer_dev(STEP_TIMER_NUM)) return; - #if PULSE_TIMER_NUM != STEP_TIMER_NUM - if (timer == get_timer_dev(PULSE_TIMER_NUM)) return; + 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); - uint16_t preload = 255; // Lock 255 PWM resolution for high frequencies + // 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; @@ -57,12 +82,4 @@ void set_pwm_frequency(const pin_t pin, int f_desired) { timer_set_prescaler(timer, prescaler); } -void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255*/, const bool invert/*=false*/) { - timer_dev *timer = PIN_MAP[pin].timer_device; - uint16_t max_val = timer->regs.bas->ARR * v / v_size; - if (invert) max_val = v_size - max_val; - pwmWrite(pin, max_val); -} - -#endif // NEEDS_HARDWARE_PWM #endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/inc/SanityCheck.h b/Marlin/src/HAL/STM32F1/inc/SanityCheck.h index 89ee66d646..fe8f6e0ec2 100644 --- a/Marlin/src/HAL/STM32F1/inc/SanityCheck.h +++ b/Marlin/src/HAL/STM32F1/inc/SanityCheck.h @@ -39,7 +39,7 @@ #error "SERIAL_STATS_DROPPED_RX is not supported on the STM32F1 platform." #endif -#if ENABLED(NEOPIXEL_LED) +#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 diff --git a/Marlin/src/HAL/STM32F1/msc_sd.cpp b/Marlin/src/HAL/STM32F1/msc_sd.cpp index 7725b2c324..f490c83ed8 100644 --- a/Marlin/src/HAL/STM32F1/msc_sd.cpp +++ b/Marlin/src/HAL/STM32F1/msc_sd.cpp @@ -13,9 +13,11 @@ * along with this program. If not, see . * */ +#ifdef __STM32F1__ + #include "../../inc/MarlinConfigPre.h" -#if defined(__STM32F1__) && HAS_SD_HOST_DRIVE +#if HAS_SD_HOST_DRIVE #include "msc_sd.h" #include "SPI.h" @@ -92,4 +94,5 @@ void MSC_SD_init() { #endif } -#endif // __STM32F1__ && HAS_SD_HOST_DRIVE +#endif // HAS_SD_HOST_DRIVE +#endif // __STM32F1__ diff --git a/Marlin/src/HAL/STM32F1/onboard_sd.cpp b/Marlin/src/HAL/STM32F1/onboard_sd.cpp index 6092aea320..a3d8dcb2d5 100644 --- a/Marlin/src/HAL/STM32F1/onboard_sd.cpp +++ b/Marlin/src/HAL/STM32F1/onboard_sd.cpp @@ -38,8 +38,13 @@ #define SPI_CLOCK_MAX SPI_BAUD_PCLK_DIV_2 #endif -#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 */ +#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) @@ -49,32 +54,32 @@ ---------------------------------------------------------------------------*/ /* 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 */ +#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 DSTATUS Stat = STA_NOINIT; // Physical drive status static volatile UINT timeout; -static BYTE CardType; /* Card type flags */ +static BYTE CardType; // Card type flags /*-----------------------------------------------------------------------*/ /* Send/Receive data to the MMC (Platform dependent) */ @@ -82,7 +87,7 @@ static BYTE CardType; /* Card type flags */ /* Exchange a byte */ static BYTE xchg_spi ( - BYTE dat /* Data to send */ + BYTE dat // Data to send ) { BYTE returnByte = ONBOARD_SD_SPI.transfer(dat); return returnByte; @@ -90,18 +95,18 @@ static BYTE xchg_spi ( /* 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) */ + 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 */ + // 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) */ + 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); } @@ -112,16 +117,15 @@ static void rcvr_spi_multi ( /* Wait for card ready */ /*-----------------------------------------------------------------------*/ -static int wait_ready ( /* 1:Ready, 0:Timeout */ - UINT wt /* Timeout [ms] */ +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 */ + // 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; } @@ -131,21 +135,21 @@ static int wait_ready ( /* 1:Ready, 0:Timeout */ /*-----------------------------------------------------------------------*/ static void deselect() { - CS_HIGH(); /* CS = H */ - xchg_spi(0xFF); /* Dummy clock (force DO hi-z for multiple slave SPI) */ + 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) */ +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 */ + if (wait_ready(500)) return 1; // Leading busy check: Wait for card ready - deselect(); /* Timeout */ + deselect(); // Timeout return 0; } @@ -153,16 +157,18 @@ static int select() { /* 1:OK, 0:Timeout */ /* Control SPI module (Platform dependent) */ /*-----------------------------------------------------------------------*/ -static void power_on() { /* Enable SSP module and attach it to I/O pads */ +// 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); - OUT_WRITE(ONBOARD_SD_CS_PIN, HIGH); /* Set CS# high */ + CS_HIGH(); } -static void power_off() { /* Disable SPI function */ - select(); /* Wait for card ready */ +// Disable SPI function +static void sd_power_off() { + select(); // Wait for card ready deselect(); } @@ -170,23 +176,23 @@ static void power_off() { /* Disable SPI function */ /* 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) */ +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 */ + 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. */ + // 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 */ + 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 */ + rcvr_spi_multi(buff, btr); // Store trailing data to the buffer + xchg_spi(0xFF); xchg_spi(0xFF); // Discard CRC - return 1; /* Function succeeded */ + return 1; // Function succeeded } /*-----------------------------------------------------------------------*/ @@ -195,25 +201,25 @@ static int rcvr_datablock ( /* 1:OK, 0:Error */ #if _DISKIO_WRITE - static int xmit_datablock ( /* 1:OK, 0:Failed */ - const BYTE *buff, /* Ponter to 512 byte data to be sent */ - BYTE token /* Token */ + 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 */ + 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 */ + 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 */ + xmit_spi_multi(buff, 512); // Data + xchg_spi(0xFF); xchg_spi(0xFF); // Dummy CRC - resp = xchg_spi(0xFF); /* Receive data resp */ + resp = xchg_spi(0xFF); // Receive data resp - return (resp & 0x1F) == 0x05 ? 1 : 0; /* Data was accepted or not */ + return (resp & 0x1F) == 0x05 ? 1 : 0; // Data was accepted or not - /* Busy check is done at next transmission */ + // Busy check is done at next transmission } #endif // _DISKIO_WRITE @@ -222,43 +228,43 @@ static int rcvr_datablock ( /* 1:OK, 0:Error */ /* 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 */ +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 */ + 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 */ + // 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) */ + // 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 resp */ - if (cmd == CMD12) xchg_spi(0xFF); /* Diacard following one byte when CMD12 */ - n = 10; /* Wait for response (10 bytes max) */ + // 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 */ + return res; // Return received response } /*-------------------------------------------------------------------------- @@ -270,49 +276,52 @@ static BYTE send_cmd ( /* Return value: R1 resp (bit7==1:Failed to send) */ /*-----------------------------------------------------------------------*/ DSTATUS disk_initialize ( - BYTE drv /* Physical drive number (0) */ + BYTE drv // Physical drive number (0) ) { BYTE n, cmd, ty, ocr[4]; - if (drv) return STA_NOINIT; /* Supports only drive 0 */ - power_on(); /* Initialize SPI */ + 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 soket? */ + 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 */ + 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 */ + 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 */ + 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)) */ + } + else { // Not an SDv2 card + if (send_cmd(ACMD41, 0) <= 1) { // SDv1 or MMCv3? + ty = CT_SD1; cmd = ACMD41; // SDv1 (ACMD41(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 */ + 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 */ + CardType = ty; // Card type deselect(); - if (ty) { /* OK */ - FCLK_FAST(); /* Set fast clock */ - Stat &= ~STA_NOINIT; /* Clear STA_NOINIT flag */ - } else { /* Failed */ - power_off(); + if (ty) { // OK + FCLK_FAST(); // Set fast clock + Stat &= ~STA_NOINIT; // Clear STA_NOINIT flag + } + else { // Failed + sd_power_off(); Stat = STA_NOINIT; } @@ -324,10 +333,10 @@ DSTATUS disk_initialize ( /*-----------------------------------------------------------------------*/ DSTATUS disk_status ( - BYTE drv /* Physical drive number (0) */ + BYTE drv // Physical drive number (0) ) { - if (drv) return STA_NOINIT; /* Supports only drive 0 */ - return Stat; /* Return disk status */ + if (drv) return STA_NOINIT; // Supports only drive 0 + return Stat; // Return disk status } /*-----------------------------------------------------------------------*/ @@ -335,28 +344,28 @@ DSTATUS disk_status ( /*-----------------------------------------------------------------------*/ 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 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) */ + 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 */ + 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 */ + if (cmd == CMD18) send_cmd(CMD12, 0); // STOP_TRANSMISSION } deselect(); - return count ? RES_ERROR : RES_OK; /* Return result */ + return count ? RES_ERROR : RES_OK; // Return result } /*-----------------------------------------------------------------------*/ @@ -366,36 +375,36 @@ DRESULT disk_read ( #if _DISKIO_WRITE DRESULT disk_write( - BYTE drv, /* Physical drive number (0) */ - const BYTE *buff, /* Ponter to the data to write */ - DWORD sector, /* Start sector number (LBA) */ - UINT count /* Number of sectors to write (1..128) */ + 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 */ + 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 (!(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 */ + 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 */ + 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 */ + if (!xmit_datablock(0, 0xFD)) count = 1; // STOP_TRAN token } } deselect(); - return count ? RES_ERROR : RES_OK; /* Return result */ + return count ? RES_ERROR : RES_OK; // Return result } #endif // _DISKIO_WRITE @@ -407,9 +416,9 @@ DRESULT disk_read ( #if _DISKIO_IOCTL DRESULT disk_ioctl ( - BYTE drv, /* Physical drive number (0) */ - BYTE cmd, /* Control command code */ - void *buff /* Pointer to the conrtol data */ + 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; @@ -420,22 +429,23 @@ DRESULT disk_read ( UINT dc; #endif - if (drv) return RES_PARERR; /* Check parameter */ - if (Stat & STA_NOINIT) return RES_NOTRDY; /* Check if drive is ready */ + 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 */ + 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) */ + 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 */ + 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 */ + } + 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); @@ -444,21 +454,23 @@ DRESULT disk_read ( } 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 */ + 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 */ + 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 */ + } + 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 */ + } + else { // MMC *(DWORD*)buff = ((WORD)((csd[10] & 124) >> 2) + 1) * (((csd[11] & 3) << 3) + ((csd[11] & 224) >> 5) + 1); } res = RES_OK; @@ -466,47 +478,47 @@ DRESULT disk_read ( } 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 */ + 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 */ + 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; - /* Following commands are never used by FatFs module */ + // The following commands are never used by FatFs module - case MMC_GET_TYPE: /* Get MMC/SDC type (BYTE) */ + 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)) { /* READ_CSD */ + 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)) { /* READ_CID */ + 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) { /* READ_OCR */ + 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) { /* SD_STATUS */ + 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; } diff --git a/Marlin/src/HAL/STM32F1/onboard_sd.h b/Marlin/src/HAL/STM32F1/onboard_sd.h index 1c0a1c5b84..f228d068c9 100644 --- a/Marlin/src/HAL/STM32F1/onboard_sd.h +++ b/Marlin/src/HAL/STM32F1/onboard_sd.h @@ -7,8 +7,8 @@ #pragma once #define _DISKIO_WRITE 1 /* 1: Enable disk_write function */ -#define _DISKIO_IOCTL 1 /* 1: Enable disk_ioctl fucntion */ -#define _DISKIO_ISDIO 0 /* 1: Enable iSDIO control fucntion */ +#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; @@ -56,7 +56,7 @@ DRESULT disk_read(BYTE pdrv, BYTE* buff, DWORD sector, UINT count); #define STA_NODISK 0x02 /* No medium in the drive */ #define STA_PROTECT 0x04 /* Write protected */ -/* Command code for disk_ioctrl fucntion */ +/* Command code for disk_ioctrl function */ /* Generic command (Used by FatFs) */ #define CTRL_SYNC 0 /* Complete pending write process (needed at _FS_READONLY == 0) */ diff --git a/Marlin/src/HAL/STM32F1/pinsDebug.h b/Marlin/src/HAL/STM32F1/pinsDebug.h index 8e7a3d8135..7828479658 100644 --- a/Marlin/src/HAL/STM32F1/pinsDebug.h +++ b/Marlin/src/HAL/STM32F1/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -19,15 +22,15 @@ #pragma once /** - * Support routines for STM32GENERIC (Maple) + * Support routines for MAPLE_STM32F1 */ /** * Translation of routines & variables used by pinsDebug.h */ -#ifndef BOARD_NR_GPIO_PINS // Only in STM32GENERIC (Maple) - #error "Expected BOARD_NR_GPIO_PINS not found" +#ifndef BOARD_NR_GPIO_PINS // Only in MAPLE_STM32F1 + #error "Expected BOARD_NR_GPIO_PINS not found" #endif #include "fastio.h" @@ -41,6 +44,7 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS]; #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 @@ -50,11 +54,11 @@ extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS]; #define M43_NEVER_TOUCH(Q) (Q >= 9 && Q <= 12) // SERIAL/USB pins PA9(TX) PA10(RX) #endif -static inline int8_t get_pin_mode(pin_t pin) { +static int8_t get_pin_mode(pin_t pin) { return VALID_PIN(pin) ? _GET_MODE(pin) : -1; } -static inline pin_t DIGITAL_PIN_TO_ANALOG_PIN(pin_t pin) { +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 @@ -63,7 +67,7 @@ static inline pin_t DIGITAL_PIN_TO_ANALOG_PIN(pin_t pin) { return pin_t(adc_channel); } -static inline bool IS_ANALOG(pin_t pin) { +static bool IS_ANALOG(pin_t pin) { if (!VALID_PIN(pin)) return false; if (PIN_MAP[pin].adc_channel != ADCx) { #ifdef NUM_ANALOG_INPUTS @@ -74,11 +78,11 @@ static inline bool IS_ANALOG(pin_t pin) { return false; } -static inline bool GET_PINMODE(const pin_t pin) { +static bool GET_PINMODE(const pin_t pin) { return VALID_PIN(pin) && !IS_INPUT(pin); } -static inline bool GET_ARRAY_IS_DIGITAL(const int16_t array_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 @@ -89,7 +93,7 @@ static inline bool GET_ARRAY_IS_DIGITAL(const int16_t array_pin) { #include "../../inc/MarlinConfig.h" // Allow pins/pins.h to set density -static inline void pwm_details(const pin_t pin) { +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; @@ -109,7 +113,7 @@ static inline void pwm_details(const pin_t pin) { } } -static inline void print_port(pin_t pin) { +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]; diff --git a/Marlin/src/HAL/STM32F1/sdio.cpp b/Marlin/src/HAL/STM32F1/sdio.cpp index ffa6db1206..6e41d2cbf1 100644 --- a/Marlin/src/HAL/STM32F1/sdio.cpp +++ b/Marlin/src/HAL/STM32F1/sdio.cpp @@ -184,6 +184,10 @@ bool SDIO_WriteBlock(uint32_t blockAddress, const uint8_t *data) { 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 // ------------------------ diff --git a/Marlin/src/HAL/STM32F1/spi_pins.h b/Marlin/src/HAL/STM32F1/spi_pins.h index 7d650ffe37..3d3c8f8d2f 100644 --- a/Marlin/src/HAL/STM32F1/spi_pins.h +++ b/Marlin/src/HAL/STM32F1/spi_pins.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or diff --git a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp index 5b52fb416f..512e70cf3f 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp +++ b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.cpp @@ -215,22 +215,47 @@ uint32_t TFT_FSMC::GetID() { } 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) & 0x0A) == 0) {}; - dma_disable(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 } diff --git a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h index d9ee1f4c77..8d26f6eac0 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h +++ b/Marlin/src/HAL/STM32F1/tft/tft_fsmc.h @@ -33,6 +33,10 @@ #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; @@ -45,6 +49,7 @@ class TFT_FSMC { 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: @@ -59,13 +64,14 @@ class TFT_FSMC { static void WriteData(uint16_t Data) { Transmit(Data); } static void WriteReg(uint16_t Reg); - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_PINC_MODE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_CIRC_MODE, &Data, Count); } + 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) { - static uint16_t Data; Data = Color; while (Count > 0) { - TransmitDMA(DMA_CIRC_MODE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 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 index 1095389946..bb495d5f58 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp +++ b/Marlin/src/HAL/STM32F1/tft/tft_spi.cpp @@ -26,43 +26,27 @@ #include "tft_spi.h" -// TFT_SPI tft; - -SPIClass TFT_SPI::SPIx(1); - -#define TFT_CS_H OUT_WRITE(TFT_CS_PIN, HIGH) -#define TFT_CS_L OUT_WRITE(TFT_CS_PIN, LOW) - -#define TFT_DC_H OUT_WRITE(TFT_DC_PIN, HIGH) -#define TFT_DC_L OUT_WRITE(TFT_DC_PIN, LOW) - -#define TFT_RST_H OUT_WRITE(TFT_RST_PIN, HIGH) -#define TFT_RST_L OUT_WRITE(TFT_RST_PIN, LOW) - -#define TFT_BLK_H OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH) -#define TFT_BLK_L OUT_WRITE(TFT_BACKLIGHT_PIN, LOW) +SPIClass TFT_SPI::SPIx(TFT_SPI_DEVICE); void TFT_SPI::Init() { #if PIN_EXISTS(TFT_RESET) - // OUT_WRITE(TFT_RESET_PIN, HIGH); - TFT_RST_H; + OUT_WRITE(TFT_RESET_PIN, HIGH); delay(100); #endif #if PIN_EXISTS(TFT_BACKLIGHT) - // OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH); - TFT_BLK_H; + OUT_WRITE(TFT_BACKLIGHT_PIN, HIGH); #endif - TFT_DC_H; - TFT_CS_H; + 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 SPI_DEVICE == 1 + #if TFT_SPI_DEVICE == 1 #define SPI_CLOCK_MAX SPI_CLOCK_DIV4 #else #define SPI_CLOCK_MAX SPI_CLOCK_DIV2 @@ -78,7 +62,7 @@ void TFT_SPI::Init() { case SPI_SPEED_6: clock = SPI_CLOCK_DIV64; break; default: clock = SPI_CLOCK_DIV2; // Default from the SPI library } - SPIx.setModule(1); + SPIx.setModule(TFT_SPI_DEVICE); SPIx.setClockDivider(clock); SPIx.setBitOrder(MSBFIRST); SPIx.setDataMode(SPI_MODE0); @@ -87,15 +71,23 @@ void TFT_SPI::Init() { void TFT_SPI::DataTransferBegin(uint16_t DataSize) { SPIx.setDataSize(DataSize); SPIx.begin(); - TFT_CS_L; + 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) + 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; } @@ -122,27 +114,53 @@ uint32_t TFT_SPI::ReadID(uint16_t Reg) { } 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::Transmit(uint16_t Data) { SPIx.send(Data); } void TFT_SPI::TransmitDMA(uint32_t MemoryIncrease, uint16_t *Data, uint16_t Count) { DataTransferBegin(); - TFT_DC_H; - if (MemoryIncrease == DMA_MINC_ENABLE) { - SPIx.dmaSend(Data, Count, true); - } - else { - SPIx.dmaSend(Data, Count, false); - } + 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(); } diff --git a/Marlin/src/HAL/STM32F1/tft/tft_spi.h b/Marlin/src/HAL/STM32F1/tft/tft_spi.h index da9a8e0c22..2bda8c21f7 100644 --- a/Marlin/src/HAL/STM32F1/tft/tft_spi.h +++ b/Marlin/src/HAL/STM32F1/tft/tft_spi.h @@ -25,6 +25,27 @@ #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 @@ -32,17 +53,19 @@ #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 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 1 -#define DMA_MINC_DISABLE 0 +#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: @@ -58,15 +81,16 @@ public: 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 WriteReg(uint16_t Reg) { WRITE(TFT_DC_PIN, LOW); Transmit(Reg); WRITE(TFT_DC_PIN, HIGH); } - static void WriteSequence(uint16_t *Data, uint16_t Count) { TransmitDMA(DMA_MINC_ENABLE, Data, Count); } - static void WriteMultiple(uint16_t Color, uint16_t Count) { static uint16_t Data; Data = Color; TransmitDMA(DMA_MINC_DISABLE, &Data, Count); } + 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) { - static uint16_t Data; Data = Color; while (Count > 0) { - TransmitDMA(DMA_MINC_DISABLE, &Data, Count > 0xFFFF ? 0xFFFF : Count); - Count = Count > 0xFFFF ? Count - 0xFFFF : 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 index 98371c5ffb..ac9ad072aa 100644 --- a/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp +++ b/Marlin/src/HAL/STM32F1/tft/xpt2046.cpp @@ -22,7 +22,7 @@ #include "../../../inc/MarlinConfig.h" -#if HAS_TFT_XPT2046 || HAS_TOUCH_BUTTONS +#if HAS_TFT_XPT2046 || HAS_RES_TOUCH_BUTTONS #include "xpt2046.h" #include diff --git a/Marlin/src/HAL/STM32F1/tft/xpt2046.h b/Marlin/src/HAL/STM32F1/tft/xpt2046.h index 65602bda0f..7c456cf00e 100644 --- a/Marlin/src/HAL/STM32F1/tft/xpt2046.h +++ b/Marlin/src/HAL/STM32F1/tft/xpt2046.h @@ -54,7 +54,7 @@ enum XPTCoordinate : uint8_t { XPT2046_Z2 = 0x40 | XPT2046_CONTROL | XPT2046_DFR_MODE, }; -#if !defined(XPT2046_Z1_THRESHOLD) +#ifndef XPT2046_Z1_THRESHOLD #define XPT2046_Z1_THRESHOLD 10 #endif @@ -65,8 +65,8 @@ private: static uint16_t getRawData(const XPTCoordinate coordinate); static bool isTouched(); - static inline void DataTransferBegin() { WRITE(TOUCH_CS_PIN, LOW); }; - static inline void DataTransferEnd() { WRITE(TOUCH_CS_PIN, HIGH); }; + 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 diff --git a/Marlin/src/HAL/STM32F1/timers.cpp b/Marlin/src/HAL/STM32F1/timers.cpp index 8c2df1e216..112c730b9a 100644 --- a/Marlin/src/HAL/STM32F1/timers.cpp +++ b/Marlin/src/HAL/STM32F1/timers.cpp @@ -47,10 +47,7 @@ * TODO: Calculate Timer prescale value, so we get the 32bit to adjust */ - - - -void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority) { +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; @@ -73,7 +70,6 @@ void timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority) 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) @@ -81,7 +77,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { */ switch (timer_num) { - case STEP_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); @@ -91,11 +87,11 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { 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); - timer_set_interrupt_priority(STEP_TIMER_NUM, STEP_TIMER_IRQ_PRIO); + 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 TEMP_TIMER_NUM: + 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); @@ -103,7 +99,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { 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); - timer_set_interrupt_priority(TEMP_TIMER_NUM, TEMP_TIMER_IRQ_PRIO); + HAL_timer_set_interrupt_priority(MF_TIMER_TEMP, TEMP_TIMER_IRQ_PRIO); timer_generate_update(TEMP_TIMER_DEV); timer_resume(TEMP_TIMER_DEV); break; @@ -112,31 +108,31 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_enable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case STEP_TIMER_NUM: ENABLE_STEPPER_DRIVER_INTERRUPT(); break; - case TEMP_TIMER_NUM: ENABLE_TEMPERATURE_INTERRUPT(); break; + 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 STEP_TIMER_NUM: DISABLE_STEPPER_DRIVER_INTERRUPT(); break; - case TEMP_TIMER_NUM: DISABLE_TEMPERATURE_INTERRUPT(); break; + case MF_TIMER_STEP: DISABLE_STEPPER_DRIVER_INTERRUPT(); break; + case MF_TIMER_TEMP: DISABLE_TEMPERATURE_INTERRUPT(); break; } } -static inline bool timer_irq_enabled(const timer_dev * const dev, const uint8_t interrupt) { +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 STEP_TIMER_NUM: return timer_irq_enabled(STEP_TIMER_DEV, STEP_TIMER_CHAN); - case TEMP_TIMER_NUM: return timer_irq_enabled(TEMP_TIMER_DEV, TEMP_TIMER_CHAN); + 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* get_timer_dev(int number) { +timer_dev* HAL_get_timer_dev(int number) { switch (number) { #if STM32_HAVE_TIMER(1) case 1: return &timer1; diff --git a/Marlin/src/HAL/STM32F1/timers.h b/Marlin/src/HAL/STM32F1/timers.h index 3e2e7775f1..0cd807fc84 100644 --- a/Marlin/src/HAL/STM32F1/timers.h +++ b/Marlin/src/HAL/STM32F1/timers.h @@ -25,9 +25,10 @@ * HAL for stm32duino.com based on Libmaple and compatible (STM32F1) */ -#include +#include "../../inc/MarlinConfig.h" +#include "HAL.h" + #include -#include "../../core/boards.h" // ------------------------ // Defines @@ -37,7 +38,6 @@ * TODO: Check and confirm what timer we will use for each Temps and stepper driving. * We should probable drive temps with PWM. */ -#define FORCE_INLINE __attribute__((always_inline)) inline typedef uint16_t hal_timer_t; #define HAL_TIMER_TYPE_MAX 0xFFFF @@ -65,30 +65,30 @@ typedef uint16_t hal_timer_t; * - Otherwise it uses Timer 8 on boards with STM32_HIGH_DENSITY * or Timer 4 on other boards. */ -#ifndef STEP_TIMER_NUM +#ifndef MF_TIMER_STEP #if defined(MCU_STM32F103CB) || defined(MCU_STM32F103C8) - #define STEP_TIMER_NUM 4 // For C8/CB boards, use timer 4 + #define MF_TIMER_STEP 4 // For C8/CB boards, use timer 4 #else - #define STEP_TIMER_NUM 5 // for other boards, five is fine. + #define MF_TIMER_STEP 5 // for other boards, five is fine. #endif #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 2 // Timer Index for Temperature - //#define TEMP_TIMER_NUM 4 // 2->4, Timer 2 for Stepper Current PWM +#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) +#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 SERVO0_TIMER_NUM 8 // tone.cpp uses Timer 4 + #define MF_TIMER_SERVO0 8 // tone.cpp uses Timer 4 #else - #define SERVO0_TIMER_NUM 3 // tone.cpp uses Timer 8 + #define MF_TIMER_SERVO0 3 // tone.cpp uses Timer 8 #endif #else - #define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH + #define MF_TIMER_SERVO0 1 // SERVO0 or BLTOUCH #endif #define STEP_TIMER_IRQ_PRIO 2 @@ -98,22 +98,22 @@ typedef uint16_t hal_timer_t; #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 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 +#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* get_timer_dev(int number); -#define TIMER_DEV(num) get_timer_dev(num) -#define STEP_TIMER_DEV TIMER_DEV(STEP_TIMER_NUM) -#define TEMP_TIMER_DEV TIMER_DEV(TEMP_TIMER_NUM) +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(STEP_TIMER_NUM) +#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) @@ -138,8 +138,8 @@ extern "C" { // Public Variables // ------------------------ -//static HardwareTimer StepperTimer(STEP_TIMER_NUM); -//static HardwareTimer TempTimer(TEMP_TIMER_NUM); +//static HardwareTimer StepperTimer(MF_TIMER_STEP); +//static HardwareTimer TempTimer(MF_TIMER_TEMP); // ------------------------ // Public functions @@ -163,13 +163,13 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num); FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const hal_timer_t compare) { switch (timer_num) { - case STEP_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 trigerring an interrupt, and on top, set counter to 0 + // 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 TEMP_TIMER_NUM: + case MF_TIMER_TEMP: timer_set_compare(TEMP_TIMER_DEV, TEMP_TIMER_CHAN, compare); break; } @@ -177,18 +177,18 @@ FORCE_INLINE static void HAL_timer_set_compare(const uint8_t timer_num, const ha FORCE_INLINE static void HAL_timer_isr_prologue(const uint8_t timer_num) { switch (timer_num) { - case STEP_TIMER_NUM: - // No counter to clear - timer_generate_update(STEP_TIMER_DEV); - return; - case TEMP_TIMER_NUM: - timer_set_count(TEMP_TIMER_DEV, 0); - timer_generate_update(TEMP_TIMER_DEV); - return; + 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(TIMER_NUM) +#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 @@ -196,6 +196,6 @@ 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 timer_set_interrupt_priority(uint_fast8_t timer_num, uint_fast8_t priority); +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/STM32F1/watchdog.cpp b/Marlin/src/HAL/STM32F1/watchdog.cpp deleted file mode 100644 index b812a4fa64..0000000000 --- a/Marlin/src/HAL/STM32F1/watchdog.cpp +++ /dev/null @@ -1,66 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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" - -#if ENABLED(USE_WATCHDOG) - -#include -#include "watchdog.h" - -/** - * 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 - -void HAL_watchdog_refresh() { - #if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED) - TOGGLE(LED_PIN); // heartbeat indicator - #endif - iwdg_feed(); -} - -void watchdogSetup() { - // do whatever. don't remove this function. -} - -/** - * @brief Initialized 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 watchdog_init() { - #if DISABLED(DISABLE_WATCHDOG_INIT) - iwdg_init(IWDG_PRE_256, STM32F1_WD_RELOAD); - #endif -} - -#endif // USE_WATCHDOG -#endif // __STM32F1__ diff --git a/Marlin/src/HAL/TEENSY31_32/HAL.cpp b/Marlin/src/HAL/TEENSY31_32/HAL.cpp index f08cf799e9..2892368967 100644 --- a/Marlin/src/HAL/TEENSY31_32/HAL.cpp +++ b/Marlin/src/HAL/TEENSY31_32/HAL.cpp @@ -31,6 +31,10 @@ #include +// ------------------------ +// Serial ports +// ------------------------ + #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X) #define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X) #if WITHIN(SERIAL_PORT, 0, 3) @@ -40,33 +44,13 @@ #endif USBSerialType USBSerial(false, SerialUSB); -uint16_t HAL_adc_result; +// ------------------------ +// MarlinHAL Class +// ------------------------ -static const uint8_t pin2sc1a[] = { - 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13 - 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9) - 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33 - 0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13) - 26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0. -}; +void MarlinHAL::reboot() { _reboot_Teensyduino_(); } -/* - // disable interrupts - void cli() { noInterrupts(); } - - // enable interrupts - void sei() { interrupts(); } -*/ - -void HAL_adc_init() { - analog_init(); - while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish - NVIC_ENABLE_IRQ(IRQ_FTM1); -} - -void HAL_clear_reset_source() { } - -uint8_t HAL_get_reset_source() { +uint8_t MarlinHAL::get_reset_source() { switch (RCM_SRS0) { case 128: return RST_POWER_ON; break; case 64: return RST_EXTERNAL; break; @@ -78,7 +62,54 @@ uint8_t HAL_get_reset_source() { return 0; } -void HAL_reboot() { _reboot_Teensyduino_(); } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + WDOG_TOVALH = 0; + WDOG_TOVALL = WDT_TIMEOUT_MS; + WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN; + } + + void MarlinHAL::watchdog_refresh() { + // Watchdog refresh sequence + WDOG_REFRESH = 0xA602; + WDOG_REFRESH = 0xB480; + } + +#endif + +// ------------------------ +// ADC +// ------------------------ + +void MarlinHAL::adc_init() { + analog_init(); + while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish + NVIC_ENABLE_IRQ(IRQ_FTM1); +} + +void MarlinHAL::adc_start(const pin_t pin) { + static const uint8_t pin2sc1a[] = { + 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 0, 19, 3, 31, // 0-13, we treat them as A0-A13 + 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 (A0-A9) + 31, 31, 31, 31, 31, 31, 31, 31, 31, 31, // 24-33 + 0+64, 19+64, 3+64, 31+64, // 34-37 (A10-A13) + 26, 22, 23, 27, 29, 30 // 38-43: temp. sensor, VREF_OUT, A14, bandgap, VREFH, VREFL. A14 isn't connected to anything in Teensy 3.0. + }; + ADC0_SC1A = pin2sc1a[pin]; +} + +uint16_t MarlinHAL::adc_value() { return ADC0_RA; } + +// ------------------------ +// Free Memory Accessor +// ------------------------ extern "C" { extern char __bss_end; @@ -95,8 +126,4 @@ extern "C" { } } -void HAL_adc_start_conversion(const uint8_t adc_pin) { ADC0_SC1A = pin2sc1a[adc_pin]; } - -uint16_t HAL_adc_get_result() { return ADC0_RA; } - #endif // __MK20DX256__ diff --git a/Marlin/src/HAL/TEENSY31_32/HAL.h b/Marlin/src/HAL/TEENSY31_32/HAL.h index 52904465be..a7aa9f0da2 100644 --- a/Marlin/src/HAL/TEENSY31_32/HAL.h +++ b/Marlin/src/HAL/TEENSY31_32/HAL.h @@ -32,16 +32,12 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include -#define ST7920_DELAY_1 DELAY_NS(600) -#define ST7920_DELAY_2 DELAY_NS(750) -#define ST7920_DELAY_3 DELAY_NS(750) - -//#undef MOTHERBOARD -//#define MOTHERBOARD BOARD_TEENSY31_32 +// ------------------------ +// Defines +// ------------------------ #define IS_32BIT_TEENSY 1 #define IS_TEENSY_31_32 1 @@ -49,6 +45,14 @@ #define IS_TEENSY32 1 #endif +#define CPU_ST7920_DELAY_1 600 +#define CPU_ST7920_DELAY_2 750 +#define CPU_ST7920_DELAY_3 750 + +// ------------------------ +// Serial ports +// ------------------------ + #include "../../core/serial_hook.h" #define Serial0 Serial @@ -68,60 +72,119 @@ extern USBSerialType USBSerial; #elif WITHIN(SERIAL_PORT, 0, 3) DECLARE_SERIAL(SERIAL_PORT); #define MYSERIAL1 MSERIAL(SERIAL_PORT) +#else + #error "The required SERIAL_PORT must be from 0 to 3, or -1 for Native USB." #endif -#define HAL_SERVO_LIB libServo +// ------------------------ +// Types +// ------------------------ + +class libServo; +typedef libServo hal_servo_t; typedef int8_t pin_t; +// ------------------------ +// Interrupts +// ------------------------ + +uint32_t __get_PRIMASK(void); // CMSIS +#define CRITICAL_SECTION_START() const bool irqon = !__get_PRIMASK(); __disable_irq() +#define CRITICAL_SECTION_END() if (irqon) __enable_irq() + +// ------------------------ +// ADC +// ------------------------ + #ifndef analogInputToDigitalPin #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) #endif -#define CRITICAL_SECTION_START() uint32_t primask = __get_PRIMASK(); __disable_irq() -#define CRITICAL_SECTION_END() if (!primask) __enable_irq() -#define ISRS_ENABLED() (!__get_PRIMASK()) -#define ENABLE_ISRS() __enable_irq() -#define DISABLE_ISRS() __disable_irq() +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 10 -inline void HAL_init() {} +// +// 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) -// Clear the reset reason -void HAL_clear_reset_source(); - -// Get the reason for the reset -uint8_t HAL_get_reset_source(); - -void HAL_reboot(); - -FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); } +// ------------------------ +// Class Utilities +// ------------------------ +#pragma GCC diagnostic push #if GCC_VERSION <= 50000 - #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-function" #endif extern "C" int freeMemory(); -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif +#pragma GCC diagnostic pop -// ADC +// ------------------------ +// MarlinHAL Class +// ------------------------ -void HAL_adc_init(); +class MarlinHAL { +public: -#define HAL_ADC_VREF 3.3 -#define HAL_ADC_RESOLUTION 10 -#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) -#define HAL_READ_ADC() HAL_adc_get_result() -#define HAL_ADC_READY() true + // Earliest possible init, before setup() + MarlinHAL() {} -#define HAL_ANALOG_SELECT(pin) + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); -void HAL_adc_start_conversion(const uint8_t adc_pin); -uint16_t HAL_adc_get_result(); + static void init() {} // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 -#define GET_PIN_MAP_PIN(index) index -#define GET_PIN_MAP_INDEX(pin) pin -#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + // Interrupts + static bool isr_state() { return !__get_PRIMASK(); } + static void isr_on() { __enable_irq(); } + static void isr_off() { __disable_irq(); } + + 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 + // + + // 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 ch) {} + + // Begin ADC sampling on the given channel. Called from Temperature::isr! + static void adc_start(const pin_t ch); + + // Is the ADC ready for reading? + static bool adc_ready() { return true; } + + // The current value of the ADC register + static uint16_t adc_value(); + + /** + * 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); + } + +}; diff --git a/Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp b/Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp index 21330eaac1..415c692229 100644 --- a/Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp +++ b/Marlin/src/HAL/TEENSY31_32/HAL_SPI.cpp @@ -21,11 +21,12 @@ */ #ifdef __MK20DX256__ +#include "../../inc/MarlinConfig.h" #include "HAL.h" + #include #include #include "spi_pins.h" -#include "../../core/macros.h" static SPISettings spiConfig; @@ -35,10 +36,9 @@ static SPISettings spiConfig; // Initialize SPI bus void spiBegin() { - #if !PIN_EXISTS(SD_SS) - #error "SD_SS_PIN not defined!" + #if PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); #endif - OUT_WRITE(SD_SS_PIN, HIGH); SET_OUTPUT(SD_SCK_PIN); SET_INPUT(SD_MISO_PIN); SET_OUTPUT(SD_MOSI_PIN); @@ -64,7 +64,7 @@ void spiInit(uint8_t spiRate) { case SPI_EIGHTH_SPEED: clock = 1250000; break; case SPI_SPEED_5: clock = 625000; break; case SPI_SPEED_6: clock = 312500; break; - default: clock = 4000000; // Default from the SPI libarary + default: clock = 4000000; // Default from the SPI library } spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); SPI.begin(); diff --git a/Marlin/src/HAL/TEENSY31_32/MarlinSPI.h b/Marlin/src/HAL/TEENSY31_32/MarlinSPI.h new file mode 100644 index 0000000000..0c447ba4cb --- /dev/null +++ b/Marlin/src/HAL/TEENSY31_32/MarlinSPI.h @@ -0,0 +1,26 @@ +/** + * 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 + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/TEENSY31_32/eeprom.cpp b/Marlin/src/HAL/TEENSY31_32/eeprom.cpp index 85febebebc..d1ff940822 100644 --- a/Marlin/src/HAL/TEENSY31_32/eeprom.cpp +++ b/Marlin/src/HAL/TEENSY31_32/eeprom.cpp @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -16,6 +19,7 @@ * along with this program. If not, see . * */ + #ifdef __MK20DX256__ /** diff --git a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h index 999ada5127..c1bbcb121b 100644 --- a/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY31_32/endstop_interrupts.h @@ -64,4 +64,16 @@ void setup_endstop_interrupts() { 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/TEENSY31_32/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h index 1efa76b1e9..dbce187673 100644 --- a/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h +++ b/Marlin/src/HAL/TEENSY31_32/inc/SanityCheck.h @@ -40,3 +40,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.1/3.2." #endif + +#if USING_PULLDOWNS + #error "PULLDOWN pin mode is not available on Teensy 3.1/3.2 boards." +#endif diff --git a/Marlin/src/HAL/TEENSY31_32/timers.cpp b/Marlin/src/HAL/TEENSY31_32/timers.cpp index 7e01a38f89..f217715a3f 100644 --- a/Marlin/src/HAL/TEENSY31_32/timers.cpp +++ b/Marlin/src/HAL/TEENSY31_32/timers.cpp @@ -47,7 +47,7 @@ FORCE_INLINE static void __DSB() { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { switch (timer_num) { - case 0: + case MF_TIMER_STEP: FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; FTM0_SC = 0x00; // Set this to zero before changing the modulus FTM0_CNT = 0x0000; // Reset the count to zero @@ -56,7 +56,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8 FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA; break; - case 1: + case MF_TIMER_TEMP: FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1 FTM1_SC = 0x00; // Set this to zero before changing the modulus FTM1_CNT = 0x0000; // Reset the count to zero @@ -70,15 +70,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_enable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break; - case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break; + case MF_TIMER_STEP: NVIC_ENABLE_IRQ(IRQ_FTM0); break; + case MF_TIMER_TEMP: NVIC_ENABLE_IRQ(IRQ_FTM1); break; } } void HAL_timer_disable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break; - case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break; + case MF_TIMER_STEP: NVIC_DISABLE_IRQ(IRQ_FTM0); break; + case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_FTM1); break; } // We NEED memory barriers to ensure Interrupts are actually disabled! @@ -89,20 +89,20 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { switch (timer_num) { - case 0: return NVIC_IS_ENABLED(IRQ_FTM0); - case 1: return NVIC_IS_ENABLED(IRQ_FTM1); + case MF_TIMER_STEP: return NVIC_IS_ENABLED(IRQ_FTM0); + case MF_TIMER_TEMP: return NVIC_IS_ENABLED(IRQ_FTM1); } return false; } void HAL_timer_isr_prologue(const uint8_t timer_num) { switch (timer_num) { - case 0: + case MF_TIMER_STEP: FTM0_CNT = 0x0000; FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag break; - case 1: + case MF_TIMER_TEMP: FTM1_CNT = 0x0000; FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag diff --git a/Marlin/src/HAL/TEENSY31_32/timers.h b/Marlin/src/HAL/TEENSY31_32/timers.h index 61b8673596..9fcbb6f232 100644 --- a/Marlin/src/HAL/TEENSY31_32/timers.h +++ b/Marlin/src/HAL/TEENSY31_32/timers.h @@ -46,14 +46,14 @@ typedef uint32_t hal_timer_t; #define HAL_TIMER_RATE (FTM0_TIMER_RATE) -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 1 // Timer Index for Temperature #endif #define TEMP_TIMER_FREQUENCY 1000 @@ -66,12 +66,12 @@ typedef uint32_t hal_timer_t; #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) #ifndef HAL_STEP_TIMER_ISR #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler() @@ -84,23 +84,23 @@ 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) { switch (timer_num) { - case 0: FTM0_C0V = compare; break; - case 1: FTM1_C0V = compare; break; + case MF_TIMER_STEP: FTM0_C0V = compare; break; + case MF_TIMER_TEMP: FTM1_C0V = compare; break; } } FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { switch (timer_num) { - case 0: return FTM0_C0V; - case 1: return FTM1_C0V; + case MF_TIMER_STEP: return FTM0_C0V; + case MF_TIMER_TEMP: return FTM1_C0V; } return 0; } FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { switch (timer_num) { - case 0: return FTM0_CNT; - case 1: return FTM1_CNT; + case MF_TIMER_STEP: return FTM0_CNT; + case MF_TIMER_TEMP: return FTM1_CNT; } return 0; } @@ -110,4 +110,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num); bool HAL_timer_interrupt_enabled(const uint8_t timer_num); void HAL_timer_isr_prologue(const uint8_t timer_num); -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/TEENSY35_36/HAL.cpp b/Marlin/src/HAL/TEENSY35_36/HAL.cpp index 046c00b56e..bc02ac1c45 100644 --- a/Marlin/src/HAL/TEENSY35_36/HAL.cpp +++ b/Marlin/src/HAL/TEENSY35_36/HAL.cpp @@ -31,6 +31,10 @@ #include +// ------------------------ +// Serial ports +// ------------------------ + #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X) #define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X) #if WITHIN(SERIAL_PORT, 0, 3) @@ -39,42 +43,13 @@ USBSerialType USBSerial(false, SerialUSB); -uint16_t HAL_adc_result, HAL_adc_select; +// ------------------------ +// MarlinHAL Class +// ------------------------ -static const uint8_t pin2sc1a[] = { - 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13 - 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9 - 255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only - 14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128, // 31-39 are A12-A20 - 255, 255, 255, 255, 255, 255, 255, 255, 255, // 40-48 are digital only - 10+128, 11+128, // 49-50 are A23-A24 - 255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only - 255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only - 3, 19+128, // 64-65 are A10-A11 - 23, 23+128,// 66-67 are A21-A22 (DAC pins) - 1, 1+128, // 68-69 are A25-A26 (unused USB host port on Teensy 3.5) - 26, // 70 is Temperature Sensor - 18+128 // 71 is Vref -}; +void MarlinHAL::reboot() { _reboot_Teensyduino_(); } -/* - // disable interrupts - void cli() { noInterrupts(); } - - // enable interrupts - void sei() { interrupts(); } -*/ - -void HAL_adc_init() { - analog_init(); - while (ADC0_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish - while (ADC1_SC3 & ADC_SC3_CAL) {}; // Wait for calibration to finish - NVIC_ENABLE_IRQ(IRQ_FTM1); -} - -void HAL_clear_reset_source() { } - -uint8_t HAL_get_reset_source() { +uint8_t MarlinHAL::get_reset_source() { switch (RCM_SRS0) { case 128: return RST_POWER_ON; break; case 64: return RST_EXTERNAL; break; @@ -86,7 +61,82 @@ uint8_t HAL_get_reset_source() { return 0; } -void HAL_reboot() { _reboot_Teensyduino_(); } +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT_MS TERN(WATCHDOG_DURATION_8S, 8000, 4000) // 4 or 8 second timeout + + void MarlinHAL::watchdog_init() { + WDOG_TOVALH = 0; + WDOG_TOVALL = WDT_TIMEOUT_MS; + WDOG_STCTRLH = WDOG_STCTRLH_WDOGEN; + } + + void MarlinHAL::watchdog_refresh() { + // Watchdog refresh sequence + WDOG_REFRESH = 0xA602; + WDOG_REFRESH = 0xB480; + } + +#endif + +// ------------------------ +// ADC +// ------------------------ + +int8_t MarlinHAL::adc_select; + +void MarlinHAL::adc_init() { + analog_init(); + while (ADC0_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ } + while (ADC1_SC3 & ADC_SC3_CAL) { /* Wait for calibration to finish */ } + NVIC_ENABLE_IRQ(IRQ_FTM1); +} + +void MarlinHAL::adc_start(const pin_t adc_pin) { + static const uint8_t pin2sc1a[] = { + 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, 3, 19+128, 14+128, 15+128, // 0-13 -> A0-A13 + 5, 14, 8, 9, 13, 12, 6, 7, 15, 4, // 14-23 are A0-A9 + 255, 255, 255, 255, 255, 255, 255, // 24-30 are digital only + 14+128, 15+128, 17, 18, 4+128, 5+128, 6+128, 7+128, 17+128, // 31-39 are A12-A20 + 255, 255, 255, 255, 255, 255, 255, 255, 255, // 40-48 are digital only + 10+128, 11+128, // 49-50 are A23-A24 + 255, 255, 255, 255, 255, 255, 255, // 51-57 are digital only + 255, 255, 255, 255, 255, 255, // 58-63 (sd card pins) are digital only + 3, 19+128, // 64-65 are A10-A11 + 23, 23+128,// 66-67 are A21-A22 (DAC pins) + 1, 1+128, // 68-69 are A25-A26 (unused USB host port on Teensy 3.5) + 26, // 70 is Temperature Sensor + 18+128 // 71 is Vref + }; + const uint16_t pin = pin2sc1a[adc_pin]; + if (pin == 0xFF) { + adc_select = -1; // Digital only + } + else if (pin & 0x80) { + adc_select = 1; + ADC1_SC1A = pin & 0x7F; + } + else { + adc_select = 0; + ADC0_SC1A = pin; + } +} + +uint16_t MarlinHAL::adc_value() { + switch (adc_select) { + case 0: return ADC0_RA; + case 1: return ADC1_RA; + } + return 0; +} + +// ------------------------ +// Free Memory Accessor +// ------------------------ extern "C" { extern char __bss_end; @@ -103,28 +153,4 @@ extern "C" { } } -void HAL_adc_start_conversion(const uint8_t adc_pin) { - const uint16_t pin = pin2sc1a[adc_pin]; - if (pin == 0xFF) { - // Digital only - HAL_adc_select = -1; - } - else if (pin & 0x80) { - HAL_adc_select = 1; - ADC1_SC1A = pin & 0x7F; - } - else { - HAL_adc_select = 0; - ADC0_SC1A = pin; - } -} - -uint16_t HAL_adc_get_result() { - switch (HAL_adc_select) { - case 0: return ADC0_RA; - case 1: return ADC1_RA; - } - return 0; -} - #endif // __MK64FX512__ || __MK66FX1M0__ diff --git a/Marlin/src/HAL/TEENSY35_36/HAL.h b/Marlin/src/HAL/TEENSY35_36/HAL.h index 26c35223bd..2a192e4718 100644 --- a/Marlin/src/HAL/TEENSY35_36/HAL.h +++ b/Marlin/src/HAL/TEENSY35_36/HAL.h @@ -32,15 +32,10 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include #include -#define ST7920_DELAY_1 DELAY_NS(600) -#define ST7920_DELAY_2 DELAY_NS(750) -#define ST7920_DELAY_3 DELAY_NS(750) - // ------------------------ // Defines // ------------------------ @@ -53,6 +48,17 @@ #define IS_TEENSY35 1 #endif +#define CPU_ST7920_DELAY_1 600 +#define CPU_ST7920_DELAY_2 750 +#define CPU_ST7920_DELAY_3 750 + +#undef sq +#define sq(x) ((x)*(x)) + +// ------------------------ +// Serial ports +// ------------------------ + #include "../../core/serial_hook.h" #define Serial0 Serial @@ -76,61 +82,116 @@ extern USBSerialType USBSerial; #error "SERIAL_PORT must be from 0 to 3, or -1 for Native USB." #endif -#define HAL_SERVO_LIB libServo +// ------------------------ +// Types +// ------------------------ + +class libServo; +typedef libServo hal_servo_t; typedef int8_t pin_t; +// ------------------------ +// Interrupts +// ------------------------ + +#define CRITICAL_SECTION_START() const bool irqon = !__get_primask(); __disable_irq() +#define CRITICAL_SECTION_END() if (irqon) __enable_irq() + +// ------------------------ +// ADC +// ------------------------ + #ifndef analogInputToDigitalPin #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) #endif -#define CRITICAL_SECTION_START() uint32_t primask = __get_primask(); __disable_irq() -#define CRITICAL_SECTION_END() if (!primask) __enable_irq() -#define ISRS_ENABLED() (!__get_primask()) -#define ENABLE_ISRS() __enable_irq() -#define DISABLE_ISRS() __disable_irq() +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 10 -#undef sq -#define sq(x) ((x)*(x)) +// +// 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) -inline void HAL_init() {} - -// Clear reset reason -void HAL_clear_reset_source(); - -// Reset reason -uint8_t HAL_get_reset_source(); - -void HAL_reboot(); - -FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); } +// ------------------------ +// Free Memory Accessor +// ------------------------ +#pragma GCC diagnostic push #if GCC_VERSION <= 50000 - #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-function" #endif extern "C" int freeMemory(); -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif +#pragma GCC diagnostic pop -// ADC +// ------------------------ +// MarlinHAL Class +// ------------------------ -void HAL_adc_init(); +class MarlinHAL { +public: -#define HAL_ADC_VREF 3.3 -#define HAL_ADC_RESOLUTION 10 -#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) -#define HAL_READ_ADC() HAL_adc_get_result() -#define HAL_ADC_READY() true + // Earliest possible init, before setup() + MarlinHAL() {} -#define HAL_ANALOG_SELECT(pin) + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); -void HAL_adc_start_conversion(const uint8_t adc_pin); -uint16_t HAL_adc_get_result(); + static void init() {} // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 -#define GET_PIN_MAP_PIN(index) index -#define GET_PIN_MAP_INDEX(pin) pin -#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + // Interrupts + static bool isr_state() { return true; } + static void isr_on() { __enable_irq(); } + static void isr_off() { __disable_irq(); } + + 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 int8_t adc_select; + + // 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) {} + + // 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(); + + /** + * 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); + } + +}; diff --git a/Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp b/Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp index 5b22668fce..d80f57b2c4 100644 --- a/Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp +++ b/Marlin/src/HAL/TEENSY35_36/HAL_SPI.cpp @@ -26,19 +26,19 @@ #if defined(__MK64FX512__) || defined(__MK66FX1M0__) +#include "../../inc/MarlinConfig.h" #include "HAL.h" + #include #include #include "spi_pins.h" -#include "../../core/macros.h" static SPISettings spiConfig; void spiBegin() { - #if !PIN_EXISTS(SD_SS) - #error "SD_SS_PIN not defined!" + #if PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); #endif - OUT_WRITE(SD_SS_PIN, HIGH); SET_OUTPUT(SD_SCK_PIN); SET_INPUT(SD_MISO_PIN); SET_OUTPUT(SD_MOSI_PIN); @@ -64,7 +64,7 @@ void spiInit(uint8_t spiRate) { case SPI_SPEED_5: clock = 625000; break; case SPI_SPEED_6: clock = 312500; break; default: - clock = 4000000; // Default from the SPI libarary + clock = 4000000; // Default from the SPI library } spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); SPI.begin(); diff --git a/Marlin/src/HAL/TEENSY35_36/MarlinSPI.h b/Marlin/src/HAL/TEENSY35_36/MarlinSPI.h new file mode 100644 index 0000000000..0c447ba4cb --- /dev/null +++ b/Marlin/src/HAL/TEENSY35_36/MarlinSPI.h @@ -0,0 +1,26 @@ +/** + * 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 + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h index 87e6a7507a..48d3bbbfa1 100644 --- a/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY35_36/endstop_interrupts.h @@ -63,4 +63,16 @@ void setup_endstop_interrupts() { 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/TEENSY35_36/inc/SanityCheck.h b/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h index eef2850550..3308707371 100644 --- a/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h +++ b/Marlin/src/HAL/TEENSY35_36/inc/SanityCheck.h @@ -40,3 +40,7 @@ #if ENABLED(POSTMORTEM_DEBUGGING) #error "POSTMORTEM_DEBUGGING is not yet supported on Teensy 3.5/3.6." #endif + +#if USING_PULLDOWNS + #error "PULLDOWN pin mode is not available on Teensy 3.5/3.6 boards." +#endif diff --git a/Marlin/src/HAL/TEENSY35_36/pinsDebug.h b/Marlin/src/HAL/TEENSY35_36/pinsDebug.h index e529fa93be..7a2e1d6e59 100644 --- a/Marlin/src/HAL/TEENSY35_36/pinsDebug.h +++ b/Marlin/src/HAL/TEENSY35_36/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or diff --git a/Marlin/src/HAL/TEENSY35_36/timers.cpp b/Marlin/src/HAL/TEENSY35_36/timers.cpp index 8067d091dd..39095fbd77 100644 --- a/Marlin/src/HAL/TEENSY35_36/timers.cpp +++ b/Marlin/src/HAL/TEENSY35_36/timers.cpp @@ -47,7 +47,7 @@ FORCE_INLINE static void __DSB() { void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { switch (timer_num) { - case 0: + case MF_TIMER_STEP: FTM0_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; FTM0_SC = 0x00; // Set this to zero before changing the modulus FTM0_CNT = 0x0000; // Reset the count to zero @@ -56,7 +56,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { FTM0_SC = (FTM_SC_CLKS(0b1) & FTM_SC_CLKS_MASK) | (FTM_SC_PS(FTM0_TIMER_PRESCALE_BITS) & FTM_SC_PS_MASK); // Bus clock 60MHz divided by prescaler 8 FTM0_C0SC = FTM_CSC_CHIE | FTM_CSC_MSA | FTM_CSC_ELSA; break; - case 1: + case MF_TIMER_TEMP: FTM1_MODE = FTM_MODE_WPDIS | FTM_MODE_FTMEN; // Disable write protection, Enable FTM1 FTM1_SC = 0x00; // Set this to zero before changing the modulus FTM1_CNT = 0x0000; // Reset the count to zero @@ -70,15 +70,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_enable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: NVIC_ENABLE_IRQ(IRQ_FTM0); break; - case 1: NVIC_ENABLE_IRQ(IRQ_FTM1); break; + case MF_TIMER_STEP: NVIC_ENABLE_IRQ(IRQ_FTM0); break; + case MF_TIMER_TEMP: NVIC_ENABLE_IRQ(IRQ_FTM1); break; } } void HAL_timer_disable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: NVIC_DISABLE_IRQ(IRQ_FTM0); break; - case 1: NVIC_DISABLE_IRQ(IRQ_FTM1); break; + case MF_TIMER_STEP: NVIC_DISABLE_IRQ(IRQ_FTM0); break; + case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_FTM1); break; } // We NEED memory barriers to ensure Interrupts are actually disabled! @@ -89,20 +89,20 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { switch (timer_num) { - case 0: return NVIC_IS_ENABLED(IRQ_FTM0); - case 1: return NVIC_IS_ENABLED(IRQ_FTM1); + case MF_TIMER_STEP: return NVIC_IS_ENABLED(IRQ_FTM0); + case MF_TIMER_TEMP: return NVIC_IS_ENABLED(IRQ_FTM1); } return false; } void HAL_timer_isr_prologue(const uint8_t timer_num) { switch (timer_num) { - case 0: + case MF_TIMER_STEP: FTM0_CNT = 0x0000; FTM0_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM0_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag break; - case 1: + case MF_TIMER_TEMP: FTM1_CNT = 0x0000; FTM1_SC &= ~FTM_SC_TOF; // Clear FTM Overflow flag FTM1_C0SC &= ~FTM_CSC_CHF; // Clear FTM Channel Compare flag diff --git a/Marlin/src/HAL/TEENSY35_36/timers.h b/Marlin/src/HAL/TEENSY35_36/timers.h index 99269ac657..8af79d7392 100644 --- a/Marlin/src/HAL/TEENSY35_36/timers.h +++ b/Marlin/src/HAL/TEENSY35_36/timers.h @@ -45,14 +45,14 @@ typedef uint32_t hal_timer_t; #define HAL_TIMER_RATE (FTM0_TIMER_RATE) -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 1 // Timer Index for Temperature #endif #define TEMP_TIMER_FREQUENCY 1000 @@ -65,12 +65,12 @@ typedef uint32_t hal_timer_t; #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) #ifndef HAL_STEP_TIMER_ISR #define HAL_STEP_TIMER_ISR() extern "C" void ftm0_isr() //void TC3_Handler() @@ -83,23 +83,23 @@ 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) { switch (timer_num) { - case 0: FTM0_C0V = compare; break; - case 1: FTM1_C0V = compare; break; + case MF_TIMER_STEP: FTM0_C0V = compare; break; + case MF_TIMER_TEMP: FTM1_C0V = compare; break; } } FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { switch (timer_num) { - case 0: return FTM0_C0V; - case 1: return FTM1_C0V; + case MF_TIMER_STEP: return FTM0_C0V; + case MF_TIMER_TEMP: return FTM1_C0V; } return 0; } FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { switch (timer_num) { - case 0: return FTM0_CNT; - case 1: return FTM1_CNT; + case MF_TIMER_STEP: return FTM0_CNT; + case MF_TIMER_TEMP: return FTM1_CNT; } return 0; } @@ -109,4 +109,4 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num); bool HAL_timer_interrupt_enabled(const uint8_t timer_num); void HAL_timer_isr_prologue(const uint8_t timer_num); -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/TEENSY40_41/HAL.cpp b/Marlin/src/HAL/TEENSY40_41/HAL.cpp index a986c293a9..1d02ab8575 100644 --- a/Marlin/src/HAL/TEENSY40_41/HAL.cpp +++ b/Marlin/src/HAL/TEENSY40_41/HAL.cpp @@ -26,12 +26,17 @@ #ifdef __IMXRT1062__ +#include "../../inc/MarlinConfig.h" #include "HAL.h" + #include "../shared/Delay.h" #include "timers.h" - #include +// ------------------------ +// Serial ports +// ------------------------ + #define _IMPLEMENT_SERIAL(X) DefaultSerial##X MSerial##X(false, Serial##X) #define IMPLEMENT_SERIAL(X) _IMPLEMENT_SERIAL(X) #if WITHIN(SERIAL_PORT, 0, 3) @@ -39,88 +44,153 @@ #endif USBSerialType USBSerial(false, SerialUSB); -uint16_t HAL_adc_result, HAL_adc_select; +// ------------------------ +// FastIO +// ------------------------ -static const uint8_t pin2sc1a[] = { - 0x07, // 0/A0 AD_B1_02 - 0x08, // 1/A1 AD_B1_03 - 0x0C, // 2/A2 AD_B1_07 - 0x0B, // 3/A3 AD_B1_06 - 0x06, // 4/A4 AD_B1_01 - 0x05, // 5/A5 AD_B1_00 - 0x0F, // 6/A6 AD_B1_10 - 0x00, // 7/A7 AD_B1_11 - 0x0D, // 8/A8 AD_B1_08 - 0x0E, // 9/A9 AD_B1_09 - 0x01, // 24/A10 AD_B0_12 - 0x02, // 25/A11 AD_B0_13 - 0x83, // 26/A12 AD_B1_14 - only on ADC2, 3 - 0x84, // 27/A13 AD_B1_15 - only on ADC2, 4 - 0x07, // 14/A0 AD_B1_02 - 0x08, // 15/A1 AD_B1_03 - 0x0C, // 16/A2 AD_B1_07 - 0x0B, // 17/A3 AD_B1_06 - 0x06, // 18/A4 AD_B1_01 - 0x05, // 19/A5 AD_B1_00 - 0x0F, // 20/A6 AD_B1_10 - 0x00, // 21/A7 AD_B1_11 - 0x0D, // 22/A8 AD_B1_08 - 0x0E, // 23/A9 AD_B1_09 - 0x01, // 24/A10 AD_B0_12 - 0x02, // 25/A11 AD_B0_13 - 0x83, // 26/A12 AD_B1_14 - only on ADC2, 3 - 0x84, // 27/A13 AD_B1_15 - only on ADC2, 4 - #ifdef ARDUINO_TEENSY41 - 0xFF, // 28 - 0xFF, // 29 - 0xFF, // 30 - 0xFF, // 31 - 0xFF, // 32 - 0xFF, // 33 - 0xFF, // 34 - 0xFF, // 35 - 0xFF, // 36 - 0xFF, // 37 - 0x81, // 38/A14 AD_B1_12 - only on ADC2, 1 - 0x82, // 39/A15 AD_B1_13 - only on ADC2, 2 - 0x09, // 40/A16 AD_B1_04 - 0x0A, // 41/A17 AD_B1_05 - #endif -}; - -/* -// disable interrupts -void cli() { noInterrupts(); } - -// enable interrupts -void sei() { interrupts(); } -*/ - -void HAL_adc_init() { - analog_init(); - while (ADC1_GC & ADC_GC_CAL) ; - while (ADC2_GC & ADC_GC_CAL) ; +bool is_output(pin_t pin) { + const struct digital_pin_bitband_and_config_table_struct *p; + p = digital_pin_to_info_PGM + pin; + return (*(p->reg + 1) & p->mask); } -void HAL_clear_reset_source() { - uint32_t reset_source = SRC_SRSR; - SRC_SRSR = reset_source; - } +// ------------------------ +// MarlinHAL Class +// ------------------------ -uint8_t HAL_get_reset_source() { +void MarlinHAL::reboot() { _reboot_Teensyduino_(); } + +uint8_t MarlinHAL::get_reset_source() { switch (SRC_SRSR & 0xFF) { case 1: return RST_POWER_ON; break; case 2: return RST_SOFTWARE; break; case 4: return RST_EXTERNAL; break; - // case 8: return RST_BROWN_OUT; break; + //case 8: return RST_BROWN_OUT; break; case 16: return RST_WATCHDOG; break; - case 64: return RST_JTAG; break; - // case 128: return RST_OVERTEMP; break; + case 64: return RST_JTAG; break; + //case 128: return RST_OVERTEMP; break; } return 0; } -void HAL_reboot() { _reboot_Teensyduino_(); } +void MarlinHAL::clear_reset_source() { + uint32_t reset_source = SRC_SRSR; + SRC_SRSR = reset_source; +} + +// ------------------------ +// Watchdog Timer +// ------------------------ + +#if ENABLED(USE_WATCHDOG) + + #define WDT_TIMEOUT TERN(WATCHDOG_DURATION_8S, 8, 4) // 4 or 8 second timeout + + constexpr uint8_t timeoutval = (WDT_TIMEOUT - 0.5f) / 0.5f; + + void MarlinHAL::watchdog_init() { + CCM_CCGR3 |= CCM_CCGR3_WDOG1(3); // enable WDOG1 clocks + WDOG1_WMCR = 0; // disable power down PDE + WDOG1_WCR |= WDOG_WCR_SRS | WDOG_WCR_WT(timeoutval); + WDOG1_WCR |= WDOG_WCR_WDE | WDOG_WCR_WDT | WDOG_WCR_SRE; + } + + void MarlinHAL::watchdog_refresh() { + // Watchdog refresh sequence + WDOG1_WSR = 0x5555; + WDOG1_WSR = 0xAAAA; + } + +#endif + +// ------------------------ +// ADC +// ------------------------ + +int8_t MarlinHAL::adc_select; + +void MarlinHAL::adc_init() { + analog_init(); + while (ADC1_GC & ADC_GC_CAL) { /* wait */ } + while (ADC2_GC & ADC_GC_CAL) { /* wait */ } +} + +void MarlinHAL::adc_start(const pin_t adc_pin) { + static const uint8_t pin2sc1a[] = { + 0x07, // 0/A0 AD_B1_02 + 0x08, // 1/A1 AD_B1_03 + 0x0C, // 2/A2 AD_B1_07 + 0x0B, // 3/A3 AD_B1_06 + 0x06, // 4/A4 AD_B1_01 + 0x05, // 5/A5 AD_B1_00 + 0x0F, // 6/A6 AD_B1_10 + 0x00, // 7/A7 AD_B1_11 + 0x0D, // 8/A8 AD_B1_08 + 0x0E, // 9/A9 AD_B1_09 + 0x01, // 24/A10 AD_B0_12 + 0x02, // 25/A11 AD_B0_13 + 0x83, // 26/A12 AD_B1_14 - only on ADC2, 3 + 0x84, // 27/A13 AD_B1_15 - only on ADC2, 4 + 0x07, // 14/A0 AD_B1_02 + 0x08, // 15/A1 AD_B1_03 + 0x0C, // 16/A2 AD_B1_07 + 0x0B, // 17/A3 AD_B1_06 + 0x06, // 18/A4 AD_B1_01 + 0x05, // 19/A5 AD_B1_00 + 0x0F, // 20/A6 AD_B1_10 + 0x00, // 21/A7 AD_B1_11 + 0x0D, // 22/A8 AD_B1_08 + 0x0E, // 23/A9 AD_B1_09 + 0x01, // 24/A10 AD_B0_12 + 0x02, // 25/A11 AD_B0_13 + 0x83, // 26/A12 AD_B1_14 - only on ADC2, 3 + 0x84, // 27/A13 AD_B1_15 - only on ADC2, 4 + #ifdef ARDUINO_TEENSY41 + 0xFF, // 28 + 0xFF, // 29 + 0xFF, // 30 + 0xFF, // 31 + 0xFF, // 32 + 0xFF, // 33 + 0xFF, // 34 + 0xFF, // 35 + 0xFF, // 36 + 0xFF, // 37 + 0x81, // 38/A14 AD_B1_12 - only on ADC2, 1 + 0x82, // 39/A15 AD_B1_13 - only on ADC2, 2 + 0x09, // 40/A16 AD_B1_04 + 0x0A, // 41/A17 AD_B1_05 + #endif + }; + const uint16_t pin = pin2sc1a[adc_pin]; + if (pin == 0xFF) { + adc_select = -1; // Digital only + } + else if (pin & 0x80) { + adc_select = 1; + ADC2_HC0 = pin & 0x7F; + } + else { + adc_select = 0; + ADC1_HC0 = pin; + } +} + +uint16_t MarlinHAL::adc_value() { + switch (adc_select) { + case 0: + while (!(ADC1_HS & ADC_HS_COCO0)) { /* wait */ } + return ADC1_R0; + case 1: + while (!(ADC2_HS & ADC_HS_COCO0)) { /* wait */ } + return ADC2_R0; + } + return 0; +} + +// ------------------------ +// Free Memory Accessor +// ------------------------ #define __bss_end _ebss @@ -132,45 +202,9 @@ extern "C" { // Doesn't work on Teensy 4.x uint32_t freeMemory() { uint32_t free_memory; - if ((uint32_t)__brkval == 0) - free_memory = ((uint32_t)&free_memory) - ((uint32_t)&__bss_end); - else - free_memory = ((uint32_t)&free_memory) - ((uint32_t)__brkval); + free_memory = ((uint32_t)&free_memory) - (((uint32_t)__brkval) ?: ((uint32_t)&__bss_end)); return free_memory; } } -void HAL_adc_start_conversion(const uint8_t adc_pin) { - const uint16_t pin = pin2sc1a[adc_pin]; - if (pin == 0xFF) { - HAL_adc_select = -1; // Digital only - } - else if (pin & 0x80) { - HAL_adc_select = 1; - ADC2_HC0 = pin & 0x7F; - } - else { - HAL_adc_select = 0; - ADC1_HC0 = pin; - } -} - -uint16_t HAL_adc_get_result() { - switch (HAL_adc_select) { - case 0: - while (!(ADC1_HS & ADC_HS_COCO0)) ; // wait - return ADC1_R0; - case 1: - while (!(ADC2_HS & ADC_HS_COCO0)) ; // wait - return ADC2_R0; - } - return 0; -} - -bool is_output(uint8_t pin) { - const struct digital_pin_bitband_and_config_table_struct *p; - p = digital_pin_to_info_PGM + pin; - return (*(p->reg + 1) & p->mask); -} - #endif // __IMXRT1062__ diff --git a/Marlin/src/HAL/TEENSY40_41/HAL.h b/Marlin/src/HAL/TEENSY40_41/HAL.h index 1d00447fe8..c54a2e8a0b 100644 --- a/Marlin/src/HAL/TEENSY40_41/HAL.h +++ b/Marlin/src/HAL/TEENSY40_41/HAL.h @@ -32,7 +32,6 @@ #include "../shared/HAL_SPI.h" #include "fastio.h" -#include "watchdog.h" #include #include @@ -41,10 +40,6 @@ #include "../../feature/ethernet.h" #endif -//#define ST7920_DELAY_1 DELAY_NS(600) -//#define ST7920_DELAY_2 DELAY_NS(750) -//#define ST7920_DELAY_3 DELAY_NS(750) - // ------------------------ // Defines // ------------------------ @@ -55,7 +50,23 @@ #define IS_TEENSY41 1 #endif +#define CPU_ST7920_DELAY_1 600 +#define CPU_ST7920_DELAY_2 750 +#define CPU_ST7920_DELAY_3 750 + +#undef sq +#define sq(x) ((x)*(x)) + +// Don't place string constants in PROGMEM +#undef PSTR +#define PSTR(str) ({static const char *data = (str); &data[0];}) + +// ------------------------ +// Serial ports +// ------------------------ + #include "../../core/serial_hook.h" + #define Serial0 Serial #define _DECLARE_SERIAL(X) \ typedef ForwardSerial1Class DefaultSerial##X; \ @@ -89,71 +100,120 @@ extern USBSerialType USBSerial; #endif #endif -#define HAL_SERVO_LIB libServo +// ------------------------ +// Types +// ------------------------ + +class libServo; +typedef libServo hal_servo_t; typedef int8_t pin_t; +// ------------------------ +// Interrupts +// ------------------------ + +#define CRITICAL_SECTION_START() const bool irqon = !__get_primask(); __disable_irq() +#define CRITICAL_SECTION_END() if (irqon) __enable_irq() + +// ------------------------ +// ADC +// ------------------------ + #ifndef analogInputToDigitalPin #define analogInputToDigitalPin(p) ((p < 12U) ? (p) + 54U : -1) #endif -#define CRITICAL_SECTION_START() uint32_t primask = __get_primask(); __disable_irq() -#define CRITICAL_SECTION_END() if (!primask) __enable_irq() -#define ISRS_ENABLED() (!__get_primask()) -#define ENABLE_ISRS() __enable_irq() -#define DISABLE_ISRS() __disable_irq() +#define HAL_ADC_VREF 3.3 +#define HAL_ADC_RESOLUTION 10 +#define HAL_ADC_FILTERED // turn off ADC oversampling -#undef sq -#define sq(x) ((x)*(x)) +// +// 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) -// Don't place string constants in PROGMEM -#undef PSTR -#define PSTR(str) ({static const char *data = (str); &data[0];}) +// FastIO +bool is_output(pin_t pin); -// Enable hooks into idle and setup for HAL -#define HAL_IDLETASK 1 -FORCE_INLINE void HAL_idletask() {} -FORCE_INLINE void HAL_init() {} - -// Clear reset reason -void HAL_clear_reset_source(); - -// Reset reason -uint8_t HAL_get_reset_source(); - -void HAL_reboot(); - -FORCE_INLINE void _delay_ms(const int delay_ms) { delay(delay_ms); } +// ------------------------ +// Free Memory Accessor +// ------------------------ +#pragma GCC diagnostic push #if GCC_VERSION <= 50000 - #pragma GCC diagnostic push #pragma GCC diagnostic ignored "-Wunused-function" #endif extern "C" uint32_t freeMemory(); -#if GCC_VERSION <= 50000 - #pragma GCC diagnostic pop -#endif +#pragma GCC diagnostic pop -// ADC +// ------------------------ +// MarlinHAL Class +// ------------------------ -void HAL_adc_init(); +class MarlinHAL { +public: -#define HAL_ADC_VREF 3.3 -#define HAL_ADC_RESOLUTION 10 -#define HAL_ADC_FILTERED // turn off ADC oversampling -#define HAL_START_ADC(pin) HAL_adc_start_conversion(pin) -#define HAL_READ_ADC() HAL_adc_get_result() -#define HAL_ADC_READY() true + // Earliest possible init, before setup() + MarlinHAL() {} -#define HAL_ANALOG_SELECT(pin) + // Watchdog + static void watchdog_init() IF_DISABLED(USE_WATCHDOG, {}); + static void watchdog_refresh() IF_DISABLED(USE_WATCHDOG, {}); -void HAL_adc_start_conversion(const uint8_t adc_pin); -uint16_t HAL_adc_get_result(); + static void init() {} // Called early in setup() + static void init_board() {} // Called less early in setup() + static void reboot(); // Restart the firmware from 0x0 -#define GET_PIN_MAP_PIN(index) index -#define GET_PIN_MAP_INDEX(pin) pin -#define PARSED_PIN_INDEX(code, dval) parser.intval(code, dval) + // Interrupts + static bool isr_state() { return !__get_primask(); } + static void isr_on() { __enable_irq(); } + static void isr_off() { __disable_irq(); } -bool is_output(uint8_t pin); + 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 int8_t adc_select; + + // 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) {} + + // 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(); + + /** + * 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); + } + +}; diff --git a/Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp b/Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp index e4335ff74f..9dcb812faf 100644 --- a/Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp +++ b/Marlin/src/HAL/TEENSY40_41/HAL_SPI.cpp @@ -26,11 +26,12 @@ #ifdef __IMXRT1062__ +#include "../../inc/MarlinConfig.h" #include "HAL.h" + #include #include #include "spi_pins.h" -#include "../../core/macros.h" static SPISettings spiConfig; @@ -50,12 +51,9 @@ static SPISettings spiConfig; // ------------------------ void spiBegin() { - #ifndef SD_SS_PIN - #error "SD_SS_PIN is not defined!" + #if PIN_EXISTS(SD_SS) + OUT_WRITE(SD_SS_PIN, HIGH); #endif - - OUT_WRITE(SD_SS_PIN, HIGH); - //SET_OUTPUT(SD_SCK_PIN); //SET_INPUT(SD_MISO_PIN); //SET_OUTPUT(SD_MOSI_PIN); @@ -81,7 +79,7 @@ void spiInit(uint8_t spiRate) { case SPI_SPEED_5: clock = 625000; break; case SPI_SPEED_6: clock = 312500; break; default: - clock = 4000000; // Default from the SPI libarary + clock = 4000000; // Default from the SPI library } spiConfig = SPISettings(clock, MSBFIRST, SPI_MODE0); SPI.begin(); diff --git a/Marlin/src/HAL/TEENSY40_41/MarlinSPI.h b/Marlin/src/HAL/TEENSY40_41/MarlinSPI.h new file mode 100644 index 0000000000..0c447ba4cb --- /dev/null +++ b/Marlin/src/HAL/TEENSY40_41/MarlinSPI.h @@ -0,0 +1,26 @@ +/** + * 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 + +using MarlinSPI = SPIClass; diff --git a/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h index a05e911668..4c3ddec9f1 100644 --- a/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h +++ b/Marlin/src/HAL/TEENSY40_41/endstop_interrupts.h @@ -63,4 +63,10 @@ void setup_endstop_interrupts() { 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)); } diff --git a/Marlin/src/HAL/TEENSY40_41/pinsDebug.h b/Marlin/src/HAL/TEENSY40_41/pinsDebug.h index 4ad62d00fe..fc90f671cf 100644 --- a/Marlin/src/HAL/TEENSY40_41/pinsDebug.h +++ b/Marlin/src/HAL/TEENSY40_41/pinsDebug.h @@ -2,6 +2,9 @@ * Marlin 3D Printer Firmware * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or @@ -30,9 +33,10 @@ #define 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 PRINT_PIN(p) do{ sprintf_P(buffer, PSTR("%02d"), 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 ? 1 : 0) +#define VALID_PIN(pin) (pin >= 0 && pin < int8_t(NUMBER_PINS_TOTAL)) #define DIGITAL_PIN_TO_ANALOG_PIN(p) int(p - analogInputToDigitalPin(0)) #define IS_ANALOG(P) ((P) >= analogInputToDigitalPin(0) && (P) <= analogInputToDigitalPin(13)) || ((P) >= analogInputToDigitalPin(14) && (P) <= analogInputToDigitalPin(17)) #define pwm_status(pin) HAL_pwm_status(pin) diff --git a/Marlin/src/HAL/TEENSY40_41/timers.cpp b/Marlin/src/HAL/TEENSY40_41/timers.cpp index 81c9b08c17..ed99f65d6e 100644 --- a/Marlin/src/HAL/TEENSY40_41/timers.cpp +++ b/Marlin/src/HAL/TEENSY40_41/timers.cpp @@ -30,7 +30,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { switch (timer_num) { - case 0: + case MF_TIMER_STEP: CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode CCM_CCGR1 |= CCM_CCGR1_GPT1_BUS(CCM_CCGR_ON); @@ -48,7 +48,7 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { attachInterruptVector(IRQ_GPT1, &stepTC_Handler); NVIC_SET_PRIORITY(IRQ_GPT1, 16); break; - case 1: + case MF_TIMER_TEMP: CCM_CSCMR1 &= ~CCM_CSCMR1_PERCLK_CLK_SEL; // turn off 24mhz mode CCM_CCGR0 |= CCM_CCGR0_GPT2_BUS(CCM_CCGR_ON); @@ -71,19 +71,15 @@ void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) { void HAL_timer_enable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: - NVIC_ENABLE_IRQ(IRQ_GPT1); - break; - case 1: - NVIC_ENABLE_IRQ(IRQ_GPT2); - break; + case MF_TIMER_STEP: NVIC_ENABLE_IRQ(IRQ_GPT1); break; + case MF_TIMER_TEMP: NVIC_ENABLE_IRQ(IRQ_GPT2); break; } } void HAL_timer_disable_interrupt(const uint8_t timer_num) { switch (timer_num) { - case 0: NVIC_DISABLE_IRQ(IRQ_GPT1); break; - case 1: NVIC_DISABLE_IRQ(IRQ_GPT2); break; + case MF_TIMER_STEP: NVIC_DISABLE_IRQ(IRQ_GPT1); break; + case MF_TIMER_TEMP: NVIC_DISABLE_IRQ(IRQ_GPT2); break; } // We NEED memory barriers to ensure Interrupts are actually disabled! @@ -93,20 +89,16 @@ void HAL_timer_disable_interrupt(const uint8_t timer_num) { bool HAL_timer_interrupt_enabled(const uint8_t timer_num) { switch (timer_num) { - case 0: return (NVIC_IS_ENABLED(IRQ_GPT1)); - case 1: return (NVIC_IS_ENABLED(IRQ_GPT2)); + case MF_TIMER_STEP: return (NVIC_IS_ENABLED(IRQ_GPT1)); + case MF_TIMER_TEMP: return (NVIC_IS_ENABLED(IRQ_GPT2)); } return false; } void HAL_timer_isr_prologue(const uint8_t timer_num) { switch (timer_num) { - case 0: - GPT1_SR = GPT_IR_OF1IE; // clear OF3 bit - break; - case 1: - GPT2_SR = GPT_IR_OF1IE; // clear OF3 bit - break; + case MF_TIMER_STEP: GPT1_SR = GPT_IR_OF1IE; break; // clear OF3 bit + case MF_TIMER_TEMP: GPT2_SR = GPT_IR_OF1IE; break; // clear OF3 bit } asm volatile("dsb"); } diff --git a/Marlin/src/HAL/TEENSY40_41/timers.h b/Marlin/src/HAL/TEENSY40_41/timers.h index 556333d7f4..77fe0953d3 100644 --- a/Marlin/src/HAL/TEENSY40_41/timers.h +++ b/Marlin/src/HAL/TEENSY40_41/timers.h @@ -43,14 +43,14 @@ typedef uint32_t hal_timer_t; #define GPT1_TIMER_RATE (GPT_TIMER_RATE / GPT1_TIMER_PRESCALE) // 75MHz #define GPT2_TIMER_RATE (GPT_TIMER_RATE / GPT2_TIMER_PRESCALE) // 15MHz -#ifndef STEP_TIMER_NUM - #define STEP_TIMER_NUM 0 // Timer Index for Stepper +#ifndef MF_TIMER_STEP + #define MF_TIMER_STEP 0 // Timer Index for Stepper #endif -#ifndef PULSE_TIMER_NUM - #define PULSE_TIMER_NUM STEP_TIMER_NUM +#ifndef MF_TIMER_PULSE + #define MF_TIMER_PULSE MF_TIMER_STEP #endif -#ifndef TEMP_TIMER_NUM - #define TEMP_TIMER_NUM 1 // Timer Index for Temperature +#ifndef MF_TIMER_TEMP + #define MF_TIMER_TEMP 1 // Timer Index for Temperature #endif #define TEMP_TIMER_RATE 1000000 @@ -64,12 +64,12 @@ typedef uint32_t hal_timer_t; #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(STEP_TIMER_NUM) -#define DISABLE_STEPPER_DRIVER_INTERRUPT() HAL_timer_disable_interrupt(STEP_TIMER_NUM) -#define STEPPER_ISR_ENABLED() HAL_timer_interrupt_enabled(STEP_TIMER_NUM) +#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(TEMP_TIMER_NUM) -#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM) +#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(MF_TIMER_TEMP) +#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(MF_TIMER_TEMP) #ifndef HAL_STEP_TIMER_ISR #define HAL_STEP_TIMER_ISR() extern "C" void stepTC_Handler() // GPT1_Handler() @@ -87,27 +87,23 @@ 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) { switch (timer_num) { - case 0: - GPT1_OCR1 = compare - 1; - break; - case 1: - GPT2_OCR1 = compare - 1; - break; + case MF_TIMER_STEP: GPT1_OCR1 = compare - 1; break; + case MF_TIMER_TEMP: GPT2_OCR1 = compare - 1; break; } } FORCE_INLINE static hal_timer_t HAL_timer_get_compare(const uint8_t timer_num) { switch (timer_num) { - case 0: return GPT1_OCR1; - case 1: return GPT2_OCR1; + case MF_TIMER_STEP: return GPT1_OCR1; + case MF_TIMER_TEMP: return GPT2_OCR1; } return 0; } FORCE_INLINE static hal_timer_t HAL_timer_get_count(const uint8_t timer_num) { switch (timer_num) { - case 0: return GPT1_CNT; - case 1: return GPT2_CNT; + case MF_TIMER_STEP: return GPT1_CNT; + case MF_TIMER_TEMP: return GPT2_CNT; } return 0; } @@ -118,4 +114,4 @@ bool HAL_timer_interrupt_enabled(const uint8_t timer_num); void HAL_timer_isr_prologue(const uint8_t timer_num); //void HAL_timer_isr_epilogue(const uint8_t timer_num) {} -#define HAL_timer_isr_epilogue(TIMER_NUM) +#define HAL_timer_isr_epilogue(T) NOOP diff --git a/Marlin/src/HAL/platforms.h b/Marlin/src/HAL/platforms.h index e0617bdf7f..488980ce09 100644 --- a/Marlin/src/HAL/platforms.h +++ b/Marlin/src/HAL/platforms.h @@ -38,13 +38,20 @@ #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 index 129698fd30..c64376d25d 100644 --- a/Marlin/src/HAL/shared/Delay.cpp +++ b/Marlin/src/HAL/shared/Delay.cpp @@ -19,6 +19,7 @@ * along with this program. If not, see . * */ + #include "Delay.h" #include "../../inc/MarlinConfig.h" @@ -107,59 +108,61 @@ #if ENABLED(MARLIN_DEV_MODE) void dump_delay_accuracy_check() { - auto report_call_time = [](PGM_P const name, PGM_P const unit, const uint32_t cycles, const uint32_t total, const bool do_flush=true) { + 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_ECHOPGM_P(name); - SERIAL_ECHOLNPAIR(" for ", cycles); - SERIAL_ECHOPGM_P(unit); - SERIAL_ECHOLNPAIR(" took: ", total); - SERIAL_ECHOPGM_P(unit); + 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_ECHOLNPAIR("Computed delay calibration value: ", ASM_CYCLES_PER_ITERATION); + 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(PSTR("delay"), PSTR("us"), i, e - s); + 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(PSTR("runtime delay"), PSTR("cycles"), i, e - s); + 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(PSTR("delay_dwt"), PSTR("cycles"), 1, e - s); - - static PGMSTR(dcd, "DELAY_CYCLES directly "); + 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, PSTR("cycles"), 1, e - s, false); + 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, PSTR("cycles"), 5, e - s, false); + 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, PSTR("cycles"), 10, e - s, false); + 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, PSTR("cycles"), 20, e - s, false); + 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, PSTR("cycles"), 50, e - s, false); + 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, PSTR("cycles"), 100, e - s, false); + 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, PSTR("cycles"), 200, e - s, false); + report_call_time(dcd, cyc, 200, e - s, false); } } #endif // MARLIN_DEV_MODE @@ -169,7 +172,7 @@ void calibrate_delay_loop() {} #if ENABLED(MARLIN_DEV_MODE) - void dump_delay_accuracy_check() { SERIAL_ECHOPGM_P(PSTR("N/A on this platform")); } + 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 index f7e01ad25c..a6795a78ea 100644 --- a/Marlin/src/HAL/shared/Delay.h +++ b/Marlin/src/HAL/shared/Delay.h @@ -92,53 +92,83 @@ void calibrate_delay_loop(); #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__) - - #define nop() __asm__ __volatile__("nop;\n\t":::) - - FORCE_INLINE static void __delay_4cycles(uint8_t cy) { - __asm__ __volatile__( - L("1") - A("dec %[cnt]") - A("nop") - A("brne 1b") - : [cnt] "+r"(cy) // output: +r means input+output - : // input: - : "cc" // clobbers: - ); + 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 x) { - - if (__builtin_constant_p(x)) { - #define MAXNOPS 4 - - if (x <= (MAXNOPS)) { - switch (x) { case 4: nop(); case 3: nop(); case 2: nop(); case 1: nop(); } + 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 { - const uint32_t rem = (x) % (MAXNOPS); - switch (rem) { case 3: nop(); case 2: nop(); case 1: nop(); } - if ((x = (x) / (MAXNOPS))) - __delay_4cycles(x); // if need more then 4 nop loop is more optimal - } + cycles -= 1 + 4; // Compensate for the first LDI (1) and the first round (4) + __delay_up_to_3c(cycles % 4); - #undef MAXNOPS + 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) + ); } - else if ((x >>= 2)) - __delay_4cycles(x); } - #undef nop // Delay in microseconds #define DELAY_US(x) DELAY_CYCLES((x) * ((F_CPU) / 1000000UL)) -#elif defined(__PLAT_LINUX__) || defined(ESP32) + #define DELAY_CYCLES_VAR DELAY_CYCLES + +#elif defined(ESP32) || defined(__PLAT_LINUX__) || defined(__PLAT_NATIVE_SIM__) // DELAY_CYCLES specified inside platform @@ -178,9 +208,12 @@ void calibrate_delay_loop(); #endif #if ENABLED(DELAY_NS_ROUND_DOWN) - #define DELAY_NS(x) DELAY_CYCLES((x) * ((F_CPU) / 1000000UL) / 1000UL) // floor + #define _NS_TO_CYCLES(x) ( (x) * ((F_CPU) / 1000000UL) / 1000UL) // floor #elif ENABLED(DELAY_NS_ROUND_CLOSEST) - #define DELAY_NS(x) DELAY_CYCLES(((x) * ((F_CPU) / 1000000UL) + 500) / 1000UL) // round + #define _NS_TO_CYCLES(x) (((x) * ((F_CPU) / 1000000UL) + 500) / 1000UL) // round #else - #define DELAY_NS(x) DELAY_CYCLES(((x) * ((F_CPU) / 1000000UL) + 999) / 1000UL) // "ceil" + #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_L6470.cpp b/Marlin/src/HAL/shared/HAL_spi_L6470.cpp deleted file mode 100644 index bd85dbe7bd..0000000000 --- a/Marlin/src/HAL/shared/HAL_spi_L6470.cpp +++ /dev/null @@ -1,139 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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 L6470 SPI functions originally from Arduino Sd2Card Library - * Copyright (c) 2009 by William Greiman - */ - -#include "../../inc/MarlinConfig.h" - -#if HAS_L64XX - -#include "Delay.h" - -#include "../../core/serial.h" -#include "../../libs/L64XX/L64XX_Marlin.h" - -// Make sure GCC optimizes this file. -// Note that this line triggers a bug in GCC which is fixed by casting. -// See the note below. -#pragma GCC optimize (3) - -// run at ~4Mhz -inline uint8_t L6470_SpiTransfer_Mode_0(uint8_t b) { // using Mode 0 - for (uint8_t bits = 8; bits--;) { - WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80); - b <<= 1; // little setup time - - WRITE(L6470_CHAIN_SCK_PIN, HIGH); - DELAY_NS(125); // 10 cycles @ 84mhz - - b |= (READ(L6470_CHAIN_MISO_PIN) != 0); - - WRITE(L6470_CHAIN_SCK_PIN, LOW); - DELAY_NS(125); // 10 cycles @ 84mhz - } - return b; -} - -inline uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3 - for (uint8_t bits = 8; bits--;) { - WRITE(L6470_CHAIN_SCK_PIN, LOW); - WRITE(L6470_CHAIN_MOSI_PIN, b & 0x80); - - DELAY_NS(125); // 10 cycles @ 84mhz - WRITE(L6470_CHAIN_SCK_PIN, HIGH); - DELAY_NS(125); // Need more delay for fast CPUs - - b <<= 1; // little setup time - b |= (READ(L6470_CHAIN_MISO_PIN) != 0); - } - DELAY_NS(125); // 10 cycles @ 84mhz - return b; -} - -/** - * L64XX methods for SPI init and transfer - */ -void L64XX_Marlin::spi_init() { - OUT_WRITE(L6470_CHAIN_SS_PIN, HIGH); - OUT_WRITE(L6470_CHAIN_SCK_PIN, HIGH); - OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH); - SET_INPUT(L6470_CHAIN_MISO_PIN); - - #if PIN_EXISTS(L6470_BUSY) - SET_INPUT(L6470_BUSY_PIN); - #endif - - OUT_WRITE(L6470_CHAIN_MOSI_PIN, HIGH); -} - -uint8_t L64XX_Marlin::transfer_single(uint8_t data, int16_t ss_pin) { - // First device in chain has data sent last - extDigitalWrite(ss_pin, LOW); - - DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips) - const uint8_t data_out = L6470_SpiTransfer_Mode_3(data); - ENABLE_ISRS(); // Enable interrupts - - extDigitalWrite(ss_pin, HIGH); - return data_out; -} - -uint8_t L64XX_Marlin::transfer_chain(uint8_t data, int16_t ss_pin, uint8_t chain_position) { - uint8_t data_out = 0; - - // first device in chain has data sent last - extDigitalWrite(ss_pin, LOW); - - for (uint8_t i = L64XX::chain[0]; !L64xxManager.spi_abort && i >= 1; i--) { // Send data unless aborted - DISABLE_ISRS(); // Disable interrupts during SPI transfer (can't allow partial command to chips) - const uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : dSPIN_NOP)); - ENABLE_ISRS(); // Enable interrupts - if (i == chain_position) data_out = temp; - } - - extDigitalWrite(ss_pin, HIGH); - return data_out; -} - -/** - * Platform-supplied L6470 buffer transfer method - */ -void L64XX_Marlin::transfer(uint8_t L6470_buf[], const uint8_t length) { - // First device in chain has its data sent last - - if (spi_active) { // Interrupted SPI transfer so need to - WRITE(L6470_CHAIN_SS_PIN, HIGH); // guarantee min high of 650ns - DELAY_US(1); - } - - WRITE(L6470_CHAIN_SS_PIN, LOW); - for (uint8_t i = length; i >= 1; i--) - L6470_SpiTransfer_Mode_3(uint8_t(L6470_buf[i])); - WRITE(L6470_CHAIN_SS_PIN, HIGH); -} - -#pragma GCC reset_options - -#endif // HAS_L64XX diff --git a/Marlin/src/HAL/shared/Marduino.h b/Marlin/src/HAL/shared/Marduino.h index d0ee6ecc9d..0e2a021a3c 100644 --- a/Marlin/src/HAL/shared/Marduino.h +++ b/Marlin/src/HAL/shared/Marduino.h @@ -39,7 +39,7 @@ #define DISABLED(V...) DO(DIS,&&,V) #undef _BV -#define _BV(b) (1UL << (b)) +#define _BV(b) (1 << (b)) #ifndef SBI #define SBI(A,B) (A |= _BV(B)) #endif @@ -82,4 +82,15 @@ #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/HAL_MinSerial.cpp b/Marlin/src/HAL/shared/MinSerial.cpp similarity index 97% rename from Marlin/src/HAL/shared/HAL_MinSerial.cpp rename to Marlin/src/HAL/shared/MinSerial.cpp index 9dda5fdf8c..2e718d83dc 100644 --- a/Marlin/src/HAL/shared/HAL_MinSerial.cpp +++ b/Marlin/src/HAL/shared/MinSerial.cpp @@ -19,7 +19,7 @@ * along with this program. If not, see . * */ -#include "HAL_MinSerial.h" +#include "MinSerial.h" #if ENABLED(POSTMORTEM_DEBUGGING) diff --git a/Marlin/src/HAL/shared/HAL_MinSerial.h b/Marlin/src/HAL/shared/MinSerial.h similarity index 100% rename from Marlin/src/HAL/shared/HAL_MinSerial.h rename to Marlin/src/HAL/shared/MinSerial.h diff --git a/Marlin/src/HAL/shared/backtrace/backtrace.cpp b/Marlin/src/HAL/shared/backtrace/backtrace.cpp index ad88de8385..33e8e65154 100644 --- a/Marlin/src/HAL/shared/backtrace/backtrace.cpp +++ b/Marlin/src/HAL/shared/backtrace/backtrace.cpp @@ -25,7 +25,7 @@ #include "unwinder.h" #include "unwmemaccess.h" -#include "../HAL_MinSerial.h" +#include "../MinSerial.h" #include // Dump a backtrace entry diff --git a/Marlin/src/HAL/shared/backtrace/unwarm.cpp b/Marlin/src/HAL/shared/backtrace/unwarm.cpp index adbcca69cc..e72a02e487 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarm.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwarm.cpp @@ -33,8 +33,9 @@ void UnwPrintf(const char *format, ...) { va_list args; - va_start( args, format ); - vprintf(format, args ); + va_start(args, format); + vprintf(format, args); + va_end(args); } #endif diff --git a/Marlin/src/HAL/shared/backtrace/unwarm.h b/Marlin/src/HAL/shared/backtrace/unwarm.h index 86dc98c073..edae90650e 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarm.h +++ b/Marlin/src/HAL/shared/backtrace/unwarm.h @@ -4,7 +4,7 @@ * 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, commerically or otherwise. The only limitation is that I + * 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. *************************************************************************** diff --git a/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp b/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp index f1ee81ed4a..148927a19f 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwarmbytab.cpp @@ -135,11 +135,11 @@ static UnwResult UnwTabExecuteInstructions(const UnwindCallbacks *cb, UnwTabStat while ((instruction = UnwTabGetNextInstruction(cb, ucb)) != -1) { if ((instruction & 0xC0) == 0x00) { // ARM_EXIDX_CMD_DATA_POP - /* vsp = vsp + (xxxxxx << 2) + 4 */ + /* vsp += (xxxxxx << 2) + 4 */ ucb->vrs[13] += ((instruction & 0x3F) << 2) + 4; } else if ((instruction & 0xC0) == 0x40) { // ARM_EXIDX_CMD_DATA_PUSH - /* vsp = vsp - (xxxxxx << 2) - 4 */ + /* vsp -= (xxxxxx << 2) - 4 */ ucb->vrs[13] -= ((instruction & 0x3F) << 2) - 4; } else if ((instruction & 0xF0) == 0x80) { diff --git a/Marlin/src/HAL/shared/backtrace/unwarmbytab.h b/Marlin/src/HAL/shared/backtrace/unwarmbytab.h index e2f80db2a5..53aeca2594 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarmbytab.h +++ b/Marlin/src/HAL/shared/backtrace/unwarmbytab.h @@ -5,7 +5,7 @@ * 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, commerically or otherwise. The only limitation is that I + * 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. *************************************************************************** diff --git a/Marlin/src/HAL/shared/backtrace/unwarmmem.cpp b/Marlin/src/HAL/shared/backtrace/unwarmmem.cpp index a40d8540ec..24023200e1 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarmmem.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwarmmem.cpp @@ -5,7 +5,7 @@ * 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, commerically or otherwise. The only limitation is that I + * 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. *************************************************************************** diff --git a/Marlin/src/HAL/shared/backtrace/unwarmmem.h b/Marlin/src/HAL/shared/backtrace/unwarmmem.h index 1340bbdf0a..eb4579a761 100644 --- a/Marlin/src/HAL/shared/backtrace/unwarmmem.h +++ b/Marlin/src/HAL/shared/backtrace/unwarmmem.h @@ -5,7 +5,7 @@ * 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, commerically or otherwise. The only limitation is that I + * 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. *************************************************************************** diff --git a/Marlin/src/HAL/shared/backtrace/unwinder.cpp b/Marlin/src/HAL/shared/backtrace/unwinder.cpp index 0f88e2a7f7..aedfa2404d 100644 --- a/Marlin/src/HAL/shared/backtrace/unwinder.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwinder.cpp @@ -28,7 +28,7 @@ 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 supress + // > 16 because there are default entries we can't suppress return ((char*)(&__exidx_end) - (char*)(&__exidx_start)) > 16 ? 1 : 0; } diff --git a/Marlin/src/HAL/shared/backtrace/unwinder.h b/Marlin/src/HAL/shared/backtrace/unwinder.h index 8692c7a1aa..9280e2f36e 100644 --- a/Marlin/src/HAL/shared/backtrace/unwinder.h +++ b/Marlin/src/HAL/shared/backtrace/unwinder.h @@ -5,7 +5,7 @@ * 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, commerically or otherwise. The only limitation is that I + * 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. **************************************************************************/ diff --git a/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp index 2bde1e208d..a4151b38c2 100644 --- a/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp +++ b/Marlin/src/HAL/shared/backtrace/unwmemaccess.cpp @@ -41,7 +41,7 @@ #define START_FLASH_ADDR 0x00000000 #define END_FLASH_ADDR 0x00080000 -#elif defined(__STM32F1__) || defined(STM32F1xx) || defined(STM32F0xx) +#elif defined(__STM32F1__) || defined(STM32F1xx) || defined(STM32F0xx) || defined(STM32G0xx) // For STM32F103ZET6/STM32F103VET6/STM32F0xx // SRAM (0x20000000 - 0x20010000) (64kb) diff --git a/Marlin/src/HAL/shared/backtrace/unwmemaccess.h b/Marlin/src/HAL/shared/backtrace/unwmemaccess.h index 562ab3f05d..b911e343dc 100644 --- a/Marlin/src/HAL/shared/backtrace/unwmemaccess.h +++ b/Marlin/src/HAL/shared/backtrace/unwmemaccess.h @@ -5,7 +5,7 @@ * 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, commerically or otherwise. The only limitation is that I + * 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. *************************************************************************** diff --git a/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp b/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp index 124f0b7c43..e54661c770 100644 --- a/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp +++ b/Marlin/src/HAL/shared/cpu_exception/exception_arm.cpp @@ -54,7 +54,7 @@ #include "exception_hook.h" #include "../backtrace/backtrace.h" -#include "../HAL_MinSerial.h" +#include "../MinSerial.h" #define HW_REG(X) (*((volatile unsigned long *)(X))) @@ -101,7 +101,7 @@ struct __attribute__((packed)) ContextSavedFrame { uint32_t ELR; }; -#if DISABLED(STM32F0xx) +#if NONE(STM32F0xx, STM32G0xx) extern "C" __attribute__((naked)) void CommonHandler_ASM() { __asm__ __volatile__ ( @@ -221,7 +221,7 @@ bool resume_from_fault() { // 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)) { - watchdog_refresh(); + hal.watchdog_refresh(); while (millis() == last) { /* nada */ } last = millis(); MinSerial::TX('.'); @@ -322,7 +322,7 @@ void hook_cpu_exceptions() { unsigned long *vecAddr = (unsigned long*)get_vtor(); SERIAL_ECHOPGM("Vector table addr: "); - SERIAL_PRINTLN(get_vtor(), HEX); + SERIAL_PRINTLN(get_vtor(), PrintBase::Hex); #ifdef VECTOR_TABLE_SIZE uint32_t vec_size = VECTOR_TABLE_SIZE; @@ -345,11 +345,11 @@ void hook_cpu_exceptions() { // 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 alignement is required for writing the VTOR register + // 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, HEX); + SERIAL_PRINTLN(vec_size, PrintBase::Hex); #endif uint32_t defaultFaultHandler = vecAddr[(unsigned)7]; diff --git a/Marlin/src/HAL/shared/eeprom_api.h b/Marlin/src/HAL/shared/eeprom_api.h index 1f38639930..cd744f82dc 100644 --- a/Marlin/src/HAL/shared/eeprom_api.h +++ b/Marlin/src/HAL/shared/eeprom_api.h @@ -49,7 +49,7 @@ public: // Write one or more bytes of data // Return 'true' on write error - static inline bool write_data(const int pos, const uint8_t *value, const size_t size=sizeof(uint8_t)) { + 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); @@ -57,11 +57,11 @@ public: // Write a single byte of data // Return 'true' on write error - static inline bool write_data(const int pos, const uint8_t value) { return write_data(pos, &value); } + 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 inline bool read_data(const int pos, uint8_t *value, const size_t size=1) { + 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); diff --git a/Marlin/src/HAL/shared/eeprom_if_i2c.cpp b/Marlin/src/HAL/shared/eeprom_if_i2c.cpp index f6dd33b7c4..6b559e234b 100644 --- a/Marlin/src/HAL/shared/eeprom_if_i2c.cpp +++ b/Marlin/src/HAL/shared/eeprom_if_i2c.cpp @@ -30,11 +30,17 @@ #if ENABLED(I2C_EEPROM) #include "eeprom_if.h" -#include + +#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) + #if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM) uint8_t(I2C_SDA_PIN), uint8_t(I2C_SCL_PIN) #endif ); @@ -55,11 +61,24 @@ static constexpr uint8_t eeprom_device_address = I2C_ADDRESS(EEPROM_DEVICE_ADDRE // 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_device_address); - Wire.write(int(eeprom_address >> 8)); // Address High - Wire.write(int(eeprom_address & 0xFF)); // Address Low + 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) { @@ -75,7 +94,7 @@ void eeprom_write_byte(uint8_t *pos, uint8_t value) { uint8_t eeprom_read_byte(uint8_t *pos) { _eeprom_begin(pos); Wire.endTransmission(); - Wire.requestFrom(eeprom_device_address, (byte)1); + Wire.requestFrom(_eeprom_calc_device_address(pos), (byte)1); return Wire.available() ? Wire.read() : 0xFF; } diff --git a/Marlin/src/HAL/shared/eeprom_if_spi.cpp b/Marlin/src/HAL/shared/eeprom_if_spi.cpp index 6aa6e09096..72c35addcb 100644 --- a/Marlin/src/HAL/shared/eeprom_if_spi.cpp +++ b/Marlin/src/HAL/shared/eeprom_if_spi.cpp @@ -49,8 +49,8 @@ static void _eeprom_begin(uint8_t * const pos, const uint8_t cmd) { (unsigned(pos) >> 8) & 0xFF, // Address High unsigned(pos) & 0xFF // Address Low }; - WRITE(SPI_EEPROM1_CS, HIGH); // Usually free already - WRITE(SPI_EEPROM1_CS, LOW); // Activate the Bus + 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 } @@ -60,23 +60,23 @@ uint8_t eeprom_read_byte(uint8_t *pos) { const uint8_t v = spiRec(SPI_CHAN_EEPROM1); // After READ a value sits on the Bus - WRITE(SPI_EEPROM1_CS, HIGH); // Done with device + 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, LOW); + WRITE(SPI_EEPROM1_CS_PIN, LOW); spiSend(SPI_CHAN_EEPROM1, &eeprom_temp, 1); // Write Enable - WRITE(SPI_EEPROM1_CS, HIGH); // Done with the Bus + 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, HIGH); // Done with the Bus + WRITE(SPI_EEPROM1_CS_PIN, HIGH); // Done with the Bus delay(EEPROM_WRITE_DELAY); // Give page write time to complete } diff --git a/Marlin/src/HAL/shared/math_32bit.h b/Marlin/src/HAL/shared/math_32bit.h index 87e9e6406e..1fb233e3e8 100644 --- a/Marlin/src/HAL/shared/math_32bit.h +++ b/Marlin/src/HAL/shared/math_32bit.h @@ -26,6 +26,6 @@ /** * Math helper functions for 32 bit CPUs */ -static FORCE_INLINE uint32_t MultiU32X24toH32(uint32_t longIn1, uint32_t longIn2) { +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 index 539d02705e..4cd7663df9 100644 --- a/Marlin/src/HAL/shared/progmem.h +++ b/Marlin/src/HAL/shared/progmem.h @@ -38,7 +38,8 @@ #define PSTR(str) (str) #endif #ifndef F -#define F(str) (str) +class __FlashStringHelper; +#define F(str) (reinterpret_cast(PSTR(str))) #endif #ifndef _SFR_BYTE #define _SFR_BYTE(n) (n) @@ -110,7 +111,7 @@ #define strrchr_P(str, c) strrchr((str), (c)) #endif #ifndef strsep_P -#define strsep_P(strp, delim) strsep((strp), (delim)) +#define strsep_P(pstr, delim) strsep((pstr), (delim)) #endif #ifndef strspn_P #define strspn_P(str, chrs) strspn((str), (chrs)) diff --git a/Marlin/src/HAL/shared/servo.cpp b/Marlin/src/HAL/shared/servo.cpp index cfec6f3017..b838800de6 100644 --- a/Marlin/src/HAL/shared/servo.cpp +++ b/Marlin/src/HAL/shared/servo.cpp @@ -65,7 +65,7 @@ uint8_t ServoCount = 0; // the total number of attached /************ static functions common to all instances ***********************/ -static boolean isTimerActive(timer16_Sequence_t timer) { +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) @@ -101,17 +101,18 @@ int8_t Servo::attach(const int inPin, const int inMin, const int inMax) { max = (MAX_PULSE_WIDTH - inMax) / 4; // initialize the timer if it has not already been initialized - timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); - if (!isTimerActive(timer)) initISR(timer); - servo_info[servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive + 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; - timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); - if (!isTimerActive(timer)) finISR(timer); + 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) { diff --git a/Marlin/src/HAL/shared/servo.h b/Marlin/src/HAL/shared/servo.h index c2560a8538..15153ca53f 100644 --- a/Marlin/src/HAL/shared/servo.h +++ b/Marlin/src/HAL/shared/servo.h @@ -83,10 +83,10 @@ #else #include - #if defined(__AVR__) || defined(ARDUINO_ARCH_SAM) || defined(__SAMD51__) + #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 or SAMD51 processor." + #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor." #endif #define Servo_VERSION 2 // software version of this library diff --git a/Marlin/src/HAL/shared/servo_private.h b/Marlin/src/HAL/shared/servo_private.h index d85d8da8ba..8fd5ab2d88 100644 --- a/Marlin/src/HAL/shared/servo_private.h +++ b/Marlin/src/HAL/shared/servo_private.h @@ -49,8 +49,10 @@ #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 or SAMD51 processor." + #error "This library only supports boards with an AVR, SAM3X, SAMD21 or SAMD51 processor." #endif // Macros @@ -70,10 +72,10 @@ #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))) // returns the timer controlling this servo -#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % (SERVOS_PER_TIMER)) // returns the index of the servo on this timer -#define SERVO_INDEX(_timer,_channel) ((_timer*(SERVOS_PER_TIMER)) + _channel) // macro to access servo index by timer and channel -#define SERVO(_timer,_channel) (servo_info[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel +#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 @@ -94,5 +96,5 @@ extern ServoInfo_t servo_info[MAX_SERVOS]; // Public functions -extern void initISR(timer16_Sequence_t timer); -extern void finISR(timer16_Sequence_t timer); +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 index 209c9b59d0..ea57e3ccd7 100644 --- a/Marlin/src/MarlinCore.cpp +++ b/Marlin/src/MarlinCore.cpp @@ -30,10 +30,6 @@ #include "MarlinCore.h" -#if ENABLED(MARLIN_DEV_MODE) - #warning "WARNING! Disable MARLIN_DEV_MODE for the final build!" -#endif - #include "HAL/shared/Delay.h" #include "HAL/shared/esp_wifi.h" #include "HAL/shared/cpu_exception/exception_hook.h" @@ -43,17 +39,13 @@ #endif #include -#include "core/utility.h" - +#include "module/endstops.h" #include "module/motion.h" #include "module/planner.h" -#include "module/endstops.h" -#include "module/temperature.h" -#include "module/settings.h" #include "module/printcounter.h" // PrintCounter or Stopwatch - +#include "module/settings.h" #include "module/stepper.h" -#include "module/stepper/indirection.h" +#include "module/temperature.h" #include "gcode/gcode.h" #include "gcode/parser.h" @@ -68,19 +60,21 @@ #endif #if HAS_TFT_LVGL_UI - #include "lcd/extui/lib/mks_ui/tft_lvgl_configuration.h" - #include "lcd/extui/lib/mks_ui/draw_ui.h" - #include "lcd/extui/lib/mks_ui/mks_hardware_test.h" + #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 ENABLED(DWIN_CREALITY_LCD) - #include "lcd/dwin/e3v2/dwin.h" - #include "lcd/dwin/e3v2/rotary_encoder.h" -#endif - -#if ENABLED(EXTENSIBLE_UI) - #include "lcd/extui/ui_api.h" +#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" + #elif ENABLED(DWIN_CREALITY_LCD_JYERSUI) + #include "lcd/e3v2/jyersui/dwin.h" + #endif #endif #if HAS_ETHERNET @@ -99,7 +93,7 @@ #include "feature/host_actions.h" #endif -#if USE_BEEPER +#if HAS_BEEPER #include "libs/buzzer.h" #endif @@ -127,6 +121,10 @@ #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 @@ -135,7 +133,7 @@ #include "module/servo.h" #endif -#if ENABLED(HAS_MOTOR_CURRENT_DAC) +#if HAS_MOTOR_CURRENT_DAC #include "feature/dac/stepper_dac.h" #endif @@ -147,7 +145,7 @@ #include "feature/encoder_i2c.h" #endif -#if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF) +#if (HAS_TRINAMIC_CONFIG || HAS_TMC_SPI) && DISABLED(PSU_DEFAULT_OFF) #include "feature/tmc_util.h" #endif @@ -166,6 +164,8 @@ #if ENABLED(DELTA) #include "module/delta.h" +#elif ENABLED(POLARGRAPH) + #include "module/polargraph.h" #elif IS_SCARA #include "module/scara.h" #endif @@ -212,16 +212,20 @@ #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_MMU2 - #include "feature/mmu/mmu2.h" +#if HAS_PRUSA_MMU1 + #include "feature/mmu/mmu.h" #endif -#if HAS_L64XX - #include "libs/L64XX/L64XX_Marlin.h" +#if HAS_PRUSA_MMU2 + #include "feature/mmu/mmu2.h" #endif #if ENABLED(PASSWORD_FEATURE) @@ -229,13 +233,25 @@ #endif #if ENABLED(DGUS_LCD_UI_MKS) - #include "lcd/extui/lib/dgus/DGUSScreenHandler.h" + #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; @@ -255,6 +271,7 @@ bool wait_for_heatup = true; 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 @@ -282,67 +299,41 @@ bool wait_for_heatup = true; #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) { - static const pin_t sensitive_pins[] PROGMEM = SENSITIVE_PINS; - LOOP_L_N(i, COUNT(sensitive_pins)) { - pin_t sensitive_pin; - memcpy_P(&sensitive_pin, &sensitive_pins[i], sizeof(pin_t)); - if (pin == sensitive_pin) return true; + #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 -void enable_e_steppers() { - #define _ENA_E(N) ENABLE_AXIS_E##N(); - REPEAT(E_STEPPERS, _ENA_E) -} - -void enable_all_steppers() { - TERN_(AUTO_POWER_CONTROL, powerManager.power_on()); - ENABLE_AXIS_X(); - ENABLE_AXIS_Y(); - ENABLE_AXIS_Z(); - enable_e_steppers(); - - TERN_(EXTENSIBLE_UI, ExtUI::onSteppersEnabled()); -} - -void disable_e_steppers() { - #define _DIS_E(N) DISABLE_AXIS_E##N(); - REPEAT(E_STEPPERS, _DIS_E) -} - -void disable_e_stepper(const uint8_t e) { - #define _CASE_DIS_E(N) case N: DISABLE_AXIS_E##N(); break; - switch (e) { - REPEAT(EXTRUDERS, _CASE_DIS_E) - } -} - -void disable_all_steppers() { - DISABLE_AXIS_X(); - DISABLE_AXIS_Y(); - DISABLE_AXIS_Z(); - disable_e_steppers(); - - TERN_(EXTENSIBLE_UI, ExtUI::onSteppersDisabled()); +bool printer_busy() { + return planner.movesplanned() || printingIsActive(); } /** - * A Print Job exists when the timer is running or SD printing + * A Print Job exists when the timer is running or SD is printing */ -bool printJobOngoing() { - return print_job_timer.isRunning() || IS_SD_PRINTING(); -} +bool printJobOngoing() { return print_job_timer.isRunning() || IS_SD_PRINTING(); } /** - * Printing is active when the print job timer is running + * Printing is active when a job is underway but not paused */ -bool printingIsActive() { - return !did_pause_print && (print_job_timer.isRunning() || IS_SD_PRINTING()); -} +bool printingIsActive() { return !did_pause_print && printJobOngoing(); } /** * Printing is paused according to SD or host indicators @@ -356,7 +347,7 @@ void startOrResumeJob() { TERN_(GCODE_REPEAT_MARKERS, repeat.reset()); TERN_(CANCEL_OBJECTS, cancelable.reset()); TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator = 0); - #if BOTH(LCD_SET_PROGRESS_MANUALLY, USE_M73_REMAINING_TIME) + #if ENABLED(SET_REMAINING_TIME) ui.reset_remaining_time(); #endif } @@ -367,7 +358,7 @@ void startOrResumeJob() { inline void abortSDPrinting() { IF_DISABLED(NO_SD_AUTOSTART, card.autofile_cancel()); - card.endFilePrint(TERN_(SD_RESORT, true)); + card.abortFilePrintNow(TERN_(SD_RESORT, true)); queue.clear(); quickstop_stepper(); @@ -383,15 +374,15 @@ void startOrResumeJob() { TERN_(POWER_LOSS_RECOVERY, recovery.purge()); #ifdef EVENT_GCODE_SD_ABORT - queue.inject_P(PSTR(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_P(PSTR("M1001"))) { - marlin_state = MF_RUNNING; + 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()); } @@ -412,50 +403,58 @@ void startOrResumeJob() { * - 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 ignore_stepper_queue=false) { +inline void manage_inactivity(const bool no_stepper_sleep=false) { queue.get_available_commands(); const millis_t ms = millis(); - // Prevent steppers timing-out in the middle of M600 - // unless PAUSE_PARK_NO_STEPPER_TIMEOUT is disabled - const bool parked_or_ignoring = ignore_stepper_queue + // 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 (parked_or_ignoring) gcode.reset_stepper_timeout(ms); + if (do_reset_timeout) gcode.reset_stepper_timeout(ms); if (gcode.stepper_max_timed_out(ms)) { - SERIAL_ERROR_MSG(STR_KILL_INACTIVE_TIME, parser.command_ptr); + 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 (gcode.stepper_inactive_time) { + #if HAS_DISABLE_INACTIVE_AXIS + if (gcode.stepper_inactive_time) { - static bool already_shutdown_steppers; // = false + static bool already_shutdown_steppers; // = false - // Any moves in the planner? Resets both the M18/M84 - // activity timeout and the M85 max 'kill' timeout - if (planner.has_blocks_queued()) - gcode.reset_stepper_timeout(ms); - else if (!parked_or_ignoring && gcode.stepper_inactive_timeout()) { - if (!already_shutdown_steppers) { - already_shutdown_steppers = true; // L6470 SPI will consume 99% of free time without this + 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 - if (ENABLED(DISABLE_INACTIVE_X)) DISABLE_AXIS_X(); - if (ENABLED(DISABLE_INACTIVE_Y)) DISABLE_AXIS_Y(); - if (ENABLED(DISABLE_INACTIVE_Z)) DISABLE_AXIS_Z(); - if (ENABLED(DISABLE_INACTIVE_E)) disable_e_steppers(); + // 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_E, stepper.disable_e_steppers()); - TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled()); + TERN_(AUTO_BED_LEVELING_UBL, bedlevel.steppers_were_disabled()); + } } + else + already_shutdown_steppers = false; } - 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) @@ -482,20 +481,25 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { // KILL the machine // ---------------------------------------------------------------- if (killCount >= KILL_DELAY) { - SERIAL_ERROR_MSG(STR_KILL_BUTTON); + 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 - const millis_t ms = millis(); if (ELAPSED(ms, next_home_key_ms)) { next_home_key_ms = ms + HOME_DEBOUNCE_DELAY; - LCD_MESSAGEPGM(MSG_AUTO_HOME); + LCD_MESSAGE(MSG_AUTO_HOME); queue.inject_P(G28_STR); } } @@ -504,102 +508,157 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { #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) && defined(BUTTON##N##_DESC)) - #define CHECK_CUSTOM_USER_BUTTON(N) do{ \ + #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)) { \ - const millis_t ms = millis(); \ if (ELAPSED(ms, next_cub_ms_##N)) { \ next_cub_ms_##N = ms + CUB_DEBOUNCE_DELAY_##N; \ - if (strlen(BUTTON##N##_DESC)) \ - LCD_MESSAGEPGM_P(PSTR(BUTTON##N##_DESC)); \ - queue.inject_P(PSTR(BUTTON##N##_GCODE)); \ + CODE; \ + queue.inject(F(BUTTON##N##_GCODE)); \ + TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); \ } \ } \ }while(0) - #if HAS_CUSTOM_USER_BUTTON(1) + #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_CUSTOM_USER_BUTTON(2) + #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_CUSTOM_USER_BUTTON(3) + #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_CUSTOM_USER_BUTTON(4) + #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_CUSTOM_USER_BUTTON(5) + #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_CUSTOM_USER_BUTTON(6) + #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_CUSTOM_USER_BUTTON(7) + #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_CUSTOM_USER_BUTTON(8) + #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_CUSTOM_USER_BUTTON(9) + #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_CUSTOM_USER_BUTTON(10) + #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_CUSTOM_USER_BUTTON(11) + #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_CUSTOM_USER_BUTTON(12) + #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_CUSTOM_USER_BUTTON(13) + #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_CUSTOM_USER_BUTTON(14) + #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_CUSTOM_USER_BUTTON(15) + #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_CUSTOM_USER_BUTTON(16) + #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_CUSTOM_USER_BUTTON(17) + #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_CUSTOM_USER_BUTTON(18) + #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_CUSTOM_USER_BUTTON(19) + #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_CUSTOM_USER_BUTTON(20) + #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_CUSTOM_USER_BUTTON(21) + #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_CUSTOM_USER_BUTTON(22) + #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_CUSTOM_USER_BUTTON(23) + #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_CUSTOM_USER_BUTTON(24) + #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_CUSTOM_USER_BUTTON(25) + #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()); + TERN_(AUTO_POWER_CONTROL, powerManager.check(!ui.on_status_screen() || printJobOngoing() || printingIsPaused())); TERN_(HOTEND_IDLE_TIMEOUT, hotend_idle.check()); @@ -611,13 +670,13 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { #if ENABLED(SWITCHING_EXTRUDER) bool oldstatus; switch (active_extruder) { - default: oldstatus = E0_ENABLE_READ(); ENABLE_AXIS_E0(); break; + default: oldstatus = stepper.AXIS_IS_ENABLED(E_AXIS, 0); stepper.ENABLE_EXTRUDER(0); break; #if E_STEPPERS > 1 - case 2: case 3: oldstatus = E1_ENABLE_READ(); ENABLE_AXIS_E1(); break; + 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 = E2_ENABLE_READ(); ENABLE_AXIS_E2(); break; + 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 = E3_ENABLE_READ(); ENABLE_AXIS_E3(); break; + 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 @@ -626,7 +685,7 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { bool oldstatus; switch (active_extruder) { default: - #define _CASE_EN(N) case N: oldstatus = E##N##_ENABLE_READ(); ENABLE_AXIS_E##N(); break; + #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 @@ -640,17 +699,17 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { #if ENABLED(SWITCHING_EXTRUDER) switch (active_extruder) { - default: oldstatus = E0_ENABLE_WRITE(oldstatus); break; + default: if (oldstatus) stepper.ENABLE_EXTRUDER(0); else stepper.DISABLE_EXTRUDER(0); break; #if E_STEPPERS > 1 - case 2: case 3: oldstatus = E1_ENABLE_WRITE(oldstatus); break; + case 2: case 3: if (oldstatus) stepper.ENABLE_EXTRUDER(1); else stepper.DISABLE_EXTRUDER(1); break; #if E_STEPPERS > 2 - case 4: case 5: oldstatus = E2_ENABLE_WRITE(oldstatus); break; + 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 // !SWITCHING_EXTRUDER switch (active_extruder) { - #define _CASE_RESTORE(N) case N: E##N##_ENABLE_WRITE(oldstatus); break; + #define _CASE_RESTORE(N) case N: if (oldstatus) stepper.ENABLE_EXTRUDER(N); else stepper.DISABLE_EXTRUDER(N); break; REPEAT(E_STEPPERS, _CASE_RESTORE); } #endif // !SWITCHING_EXTRUDER @@ -674,8 +733,6 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { TERN_(MONITOR_DRIVER_STATUS, monitor_tmc_drivers()); - TERN_(MONITOR_L6470_DRIVER_STATUS, L64xxManager.monitor_driver()); - // Limit check_axes_activity frequency to 10Hz static millis_t next_check_axes_ms = 0; if (ELAPSED(ms, next_check_axes_ms)) { @@ -716,17 +773,24 @@ inline void manage_inactivity(const bool ignore_stepper_queue=false) { * - Update the Průša MMU2 * - Handle Joystick jogging */ -void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) { - #if ENABLED(MARLIN_DEV_MODE) - static uint16_t idle_depth = 0; - if (++idle_depth > 5) SERIAL_ECHOLNPAIR("idle() call depth: ", idle_depth); +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(TERN_(ADVANCED_PAUSE_FEATURE, no_stepper_sleep)); + manage_inactivity(no_stepper_sleep); // Manage Heaters (and Watchdog) - thermalManager.manage_heater(); + thermalManager.task(); // Max7219 heartbeat, animation, etc TERN_(MAX7219_DEBUG, max7219.idle_tasks()); @@ -738,25 +802,26 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) { (void)check_tool_sensor_stats(active_extruder, true); // Handle filament runout sensors - TERN_(HAS_FILAMENT_SENSOR, runout.run()); + #if HAS_FILAMENT_SENSOR + if (TERN1(HAS_PRUSA_MMU2, !mmu2.enabled())) + runout.run(); + #endif // Run HAL idle tasks - TERN_(HAL_IDLETASK, HAL_idletask()); + hal.idletask(); // Check network connection TERN_(HAS_ETHERNET, ethernet.check()); // Handle Power-Loss Recovery #if ENABLED(POWER_LOSS_RECOVERY) && PIN_EXISTS(POWER_LOSS) - if (printJobOngoing()) recovery.outage(); + 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) // Read SGT 4 times per idle loop - if (endstops.tmc_spi_homing_check()) break; + 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 @@ -772,7 +837,7 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) { TERN_(PRINTCOUNTER, print_job_timer.tick()); // Update the Beeper queue - TERN_(USE_BEEPER, buzzer.tick()); + TERN_(HAS_BEEPER, buzzer.tick()); // Handle UI input / draw events TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update()); @@ -795,7 +860,10 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) { #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 @@ -820,26 +888,27 @@ void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep/*=false*/)) { * Kill all activity and lock the machine. * After this the machine will need to be reset. */ -void kill(PGM_P const lcd_error/*=nullptr*/, PGM_P const lcd_component/*=nullptr*/, const bool steppers_off/*=false*/) { +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 - SERIAL_ERROR_MSG(STR_ERR_KILLED); + // 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(MSG_KILLED), lcd_component ?: NUL_STR); + ui.kill_screen(lcd_error ?: GET_TEXT_F(MSG_KILLED), lcd_component ?: FPSTR(NUL_STR)); #else - UNUSED(lcd_error); - UNUSED(lcd_component); + UNUSED(lcd_error); UNUSED(lcd_component); #endif - #if HAS_TFT_LVGL_UI - lv_draw_error_message(lcd_error); - #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 - host_action_kill(); + hostui.kill(); #endif minkill(steppers_off); @@ -861,28 +930,28 @@ void minkill(const bool steppers_off/*=false*/) { TERN_(HAS_CUTTER, cutter.kill()); // Reiterate cutter shutdown // Power off all steppers (for M112) or just the E steppers - steppers_off ? disable_all_steppers() : disable_e_steppers(); + steppers_off ? stepper.disable_all_steppers() : stepper.disable_e_steppers(); - TERN_(PSU_CONTROL, PSU_OFF()); + 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())) - watchdog_refresh(); + while (TERN0(HAS_KILL, kill_state()) || TERN0(SOFT_RESET_ON_KILL, ui.button_pressed())) + hal.watchdog_refresh(); - // Wait for either KILL or ENC press - while (TERN1(HAS_KILL, kill_state()) && TERN1(SOFT_RESET_ON_KILL, ui.button_pressed())) - 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(); + hal.reboot(); #else - for (;;) watchdog_refresh(); // Wait for RESET button or power-cycle + for (;;) hal.watchdog_refresh(); // Wait for RESET button or power-cycle #endif } @@ -900,9 +969,9 @@ void stop() { thermalManager.set_fans_paused(false); // Un-pause fans for safety #endif - if (IsRunning()) { + if (!IsStopped()) { SERIAL_ERROR_MSG(STR_ERR_STOPPED); - LCD_MESSAGEPGM(MSG_STOPPED); + LCD_MESSAGE(MSG_STOPPED); safe_delay(350); // allow enough time for messages to get out before stopping marlin_state = MF_STOPPED; } @@ -933,6 +1002,24 @@ inline void tmc_standby_setup() { #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 @@ -978,10 +1065,9 @@ inline void tmc_standby_setup() { * • TMC220x Stepper Drivers (Serial) * • PSU control * • Power-loss Recovery - * • L64XX Stepper Drivers (SPI) * • Stepper Driver Reset: DISABLE * • TMC Stepper Drivers (SPI) - * • Run BOARD_INIT if defined + * • Run hal.init_board() for additional pins setup * • ESP WiFi * - Get the Reset Reason and report it * - Print startup messages and diagnostics @@ -1048,12 +1134,20 @@ inline void tmc_standby_setup() { * - 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(); @@ -1071,9 +1165,20 @@ void setup() { while (!MYSERIAL1.connected() && PENDING(millis(), serial_connect_timeout)) { /*nada*/ } #if HAS_MULTI_SERIAL && !HAS_ETHERNET - MYSERIAL2.begin(BAUDRATE); + #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"); @@ -1087,39 +1192,46 @@ void setup() { #endif #endif - #if HAS_SUICIDE - SETUP_LOG("SUICIDE_PIN"); - OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING); - #endif - - #if EITHER(DISABLE_DEBUG, DISABLE_JTAG) - // Disable any hardware debug to free up pins for IO - #if ENABLED(DISABLE_DEBUG) && defined(JTAGSWD_DISABLE) - JTAGSWD_DISABLE(); - #elif defined(JTAG_DISABLE) - JTAG_DISABLE(); + #if ENABLED(FREEZE_FEATURE) + SETUP_LOG("FREEZE_PIN"); + #if FREEZE_STATE + SET_INPUT_PULLDOWN(FREEZE_PIN); #else - #error "DISABLE_(DEBUG|JTAG) is not supported for the selected MCU/Board." + SET_INPUT_PULLUP(FREEZE_PIN); #endif #endif - #if BOTH(HAS_TFT_LVGL_UI, MKS_WIFI_MODULE) - mks_esp_wifi_init(); - WIFISERIAL.begin(WIFI_BAUDRATE); - serial_connect_timeout = millis() + 1000UL; - while (/*!WIFISERIAL && */PENDING(millis(), serial_connect_timeout)) { /*nada*/ } + #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()); + SETUP_RUN(hal.init()); // Init and disable SPI thermocouples; this is still needed - #if TEMP_SENSOR_0_IS_MAX_TC - OUT_WRITE(MAX6675_SS_PIN, HIGH); // Disable + #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_1_IS_MAX_TC - OUT_WRITE(MAX6675_SS2_PIN, HIGH); // Disable + #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) @@ -1134,24 +1246,6 @@ void setup() { SETUP_RUN(tmc_serial_begin()); #endif - #if ENABLED(PSU_CONTROL) - SETUP_LOG("PSU_CONTROL"); - powersupply_on = ENABLED(PSU_DEFAULT_OFF); - if (ENABLED(PSU_DEFAULT_OFF)) PSU_OFF(); else PSU_ON(); - #endif - - #if ENABLED(POWER_LOSS_RECOVERY) - SETUP_RUN(recovery.setup()); - #endif - - #if HAS_L64XX - SETUP_RUN(L64xxManager.init()); // Set up SPI, init drivers - #endif - - #if HAS_STEPPER_RESET - SETUP_RUN(disableStepperDrivers()); - #endif - #if HAS_TMC_SPI #if DISABLED(TMC_USE_SW_SPI) SETUP_RUN(SPI.begin()); @@ -1159,40 +1253,46 @@ void setup() { SETUP_RUN(tmc_init_cs_pins()); #endif - #ifdef BOARD_INIT - SETUP_LOG("BOARD_INIT"); - BOARD_INIT(); + #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()); - // Check startup - does nothing if bootloader sets MCUSR to 0 - const byte mcu = HAL_get_reset_source(); - if (mcu & RST_POWER_ON) SERIAL_ECHOLNPGM(STR_POWERUP); - if (mcu & RST_EXTERNAL) SERIAL_ECHOLNPGM(STR_EXTERNAL_RESET); + // 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); - HAL_clear_reset_source(); + if (mcu & RST_WATCHDOG) SERIAL_ECHOLNPGM(STR_WATCHDOG_RESET); + if (mcu & RST_SOFTWARE) SERIAL_ECHOLNPGM(STR_SOFTWARE_RESET); - SERIAL_ECHOPGM_P(GET_TEXT(MSG_MARLIN)); - SERIAL_CHAR(' '); - SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION); - SERIAL_EOL(); + // 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__); - SERIAL_ECHO_MSG(STR_FREE_MEMORY, freeMemory(), STR_PLANNER_BUFFER_BYTES, sizeof(block_t) * (BLOCK_BUFFER_SIZE)); + SERIAL_ECHO_MSG(" Compiled: " __DATE__); + 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 USE_BEEPER + #if HAS_BEEPER SETUP_RUN(buzzer.init()); #endif @@ -1209,23 +1309,12 @@ void setup() { SETUP_RUN(controllerFan.setup()); #endif + TERN_(HAS_FANCHECK, fan_check.init()); + // UI must be initialized before EEPROM // (because EEPROM code calls the UI). - #if ENABLED(DWIN_CREALITY_LCD) - delay(800); // Required delay (since boot?) - SERIAL_ECHOPGM("\nDWIN handshake "); - if (DWIN_Handshake()) SERIAL_ECHOLNPGM("ok."); else SERIAL_ECHOLNPGM("error."); - DWIN_Frame_SetDir(1); // Orientation 90° - DWIN_UpdateLCD(); // Show bootscreen (first image) - #else - SETUP_RUN(ui.init()); - #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN) - SETUP_RUN(ui.show_bootscreen()); - const millis_t bootscreen_ms = millis(); - #endif - SETUP_RUN(ui.reset_status()); // Load welcome message early. (Retained if no errors exist.) - #endif + SETUP_RUN(ui.init()); #if PIN_EXISTS(SAFE_POWER) #if HAS_DRIVER_SAFE_POWER_PROTECT @@ -1236,10 +1325,6 @@ void setup() { #endif #endif - #if ENABLED(PROBE_TARE) - SETUP_RUN(probe.tare_init()); - #endif - #if BOTH(SDSUPPORT, SDCARD_EEPROM_EMULATION) SETUP_RUN(card.mount()); // Mount media with settings before first_load #endif @@ -1247,12 +1332,21 @@ void setup() { 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(touch.init()); + SETUP_RUN(touchBt.init()); #endif TERN_(HAS_M206_COMMAND, current_position += home_offset); // Init current position based on home_offset @@ -1265,6 +1359,10 @@ void setup() { 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 @@ -1291,6 +1389,9 @@ void setup() { #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 @@ -1302,7 +1403,7 @@ void setup() { SETUP_RUN(digipot_i2c.init()); #endif - #if ENABLED(HAS_MOTOR_CURRENT_DAC) + #if HAS_MOTOR_CURRENT_DAC SETUP_RUN(stepper_dac.init()); #endif @@ -1406,10 +1507,7 @@ void setup() { #endif #if HAS_PRUSA_MMU1 - SETUP_LOG("Prusa MMU1"); - SET_OUTPUT(E_MUX0_PIN); - SET_OUTPUT(E_MUX1_PIN); - SET_OUTPUT(E_MUX2_PIN); + SETUP_RUN(mmu_init()); #endif #if HAS_FANMUX @@ -1424,6 +1522,10 @@ void setup() { 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 @@ -1460,7 +1562,7 @@ void setup() { #endif #if ENABLED(USE_WATCHDOG) - SETUP_RUN(watchdog_init()); // Reinit watchdog after HAL_get_reset_source call + SETUP_RUN(hal.watchdog_init()); // Reinit watchdog after hal.get_reset_source call #endif #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) @@ -1469,15 +1571,11 @@ void setup() { #ifdef STARTUP_COMMANDS SETUP_LOG("STARTUP_COMMANDS"); - queue.inject_P(PSTR(STARTUP_COMMANDS)); + queue.inject(F(STARTUP_COMMANDS)); #endif #if ENABLED(HOST_PROMPT_SUPPORT) - SETUP_RUN(host_action_prompt_end()); - #endif - - #if HAS_TRINAMIC_CONFIG && DISABLED(PSU_DEFAULT_OFF) - SETUP_RUN(test_tmc_connection(true, true, true, true)); + SETUP_RUN(hostui.prompt_end()); #endif #if HAS_DRIVER_SAFE_POWER_PROTECT @@ -1494,16 +1592,12 @@ void setup() { SERIAL_ECHO_TERNARY(err, "BL24CXX Check ", "failed", "succeeded", "!\n"); #endif - #if ENABLED(DWIN_CREALITY_LCD) - Encoder_Configuration(); - HMI_Init(); - DWIN_JPG_CacheTo1(Language_English); - HMI_StartFrame(true); - DWIN_StatusChanged(GET_TEXT(WELCOME_MSG)); + #if HAS_DWIN_E3V2_BASIC + SETUP_RUN(DWIN_InitScreen()); #endif - #if HAS_SERVICE_INTERVALS && DISABLED(DWIN_CREALITY_LCD) - ui.reset_status(true); // Show service messages or keep current status + #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) @@ -1524,7 +1618,7 @@ void setup() { #if BOTH(HAS_WIRED_LCD, SHOW_BOOTSCREEN) const millis_t elapsed = millis() - bootscreen_ms; #if ENABLED(MARLIN_DEV_MODE) - SERIAL_ECHOLNPAIR("elapsed=", elapsed); + SERIAL_ECHOLNPGM("elapsed=", elapsed); #endif SETUP_RUN(ui.bootscreen_completion(elapsed)); #endif @@ -1533,13 +1627,27 @@ void setup() { SETUP_RUN(password.lock_machine()); // Will not proceed until correct password provided #endif - #if BOTH(HAS_LCD_MENU, TOUCH_SCREEN_CALIBRATION) && EITHER(TFT_CLASSIC_UI, TFT_COLOR_UI) - ui.check_touch_calibration(); + #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()); } /** @@ -1566,9 +1674,15 @@ void loop() { 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 index d43d46bbd8..f80405a302 100644 --- a/Marlin/src/MarlinCore.h +++ b/Marlin/src/MarlinCore.h @@ -23,10 +23,6 @@ #include "inc/MarlinConfig.h" -#ifdef DEBUG_GCODE_PARSER - #include "gcode/parser.h" -#endif - #include #include #include @@ -34,45 +30,39 @@ void stop(); // Pass true to keep steppers from timing out -void idle(TERN_(ADVANCED_PAUSE_FEATURE, bool no_stepper_sleep=false)); -inline void idle_no_sleep() { idle(TERN_(ADVANCED_PAUSE_FEATURE, true)); } +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 -/** - * The axis order in all axis related arrays is X, Y, Z, E - */ -void enable_e_steppers(); -void enable_all_steppers(); -void disable_e_stepper(const uint8_t e); -void disable_e_steppers(); -void disable_all_steppers(); - -void kill(PGM_P const lcd_error=nullptr, PGM_P const lcd_component=nullptr, const bool steppers_off=false); +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_RUNNING = _BV(0), - MF_PAUSED = _BV(1), - MF_WAITING = _BV(2), - MF_STOPPED = _BV(3), - MF_SD_COMPLETE = _BV(4), - MF_KILLED = _BV(7) + 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_RUNNING; } +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 @@ -80,25 +70,10 @@ extern bool wait_for_heatup; void wait_for_user_response(millis_t ms=0, const bool no_sleep=false); #endif -#if ENABLED(PSU_CONTROL) - extern bool powersupply_on; - #define PSU_PIN_ON() do{ OUT_WRITE(PS_ON_PIN, PSU_ACTIVE_STATE); powersupply_on = true; }while(0) - #define PSU_PIN_OFF() do{ OUT_WRITE(PS_ON_PIN, !PSU_ACTIVE_STATE); powersupply_on = false; }while(0) - #if ENABLED(AUTO_POWER_CONTROL) - #define PSU_ON() powerManager.power_on() - #define PSU_OFF() powerManager.power_off() - #define PSU_OFF_SOON() powerManager.power_off_soon() - #else - #define PSU_ON() PSU_PIN_ON() - #define PSU_OFF() PSU_PIN_OFF() - #define PSU_OFF_SOON PSU_OFF - #endif -#endif - bool pin_is_protected(const pin_t pin); #if HAS_SUICIDE - inline void suicide() { OUT_WRITE(SUICIDE_PIN, SUICIDE_PIN_INVERTING); } + inline void suicide() { OUT_WRITE(SUICIDE_PIN, SUICIDE_PIN_STATE); } #endif #if HAS_KILL diff --git a/Marlin/src/core/boards.h b/Marlin/src/core/boards.h index 614a3b6e9e..15767a8185 100644 --- a/Marlin/src/core/boards.h +++ b/Marlin/src/core/boards.h @@ -110,11 +110,14 @@ #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_RAMPS_S_12_EEFB 1157 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_RAMPS_S_12_EEEB 1158 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend0, Hotend1, Hotend2, Bed) -#define BOARD_RAMPS_S_12_EFFB 1159 // Ramps S 1.2 by Sakul.cz (Power outputs: Hotend, Fan0, Fan1, Bed) -#define BOARD_LONGER3D_LK1_PRO 1160 // Longer LK1 PRO / Alfawise U20 Pro (PRO version) -#define BOARD_LONGER3D_LKx_PRO 1161 // Longer LKx PRO / Alfawise Uxx Pro (PRO version) +#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 @@ -149,16 +152,20 @@ #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/D) -#define BOARD_GT2560_V4 1318 // Geeetech GT2560 Rev B for A10(M/D) +#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/D) +#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 @@ -222,33 +229,34 @@ #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 (Power outputs: Hotend0, Hotend1, Bed, Fan) +#define BOARD_MKS_SBASE 2005 // MKS-Sbase #define BOARD_AZSMZ_MINI 2006 // AZSMZ Mini -#define BOARD_BIQU_BQ111_A4 2007 // BIQU BQ111-A4 (Power outputs: Hotend, Fan, Bed) -#define BOARD_SELENA_COMPACT 2008 // Selena Compact (Power outputs: Hotend0, Hotend1, Bed0, Bed1, Fan0, Fan1) -#define BOARD_BIQU_B300_V1_0 2009 // BIQU B300_V1.0 (Power outputs: Hotend0, Fan, Bed, SPI Driver) -#define BOARD_MKS_SGEN_L 2010 // MKS-SGen-L (Power outputs: Hotend0, Hotend1, Bed, Fan) +#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 (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_BTT_SKR_V1_3 2013 // BigTreeTech SKR v1.3 (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_BTT_SKR_V1_4 2014 // BigTreeTech SKR v1.4 (Power outputs: Hotend0, Hotend1, Fan, Bed) +#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 (Power outputs: Hotend0, Hotend1, Bed, Fan) -#define BOARD_AZTEEG_X5_GT 2501 // Azteeg X5 GT (Power outputs: Hotend0, Hotend1, Bed, Fan) -#define BOARD_AZTEEG_X5_MINI 2502 // Azteeg X5 Mini (Power outputs: Hotend0, Bed, Fan) -#define BOARD_AZTEEG_X5_MINI_WIFI 2503 // Azteeg X5 Mini Wifi (Power outputs: Hotend0, Bed, Fan) +#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 (Power outputs: Hotend0, Hotend1, Fan, Bed) -#define BOARD_MKS_SGEN_L_V2 2509 // MKS SGEN_L V2 (Power outputs: Hotend0, Hotend1, Bed, Fan) -#define BOARD_BTT_SKR_E3_TURBO 2510 // BigTreeTech SKR E3 Turbo (Power outputs: Hotend0, Hotend1, Bed, Fan0, Fan1) -#define BOARD_FLY_CDY 2511 // FLY_CDY (Power outputs: Hotend0, Hotend1, Hotend2, Bed, Fan0, Fan1, Fan2) +#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 @@ -274,8 +282,8 @@ #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 (Power outputs: Hotend0, Hotend1, Hotend2, Fan0, Fan1, Bed) -#define BOARD_RURAMPS4D_13 3021 // RuRAMPS4Duo v1.3 (Power outputs: Hotend0, Hotend1, Hotend2, Fan0, Fan1, Bed) +#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) @@ -287,7 +295,7 @@ // SAM3X8C ARM Cortex M3 // -#define BOARD_PRINTRBOARD_G2 3100 // PRINTRBOARD G2 +#define BOARD_PRINTRBOARD_G2 3100 // Printrboard G2 #define BOARD_ADSK 3101 // Arduino DUE Shield Kit (ADSK) // @@ -297,53 +305,72 @@ #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 // STM32C8T6 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 // STM32F103VET6 controller -#define BOARD_GTM32_MINI 4006 // STM32F103VET6 controller -#define BOARD_GTM32_MINI_A30 4007 // STM32F103VET6 controller -#define BOARD_GTM32_REV_B 4008 // STM32F103VET6 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 (STM32F103RET6) -#define BOARD_MKS_ROBIN 4011 // MKS Robin (STM32F103ZET6) -#define BOARD_MKS_ROBIN_MINI 4012 // MKS Robin Mini (STM32F103VET6) -#define BOARD_MKS_ROBIN_NANO 4013 // MKS Robin Nano (STM32F103VET6) -#define BOARD_MKS_ROBIN_NANO_V2 4014 // MKS Robin Nano V2 (STM32F103VET6) -#define BOARD_MKS_ROBIN_LITE 4015 // MKS Robin Lite/Lite2 (STM32F103RCT6) -#define BOARD_MKS_ROBIN_LITE3 4016 // MKS Robin Lite3 (STM32F103RCT6) -#define BOARD_MKS_ROBIN_PRO 4017 // MKS Robin Pro (STM32F103ZET6) -#define BOARD_MKS_ROBIN_E3 4018 // MKS Robin E3 (STM32F103RCT6) -#define BOARD_MKS_ROBIN_E3_V1_1 4019 // MKS Robin E3 V1.1 (STM32F103RCT6) -#define BOARD_MKS_ROBIN_E3D 4020 // MKS Robin E3D (STM32F103RCT6) -#define BOARD_MKS_ROBIN_E3D_V1_1 4021 // MKS Robin E3D V1.1 (STM32F103RCT6) -#define BOARD_MKS_ROBIN_E3P 4022 // MKS Robin E3p (STM32F103VET6) +#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_SKR_MINI_V1_1 4023 // BigTreeTech SKR Mini v1.1 (STM32F103RC) #define BOARD_BTT_SKR_MINI_E3_V1_0 4024 // BigTreeTech SKR Mini E3 (STM32F103RC) #define BOARD_BTT_SKR_MINI_E3_V1_2 4025 // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC) -#define BOARD_BTT_SKR_MINI_E3_V2_0 4026 // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC) -#define BOARD_BTT_SKR_MINI_MZ_V1_0 4027 // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC) -#define BOARD_BTT_SKR_E3_DIP 4028 // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE) -#define BOARD_BTT_SKR_CR6 4029 // BigTreeTech SKR CR6 v1.0 (STM32F103RE) -#define BOARD_JGAURORA_A5S_A1 4030 // JGAurora A5S A1 (STM32F103ZET6) -#define BOARD_FYSETC_AIO_II 4031 // FYSETC AIO_II -#define BOARD_FYSETC_CHEETAH 4032 // FYSETC Cheetah -#define BOARD_FYSETC_CHEETAH_V12 4033 // FYSETC Cheetah V1.2 -#define BOARD_LONGER3D_LK 4034 // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VET6 -#define BOARD_CCROBOT_MEEB_3DP 4035 // ccrobot-online.com MEEB_3DP (STM32F103RC) -#define BOARD_CHITU3D_V5 4036 // Chitu3D TronXY X5SA V5 Board -#define BOARD_CHITU3D_V6 4037 // Chitu3D TronXY X5SA V6 Board -#define BOARD_CREALITY_V4 4038 // Creality v4.x (STM32F103RE) -#define BOARD_CREALITY_V427 4039 // Creality v4.2.7 (STM32F103RE) -#define BOARD_CREALITY_V4210 4040 // Creality v4.2.10 (STM32F103RE) as found in the CR-30 -#define BOARD_CREALITY_V431 4041 // Creality v4.3.1 (STM32F103RE) -#define BOARD_CREALITY_V452 4042 // Creality v4.5.2 (STM32F103RE) -#define BOARD_CREALITY_V453 4043 // Creality v4.5.3 (STM32F103RE) -#define BOARD_TRIGORILLA_PRO 4044 // Trigorilla Pro (STM32F103ZET6) -#define BOARD_FLY_MINI 4045 // FLY MINI (STM32F103RCT6) -#define BOARD_FLSUN_HISPEED 4046 // FLSUN HiSpeedV1 (STM32F103VET6) -#define BOARD_BEAST 4047 // STM32F103RET6 Libmaple-based controller -#define BOARD_MINGDA_MPX_ARM_MINI 4048 // STM32F103ZET6 Mingda MD-16 -#define BOARD_GTM32_PRO_VD 4049 // STM32F103VET6 controller +#define BOARD_BTT_SKR_MINI_E3_V2_0 4026 // BigTreeTech SKR Mini E3 V2.0 (STM32F103RC / STM32F103RE) +#define BOARD_BTT_SKR_MINI_E3_V3_0 4027 // BigTreeTech SKR Mini E3 V3.0 (STM32G0B1RE) +#define BOARD_BTT_SKR_MINI_E3_V3_0_1 4028 // BigTreeTech SKR Mini E3 V3.0.1 (STM32F401RC) +#define BOARD_BTT_SKR_MINI_MZ_V1_0 4029 // BigTreeTech SKR Mini MZ V1.0 (STM32F103RC) +#define BOARD_BTT_SKR_E3_DIP 4030 // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC / STM32F103RE) +#define BOARD_BTT_SKR_CR6 4031 // BigTreeTech SKR CR6 v1.0 (STM32F103RE) +#define BOARD_JGAURORA_A5S_A1 4032 // JGAurora A5S A1 (STM32F103ZE) +#define BOARD_FYSETC_AIO_II 4033 // FYSETC AIO_II (STM32F103RC) +#define BOARD_FYSETC_CHEETAH 4034 // FYSETC Cheetah (STM32F103RC) +#define BOARD_FYSETC_CHEETAH_V12 4035 // FYSETC Cheetah V1.2 (STM32F103RC) +#define BOARD_LONGER3D_LK 4036 // Longer3D LK1/2 - Alfawise U20/U20+/U30 (STM32F103VE) +#define BOARD_CCROBOT_MEEB_3DP 4037 // ccrobot-online.com MEEB_3DP (STM32F103RC) +#define BOARD_CHITU3D_V5 4038 // Chitu3D TronXY X5SA V5 Board (STM32F103ZE) +#define BOARD_CHITU3D_V6 4039 // Chitu3D TronXY X5SA V6 Board (STM32F103ZE) +#define BOARD_CHITU3D_V9 4040 // Chitu3D TronXY X5SA V9 Board (STM32F103ZE) +#define BOARD_CREALITY_V4 4041 // Creality v4.x (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V422 4042 // Creality v4.2.2 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V423 4043 // Creality v4.2.3 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V425 4044 // Creality v4.2.5 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V427 4045 // Creality v4.2.7 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V4210 4046 // Creality v4.2.10 (STM32F103RC / STM32F103RE) as found in the CR-30 +#define BOARD_CREALITY_V431 4047 // Creality v4.3.1 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_A 4048 // Creality v4.3.1a (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_B 4049 // Creality v4.3.1b (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_C 4050 // Creality v4.3.1c (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V431_D 4051 // Creality v4.3.1d (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V452 4052 // Creality v4.5.2 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V453 4053 // Creality v4.5.3 (STM32F103RC / STM32F103RE) +#define BOARD_CREALITY_V521 4054 // Creality v5.2.1 (STM32F103VE) as found in the SV04 +#define BOARD_CREALITY_V24S1 4055 // Creality v2.4.S1 (STM32F103RC / STM32F103RE) v101 as found in the Ender-7 +#define BOARD_CREALITY_V24S1_301 4056 // Creality v2.4.S1_301 (STM32F103RC / STM32F103RE) v301 as found in the Ender-3 S1 +#define BOARD_CREALITY_V25S1 4057 // Creality v2.5.S1 (STM32F103RE) as found in the CR-10 Smart Pro +#define BOARD_TRIGORILLA_PRO 4058 // Trigorilla Pro (STM32F103ZE) +#define BOARD_FLY_MINI 4059 // FLYmaker FLY MINI (STM32F103RC) +#define BOARD_FLSUN_HISPEED 4060 // FLSUN HiSpeedV1 (STM32F103VE) +#define BOARD_BEAST 4061 // STM32F103RE Libmaple-based controller +#define BOARD_MINGDA_MPX_ARM_MINI 4062 // STM32F103ZE Mingda MD-16 +#define BOARD_GTM32_PRO_VD 4063 // STM32F103VE controller +#define BOARD_ZONESTAR_ZM3E2 4064 // Zonestar ZM3E2 (STM32F103RC) +#define BOARD_ZONESTAR_ZM3E4 4065 // Zonestar ZM3E4 V1 (STM32F103VC) +#define BOARD_ZONESTAR_ZM3E4V2 4066 // Zonestar ZM3E4 V2 (STM32F103VC) +#define BOARD_ERYONE_ERY32_MINI 4067 // Eryone Ery32 mini (STM32F103VE) +#define BOARD_PANDA_PI_V29 4068 // Panda Pi V2.9 - Standalone (STM32F103RC) // // ARM Cortex-M4F @@ -357,32 +384,50 @@ // #define BOARD_ARMED 4200 // Arm'ed STM32F4-based controller -#define BOARD_RUMBA32_V1_0 4201 // RUMBA32 STM32F446VET6 based controller from Aus3D -#define BOARD_RUMBA32_V1_1 4202 // RUMBA32 STM32F446VET6 based controller from Aus3D -#define BOARD_RUMBA32_MKS 4203 // RUMBA32 STM32F446VET6 based controller from Makerbase -#define BOARD_BLACK_STM32F407VE 4204 // BLACK_STM32F407VE -#define BOARD_BLACK_STM32F407ZE 4205 // BLACK_STM32F407ZE -#define BOARD_STEVAL_3DP001V1 4206 // STEVAL-3DP001V1 3D PRINTER BOARD -#define BOARD_BTT_SKR_PRO_V1_1 4207 // BigTreeTech SKR Pro v1.1 (STM32F407ZGT6) -#define BOARD_BTT_SKR_PRO_V1_2 4208 // BigTreeTech SKR Pro v1.2 (STM32F407ZGT6) -#define BOARD_BTT_BTT002_V1_0 4209 // BigTreeTech BTT002 v1.0 (STM32F407VGT6) -#define BOARD_BTT_E3_RRF 4210 // BigTreeTech E3 RRF (STM32F407VGT6) -#define BOARD_BTT_SKR_V2_0 4211 // BigTreeTech SKR v2.0 (STM32F407VGT6) -#define BOARD_BTT_GTR_V1_0 4212 // BigTreeTech GTR v1.0 (STM32F407IGT) -#define BOARD_LERDGE_K 4213 // Lerdge K (STM32F407ZG) -#define BOARD_LERDGE_S 4214 // Lerdge S (STM32F407VE) -#define BOARD_LERDGE_X 4215 // Lerdge X (STM32F407VE) -#define BOARD_VAKE403D 4216 // VAkE 403D (STM32F446VET6) -#define BOARD_FYSETC_S6 4217 // FYSETC S6 (STM32F446VET6) -#define BOARD_FYSETC_S6_V2_0 4218 // FYSETC S6 v2.0 (STM32F446VET6) -#define BOARD_FYSETC_SPIDER 4219 // FYSETC Spider (STM32F446VET6) -#define BOARD_FLYF407ZG 4220 // FLYF407ZG (STM32F407ZG) -#define BOARD_MKS_ROBIN2 4221 // MKS_ROBIN2 (STM32F407ZE) -#define BOARD_MKS_ROBIN_PRO_V2 4222 // MKS Robin Pro V2 (STM32F407VE) -#define BOARD_MKS_ROBIN_NANO_V3 4223 // MKS Robin Nano V3 (STM32F407VG) -#define BOARD_ANET_ET4 4224 // ANET ET4 V1.x (STM32F407VGT6) -#define BOARD_ANET_ET4P 4225 // ANET ET4P V1.x (STM32F407VGT6) -#define BOARD_FYSETC_CHEETAH_V20 4226 // FYSETC Cheetah V2.0 +#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 @@ -392,7 +437,10 @@ #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 5004 // BigTreeTech SKR SE BX (STM32H743II) +#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 @@ -402,13 +450,26 @@ #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_FYSETC_E4 6004 // FYSETC E4 +#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 diff --git a/Marlin/src/core/bug_on.h b/Marlin/src/core/bug_on.h index cc745f259b..7f1243ed40 100644 --- a/Marlin/src/core/bug_on.h +++ b/Marlin/src/core/bug_on.h @@ -20,19 +20,19 @@ */ #pragma once -// We need SERIAL_ECHOPAIR and macros.h +// 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_ECHOPAIR, that is: a key-value call of the local variables you want + // 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_ECHOPAIR 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_ECHOLNPAIR(V); SERIAL_FLUSHTX(); *(char*)0 = 42; } while(0) + // \/ 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_ECHOPAIR 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_ECHOLNPAIR(V); SERIAL_FLUSHTX(); } while(0) + // \/ 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 diff --git a/Marlin/src/core/debug_out.h b/Marlin/src/core/debug_out.h index a7dc32622d..eb1c91e507 100644 --- a/Marlin/src/core/debug_out.h +++ b/Marlin/src/core/debug_out.h @@ -27,7 +27,6 @@ // #undef DEBUG_SECTION -#undef DEBUG_ECHOPGM_P #undef DEBUG_ECHO_START #undef DEBUG_ERROR_START #undef DEBUG_CHAR @@ -37,12 +36,12 @@ #undef DEBUG_ECHOLN #undef DEBUG_ECHOPGM #undef DEBUG_ECHOLNPGM -#undef DEBUG_ECHOPAIR -#undef DEBUG_ECHOPAIR_P +#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 -#undef DEBUG_ECHOLNPAIR_P #undef DEBUG_ECHOLNPAIR_F #undef DEBUG_ECHOLNPAIR_F_P #undef DEBUG_ECHO_MSG @@ -57,9 +56,8 @@ #if DEBUG_OUT #include "debug_section.h" - #define DEBUG_SECTION(N,S,D) SectionLog N(PSTR(S),D) + #define DEBUG_SECTION(N,S,D) SectionLog N(F(S),D) - #define DEBUG_ECHOPGM_P(P) SERIAL_ECHOPGM_P(P) #define DEBUG_ECHO_START SERIAL_ECHO_START #define DEBUG_ERROR_START SERIAL_ERROR_START #define DEBUG_CHAR SERIAL_CHAR @@ -69,12 +67,14 @@ #define DEBUG_ECHOLN SERIAL_ECHOLN #define DEBUG_ECHOPGM SERIAL_ECHOPGM #define DEBUG_ECHOLNPGM SERIAL_ECHOLNPGM - #define DEBUG_ECHOPAIR SERIAL_ECHOPAIR - #define DEBUG_ECHOPAIR_P SERIAL_ECHOPAIR_P + #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_ECHOLNPAIR SERIAL_ECHOLNPAIR - #define DEBUG_ECHOLNPAIR_P SERIAL_ECHOLNPAIR_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 @@ -89,7 +89,6 @@ #else #define DEBUG_SECTION(...) NOOP - #define DEBUG_ECHOPGM_P(P) NOOP #define DEBUG_ECHO_START() NOOP #define DEBUG_ERROR_START() NOOP #define DEBUG_CHAR(...) NOOP @@ -99,12 +98,12 @@ #define DEBUG_ECHOLN(...) NOOP #define DEBUG_ECHOPGM(...) NOOP #define DEBUG_ECHOLNPGM(...) NOOP - #define DEBUG_ECHOPAIR(...) NOOP - #define DEBUG_ECHOPAIR_P(...) 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(...) NOOP - #define DEBUG_ECHOLNPAIR_P(...) NOOP #define DEBUG_ECHOLNPAIR_F(...) NOOP #define DEBUG_ECHOLNPAIR_F_P(...) NOOP #define DEBUG_ECHO_MSG(...) NOOP diff --git a/Marlin/src/core/debug_section.h b/Marlin/src/core/debug_section.h index 2862d35af1..6e23d9e4ed 100644 --- a/Marlin/src/core/debug_section.h +++ b/Marlin/src/core/debug_section.h @@ -26,24 +26,24 @@ class SectionLog { public: - SectionLog(PGM_P const msg=nullptr, bool inbug=true) { - the_msg = msg; - if ((debug = inbug)) echo_msg(PSTR(">>>")); + SectionLog(FSTR_P const fmsg=nullptr, bool inbug=true) { + the_msg = fmsg; + if ((debug = inbug)) echo_msg(F(">>>")); } - ~SectionLog() { if (debug) echo_msg(PSTR("<<<")); } + ~SectionLog() { if (debug) echo_msg(F("<<<")); } private: - PGM_P the_msg; + FSTR_P the_msg; bool debug; - void echo_msg(PGM_P const pre) { - SERIAL_ECHOPGM_P(pre); + void echo_msg(FSTR_P const fpre) { + SERIAL_ECHOF(fpre); if (the_msg) { SERIAL_CHAR(' '); - SERIAL_ECHOPGM_P(the_msg); + SERIAL_ECHOF(the_msg); } SERIAL_CHAR(' '); - print_xyz(current_position); + print_pos(current_position); } }; diff --git a/Marlin/src/core/drivers.h b/Marlin/src/core/drivers.h index 3a0e620923..72a7d1f4b7 100644 --- a/Marlin/src/core/drivers.h +++ b/Marlin/src/core/drivers.h @@ -30,10 +30,6 @@ #define _A5984 0x5984 #define _DRV8825 0x8825 #define _LV8729 0x8729 -#define _L6470 0x6470 -#define _L6474 0x6474 -#define _L6480 0x6480 -#define _POWERSTEP01 0xF00D #define _TB6560 0x6560 #define _TB6600 0x6600 #define _TMC2100 0x2100 @@ -60,12 +56,18 @@ #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) (EITHER(X_DUAL_STEPPER_DRIVERS, DUAL_X_CARRIAGE) && _AXIS_DRIVER_TYPE(X2,T)) -#define AXIS_DRIVER_TYPE_Y2(T) (ENABLED(Y_DUAL_STEPPER_DRIVERS) && _AXIS_DRIVER_TYPE(Y2,T)) -#define AXIS_DRIVER_TYPE_Z2(T) (NUM_Z_STEPPER_DRIVERS >= 2 && _AXIS_DRIVER_TYPE(Z2,T)) -#define AXIS_DRIVER_TYPE_Z3(T) (NUM_Z_STEPPER_DRIVERS >= 3 && _AXIS_DRIVER_TYPE(Z3,T)) -#define AXIS_DRIVER_TYPE_Z4(T) (NUM_Z_STEPPER_DRIVERS >= 4 && _AXIS_DRIVER_TYPE(Z4,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) @@ -83,6 +85,8 @@ #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) ) @@ -121,10 +125,12 @@ || 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,TMC2660) \ + || 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) ) @@ -153,9 +159,12 @@ #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(Y) || AXIS_HAS_##T(Z) \ - || AXIS_HAS_##T(X2) || AXIS_HAS_##T(Y2) || AXIS_HAS_##T(Z2) \ - || AXIS_HAS_##T(Z3) || AXIS_HAS_##T(Z4) || E_AXIS_HAS(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 @@ -182,16 +191,3 @@ #if HAS_DRIVER(TMC26X) #define HAS_TMC26X 1 #endif - -// -// L64XX Stepper Drivers -// - -#if HAS_DRIVER(L6470) || HAS_DRIVER(L6474) || HAS_DRIVER(L6480) || HAS_DRIVER(POWERSTEP01) - #define HAS_L64XX 1 -#endif -#if HAS_L64XX && !HAS_DRIVER(L6474) - #define HAS_L64XX_NOT_L6474 1 -#endif - -#define AXIS_IS_L64XX(A) (AXIS_DRIVER_TYPE_##A(L6470) || AXIS_DRIVER_TYPE_##A(L6474) || AXIS_DRIVER_TYPE_##A(L6480) || AXIS_DRIVER_TYPE_##A(POWERSTEP01)) diff --git a/Marlin/src/core/language.h b/Marlin/src/core/language.h index de29535f87..545f9df641 100644 --- a/Marlin/src/core/language.h +++ b/Marlin/src/core/language.h @@ -48,8 +48,8 @@ // cz Czech // da Danish // de German -// el Greek -// el_gr Greek (Greece) +// el Greek (Greece) +// el_CY Greek (Cyprus) // en English // es Spanish // eu Basque-Euskera @@ -105,6 +105,7 @@ #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" @@ -140,25 +141,8 @@ #define STR_RESEND "Resend: " #define STR_UNKNOWN_COMMAND "Unknown command: \"" #define STR_ACTIVE_EXTRUDER "Active Extruder: " -#define STR_X_MIN "x_min" -#define STR_X_MAX "x_max" -#define STR_X2_MIN "x2_min" -#define STR_X2_MAX "x2_max" -#define STR_Y_MIN "y_min" -#define STR_Y_MAX "y_max" -#define STR_Y2_MIN "y2_min" -#define STR_Y2_MAX "y2_max" -#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" -#define STR_Z_PROBE "z_probe" -#define STR_PROBE_EN "probe_en" -#define STR_FILAMENT_RUNOUT_SENSOR "filament" +#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: " @@ -176,21 +160,21 @@ #define STR_OFF "OFF" #define STR_ENDSTOP_HIT "TRIGGERED" #define STR_ENDSTOP_OPEN "open" -#define STR_HOTEND_OFFSET "Hotend offsets:" #define STR_DUPLICATION_MODE "Duplication mode: " -#define STR_SOFT_ENDSTOPS "Soft endstops: " #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: " @@ -216,16 +200,20 @@ #define STR_FILAMENT_CHANGE_INSERT_M108 "Insert filament and send M108" #define STR_FILAMENT_CHANGE_WAIT_M108 "Send M108 to resume" -#define STR_STOP_BLTOUCH "!! STOP called because of BLTouch error - restart with M999" -#define STR_STOP_UNHOMED "!! STOP called because of unhomed error - restart with M999" -#define STR_KILL_INACTIVE_TIME "!! KILL caused by too much inactive time - current command: " -#define STR_KILL_BUTTON "!! KILL caused by KILL button/pin" +#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_START "PID Autotune start" -#define STR_PID_BAD_HEATER_ID "PID Autotune failed! Bad heater id" -#define STR_PID_TEMP_TOO_HIGH "PID Autotune failed! Temperature too high" -#define STR_PID_TIMEOUT "PID Autotune failed! timeout" +#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: " @@ -236,25 +224,33 @@ #define STR_KP " Kp: " #define STR_KI " Ki: " #define STR_KD " Kd: " -#define STR_PID_AUTOTUNE_FINISHED "PID Autotune finished! Put the last Kp, Ki and Kd constants from below into Configuration.h" +#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_PID_DEBUG_PTERM " pTerm " -#define STR_PID_DEBUG_ITERM " iTerm " -#define STR_PID_DEBUG_DTERM " dTerm " -#define STR_PID_DEBUG_CTERM " cTerm " #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" @@ -268,7 +264,7 @@ #define STR_DEBUG_ERRORS "ERRORS" #define STR_DEBUG_DRYRUN "DRYRUN" #define STR_DEBUG_COMMUNICATION "COMMUNICATION" -#define STR_DEBUG_LEVELING "LEVELING" +#define STR_DEBUG_DETAIL "DETAIL" #define STR_PRINTER_LOCKED "Printer locked! (Unlock with M511 or LCD)" #define STR_WRONG_PASSWORD "Incorrect Password" @@ -277,14 +273,83 @@ #define STR_REMINDER_SAVE_SETTINGS "Remember to save!" #define STR_PASSWORD_SET "Password is " -// LCD Menu Messages +// 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" -#define LANGUAGE_DATA_INCL_(M) STRINGIFY_(fontdata/langdata_##M.h) -#define LANGUAGE_DATA_INCL(M) LANGUAGE_DATA_INCL_(M) +// +// 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" -#define LANGUAGE_INCL_(M) STRINGIFY_(../lcd/language/language_##M.h) -#define LANGUAGE_INCL(M) LANGUAGE_INCL_(M) +#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" @@ -304,10 +369,138 @@ #define STR_Z3 "Z3" #define STR_Z4 "Z4" -#define LCD_STR_A STR_A -#define LCD_STR_B STR_B -#define LCD_STR_C STR_C -#define LCD_STR_E STR_E +// 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) @@ -357,34 +550,42 @@ */ #if ENABLED(NUMBER_TOOLS_FROM_0) #define LCD_FIRST_TOOL 0 - #define LCD_STR_N0 "0" - #define LCD_STR_N1 "1" - #define LCD_STR_N2 "2" - #define LCD_STR_N3 "3" - #define LCD_STR_N4 "4" - #define LCD_STR_N5 "5" - #define LCD_STR_N6 "6" - #define LCD_STR_N7 "7" + #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 LCD_STR_N0 "1" - #define LCD_STR_N1 "2" - #define LCD_STR_N2 "3" - #define LCD_STR_N3 "4" - #define LCD_STR_N4 "5" - #define LCD_STR_N5 "6" - #define LCD_STR_N6 "7" - #define LCD_STR_N7 "8" + #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 LCD_STR_E0 "E" LCD_STR_N0 -#define LCD_STR_E1 "E" LCD_STR_N1 -#define LCD_STR_E2 "E" LCD_STR_N2 -#define LCD_STR_E3 "E" LCD_STR_N3 -#define LCD_STR_E4 "E" LCD_STR_N4 -#define LCD_STR_E5 "E" LCD_STR_N5 -#define LCD_STR_E6 "E" LCD_STR_N6 -#define LCD_STR_E7 "E" LCD_STR_N7 +#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") diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 6092dc4a59..3029009c06 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -21,7 +21,7 @@ */ #pragma once -#if !defined(__has_include) +#ifndef __has_include #define __has_include(...) 1 #endif @@ -33,33 +33,60 @@ #define _AXIS(A) (A##_AXIS) -#define _XMIN_ 100 -#define _YMIN_ 200 -#define _ZMIN_ 300 -#define _XMAX_ 101 -#define _YMAX_ 201 -#define _ZMAX_ 301 -#define _XDIAG_ 102 -#define _YDIAG_ 202 -#define _ZDIAG_ 302 -#define _E0DIAG_ 400 -#define _E1DIAG_ 401 -#define _E2DIAG_ 402 -#define _E3DIAG_ 403 -#define _E4DIAG_ 404 -#define _E5DIAG_ 405 -#define _E6DIAG_ 406 -#define _E7DIAG_ 407 +#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 __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 @@ -116,13 +143,13 @@ #ifdef __cplusplus // C++11 solution that is standards compliant. - template static inline constexpr void NOLESS(V& v, const N n) { + template static constexpr void NOLESS(V& v, const N n) { if (n > v) v = n; } - template static inline constexpr void NOMORE(V& v, const N n) { + template static constexpr void NOMORE(V& v, const N n) { if (n < v) v = n; } - template static inline constexpr void LIMIT(V& v, const N1 n1, const N2 n2) { + template static constexpr void LIMIT(V& v, const N1 n1, const N2 n2) { if (n1 > v) v = n1; else if (n2 < v) v = n2; } @@ -151,7 +178,7 @@ #endif -// Macros to chain up to 14 conditions +// 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)) @@ -167,6 +194,31 @@ #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)) @@ -195,6 +247,13 @@ #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)' : '' @@ -231,13 +290,64 @@ #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(a,0,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 @@ -254,10 +364,13 @@ #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))) @@ -273,7 +386,7 @@ #undef ABS #ifdef __cplusplus - template static inline constexpr const T ABS(const T v) { return v >= 0 ? v : -v; } + 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 @@ -301,8 +414,12 @@ #define HYPOT(x,y) SQRT(HYPOT2(x,y)) // Use NUM_ARGS(__VA_ARGS__) to get the number of variadic arguments -#define _NUM_ARGS(_,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,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) +#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 @@ -312,14 +429,14 @@ extern "C++" { // C++11 solution that is standards compliant. Return type is deduced automatically - template static inline constexpr auto _MIN(const L lhs, const R rhs) -> decltype(lhs + rhs) { + template static constexpr auto _MIN(const L lhs, const R rhs) -> decltype(lhs + rhs) { return lhs < rhs ? lhs : rhs; } - template static inline constexpr auto _MAX(const L lhs, const R rhs) -> decltype(lhs + rhs) { + template static constexpr auto _MAX(const L lhs, const R rhs) -> decltype(lhs + rhs) { return lhs > rhs ? lhs : rhs; } - template static inline constexpr const T _MIN(T V, Ts... Vs) { return _MIN(V, _MIN(Vs...)); } - template static inline constexpr const T _MAX(T V, Ts... Vs) { return _MAX(V, _MAX(Vs...)); } + 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...)); } } @@ -346,7 +463,7 @@ template struct first_type_of { typedef T type; }; template struct first_type_of { typedef T type; }; } - // C++11 solution using SFINAE to detect the existance of a member in a class at compile time. + // 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 { \ @@ -389,7 +506,7 @@ return contains(str, '/') ? findLastPos(findStringEnd(str), '/') : str; } - // Find the first occurence of a character in a string (or return the last position in the string) + // 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); } @@ -414,31 +531,19 @@ #else - #define MIN_2(a,b) ((a)<(b)?(a):(b)) - #define MIN_3(a,V...) MIN_2(a,MIN_2(V)) - #define MIN_4(a,V...) MIN_2(a,MIN_3(V)) - #define MIN_5(a,V...) MIN_2(a,MIN_4(V)) - #define MIN_6(a,V...) MIN_2(a,MIN_5(V)) - #define MIN_7(a,V...) MIN_2(a,MIN_6(V)) - #define MIN_8(a,V...) MIN_2(a,MIN_7(V)) - #define MIN_9(a,V...) MIN_2(a,MIN_8(V)) - #define MIN_10(a,V...) MIN_2(a,MIN_9(V)) #define __MIN_N(N,V...) MIN_##N(V) #define _MIN_N(N,V...) __MIN_N(N,V) - #define _MIN(V...) _MIN_N(NUM_ARGS(V), 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_2(a,b) ((a)>(b)?(a):(b)) - #define MAX_3(a,V...) MAX_2(a,MAX_2(V)) - #define MAX_4(a,V...) MAX_2(a,MAX_3(V)) - #define MAX_5(a,V...) MAX_2(a,MAX_4(V)) - #define MAX_6(a,V...) MAX_2(a,MAX_5(V)) - #define MAX_7(a,V...) MAX_2(a,MAX_6(V)) - #define MAX_8(a,V...) MAX_2(a,MAX_7(V)) - #define MAX_9(a,V...) MAX_2(a,MAX_8(V)) - #define MAX_10(a,V...) MAX_2(a,MAX_9(V)) #define __MAX_N(N,V...) MAX_##N(V) #define _MAX_N(N,V...) __MAX_N(N,V) - #define _MAX(V...) _MAX_N(NUM_ARGS(V), 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 @@ -459,6 +564,11 @@ #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) @@ -473,6 +583,9 @@ #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 @@ -537,8 +650,8 @@ #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)) // NOT('0') gets '0'. Anything else gets '1'. +#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) @@ -552,7 +665,6 @@ #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) @@ -581,6 +693,7 @@ // 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)) @@ -604,13 +717,28 @@ #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) -// See https://github.com/swansontec/map-macro -#define MAP_OUT -#define MAP_END(...) -#define MAP_GET_END() 0, MAP_END -#define MAP_NEXT0(test, next, ...) next MAP_OUT -#define MAP_NEXT1(test, next) MAP_NEXT0 (test, next, 0) -#define MAP_NEXT(test, next) MAP_NEXT1 (MAP_GET_END test, next) -#define MAP0(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP1) (f, peek, __VA_ARGS__) -#define MAP1(f, x, peek, ...) f(x) MAP_NEXT (peek, MAP0) (f, peek, __VA_ARGS__) -#define MAP(f, ...) EVAL512 (MAP1 (f, __VA_ARGS__, (), 0)) +// 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) diff --git a/Marlin/src/core/multi_language.h b/Marlin/src/core/multi_language.h index 5a26edf8d4..05a713e435 100644 --- a/Marlin/src/core/multi_language.h +++ b/Marlin/src/core/multi_language.h @@ -1,28 +1,35 @@ -/******************** - * multi_language.h * - ********************/ - -/**************************************************************************** - * Written By Marcio Teixeira 2019 - Aleph Objects, 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: . * - ****************************************************************************/ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General 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 @@ -36,21 +43,18 @@ typedef const char Language_Str[]; #define NUM_LANGUAGES 1 #endif -// Setting the unused languages equal to each other allows -// the compiler to optimize away the conditionals - +// 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 @@ -61,11 +65,11 @@ typedef const char Language_Str[]; #if NUM_LANGUAGES > 1 #define HAS_MULTI_LANGUAGE 1 #define GET_TEXT(MSG) ( \ - ui.language == 0 ? GET_LANG(LCD_LANGUAGE )::MSG : \ - ui.language == 1 ? GET_LANG(LCD_LANGUAGE_2)::MSG : \ - ui.language == 2 ? GET_LANG(LCD_LANGUAGE_3)::MSG : \ + ui.language == 4 ? GET_LANG(LCD_LANGUAGE_5)::MSG : \ ui.language == 3 ? GET_LANG(LCD_LANGUAGE_4)::MSG : \ - GET_LANG(LCD_LANGUAGE_5)::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, \ @@ -75,7 +79,10 @@ typedef const char Language_Str[]; #define GET_TEXT(MSG) GET_LANG(LCD_LANGUAGE)::MSG #define MAX_LANG_CHARSIZE LANG_CHARSIZE #endif -#define GET_TEXT_F(MSG) (const __FlashStringHelper*)GET_TEXT(MSG) +#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) diff --git a/Marlin/src/core/serial.cpp b/Marlin/src/core/serial.cpp index 8af367c801..727b191d04 100644 --- a/Marlin/src/core/serial.cpp +++ b/Marlin/src/core/serial.cpp @@ -30,12 +30,15 @@ uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE; // Commonly-used strings in serial output -PGMSTR(NUL_STR, ""); PGMSTR(SP_P_STR, " P"); PGMSTR(SP_T_STR, " T"); -PGMSTR(X_STR, "X"); PGMSTR(Y_STR, "Y"); PGMSTR(Z_STR, "Z"); PGMSTR(E_STR, "E"); -PGMSTR(X_LBL, "X:"); PGMSTR(Y_LBL, "Y:"); PGMSTR(Z_LBL, "Z:"); PGMSTR(E_LBL, "E:"); -PGMSTR(SP_A_STR, " A"); PGMSTR(SP_B_STR, " B"); PGMSTR(SP_C_STR, " C"); -PGMSTR(SP_X_STR, " X"); PGMSTR(SP_Y_STR, " Y"); PGMSTR(SP_Z_STR, " Z"); PGMSTR(SP_E_STR, " E"); -PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMSTR(SP_E_LBL, " E:"); +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) @@ -44,6 +47,9 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST #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 @@ -52,37 +58,41 @@ PGMSTR(SP_X_LBL, " X:"); PGMSTR(SP_Y_LBL, " Y:"); PGMSTR(SP_Z_LBL, " Z:"); PGMST SerialLeafT2 msSerial2(ethernet.have_telnet_client, MYSERIAL2, false); #endif - SerialOutputT multiSerial(SERIAL_LEAF_1, SERIAL_LEAF_2); + #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 serialprintPGM(PGM_P str) { +void serial_print_P(PGM_P str) { while (const char c = pgm_read_byte(str++)) SERIAL_CHAR(c); } -void serial_echo_start() { static PGMSTR(echomagic, "echo:"); serialprintPGM(echomagic); } -void serial_error_start() { static PGMSTR(errormagic, "Error:"); serialprintPGM(errormagic); } - -void serial_echopair_PGM(PGM_P const s_P, serial_char_t v) { serialprintPGM(s_P); SERIAL_CHAR(v.c); } -void serial_echopair_PGM(PGM_P const s_P, const char *v) { serialprintPGM(s_P); SERIAL_ECHO(v); } -void serial_echopair_PGM(PGM_P const s_P, char v) { serialprintPGM(s_P); SERIAL_ECHO(v); } -void serial_echopair_PGM(PGM_P const s_P, int v) { serialprintPGM(s_P); SERIAL_ECHO(v); } -void serial_echopair_PGM(PGM_P const s_P, long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } -void serial_echopair_PGM(PGM_P const s_P, float v) { serialprintPGM(s_P); SERIAL_DECIMAL(v); } -void serial_echopair_PGM(PGM_P const s_P, double v) { serialprintPGM(s_P); SERIAL_DECIMAL(v); } -void serial_echopair_PGM(PGM_P const s_P, unsigned char v) { serialprintPGM(s_P); SERIAL_ECHO(v); } -void serial_echopair_PGM(PGM_P const s_P, unsigned int v) { serialprintPGM(s_P); SERIAL_ECHO(v); } -void serial_echopair_PGM(PGM_P const s_P, unsigned long v) { serialprintPGM(s_P); SERIAL_ECHO(v); } +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_ternary(const bool onoff, PGM_P const pre, PGM_P const on, PGM_P const off, PGM_P const post/*=nullptr*/) { - if (pre) serialprintPGM(pre); - serialprintPGM(onoff ? on : off); - if (post) serialprintPGM(post); +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 serialprint_onoff(const bool onoff) { serialprintPGM(onoff ? PSTR(STR_ON) : PSTR(STR_OFF)); } + +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) { serialprintPGM(tf ? PSTR("true") : PSTR("false")); } +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--;) { @@ -91,8 +101,10 @@ void print_bin(uint16_t val) { } } -void print_xyz(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) { - if (prefix) serialprintPGM(prefix); - SERIAL_ECHOPAIR_P(SP_X_STR, x, SP_Y_STR, y, SP_Z_STR, z); - if (suffix) serialprintPGM(suffix); else SERIAL_EOL(); +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 index b503c0f429..c19bc08783 100644 --- a/Marlin/src/core/serial.h +++ b/Marlin/src/core/serial.h @@ -28,14 +28,6 @@ #include "../feature/meatpack.h" #endif -// Commonly-used strings in serial output -extern const char NUL_STR[], SP_P_STR[], SP_T_STR[], - X_STR[], Y_STR[], Z_STR[], E_STR[], - X_LBL[], Y_LBL[], Z_LBL[], E_LBL[], - SP_A_STR[], SP_B_STR[], SP_C_STR[], - SP_X_STR[], SP_Y_STR[], SP_Z_STR[], SP_E_STR[], - SP_X_LBL[], SP_Y_LBL[], SP_Z_LBL[], SP_E_LBL[]; - // // Debugging flags for use by M111 // @@ -62,11 +54,11 @@ extern uint8_t marlin_debug_flags; // // Serial redirection // -// Step 1: Find what's the first serial leaf -#if BOTH(HAS_MULTI_SERIAL, SERIAL_CATCHALL) - #define _SERIAL_LEAF_1 MYSERIAL +// 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 + #define _SERIAL_LEAF_1 MYSERIAL1 #endif // Hook Meatpack if it's enabled on the first leaf @@ -78,26 +70,26 @@ extern uint8_t marlin_debug_flags; #define SERIAL_LEAF_1 _SERIAL_LEAF_1 #endif -// Step 2: For multiserial, handle the second serial port as well +// 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,p) RESTORE(n) - #define SERIAL_ASSERT(P) if(multiSerial.portMask!=(P)){ debugger(); } + #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 - #if HAS_ETHERNET - // We need to create an instance here - typedef ConditionalSerial SerialLeafT2; - extern SerialLeafT2 msSerial2; - #define _SERIAL_LEAF_2 msSerial2 - #else - // Don't create a useless instance here, directly use the existing instance - #define _SERIAL_LEAF_2 MYSERIAL2 - #endif + #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; @@ -107,7 +99,23 @@ extern uint8_t marlin_debug_flags; #define SERIAL_LEAF_2 _SERIAL_LEAF_2 #endif - typedef MultiSerial SerialOutputT; + // 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 @@ -146,159 +154,92 @@ 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)) -// 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); } - template void SERIAL_ECHOLN(T x) { SERIAL_IMPL.println(x); } -// SERIAL_PRINT works like SERIAL_ECHO but allow to specify the encoding base of the number printed +// 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, U y) { SERIAL_IMPL.println(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(); } -// Print a single PROGMEM string to serial -void serialprintPGM(PGM_P str); +// Serial echo and error prefixes +#define SERIAL_ECHO_START() serial_echo_start() +#define SERIAL_ERROR_START() serial_error_start() -// SERIAL_ECHOPAIR / SERIAL_ECHOPAIR_P is used to output a key value pair. The key must be a string and the value can be anything -// Print up to 12 pairs of values. Odd elements auto-wrapped in PSTR(). -#define __SEP_N(N,V...) _SEP_##N(V) -#define _SEP_N(N,V...) __SEP_N(N,V) -#define _SEP_1(PRE) SERIAL_ECHOPGM(PRE) -#define _SEP_2(PRE,V) serial_echopair_PGM(PSTR(PRE),V) -#define _SEP_3(a,b,c) do{ _SEP_2(a,b); SERIAL_ECHOPGM(c); }while(0) -#define _SEP_4(a,b,V...) do{ _SEP_2(a,b); _SEP_2(V); }while(0) -#define _SEP_5(a,b,V...) do{ _SEP_2(a,b); _SEP_3(V); }while(0) -#define _SEP_6(a,b,V...) do{ _SEP_2(a,b); _SEP_4(V); }while(0) -#define _SEP_7(a,b,V...) do{ _SEP_2(a,b); _SEP_5(V); }while(0) -#define _SEP_8(a,b,V...) do{ _SEP_2(a,b); _SEP_6(V); }while(0) -#define _SEP_9(a,b,V...) do{ _SEP_2(a,b); _SEP_7(V); }while(0) -#define _SEP_10(a,b,V...) do{ _SEP_2(a,b); _SEP_8(V); }while(0) -#define _SEP_11(a,b,V...) do{ _SEP_2(a,b); _SEP_9(V); }while(0) -#define _SEP_12(a,b,V...) do{ _SEP_2(a,b); _SEP_10(V); }while(0) -#define _SEP_13(a,b,V...) do{ _SEP_2(a,b); _SEP_11(V); }while(0) -#define _SEP_14(a,b,V...) do{ _SEP_2(a,b); _SEP_12(V); }while(0) -#define _SEP_15(a,b,V...) do{ _SEP_2(a,b); _SEP_13(V); }while(0) -#define _SEP_16(a,b,V...) do{ _SEP_2(a,b); _SEP_14(V); }while(0) -#define _SEP_17(a,b,V...) do{ _SEP_2(a,b); _SEP_15(V); }while(0) -#define _SEP_18(a,b,V...) do{ _SEP_2(a,b); _SEP_16(V); }while(0) -#define _SEP_19(a,b,V...) do{ _SEP_2(a,b); _SEP_17(V); }while(0) -#define _SEP_20(a,b,V...) do{ _SEP_2(a,b); _SEP_18(V); }while(0) -#define _SEP_21(a,b,V...) do{ _SEP_2(a,b); _SEP_19(V); }while(0) -#define _SEP_22(a,b,V...) do{ _SEP_2(a,b); _SEP_20(V); }while(0) -#define _SEP_23(a,b,V...) do{ _SEP_2(a,b); _SEP_21(V); }while(0) -#define _SEP_24(a,b,V...) do{ _SEP_2(a,b); _SEP_22(V); }while(0) +// Serial end-of-line +#define SERIAL_EOL() SERIAL_CHAR('\n') -#define SERIAL_ECHOPAIR(V...) _SEP_N(NUM_ARGS(V),V) +// 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 up to 12 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_1_P(PRE) serialprintPGM(PRE) -#define _SEP_2_P(PRE,V) serial_echopair_PGM(PRE,V) -#define _SEP_3_P(a,b,c) do{ _SEP_2_P(a,b); serialprintPGM(c); }while(0) -#define _SEP_4_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_2_P(V); }while(0) -#define _SEP_5_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_3_P(V); }while(0) -#define _SEP_6_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_4_P(V); }while(0) -#define _SEP_7_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_5_P(V); }while(0) -#define _SEP_8_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_6_P(V); }while(0) -#define _SEP_9_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_7_P(V); }while(0) -#define _SEP_10_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_8_P(V); }while(0) -#define _SEP_11_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_9_P(V); }while(0) -#define _SEP_12_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_10_P(V); }while(0) -#define _SEP_13_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_11_P(V); }while(0) -#define _SEP_14_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_12_P(V); }while(0) -#define _SEP_15_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_13_P(V); }while(0) -#define _SEP_16_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_14_P(V); }while(0) -#define _SEP_17_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_15_P(V); }while(0) -#define _SEP_18_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_16_P(V); }while(0) -#define _SEP_19_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_17_P(V); }while(0) -#define _SEP_20_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_18_P(V); }while(0) -#define _SEP_21_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_19_P(V); }while(0) -#define _SEP_22_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_20_P(V); }while(0) -#define _SEP_23_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_21_P(V); }while(0) -#define _SEP_24_P(a,b,V...) do{ _SEP_2_P(a,b); _SEP_22_P(V); }while(0) +// 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_ECHOPAIR_P is used to output a key value pair. Unlike SERIAL_ECHOPAIR, the key must be a PGM string already and the value can be anything -#define SERIAL_ECHOPAIR_P(V...) _SEP_N_P(NUM_ARGS(V),V) +// +// SERIAL_ECHOPGM... macros are used to output string-value pairs. +// -// Print up to 12 pairs of values followed by newline -#define __SELP_N(N,V...) _SELP_##N(V) -#define _SELP_N(N,V...) __SELP_N(N,V) -#define _SELP_1(PRE) SERIAL_ECHOLNPGM(PRE) -#define _SELP_2(PRE,V) do{ serial_echopair_PGM(PSTR(PRE),V); SERIAL_EOL(); }while(0) -#define _SELP_3(a,b,c) do{ _SEP_2(a,b); SERIAL_ECHOLNPGM(c); }while(0) -#define _SELP_4(a,b,V...) do{ _SEP_2(a,b); _SELP_2(V); }while(0) -#define _SELP_5(a,b,V...) do{ _SEP_2(a,b); _SELP_3(V); }while(0) -#define _SELP_6(a,b,V...) do{ _SEP_2(a,b); _SELP_4(V); }while(0) -#define _SELP_7(a,b,V...) do{ _SEP_2(a,b); _SELP_5(V); }while(0) -#define _SELP_8(a,b,V...) do{ _SEP_2(a,b); _SELP_6(V); }while(0) -#define _SELP_9(a,b,V...) do{ _SEP_2(a,b); _SELP_7(V); }while(0) -#define _SELP_10(a,b,V...) do{ _SEP_2(a,b); _SELP_8(V); }while(0) -#define _SELP_11(a,b,V...) do{ _SEP_2(a,b); _SELP_9(V); }while(0) -#define _SELP_12(a,b,V...) do{ _SEP_2(a,b); _SELP_10(V); }while(0) -#define _SELP_13(a,b,V...) do{ _SEP_2(a,b); _SELP_11(V); }while(0) -#define _SELP_14(a,b,V...) do{ _SEP_2(a,b); _SELP_12(V); }while(0) -#define _SELP_15(a,b,V...) do{ _SEP_2(a,b); _SELP_13(V); }while(0) -#define _SELP_16(a,b,V...) do{ _SEP_2(a,b); _SELP_14(V); }while(0) -#define _SELP_17(a,b,V...) do{ _SEP_2(a,b); _SELP_15(V); }while(0) -#define _SELP_18(a,b,V...) do{ _SEP_2(a,b); _SELP_16(V); }while(0) -#define _SELP_19(a,b,V...) do{ _SEP_2(a,b); _SELP_17(V); }while(0) -#define _SELP_20(a,b,V...) do{ _SEP_2(a,b); _SELP_18(V); }while(0) -#define _SELP_21(a,b,V...) do{ _SEP_2(a,b); _SELP_19(V); }while(0) -#define _SELP_22(a,b,V...) do{ _SEP_2(a,b); _SELP_20(V); }while(0) -#define _SELP_23(a,b,V...) do{ _SEP_2(a,b); _SELP_21(V); }while(0) -#define _SELP_24(a,b,V...) do{ _SEP_2(a,b); _SELP_22(V); }while(0) -#define _SELP_25(a,b,V...) do{ _SEP_2(a,b); _SELP_23(V); }while(0) -#define _SELP_26(a,b,V...) do{ _SEP_2(a,b); _SELP_24(V); }while(0) -#define _SELP_27(a,b,V...) do{ _SEP_2(a,b); _SELP_25(V); }while(0) -#define _SELP_28(a,b,V...) do{ _SEP_2(a,b); _SELP_26(V); }while(0) -#define _SELP_29(a,b,V...) do{ _SEP_2(a,b); _SELP_27(V); }while(0) -#define _SELP_30(a,b,V...) do{ _SEP_2(a,b); _SELP_28(V); }while(0) // Eat two args, pass the rest up +// 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) -#define SERIAL_ECHOLNPAIR(V...) _SELP_N(NUM_ARGS(V),V) +// 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 12 pairs of values followed by newline -#define __SELP_N_P(N,V...) _SELP_##N##_P(V) -#define _SELP_N_P(N,V...) __SELP_N_P(N,V) -#define _SELP_1_P(PRE) serialprintPGM(PRE) -#define _SELP_2_P(PRE,V) do{ serial_echopair_PGM(PRE,V); SERIAL_EOL(); }while(0) -#define _SELP_3_P(a,b,c) do{ _SEP_2_P(a,b); serialprintPGM(c); }while(0) -#define _SELP_4_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_2_P(V); }while(0) -#define _SELP_5_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_3_P(V); }while(0) -#define _SELP_6_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_4_P(V); }while(0) -#define _SELP_7_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_5_P(V); }while(0) -#define _SELP_8_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_6_P(V); }while(0) -#define _SELP_9_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_7_P(V); }while(0) -#define _SELP_10_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_8_P(V); }while(0) -#define _SELP_11_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_9_P(V); }while(0) -#define _SELP_12_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_10_P(V); }while(0) -#define _SELP_13_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_11_P(V); }while(0) -#define _SELP_14_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_12_P(V); }while(0) -#define _SELP_15_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_13_P(V); }while(0) -#define _SELP_16_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_14_P(V); }while(0) -#define _SELP_17_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_15_P(V); }while(0) -#define _SELP_18_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_16_P(V); }while(0) -#define _SELP_19_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_17_P(V); }while(0) -#define _SELP_20_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_18_P(V); }while(0) -#define _SELP_21_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_19_P(V); }while(0) -#define _SELP_22_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_20_P(V); }while(0) -#define _SELP_23_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_21_P(V); }while(0) -#define _SELP_24_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_22_P(V); }while(0) -#define _SELP_25_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_23_P(V); }while(0) -#define _SELP_26_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_24_P(V); }while(0) -#define _SELP_27_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_25_P(V); }while(0) -#define _SELP_28_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_26_P(V); }while(0) -#define _SELP_29_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_27_P(V); }while(0) -#define _SELP_30_P(a,b,V...) do{ _SEP_2_P(a,b); _SELP_28_P(V); }while(0) // Eat two args, pass the rest up +// 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) -#define SERIAL_ECHOLNPAIR_P(V...) _SELP_N_P(NUM_ARGS(V),V) +// 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 @@ -309,53 +250,49 @@ void serialprintPGM(PGM_P str); template void SERIAL_ECHOLIST_IMPL(T && t, Args && ... args) { SERIAL_IMPL.print(t); - serialprintPGM(PSTR(", ")); + serial_print(F(", ")); SERIAL_ECHOLIST_IMPL(args...); } template - void SERIAL_ECHOLIST(PGM_P const str, Args && ... args) { - SERIAL_IMPL.print(str); + 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(PGM_P const str, Args && ... args) { - serialprintPGM(str); + 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) serialprintPGM(PSTR(", ")); + if (i) serial_print(F(", ")); SERIAL_IMPL.print(values[i]); } } #endif -#define SERIAL_ECHOPGM_P(P) (serialprintPGM(P)) -#define SERIAL_ECHOLNPGM_P(P) do{ serialprintPGM(P); SERIAL_EOL(); }while(0) +// 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_ECHOPGM(S) (serialprintPGM(PSTR(S))) -#define SERIAL_ECHOLNPGM(S) (serialprintPGM(PSTR(S "\n"))) +#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_P(P,V...) do{ serialprintPGM(P); SERIAL_ECHO_F(V); }while(0) -#define SERIAL_ECHOLNPAIR_F_P(V...) do{ SERIAL_ECHOPAIR_F_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_P(PSTR(S),V) -#define SERIAL_ECHOLNPAIR_F(V...) do{ SERIAL_ECHOPAIR_F(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_START() serial_echo_start() -#define SERIAL_ERROR_START() serial_error_start() -#define SERIAL_EOL() SERIAL_CHAR('\n') +#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_MSG(V...) do{ SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR(V); }while(0) -#define SERIAL_ERROR_MSG(V...) do{ SERIAL_ERROR_START(); SERIAL_ECHOLNPAIR(V); }while(0) +#define SERIAL_ECHO_SP(C) serial_spaces(C) -#define SERIAL_ECHO_SP(C) serial_spaces(C) - -#define SERIAL_ECHO_TERNARY(TF, PRE, ON, OFF, POST) serial_ternary(TF, PSTR(PRE), PSTR(ON), PSTR(OFF), PSTR(POST)) +#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) @@ -366,33 +303,72 @@ void serialprintPGM(PGM_P str); // // Functions for serial printing from PROGMEM. (Saves loads of SRAM.) // -void serial_echopair_PGM(PGM_P const s_P, serial_char_t v); -void serial_echopair_PGM(PGM_P const s_P, const char *v); -void serial_echopair_PGM(PGM_P const s_P, char v); -void serial_echopair_PGM(PGM_P const s_P, int v); -void serial_echopair_PGM(PGM_P const s_P, long v); -void serial_echopair_PGM(PGM_P const s_P, float v); -void serial_echopair_PGM(PGM_P const s_P, double v); -void serial_echopair_PGM(PGM_P const s_P, unsigned char v); -void serial_echopair_PGM(PGM_P const s_P, unsigned int v); -void serial_echopair_PGM(PGM_P const s_P, unsigned long v); -inline void serial_echopair_PGM(PGM_P const s_P, bool v) { serial_echopair_PGM(s_P, (int)v); } -inline void serial_echopair_PGM(PGM_P const s_P, void *v) { serial_echopair_PGM(s_P, (uintptr_t)v); } +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, PGM_P const pre, PGM_P const on, PGM_P const off, PGM_P const post=nullptr); +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_xyz(const_float_t x, const_float_t y, const_float_t z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr); +void print_pos(NUM_AXIS_ARGS(const_float_t), FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr); -inline void print_xyz(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) { - print_xyz(xyz.x, xyz.y, xyz.z, prefix, suffix); +inline void print_pos(const xyz_pos_t &xyz, FSTR_P const prefix=nullptr, FSTR_P const suffix=nullptr) { + print_pos(NUM_AXIS_ELEM(xyz), prefix, suffix); } -#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0) -#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(V, PSTR(PREFIX), nullptr); }while(0) +#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 index d8090eb83a..a5abd67d87 100644 --- a/Marlin/src/core/serial_base.h +++ b/Marlin/src/core/serial_base.h @@ -74,12 +74,12 @@ CALL_IF_EXISTS_IMPL(SerialFeature, features, SerialFeature::None); // for any type other than double/float. For double/float, a conversion exists so the call will be invisible. struct EnsureDouble { double a; - FORCE_INLINE operator double() { return 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) - FORCE_INLINE EnsureDouble(double a) : a(a) {} - FORCE_INLINE EnsureDouble(float a) : a(a) {} + EnsureDouble(double a) : a(a) {} + EnsureDouble(float a) : a(a) {} }; // Using Curiously-Recurring Template Pattern here to avoid virtual table cost when compiling. @@ -136,70 +136,90 @@ struct SerialBase { void flushTX() { CALL_IF_EXISTS(void, SerialChild, flushTX); } // Glue code here - FORCE_INLINE void write(const char *str) { while (*str) write(*str++); } - FORCE_INLINE void write(const uint8_t *buffer, size_t size) { while (size--) write(*buffer++); } - FORCE_INLINE void print(const char *str) { write(str); } + 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 - NO_INLINE void print(char c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); } - NO_INLINE void print(unsigned char c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); } - NO_INLINE void print(int c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); } - NO_INLINE void print(unsigned int c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); } - void print(unsigned long c, PrintBase base) { printNumber((unsigned long)c, (uint8_t)base); } - void print(long c, PrintBase base) { printNumber((signed long)c, (uint8_t)base); } - void print(EnsureDouble c, int digits) { printFloat(c, digits); } + + // 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 - FORCE_INLINE void print(char c) { print(c, PrintBase::Dec); } - FORCE_INLINE void print(unsigned char c) { print(c, PrintBase::Dec); } - FORCE_INLINE void print(int c) { print(c, PrintBase::Dec); } - FORCE_INLINE void print(unsigned int c) { print(c, PrintBase::Dec); } - FORCE_INLINE void print(unsigned long c) { print(c, PrintBase::Dec); } - FORCE_INLINE void print(long c) { print(c, PrintBase::Dec); } - FORCE_INLINE void print(double c) { print(c, 2); } - FORCE_INLINE void println(const char s[]) { print(s); println(); } - FORCE_INLINE void println(char c, PrintBase base) { print(c, base); println(); } - FORCE_INLINE void println(unsigned char c, PrintBase base) { print(c, base); println(); } - FORCE_INLINE void println(int c, PrintBase base) { print(c, base); println(); } - FORCE_INLINE void println(unsigned int c, PrintBase base) { print(c, base); println(); } - FORCE_INLINE void println(long c, PrintBase base) { print(c, base); println(); } - FORCE_INLINE void println(unsigned long c, PrintBase base) { print(c, base); println(); } - FORCE_INLINE void println(double c, int digits) { print(c, digits); println(); } - FORCE_INLINE void println() { write('\r'); write('\n'); } + // 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 - FORCE_INLINE void println(char c) { println(c, PrintBase::Dec); } - FORCE_INLINE void println(unsigned char c) { println(c, PrintBase::Dec); } - FORCE_INLINE void println(int c) { println(c, PrintBase::Dec); } - FORCE_INLINE void println(unsigned int c) { println(c, PrintBase::Dec); } - FORCE_INLINE void println(unsigned long c) { println(c, PrintBase::Dec); } - FORCE_INLINE void println(long c) { println(c, PrintBase::Dec); } - FORCE_INLINE void println(double c) { println(c, 2); } + 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 long n, const uint8_t base) { - if (!base) return; // Hopefully, this should raise visible bug immediately - + 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 % base; - n /= base; + 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'); } - void printNumber(signed long n, const uint8_t base) { - if (base == 10 && n < 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 long)n , base); + printNumber_unsigned((uint_fixed_print_t)n , base); } // Print a decimal number @@ -218,7 +238,7 @@ struct SerialBase { // Extract the integer part of the number and print it unsigned long int_part = (unsigned long)number; double remainder = number - (double)int_part; - printNumber(int_part, 10); + printNumber_unsigned(int_part, PrintBase::Dec); // Print the decimal point, but only if there are digits beyond if (digits) { @@ -227,7 +247,7 @@ struct SerialBase { while (digits--) { remainder *= 10.0; unsigned long toPrint = (unsigned long)remainder; - printNumber(toPrint, 10); + printNumber_unsigned(toPrint, PrintBase::Dec); remainder -= toPrint; } } diff --git a/Marlin/src/core/serial_hook.h b/Marlin/src/core/serial_hook.h index 512ebdec97..65c553c702 100644 --- a/Marlin/src/core/serial_hook.h +++ b/Marlin/src/core/serial_hook.h @@ -37,13 +37,15 @@ 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 inline SerialMask from(const serial_index_t index) { + 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 & other) : mask(other.mask) {} // Can't use = default here since not all framework support this + 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; }; @@ -67,7 +69,7 @@ struct BaseSerial : public SerialBase< BaseSerial >, public SerialT { SerialFeature features(serial_index_t index) const { return CALL_IF_EXISTS(SerialFeature, static_cast(this), features, index); } - // We have 2 implementation of the same method in both base class, let's say which one we want + // 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; @@ -109,7 +111,7 @@ struct ConditionalSerial : public SerialBase< ConditionalSerial > { ConditionalSerial(bool & conditionVariable, SerialT & out, const bool e) : BaseClassT(e), condition(conditionVariable), out(out) {} }; -// A simple foward class that taking a reference to an existing serial instance (likely created in their respective framework) +// 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; @@ -134,7 +136,7 @@ struct ForwardSerial : public SerialBase< ForwardSerial > { ForwardSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {} }; -// A class that's can be hooked and unhooked at runtime, useful to capturing the output of the serial interface +// 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; @@ -195,54 +197,71 @@ struct RuntimeSerial : public SerialBase< RuntimeSerial >, public Seria RuntimeSerial(const bool e, Args... args) : BaseClassT(e), SerialT(args...), writeHook(0), eofHook(0), userPointer(0) {} }; -// A class that duplicates its output conditionally to 2 serial interfaces -template -struct MultiSerial : public SerialBase< MultiSerial > { - typedef SerialBase< MultiSerial > BaseClassT; +#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; - Serial0T & serial0; - Serial1T & serial1; - static constexpr uint8_t Usage = ((1 << step) - 1); // A bit mask containing as many bits as step - static constexpr uint8_t FirstOutput = (Usage << offset); - static constexpr uint8_t SecondOutput = (Usage << (offset + step)); - static constexpr uint8_t Both = FirstOutput | SecondOutput; + #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) { - if (portMask.enabled(FirstOutput)) serial0.write(c); - if (portMask.enabled(SecondOutput)) serial1.write(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() { - if (portMask.enabled(FirstOutput)) serial0.msgDone(); - if (portMask.enabled(SecondOutput)) serial1.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) { - if (index.within(0 + offset, step + offset - 1)) - return serial0.available(index); - else if (index.within(step + offset, 2 * step + offset - 1)) - return serial1.available(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) { - if (index.within(0 + offset, step + offset - 1)) - return serial0.read(index); - else if (index.within(step + offset, 2 * step + offset - 1)) - return serial1.read(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) { - if (portMask.enabled(FirstOutput)) serial0.begin(br); - if (portMask.enabled(SecondOutput)) serial1.begin(br); + #define _S_BEGIN(N) if (portMask.enabled(output[N])) serial##N.begin(br); + REPEAT(NUM_SERIAL, _S_BEGIN); + #undef _S_BEGIN } void end() { - if (portMask.enabled(FirstOutput)) serial0.end(); - if (portMask.enabled(SecondOutput)) serial1.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; - if (portMask.enabled(FirstOutput)) ret = CALL_IF_EXISTS(bool, &serial0, connected); - if (portMask.enabled(SecondOutput)) ret = ret && CALL_IF_EXISTS(bool, &serial1, connected); + #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; } @@ -250,32 +269,40 @@ struct MultiSerial : public SerialBase< MultiSerial= 3 + #define Serial3Class ConditionalSerial + #endif #endif diff --git a/Marlin/src/core/types.h b/Marlin/src/core/types.h index 79a79b739b..61c182448e 100644 --- a/Marlin/src/core/types.h +++ b/Marlin/src/core/types.h @@ -26,37 +26,6 @@ #include "../inc/MarlinConfigPre.h" -class __FlashStringHelper; -typedef const __FlashStringHelper *progmem_str; - -// -// 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 { - X_AXIS = 0, A_AXIS = 0, - Y_AXIS = 1, B_AXIS = 1, - Z_AXIS = 2, C_AXIS = 2, - E_AXIS = 3, - X_HEAD = 4, Y_HEAD = 5, Z_HEAD = 6, - E0_AXIS = 3, - E1_AXIS, E2_AXIS, E3_AXIS, E4_AXIS, E5_AXIS, E6_AXIS, E7_AXIS, - ALL_AXES = 0xFE, NO_AXIS = 0xFF -}; - -// -// Loop over XYZE axes -// -#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS) -#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS) -#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N) -#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS) -#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS) -#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N) - // // Conditional type assignment magic. For example... // @@ -67,6 +36,163 @@ 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) + +// General Flags for some number of states +template +struct Flags { + typedef typename IF<(N>8), uint16_t, uint8_t>::type bits_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; + union { + bits_t b; + typename IF<(N>8), N16, N8>::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 |= (bits_t)_BV(n); } + void clear(const int n) { b &= ~(bits_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 IF<(NUM_AXIS_ENUMS > 8), uint16_t, uint8_t>::type 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, X_AXIS, NUM_AXES) +#define LOOP_LOGICAL_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, LOGICAL_AXES) +#define LOOP_DISTINCT_AXES(VAR) LOOP_S_L_N(VAR, X_AXIS, DISTINCT_AXES) +#define LOOP_DISTINCT_E(VAR) LOOP_L_N(VAR, DISTINCT_E) + // // feedRate_t is just a humble float // @@ -76,6 +202,7 @@ 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; @@ -101,8 +228,8 @@ typedef const_float_t const_celsius_float_t; // 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) << v)) -#define _RS(N) (N = (T)(uint32_t(N) >> v)) +#define _LS(N) (N = (T)(uint32_t(N) << p)) +#define _RS(N) (N = (T)(uint32_t(N) >> p)) #define FI FORCE_INLINE // Forward declarations @@ -182,12 +309,12 @@ typedef abce_float_t abce_pos_t; void toLogical(xy_pos_t &raw); void toLogical(xyz_pos_t &raw); void toLogical(xyze_pos_t &raw); -void toNative(xy_pos_t &raw); -void toNative(xyz_pos_t &raw); -void toNative(xyze_pos_t &raw); +void toNative(xy_pos_t &lpos); +void toNative(xyz_pos_t &lpos); +void toNative(xyze_pos_t &lpos); // -// XY coordinates, counters, etc. +// Paired XY coordinates, counters, flags, etc. // template struct XYval { @@ -196,18 +323,38 @@ struct XYval { struct { T a, b; }; T pos[2]; }; - FI void set(const T px) { x = px; } - 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]; } - FI void set(const T (&arr)[XYZ]) { x = arr[0]; y = arr[1]; } - FI void set(const T (&arr)[XYZE]) { x = arr[0]; y = arr[1]; } - #if XYZE_N > XYZE - FI void set(const T (&arr)[XYZE_N]) { x = arr[0]; y = arr[1]; } - #endif + + // 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) }; } @@ -219,17 +366,27 @@ struct XYval { 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 }; } - FI T& operator[](const int i) { return pos[i]; } - FI const T& operator[](const int i) const { return pos[i]; } + + // 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; } @@ -254,18 +411,22 @@ struct XYval { 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 &v) const { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator* (const float &v) { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator* (const int &v) const { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator* (const int &v) { XYval ls = *this; ls.x *= v; ls.y *= v; return ls; } - FI XYval operator/ (const float &v) const { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator/ (const float &v) { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator/ (const int &v) const { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator/ (const int &v) { XYval ls = *this; ls.x /= v; ls.y /= v; return ls; } - FI XYval operator>>(const int &v) const { XYval ls = *this; _RS(ls.x); _RS(ls.y); return ls; } - FI XYval operator>>(const int &v) { XYval ls = *this; _RS(ls.x); _RS(ls.y); return ls; } - FI XYval operator<<(const int &v) const { XYval ls = *this; _LS(ls.x); _LS(ls.y); return ls; } - FI XYval operator<<(const int &v) { XYval ls = *this; _LS(ls.x); _LS(ls.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; } @@ -275,240 +436,330 @@ struct XYval { FI XYval& operator+=(const XYZEval &rs) { x += rs.x; y += rs.y; return *this; } FI XYval& operator-=(const XYZEval &rs) { x -= rs.x; y -= rs.y; return *this; } FI XYval& operator*=(const XYZEval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYval& operator*=(const float &v) { x *= v; y *= v; return *this; } - FI XYval& operator*=(const int &v) { x *= v; y *= v; return *this; } - FI XYval& operator>>=(const int &v) { _RS(x); _RS(y); return *this; } - FI XYval& operator<<=(const int &v) { _LS(x); _LS(y); return *this; } - FI bool operator==(const XYval &rs) { return x == rs.x && y == rs.y; } - FI bool operator==(const XYZval &rs) { return x == rs.x && y == rs.y; } - FI bool operator==(const XYZEval &rs) { return x == rs.x && y == rs.y; } + 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 x == rs.x && y == rs.y; } FI bool operator==(const XYZval &rs) const { return x == rs.x && y == rs.y; } FI bool operator==(const XYZEval &rs) const { return x == rs.x && y == rs.y; } - FI bool operator!=(const XYval &rs) { return !operator==(rs); } - FI bool operator!=(const XYZval &rs) { return !operator==(rs); } - FI bool operator!=(const XYZEval &rs) { return !operator==(rs); } 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); } - FI XYval operator-() { XYval o = *this; o.x = -x; o.y = -y; return o; } - FI const XYval operator-() const { XYval o = *this; o.x = -x; o.y = -y; return o; } }; // -// XYZ coordinates, counters, etc. +// Linear Axes coordinates, counters, flags, etc. // template struct XYZval { union { - struct { T x, y, z; }; - struct { T a, b, c; }; - T pos[3]; + 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 T px) { x = px; } FI void set(const T px, const T py) { x = px; y = py; } - FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } - FI void set(const XYval pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; } + FI void set(const XYval pxy) { 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, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP); } FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } - FI void set(const T (&arr)[XYZ]) { x = arr[0]; y = arr[1]; z = arr[2]; } - FI void set(const T (&arr)[XYZE]) { x = arr[0]; y = arr[1]; z = arr[2]; } - #if XYZE_N > XYZE - FI void set(const T (&arr)[XYZE_N]) { x = arr[0]; y = arr[1]; z = arr[2]; } + #if HAS_Z_AXIS + 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]); } + 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 ); } #endif - FI void reset() { x = y = z = 0; } - FI T magnitude() const { return (T)sqrtf(x*x + y*y + z*z); } + #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 + #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; } - FI operator bool() { return z || x || y; } + // 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 { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)) }; } - FI XYZval asInt() { return { int16_t(x), int16_t(y), int16_t(z) }; } - FI XYZval asInt() const { return { int16_t(x), int16_t(y), int16_t(z) }; } - FI XYZval asLong() { return { int32_t(x), int32_t(y), int32_t(z) }; } - FI XYZval asLong() const { return { int32_t(x), int32_t(y), int32_t(z) }; } - FI XYZval ROUNDL() { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)) }; } - FI XYZval ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)) }; } - FI XYZval asFloat() { return { static_cast(x), static_cast(y), static_cast(z) }; } - FI XYZval asFloat() const { return { static_cast(x), static_cast(y), static_cast(z) }; } - FI XYZval reciprocal() const { return { _RECIP(x), _RECIP(y), _RECIP(z) }; } + 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; } - FI operator XYZEval() const { return { x, y, z }; } - FI T& operator[](const int i) { return pos[i]; } - FI const T& operator[](const int i) const { return pos[i]; } - FI XYZval& operator= (const T v) { set(v, v, v ); return *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(rs.x, rs.y, rs.z); return *this; } - FI XYZval operator+ (const XYval &rs) const { XYZval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYZval operator+ (const XYval &rs) { XYZval ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; } - FI XYZval operator- (const XYval &rs) const { XYZval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYZval operator- (const XYval &rs) { XYZval ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; } - FI XYZval operator* (const XYval &rs) const { XYZval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYZval operator* (const XYval &rs) { XYZval ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; } - FI XYZval operator/ (const XYval &rs) const { XYZval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYZval operator/ (const XYval &rs) { XYZval ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; } - FI XYZval operator+ (const XYZval &rs) const { XYZval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; } - FI XYZval operator+ (const XYZval &rs) { XYZval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; } - FI XYZval operator- (const XYZval &rs) const { XYZval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; } - FI XYZval operator- (const XYZval &rs) { XYZval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; } - FI XYZval operator* (const XYZval &rs) const { XYZval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; } - FI XYZval operator* (const XYZval &rs) { XYZval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; } - FI XYZval operator/ (const XYZval &rs) const { XYZval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; } - FI XYZval operator/ (const XYZval &rs) { XYZval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; } - FI XYZval operator+ (const XYZEval &rs) const { XYZval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; } - FI XYZval operator+ (const XYZEval &rs) { XYZval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; } - FI XYZval operator- (const XYZEval &rs) const { XYZval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; } - FI XYZval operator- (const XYZEval &rs) { XYZval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; } - FI XYZval operator* (const XYZEval &rs) const { XYZval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; } - FI XYZval operator* (const XYZEval &rs) { XYZval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; } - FI XYZval operator/ (const XYZEval &rs) const { XYZval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; } - FI XYZval operator/ (const XYZEval &rs) { XYZval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; } - FI XYZval operator* (const float &v) const { XYZval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; return ls; } - FI XYZval operator* (const float &v) { XYZval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; return ls; } - FI XYZval operator* (const int &v) const { XYZval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; return ls; } - FI XYZval operator* (const int &v) { XYZval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; return ls; } - FI XYZval operator/ (const float &v) const { XYZval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; return ls; } - FI XYZval operator/ (const float &v) { XYZval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; return ls; } - FI XYZval operator/ (const int &v) const { XYZval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; return ls; } - FI XYZval operator/ (const int &v) { XYZval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; return ls; } - FI XYZval operator>>(const int &v) const { XYZval ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; } - FI XYZval operator>>(const int &v) { XYZval ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; } - FI XYZval operator<<(const int &v) const { XYZval ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; } - FI XYZval operator<<(const int &v) { XYZval ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; } - FI XYZval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } - FI XYZval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } - FI XYZval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYZval& operator/=(const XYval &rs) { x /= rs.x; y /= rs.y; return *this; } - FI XYZval& operator+=(const XYZval &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; } - FI XYZval& operator-=(const XYZval &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; } - FI XYZval& operator*=(const XYZval &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; } - FI XYZval& operator/=(const XYZval &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; } - FI XYZval& operator+=(const XYZEval &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; } - FI XYZval& operator-=(const XYZEval &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; } - FI XYZval& operator*=(const XYZEval &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; } - FI XYZval& operator/=(const XYZEval &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; } - FI XYZval& operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; } - FI XYZval& operator*=(const int &v) { x *= v; y *= v; z *= v; return *this; } - FI XYZval& operator>>=(const int &v) { _RS(x); _RS(y); _RS(z); return *this; } - FI XYZval& operator<<=(const int &v) { _LS(x); _LS(y); _LS(z); return *this; } - FI bool operator==(const XYZEval &rs) { return x == rs.x && y == rs.y && z == rs.z; } - FI bool operator!=(const XYZEval &rs) { return !operator==(rs); } - FI bool operator==(const XYZEval &rs) const { return x == rs.x && y == rs.y && z == rs.z; } + 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, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator+ (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x += rs.x, ls.y += rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator- (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator- (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x -= rs.x, ls.y -= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator* (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator* (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x *= rs.x, ls.y *= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator/ (const XYval &rs) const { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); return ls; } + FI XYZval operator/ (const XYval &rs) { XYZval ls = *this; NUM_AXIS_CODE(ls.x /= rs.x, ls.y /= rs.y, NOOP , NOOP , NOOP , NOOP , NOOP , NOOP , NOOP ); 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, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); return *this; } + FI XYZval& operator-=(const XYval &rs) { NUM_AXIS_CODE(x -= rs.x, y -= rs.y, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); return *this; } + FI XYZval& operator*=(const XYval &rs) { NUM_AXIS_CODE(x *= rs.x, y *= rs.y, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); return *this; } + FI XYZval& operator/=(const XYval &rs) { NUM_AXIS_CODE(x /= rs.x, y /= rs.y, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP, NOOP ); 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); } - FI XYZval operator-() { XYZval o = *this; o.x = -x; o.y = -y; o.z = -z; return o; } - FI const XYZval operator-() const { XYZval o = *this; o.x = -x; o.y = -y; o.z = -z; return o; } }; // -// XYZE coordinates, counters, etc. +// Logical Axes coordinates, counters, etc. // template struct XYZEval { union { - struct{ T x, y, z, e; }; - struct{ T a, b, c; }; - T pos[4]; + struct { T LOGICAL_AXIS_ARGS(); }; + struct { T LOGICAL_AXIS_LIST(_e, a, b, c, _i, _j, _k, _u, _v, _w); }; + T pos[LOGICAL_AXES]; }; - FI void reset() { x = y = z = e = 0; } - FI T magnitude() const { return (T)sqrtf(x*x + y*y + z*z + e*e); } - FI operator T* () { return pos; } - FI operator bool() { return e || z || x || y; } - FI void set(const T px) { x = px; } - FI void set(const T px, const T py) { x = px; y = py; } - FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } - FI void set(const T px, const T py, const T pz, const T pe) { x = px; y = py; z = pz; e = pe; } - FI void set(const XYval pxy) { x = pxy.x; y = pxy.y; } - FI void set(const XYval pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; } - FI void set(const XYZval pxyz) { x = pxyz.x; y = pxyz.y; z = pxyz.z; } - FI void set(const XYval pxy, const T pz, const T pe) { x = pxy.x; y = pxy.y; z = pz; e = pe; } - FI void set(const XYval pxy, const XYval pze) { x = pxy.x; y = pxy.y; z = pze.z; e = pze.e; } - FI void set(const XYZval pxyz, const T pe) { x = pxyz.x; y = pxyz.y; z = pxyz.z; e = pe; } - FI void set(const T (&arr)[XY]) { x = arr[0]; y = arr[1]; } - FI void set(const T (&arr)[XYZ]) { x = arr[0]; y = arr[1]; z = arr[2]; } - FI void set(const T (&arr)[XYZE]) { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; } - #if XYZE_N > XYZE - FI void set(const T (&arr)[XYZE_N]) { x = arr[0]; y = arr[1]; z = arr[2]; e = arr[3]; } + // Reset all to 0 + FI void reset() { LOGICAL_AXIS_GANG(e =, x =, y =, z =, i =, j =, k =, u =, v =, w =) 0; } + + // Setters for some number of linear axes, not all + FI void set(const T px) { x = px; } + FI void set(const T px, const T py) { x = px; y = py; } + #if HAS_I_AXIS + FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; } #endif - FI XYZEval copy() const { return *this; } - FI XYZEval ABS() const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(e)) }; } - FI XYZEval asInt() { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; } - FI XYZEval asInt() const { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; } - FI XYZEval asLong() { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; } - FI XYZEval asLong() const { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; } - FI XYZEval ROUNDL() { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(e)) }; } - FI XYZEval ROUNDL() const { return { int32_t(LROUND(x)), int32_t(LROUND(y)), int32_t(LROUND(z)), int32_t(LROUND(e)) }; } - FI XYZEval asFloat() { return { static_cast(x), static_cast(y), static_cast(z), static_cast(e) }; } - FI XYZEval asFloat() const { return { static_cast(x), static_cast(y), static_cast(z), static_cast(e) }; } - FI XYZEval reciprocal() const { return { _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(e) }; } - FI XYZEval asLogical() const { XYZEval o = asFloat(); toLogical(o); return o; } - FI XYZEval asNative() const { XYZEval o = asFloat(); toNative(o); return o; } - 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; } - FI T& operator[](const int i) { return pos[i]; } - FI const T& operator[](const int i) const { return pos[i]; } - FI XYZEval& operator= (const T v) { set(v, v, v, v); return *this; } - FI XYZEval& operator= (const XYval &rs) { set(rs.x, rs.y); return *this; } - FI XYZEval& operator= (const XYZval &rs) { set(rs.x, rs.y, rs.z); return *this; } - 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 { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; } - FI XYZEval operator+ (const XYZval &rs) { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; } - FI XYZEval operator- (const XYZval &rs) const { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; } - FI XYZEval operator- (const XYZval &rs) { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; } - FI XYZEval operator* (const XYZval &rs) const { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; } - FI XYZEval operator* (const XYZval &rs) { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; } - FI XYZEval operator/ (const XYZval &rs) const { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; } - FI XYZEval operator/ (const XYZval &rs) { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; } - FI XYZEval operator+ (const XYZEval &rs) const { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; } - FI XYZEval operator+ (const XYZEval &rs) { XYZEval ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; } - FI XYZEval operator- (const XYZEval &rs) const { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; } - FI XYZEval operator- (const XYZEval &rs) { XYZEval ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; } - FI XYZEval operator* (const XYZEval &rs) const { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; } - FI XYZEval operator* (const XYZEval &rs) { XYZEval ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; } - FI XYZEval operator/ (const XYZEval &rs) const { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; } - FI XYZEval operator/ (const XYZEval &rs) { XYZEval ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; } - FI XYZEval operator* (const float &v) const { XYZEval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; } - FI XYZEval operator* (const float &v) { XYZEval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; } - FI XYZEval operator* (const int &v) const { XYZEval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; } - FI XYZEval operator* (const int &v) { XYZEval ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; } - FI XYZEval operator/ (const float &v) const { XYZEval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; } - FI XYZEval operator/ (const float &v) { XYZEval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; } - FI XYZEval operator/ (const int &v) const { XYZEval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; } - FI XYZEval operator/ (const int &v) { XYZEval ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; } - FI XYZEval operator>>(const int &v) const { XYZEval ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); _RS(ls.e); return ls; } - FI XYZEval operator>>(const int &v) { XYZEval ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); _RS(ls.e); return ls; } - FI XYZEval operator<<(const int &v) const { XYZEval ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); _LS(ls.e); return ls; } - FI XYZEval operator<<(const int &v) { XYZEval ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); _LS(ls.e); return ls; } - FI XYZEval& operator+=(const XYval &rs) { x += rs.x; y += rs.y; return *this; } - FI XYZEval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } - FI XYZEval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } - FI XYZEval& operator/=(const XYval &rs) { x /= rs.x; y /= rs.y; return *this; } - FI XYZEval& operator+=(const XYZval &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; } - FI XYZEval& operator-=(const XYZval &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; } - FI XYZEval& operator*=(const XYZval &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; } - FI XYZEval& operator/=(const XYZval &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; } - FI XYZEval& operator+=(const XYZEval &rs) { x += rs.x; y += rs.y; z += rs.z; e += rs.e; return *this; } - FI XYZEval& operator-=(const XYZEval &rs) { x -= rs.x; y -= rs.y; z -= rs.z; e -= rs.e; return *this; } - FI XYZEval& operator*=(const XYZEval &rs) { x *= rs.x; y *= rs.y; z *= rs.z; e *= rs.e; return *this; } - FI XYZEval& operator/=(const XYZEval &rs) { x /= rs.x; y /= rs.y; z /= rs.z; e /= rs.e; return *this; } - FI XYZEval& operator*=(const T &v) { x *= v; y *= v; z *= v; e *= v; return *this; } - FI XYZEval& operator>>=(const int &v) { _RS(x); _RS(y); _RS(z); _RS(e); return *this; } - FI XYZEval& operator<<=(const int &v) { _LS(x); _LS(y); _LS(z); _LS(e); return *this; } - FI bool operator==(const XYZval &rs) { return x == rs.x && y == rs.y && z == rs.z; } - FI bool operator!=(const XYZval &rs) { return !operator==(rs); } - FI bool operator==(const XYZval &rs) const { return x == rs.x && y == rs.y && z == rs.z; } - FI bool operator!=(const XYZval &rs) const { return !operator==(rs); } - FI XYZEval operator-() { return { -x, -y, -z, -e }; } - FI const XYZEval operator-() const { return { -x, -y, -z, -e }; } + #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 + + // Setters taking struct types and arrays + FI void set(const XYval pxy) { x = pxy.x; y = pxy.y; } + FI void set(const XYZval pxyz) { set(NUM_AXIS_ELEM(pxyz)); } + #if HAS_Z_AXIS + 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); } + #endif + FI void set(const XYval pxy, const T pz) { set(pxy); TERN_(HAS_Z_AXIS, z = pz); } + #if LOGICAL_AXES > NUM_AXES + 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); } + #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) { x += rs.x; y += rs.y; return *this; } + FI XYZEval& operator-=(const XYval &rs) { x -= rs.x; y -= rs.y; return *this; } + FI XYZEval& operator*=(const XYval &rs) { x *= rs.x; y *= rs.y; return *this; } + FI XYZEval& operator/=(const XYval &rs) { 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 @@ -516,6 +767,3 @@ struct XYZEval { #undef _LS #undef _RS #undef FI - -const xyze_char_t axis_codes { 'X', 'Y', 'Z', 'E' }; -#define XYZ_CHAR(A) ((char)('X' + A)) diff --git a/Marlin/src/core/utility.cpp b/Marlin/src/core/utility.cpp index 385a572029..64f083e197 100644 --- a/Marlin/src/core/utility.cpp +++ b/Marlin/src/core/utility.cpp @@ -29,24 +29,12 @@ void safe_delay(millis_t ms) { while (ms > 50) { ms -= 50; delay(50); - thermalManager.manage_heater(); + thermalManager.task(); } delay(ms); - thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made + thermalManager.task(); // This keeps us safe if too many small safe_delay() calls are made } -#if ENABLED(MARLIN_DEV_MODE) - void early_safe_delay(millis_t ms) { - while (ms > 50) { - ms -= 50; - delay(50); - watchdog_refresh(); - } - delay(ms); - watchdog_refresh(); - } -#endif - // A delay to provide brittle hosts time to receive bytes #if ENABLED(SERIAL_OVERRUN_PROTECTION) @@ -63,7 +51,7 @@ void safe_delay(millis_t ms) { #include "../module/probe.h" #include "../module/motion.h" - #include "../module/stepper.h" + #include "../module/planner.h" #include "../libs/numtostr.h" #include "../feature/bedlevel/bedlevel.h" @@ -72,7 +60,8 @@ void safe_delay(millis_t ms) { TERN_(DELTA, "Delta") TERN_(IS_SCARA, "SCARA") TERN_(IS_CORE, "Core") - TERN_(MARKFORGED_XY, "MarkForged") + TERN_(MARKFORGED_XY, "MarkForgedXY") + TERN_(MARKFORGED_YX, "MarkForgedYX") TERN_(IS_CARTESIAN, "Cartesian") ); @@ -81,19 +70,21 @@ void safe_delay(millis_t ms) { 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(PROBE_SELECTED, "", "NONE") + TERN_(MAGLEV4, "MAGLEV4") + IF_DISABLED(PROBE_SELECTED, "NONE") ); #if HAS_BED_PROBE #if !HAS_PROBE_XY_OFFSET - SERIAL_ECHOPAIR("Probe Offset X0 Y0 Z", probe.offset.z, " ("); + SERIAL_ECHOPGM("Probe Offset X0 Y0 Z", probe.offset.z, " ("); #else - SERIAL_ECHOPAIR_P(PSTR("Probe Offset X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR, probe.offset.z); + 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) @@ -104,9 +95,9 @@ void safe_delay(millis_t ms) { SERIAL_ECHOPGM(" (Aligned With"); if (probe.offset_xy.y > 0) - SERIAL_ECHOPGM_P(ENABLED(IS_SCARA) ? PSTR("-Distal") : PSTR("-Back")); + SERIAL_ECHOF(F(TERN(IS_SCARA, "-Distal", "-Back"))); else if (probe.offset_xy.y < 0) - SERIAL_ECHOPGM_P(ENABLED(IS_SCARA) ? PSTR("-Proximal") : PSTR("-Front")); + SERIAL_ECHOF(F(TERN(IS_SCARA, "-Proximal", "-Front"))); else if (probe.offset_xy.x != 0) SERIAL_ECHOPGM("-Center"); @@ -114,7 +105,7 @@ void safe_delay(millis_t ms) { #endif - SERIAL_ECHOPGM_P(probe.offset.z < 0 ? PSTR("Below") : probe.offset.z > 0 ? PSTR("Above") : PSTR("Same Z as")); + SERIAL_ECHOF(probe.offset.z < 0 ? F("Below") : probe.offset.z > 0 ? F("Above") : F("Same Z as")); SERIAL_ECHOLNPGM(" Nozzle)"); #endif @@ -131,28 +122,25 @@ void safe_delay(millis_t ms) { SERIAL_ECHOLNPGM(" (enabled)"); #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) if (planner.z_fade_height) - SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height); + SERIAL_ECHOLNPGM("Z Fade: ", planner.z_fade_height); #endif #if ABL_PLANAR - SERIAL_ECHOPGM("ABL Adjustment X"); - LOOP_XYZ(a) { - const float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a]; - SERIAL_CHAR(' ', XYZ_CHAR(a)); - if (v > 0) SERIAL_CHAR('+'); - SERIAL_DECIMAL(v); + 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"); - const float rz = ubl.get_z_correction(current_position); #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) SERIAL_ECHOPGM("ABL Adjustment Z"); - const float rz = bilinear_z_offset(current_position); #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_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position.z), '+')); + SERIAL_ECHOPGM(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position.z), '+')); SERIAL_CHAR(')'); } #endif @@ -168,11 +156,13 @@ void safe_delay(millis_t ms) { SERIAL_ECHOPGM("Mesh Bed Leveling"); if (planner.leveling_active) { SERIAL_ECHOLNPGM(" (enabled)"); - SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position), '+')); + 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_ECHOPAIR(" (", ftostr43sign( - mbl.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+' + SERIAL_ECHOPGM(" (", ftostr43sign( + z_offset + z_correction * planner.fade_scaling_factor_for_z(current_position.z), '+' )); SERIAL_CHAR(')'); } diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h index 0e1c109be1..2731e62b67 100644 --- a/Marlin/src/core/utility.h +++ b/Marlin/src/core/utility.h @@ -26,11 +26,6 @@ #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(MARLIN_DEV_MODE) - void early_safe_delay(millis_t ms); // Delay ensuring that the watchdog is kept alive. Can be used before the Temperature ISR starts. -#else - inline void early_safe_delay(millis_t ms) { safe_delay(ms); } -#endif #if ENABLED(SERIAL_OVERRUN_PROTECTION) void serial_delay(const millis_t ms); @@ -64,6 +59,11 @@ void safe_delay(millis_t ms); // Delay ensuring that temperatures are #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_; @@ -81,3 +81,14 @@ public: // 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 index 54ad9588f4..2e3d6a9fd2 100644 --- a/Marlin/src/feature/babystep.cpp +++ b/Marlin/src/feature/babystep.cpp @@ -54,6 +54,18 @@ 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; diff --git a/Marlin/src/feature/babystep.h b/Marlin/src/feature/babystep.h index f8037678ca..bbf0c5a260 100644 --- a/Marlin/src/feature/babystep.h +++ b/Marlin/src/feature/babystep.h @@ -54,7 +54,7 @@ public: #if ENABLED(BABYSTEP_DISPLAY_TOTAL) static int16_t axis_total[BS_TOTAL_IND(Z_AXIS) + 1]; // Total babysteps since G28 - static inline void reset_total(const AxisEnum axis) { + static void reset_total(const AxisEnum axis) { if (TERN1(BABYSTEP_XY, axis == Z_AXIS)) axis_total[BS_TOTAL_IND(axis)] = 0; } @@ -63,7 +63,11 @@ public: static void add_steps(const AxisEnum axis, const int16_t distance); static void add_mm(const AxisEnum axis, const_float_t mm); - static inline bool has_steps() { + #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)]; } @@ -71,7 +75,7 @@ public: // Called by the Temperature or Stepper ISR to // apply accumulated babysteps to the axes. // - static inline void task() { + static void task() { LOOP_LE_N(i, BS_AXIS_IND(Z_AXIS)) step_axis(BS_AXIS(i)); } diff --git a/Marlin/src/feature/backlash.cpp b/Marlin/src/feature/backlash.cpp index 610cfcb565..13e2cd99ec 100644 --- a/Marlin/src/feature/backlash.cpp +++ b/Marlin/src/feature/backlash.cpp @@ -29,6 +29,9 @@ #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; @@ -38,7 +41,7 @@ #endif #if ENABLED(BACKLASH_GCODE) - uint8_t Backlash::correction = (BACKLASH_CORRECTION) * 0xFF; + uint8_t Backlash::correction = (BACKLASH_CORRECTION) * all_on; #ifdef BACKLASH_SMOOTHING_MM float Backlash::smoothing_mm = BACKLASH_SMOOTHING_MM; #endif @@ -60,11 +63,10 @@ Backlash backlash; * 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 uint8_t dm, block_t * const block) { - static uint8_t last_direction_bits; - uint8_t changed_dir = last_direction_bits ^ dm; +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) || ENABLED(MARKFORGED_XY) + #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); @@ -83,7 +85,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const #endif last_direction_bits ^= changed_dir; - if (correction == 0) return; + if (!correction && !residual_error) return; #ifdef BACKLASH_SMOOTHING_MM // The segment proportion is a value greater than 0.0 indicating how much residual_error @@ -91,39 +93,28 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const // smoothing distance. Since the computation of this proportion involves a floating point // division, defer computation until needed. float segment_proportion = 0; - - // Residual error carried forward across multiple segments, so correction can be applied - // to segments where there is no direction change. - static xyz_long_t residual_error{0}; - #else - // No direction change, no correction. - if (!changed_dir) return; - // No leftover residual error from segment to segment - xyz_long_t residual_error{0}; #endif - const float f_corr = float(correction) / 255.0f; + const float f_corr = float(correction) / all_on; - LOOP_XYZ(axis) { + LOOP_NUM_AXES(axis) { if (distance_mm[axis]) { - const bool reversing = TEST(dm,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] += (reversing ? -f_corr : f_corr) * distance_mm[axis] * planner.settings.axis_steps_per_mm[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, but only when - // the current segment travels in the same direction as the correction - if (reversing == (error_correction < 0)) { - if (segment_proportion == 0) segment_proportion = _MIN(1.0f, block->millimeters / smoothing_mm); - error_correction = CEIL(segment_proportion * error_correction); - } - else - error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps + // 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 @@ -134,12 +125,12 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const 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_ECHOLNPAIR("CORE_AXIS_1 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis], + //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_ECHOLNPAIR("CORE_AXIS_2 dir change. distance=", distance_mm[axis], " r.err=", residual_error[axis], + //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; @@ -153,6 +144,57 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const } } +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" diff --git a/Marlin/src/feature/backlash.h b/Marlin/src/feature/backlash.h index 500168b380..0bace526e5 100644 --- a/Marlin/src/feature/backlash.h +++ b/Marlin/src/feature/backlash.h @@ -24,21 +24,22 @@ #include "../inc/MarlinConfigPre.h" #include "../module/planner.h" -constexpr uint8_t all_on = 0xFF, all_off = 0x00; - 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 xyz_float_t distance_mm; static uint8_t correction; + static xyz_float_t distance_mm; #ifdef BACKLASH_SMOOTHING_MM static float smoothing_mm; #endif - - static inline void set_correction(const_float_t v) { correction = _MAX(0, _MIN(1.0, v)) * all_on; } - static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; } #else - static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF; + 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; @@ -46,14 +47,14 @@ public: #endif #if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) - private: - static xyz_float_t measured_mm; - static xyz_uint8_t measured_count; - public: - static void measure_with_probe(); + static xyz_float_t measured_mm; + static xyz_uint8_t measured_count; #endif - static inline float get_measurement(const AxisEnum a) { + 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 @@ -62,16 +63,34 @@ public: ); } - static inline bool has_measurement(const AxisEnum a) { + static bool has_measurement(const AxisEnum a) { UNUSED(a); return TERN0(MEASURE_BACKLASH_WHEN_PROBING, measured_count[a] > 0); } - static inline bool has_any_measurement() { + static bool has_any_measurement() { return has_measurement(X_AXIS) || has_measurement(Y_AXIS) || has_measurement(Z_AXIS); } - void add_correction_steps(const int32_t &da, const int32_t &db, const int32_t &dc, const uint8_t dm, block_t * const block); + 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/bedlevel/abl/abl.h b/Marlin/src/feature/bedlevel/abl/abl.h deleted file mode 100644 index 3d54c55695..0000000000 --- a/Marlin/src/feature/bedlevel/abl/abl.h +++ /dev/null @@ -1,45 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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" - -extern xy_pos_t bilinear_grid_spacing, bilinear_start; -extern xy_float_t bilinear_grid_factor; -extern bed_mesh_t z_values; -float bilinear_z_offset(const xy_pos_t &raw); - -void extrapolate_unprobed_bed_level(); -void print_bilinear_leveling_grid(); -void refresh_bed_level(); -#if ENABLED(ABL_BILINEAR_SUBDIVISION) - void print_bilinear_leveling_grid_virt(); - void bed_level_virt_interpolate(); -#endif - -#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) - void bilinear_line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF); -#endif - -#define _GET_MESH_X(I) float(bilinear_start.x + (I) * bilinear_grid_spacing.x) -#define _GET_MESH_Y(J) float(bilinear_start.y + (J) * bilinear_grid_spacing.y) -#define Z_VALUES_ARR z_values diff --git a/Marlin/src/feature/bedlevel/abl/abl.cpp b/Marlin/src/feature/bedlevel/abl/bbl.cpp similarity index 76% rename from Marlin/src/feature/bedlevel/abl/abl.cpp rename to Marlin/src/feature/bedlevel/abl/bbl.cpp index 7390656563..be0e862cc1 100644 --- a/Marlin/src/feature/bedlevel/abl/abl.cpp +++ b/Marlin/src/feature/bedlevel/abl/bbl.cpp @@ -35,14 +35,19 @@ #include "../../../lcd/extui/ui_api.h" #endif -xy_pos_t bilinear_grid_spacing, bilinear_start; -xy_float_t bilinear_grid_factor; -bed_mesh_t z_values; +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 */ -static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir) { +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 ["); @@ -92,11 +97,26 @@ static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t #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(); +} + /** * Fill in the unprobed points (corners of circular print surface) * using linear extrapolation, away from the center. */ -void extrapolate_unprobed_bed_level() { +void LevelingBilinear::extrapolate_unprobed_bed_level() { #ifdef HALF_IN_X constexpr uint8_t ctrx2 = 0, xend = GRID_MAX_POINTS_X - 1; #else @@ -131,35 +151,31 @@ void extrapolate_unprobed_bed_level() { #endif extrapolate_one_point(x2, y2, -1, -1); // right-above - - } - } -void print_bilinear_leveling_grid() { +void LevelingBilinear::print_leveling_grid(const bed_mesh_t* _z_values /*= NULL*/) { + // 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, - [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; } - ); + 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_GRID_POINTS_VIRT_X GRID_MAX_CELLS_X * (BILINEAR_SUBDIVISIONS) + 1 - #define ABL_GRID_POINTS_VIRT_Y GRID_MAX_CELLS_Y * (BILINEAR_SUBDIVISIONS) + 1 #define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2) #define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2) - float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y]; - xy_pos_t bilinear_grid_spacing_virt; - xy_float_t bilinear_grid_factor_virt; - - void print_bilinear_leveling_grid_virt() { - SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:"); - print_2d_array(ABL_GRID_POINTS_VIRT_X, ABL_GRID_POINTS_VIRT_Y, 5, - [](const uint8_t ix, const uint8_t iy) { return z_values_virt[ix][iy]; } - ); - } + 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 bed_level_virt_coord(const uint8_t x, const uint8_t y) { + 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. @@ -204,7 +220,7 @@ void print_bilinear_leveling_grid() { return z_values[x - 1][y - 1]; } - static float bed_level_virt_cmr(const float p[4], const uint8_t i, const float t) { + 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)) @@ -213,7 +229,7 @@ void print_bilinear_leveling_grid() { ) * 0.5f; } - static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const_float_t tx, const_float_t ty) { + 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) { @@ -224,9 +240,9 @@ void print_bilinear_leveling_grid() { return bed_level_virt_cmr(row, 1, tx); } - void bed_level_virt_interpolate() { - bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS); - bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal(); + 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) @@ -242,40 +258,42 @@ void print_bilinear_leveling_grid() { ); } } + #endif // ABL_BILINEAR_SUBDIVISION // Refresh after other values have been updated -void refresh_bed_level() { - bilinear_grid_factor = bilinear_grid_spacing.reciprocal(); +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) bilinear_grid_spacing_virt.A - #define ABL_BG_FACTOR(A) bilinear_grid_factor_virt.A + #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) bilinear_grid_spacing.A - #define ABL_BG_FACTOR(A) bilinear_grid_factor.A + #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 bilinear_z_offset(const xy_pos_t &raw) { +float LevelingBilinear::get_z_correction(const xy_pos_t &raw) { static float z1, d2, z3, d4, L, D; - static xy_pos_t prev { -999.999, -999.999 }, ratio; + static xy_pos_t ratio; // Whole units for the grid line indices. Constrained within bounds. - static xy_int8_t thisg, nextg, lastg { -99, -99 }; + static xy_int8_t thisg, nextg; // XY relative to the probed area - xy_pos_t rel = raw - bilinear_start.asFloat(); + 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 @@ -283,8 +301,8 @@ float bilinear_z_offset(const xy_pos_t &raw) { #define FAR_EDGE_OR_BOX 1 // Just use the grid far edge #endif - if (prev.x != rel.x) { - prev.x = rel.x; + 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 @@ -298,10 +316,10 @@ float bilinear_z_offset(const xy_pos_t &raw) { nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1); } - if (prev.y != rel.y || lastg.x != thisg.x) { + if (cached_rel.y != rel.y || cached_g.x != thisg.x) { - if (prev.y != rel.y) { - prev.y = rel.y; + 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; @@ -315,8 +333,8 @@ float bilinear_z_offset(const xy_pos_t &raw) { nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1); } - if (lastg != thisg) { - lastg = thisg; + 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) @@ -336,11 +354,11 @@ float bilinear_z_offset(const xy_pos_t &raw) { /* static float last_offset = 0; if (ABS(last_offset - offset) > 0.2) { - SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x); - SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y); - SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y); - SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4); - SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset); + 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; //*/ @@ -350,13 +368,13 @@ float bilinear_z_offset(const xy_pos_t &raw) { #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) - #define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A)) + #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 bilinear_line_to_destination(const_feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) { + 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) }; @@ -384,7 +402,7 @@ float bilinear_z_offset(const xy_pos_t &raw) { // Split on the X grid line CBI(x_splits, gc.x); end = destination; - destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x; + 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); } @@ -393,7 +411,7 @@ float bilinear_z_offset(const xy_pos_t &raw) { // Split on the Y grid line CBI(y_splits, gc.y); end = destination; - destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y; + 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); } @@ -409,11 +427,11 @@ float bilinear_z_offset(const xy_pos_t &raw) { destination.e = LINE_SEGMENT_END(e); // Do the split and look for more borders - bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits); + line_to_destination(scaled_fr_mm_s, x_splits, y_splits); // Restore destination from stack destination = end; - bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits); + line_to_destination(scaled_fr_mm_s, x_splits, y_splits); } #endif // IS_CARTESIAN && !SEGMENT_LEVELED_MOVES diff --git a/Marlin/src/feature/bedlevel/abl/bbl.h b/Marlin/src/feature/bedlevel/abl/bbl.h new file mode 100644 index 0000000000..c2be4fee82 --- /dev/null +++ b/Marlin/src/feature/bedlevel/abl/bbl.h @@ -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 . + * + */ +#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; + + static void extrapolate_one_point(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir); + + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + #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) + + 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_unprobed_bed_level(); + static void print_leveling_grid(const bed_mesh_t* _z_values = NULL); + 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 index 8e03632de4..03b67745ec 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.cpp +++ b/Marlin/src/feature/bedlevel/bedlevel.cpp @@ -47,48 +47,41 @@ #endif bool leveling_is_valid() { - return TERN1(MESH_BED_LEVELING, mbl.has_mesh()) - && TERN1(AUTO_BED_LEVELING_BILINEAR, !!bilinear_grid_spacing.x) - && TERN1(AUTO_BED_LEVELING_UBL, ubl.mesh_is_valid()); + return TERN1(HAS_MESH, bedlevel.mesh_is_valid()); } /** - * Turn bed leveling on or off, fixing the current - * position as-needed. + * 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(); - #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - // Force bilinear_z_offset to re-calculate next time - const xyz_pos_t reset { -9999.999, -9999.999, 0 }; - (void)bilinear_z_offset(reset); - #endif - - if (planner.leveling_active) { // leveling from on to off - if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling ON", current_position); - // change unleveled current_position to physical current_position without moving steppers. - planner.apply_leveling(current_position); - planner.leveling_active = false; // disable only AFTER calling apply_leveling - if (DEBUGGING(LEVELING)) DEBUG_POS("...Now OFF", current_position); - } - else { // leveling from off to on - if (DEBUGGING(LEVELING)) DEBUG_POS("Leveling OFF", current_position); - planner.leveling_active = true; // enable BEFORE calling unapply_leveling, otherwise ignored - // change physical current_position to unleveled current_position without moving steppers. - planner.unapply_leveling(current_position); - if (DEBUGGING(LEVELING)) DEBUG_POS("...Now ON", current_position); - } + // 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(); } } @@ -122,23 +115,9 @@ TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved( */ void reset_bed_level() { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("reset_bed_level"); - #if ENABLED(AUTO_BED_LEVELING_UBL) - ubl.reset(); - #else - set_bed_leveling_enabled(false); - #if ENABLED(MESH_BED_LEVELING) - mbl.reset(); - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - bilinear_start.reset(); - bilinear_grid_spacing.reset(); - GRID_LOOP(x, y) { - z_values[x][y] = NAN; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, 0)); - } - #elif ABL_PLANAR - planner.bed_level_matrix.set_to_identity(); - #endif - #endif + 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) @@ -156,7 +135,7 @@ void reset_bed_level() { /** * 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, element_2d_fn fn) { + 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)); @@ -176,7 +155,7 @@ void reset_bed_level() { #endif LOOP_L_N(x, sx) { SERIAL_CHAR(' '); - const float offset = fn(x, y); + const float offset = values[x * sy + y]; if (!isnan(offset)) { if (offset >= 0) SERIAL_CHAR('+'); SERIAL_ECHO_F(offset, int(precision)); diff --git a/Marlin/src/feature/bedlevel/bedlevel.h b/Marlin/src/feature/bedlevel/bedlevel.h index 9bab2fbd2f..aeafec10d6 100644 --- a/Marlin/src/feature/bedlevel/bedlevel.h +++ b/Marlin/src/feature/bedlevel/bedlevel.h @@ -24,7 +24,7 @@ #include "../../inc/MarlinConfigPre.h" #if EITHER(RESTORE_LEVELING_AFTER_G28, ENABLE_LEVELING_AFTER_G28) - #define G28_L0_ENSURES_LEVELING_OFF 1 + #define CAN_SET_LEVELING_AFTER_G28 1 #endif #if ENABLED(PROBE_MANUALLY) @@ -62,16 +62,13 @@ class TemporaryBedLevelingState { typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - #include "abl/abl.h" + #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 - #define Z_VALUES(X,Y) Z_VALUES_ARR[X][Y] - #define _GET_MESH_POS(M) { _GET_MESH_X(M.a), _GET_MESH_Y(M.b) } - #if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING) #include @@ -81,7 +78,7 @@ class TemporaryBedLevelingState { /** * 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, element_2d_fn fn); + void print_2d_array(const uint8_t sx, const uint8_t sy, const uint8_t precision, const float *values); #endif @@ -92,7 +89,7 @@ class TemporaryBedLevelingState { bool valid() const { return pos.x >= 0 && pos.y >= 0; } #if ENABLED(AUTO_BED_LEVELING_UBL) xy_pos_t meshpos() { - return { ubl.mesh_index_to_xpos(pos.x), ubl.mesh_index_to_ypos(pos.y) }; + return { bedlevel.get_mesh_x(pos.x), bedlevel.get_mesh_y(pos.y) }; } #endif operator xy_int8_t&() { return pos; } diff --git a/Marlin/src/feature/bedlevel/hilbert_curve.cpp b/Marlin/src/feature/bedlevel/hilbert_curve.cpp index e4bc3aa618..7474123e3f 100644 --- a/Marlin/src/feature/bedlevel/hilbert_curve.cpp +++ b/Marlin/src/feature/bedlevel/hilbert_curve.cpp @@ -35,7 +35,7 @@ constexpr uint8_t dim = _BV(ord); 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 unecessary points + // curve, so cull unnecessary points return x < (GRID_MAX_POINTS_X) && y < (GRID_MAX_POINTS_Y) ? func(x, y, data) : false; } diff --git a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp index 51cf28f890..193cbbf765 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp @@ -32,7 +32,7 @@ #include "../../../lcd/extui/ui_api.h" #endif - mesh_bed_leveling mbl; + mesh_bed_leveling bedlevel; float mesh_bed_leveling::z_offset, mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y], @@ -125,9 +125,7 @@ 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, - [](const uint8_t ix, const uint8_t iy) { return z_values[ix][iy]; } - ); + 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 index 1ae8135458..1a8e693e81 100644 --- a/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h +++ b/Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h @@ -34,9 +34,6 @@ enum MeshLevelingState : char { #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)) -#define _GET_MESH_X(I) mbl.index_to_xpos[I] -#define _GET_MESH_Y(J) mbl.index_to_ypos[J] -#define Z_VALUES_ARR mbl.z_values class mesh_bed_leveling { public: @@ -56,9 +53,11 @@ public: 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 inline void zigzag(const int8_t index, int8_t &px, int8_t &py) { + 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 @@ -70,6 +69,9 @@ public: 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); @@ -78,10 +80,10 @@ public: int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST); return constrain(cy, 0, GRID_MAX_CELLS_Y - 1); } - static inline xy_int8_t cell_indexes(const_float_t x, const_float_t y) { + static xy_int8_t cell_indexes(const_float_t x, const_float_t y) { return { cell_index_x(x), cell_index_y(y) }; } - static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.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); @@ -91,10 +93,10 @@ public: 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 inline xy_int8_t probe_indexes(const_float_t x, const_float_t y) { + static xy_int8_t probe_indexes(const_float_t x, const_float_t y) { return { probe_index_x(x), probe_index_y(y) }; } - static inline xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.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), @@ -102,14 +104,9 @@ public: return z1 + delta_a * delta_z; } - static float get_z(const xy_pos_t &pos - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - , const_float_t factor=1.0f - #endif - ) { - #if DISABLED(ENABLE_LEVELING_FADE_HEIGHT) - constexpr float factor = 1.0f; - #endif + 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_xpos[ind.y], y2 = index_to_xpos[ind.y+1], @@ -117,7 +114,7 @@ public: 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 z_offset + zf * factor; + return zf; } #if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES) @@ -125,4 +122,4 @@ public: #endif }; -extern mesh_bed_leveling mbl; +extern mesh_bed_leveling bedlevel; diff --git a/Marlin/src/feature/bedlevel/ubl/ubl.cpp b/Marlin/src/feature/bedlevel/ubl/ubl.cpp index 164d267ceb..f2af1445b1 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl.cpp @@ -26,7 +26,7 @@ #include "../bedlevel.h" -unified_bed_leveling ubl; +unified_bed_leveling bedlevel; #include "../../../MarlinCore.h" #include "../../../gcode/gcode.h" @@ -35,6 +35,7 @@ unified_bed_leveling ubl; #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" @@ -50,7 +51,7 @@ void unified_bed_leveling::report_current_mesh() { GRID_LOOP(x, y) if (!isnan(z_values[x][y])) { SERIAL_ECHO_START(); - SERIAL_ECHOPAIR(" M421 I", x, " J", y); + 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 } @@ -163,7 +164,7 @@ static void serial_echo_column_labels(const uint8_t sp) { * 2: TODO: Display on Graphical LCD * 4: Compact Human-Readable */ -void unified_bed_leveling::display_map(const int map_type) { +void unified_bed_leveling::display_map(const uint8_t map_type) { const bool was = gcode.set_autoreport_paused(true); constexpr uint8_t eachsp = 1 + 6 + 1, // [-3.567] @@ -179,10 +180,8 @@ void unified_bed_leveling::display_map(const int map_type) { SERIAL_EOL(); serial_echo_column_labels(eachsp - 2); } - else { - SERIAL_ECHOPGM(" for "); - SERIAL_ECHOPGM_P(csv ? PSTR("CSV:\n") : PSTR("LCD:\n")); - } + 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 @@ -212,10 +211,10 @@ void unified_bed_leveling::display_map(const int map_type) { // TODO: Display on Graphical LCD } else if (isnan(f)) - SERIAL_ECHOPGM_P(human ? PSTR(" . ") : PSTR("NAN")); + SERIAL_ECHOF(human ? F(" . ") : F("NAN")); else if (human || csv) { - if (human && f >= 0.0) SERIAL_CHAR(f > 0 ? '+' : ' '); // Display sign also for positive numbers (' ' for 0) - SERIAL_ECHO_F(f, 3); // Positive: 5 digits, Negative: 6 digits + 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'); @@ -254,4 +253,48 @@ bool unified_bed_leveling::sanity_check() { 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 index 0a758a57e9..a7103d6e18 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl.h +++ b/Marlin/src/feature/bedlevel/ubl/ubl.h @@ -32,7 +32,7 @@ #define UBL_OK false #define UBL_ERR true -enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP }; +enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP, CLOSEST }; // External references @@ -47,10 +47,10 @@ struct mesh_index_pair; typedef struct { bool C_seen; - int8_t V_verbosity, + int8_t KLS_storage_slot; + uint8_t R_repetition, + V_verbosity, P_phase, - R_repetition, - KLS_storage_slot, T_map_type; float B_shim_thickness, C_constant; @@ -70,20 +70,19 @@ private: 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; + 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 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 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 inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) { + 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); } - static void smart_fill_mesh(); #if ENABLED(UBL_DEVEL_DEBUGGING) static void g29_what_command(); @@ -98,17 +97,18 @@ public: static void report_state(); static void save_ubl_active_state_and_disable(); static void restore_ubl_active_state_and_leave(); - static void display_map(const int) _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 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 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; @@ -120,11 +120,11 @@ public: static const float _mesh_index_to_xpos[GRID_MAX_POINTS_X], _mesh_index_to_ypos[GRID_MAX_POINTS_Y]; - #if HAS_LCD_MENU + #if HAS_MARLINUI_MENU static bool lcd_map_control; static void steppers_were_disabled(); #else - static inline void steppers_were_disabled() {} + static void steppers_were_disabled() {} #endif static volatile int16_t encoder_diff; // Volatile because buttons may change it at interrupt time @@ -157,10 +157,10 @@ public: return constrain(cell_index_y_raw(y), 0, GRID_MAX_CELLS_Y - 1); } - static inline xy_int8_t cell_indexes(const_float_t x, const_float_t y) { + static xy_int8_t cell_indexes(const_float_t x, const_float_t y) { return { cell_index_x(x), cell_index_y(y) }; } - static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.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); @@ -170,7 +170,7 @@ public: 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 inline xy_int8_t closest_indexes(const xy_pos_t &xy) { + static xy_int8_t closest_indexes(const xy_pos_t &xy) { return { closest_x_index(xy.x), closest_y_index(xy.y) }; } @@ -203,19 +203,19 @@ public: * 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 inline float z_correction_for_x_on_horizontal_mesh_line(const_float_t rx0, const int x1_i, const int yi) { + 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_ECHOLNPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(rx0=", rx0, ",x1_i=", x1_i, ",yi=", yi, ")"); + 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 - mesh_index_to_xpos(x1_i)) * RECIPROCAL(MESH_X_DIST), + 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 @@ -226,19 +226,19 @@ public: // // See comments above for z_correction_for_x_on_horizontal_mesh_line // - static inline float z_correction_for_y_on_vertical_mesh_line(const_float_t ry0, const int xi, const int y1_i) { + 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_ECHOLNPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ry0=", ry0, ", xi=", xi, ", y1_i=", y1_i, ")"); + 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 - mesh_index_to_ypos(y1_i)) * RECIPROCAL(MESH_Y_DIST), + 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 @@ -264,33 +264,36 @@ public: 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 z1 = calc_z0(rx0, mesh_index_to_xpos(cx), z_values[cx][cy], mesh_index_to_xpos(cx + 1), z_values[mx][cy]); - const float z2 = calc_z0(rx0, mesh_index_to_xpos(cx), z_values[cx][my], mesh_index_to_xpos(cx + 1), z_values[mx][my]); - float z0 = calc_z0(ry0, mesh_index_to_ypos(cy), z1, mesh_index_to_ypos(cy + 1), z2); + const uint8_t mx = _MIN(cx, (GRID_MAX_POINTS_X) - 2) + 1, my = _MIN(cy, (GRID_MAX_POINTS_Y) - 2) + 1, + x0 = get_mesh_x(cx), x1 = get_mesh_x(cx + 1); + const float 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 ubl.z_values[][] and propagate through the - // calculations. If our correction is NAN, we throw it out - // because part of the Mesh is undefined and we don't have the - // information we need to complete the height correction. + if (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_ECHOLNPAIR("??? Yikes! NAN in "); + if (DEBUGGING(MESH_ADJUST)) DEBUG_ECHOLNPGM("??? Yikes! NAN in "); } if (DEBUGGING(MESH_ADJUST)) { - DEBUG_ECHOPAIR("get_z_correction(", rx0, ", ", ry0); + DEBUG_ECHOPGM("get_z_correction(", rx0, ", ", ry0); DEBUG_ECHOLNPAIR_F(") => ", z0, 6); } return z0; } - static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } + static float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); } - static inline float mesh_index_to_xpos(const uint8_t i) { + static constexpr float get_z_offset() { return 0.0f; } + + 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 inline float mesh_index_to_ypos(const uint8_t i) { + 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); } @@ -300,18 +303,14 @@ public: static void line_to_destination_cartesian(const_feedRate_t scaled_fr_mm_s, const uint8_t e); #endif - static inline bool mesh_is_valid() { + 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 ubl; - -#define _GET_MESH_X(I) ubl.mesh_index_to_xpos(I) -#define _GET_MESH_Y(J) ubl.mesh_index_to_ypos(J) -#define Z_VALUES_ARR ubl.z_values +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 index 361f3f1285..d6cb0b762f 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp @@ -31,7 +31,6 @@ #include "../../../libs/hex_print.h" #include "../../../module/settings.h" #include "../../../lcd/marlinui.h" -#include "../../../module/stepper.h" #include "../../../module/planner.h" #include "../../../module/motion.h" #include "../../../module/probe.h" @@ -57,7 +56,7 @@ #define UBL_G29_P31 -#if HAS_LCD_MENU +#if HAS_MARLINUI_MENU bool unified_bed_leveling::lcd_map_control = false; @@ -305,9 +304,9 @@ void unified_bed_leveling::G29() { bool probe_deployed = false; if (G29_parse_parameters()) return; // Abort on parameter error - const int8_t p_val = parser.intval('P', -1); - const bool may_move = p_val == 1 || p_val == 2 || p_val == 4 || parser.seen('J'); - #if ENABLED(HAS_MULTI_HOTEND) + 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 @@ -315,13 +314,49 @@ void unified_bed_leveling::G29() { if (may_move) { planner.synchronize(); // Send 'N' to force homing before G29 (internal only) - if (axes_should_home() || parser.seen('N')) gcode.home_all_axes(); - TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0)); + 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 defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \ + || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \ + || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W) + 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 } // Invalidate one or more nearby mesh points, possibly all. if (parser.seen('I')) { - int16_t count = parser.has_value() ? parser.value_int() : 1; + uint8_t count = parser.has_value() ? parser.value_byte() : 1; bool invalidate_all = count >= GRID_MAX_POINTS; if (!invalidate_all) { while (count--) { @@ -345,14 +380,15 @@ void unified_bed_leveling::G29() { } if (parser.seen('Q')) { - const int test_pattern = parser.has_value() ? parser.value_int() : -99; - if (!WITHIN(test_pattern, -1, 2)) { - SERIAL_ECHOLNPGM("Invalid test_pattern value. (-1 to 2)\n"); + 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("Loading test_pattern values.\n"); + SERIAL_ECHOLNPGM("Applying test pattern.\n"); switch (test_pattern) { + default: case -1: TERN_(UBL_DEVEL_DEBUGGING, g29_eeprom_dump()); break; case 0: @@ -366,13 +402,13 @@ void unified_bed_leveling::G29() { 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][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1] += 9.999f; // We want the altered line several mesh points thick + 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, (x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1), z_values[x][x + (x < (GRID_MAX_POINTS_Y) - 1) ? 1 : -1]); + ExtUI::onMeshUpdate(x, x2, z_values[x][x2]); #endif - } break; @@ -380,7 +416,7 @@ void unified_bed_leveling::G29() { // 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('C') ? param.C_constant : 9.99f; + 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; @@ -389,7 +425,7 @@ void unified_bed_leveling::G29() { #if HAS_BED_PROBE - if (parser.seen('J')) { + 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(); @@ -402,7 +438,7 @@ void unified_bed_leveling::G29() { #endif // HAS_BED_PROBE - if (parser.seen('P')) { + 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."); @@ -423,17 +459,17 @@ void unified_bed_leveling::G29() { // // Invalidate Entire Mesh and Automatically Probe Mesh in areas that can be reached by the probe // - if (!parser.seen('C')) { + if (!parser.seen_test('C')) { invalidate(); SERIAL_ECHOLNPGM("Mesh invalidated. Probing mesh."); } if (param.V_verbosity > 1) { - SERIAL_ECHOPAIR("Probing around (", param.XY_pos.x); + 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('T'), parser.seen('E'), parser.seen('U')); + probe_entire_mesh(param.XY_pos, parser.seen_test('T'), parser.seen_test('E'), parser.seen_test('U')); report_current_position(); probe_deployed = true; @@ -442,14 +478,14 @@ void unified_bed_leveling::G29() { #endif // HAS_BED_PROBE case 2: { - #if HAS_LCD_MENU + #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('C') && !param.XY_seen) { + if (parser.seen_test('C') && !param.XY_seen) { /** * Use a good default location for the path. @@ -483,7 +519,7 @@ void unified_bed_leveling::G29() { } const float height = parser.floatval('H', Z_CLEARANCE_BETWEEN_PROBES); - manually_probe_remaining_mesh(param.XY_pos, height, param.B_shim_thickness, parser.seen('T')); + manually_probe_remaining_mesh(param.XY_pos, height, param.B_shim_thickness, parser.seen_test('T')); SERIAL_ECHOLNPGM("G29 P2 finished."); @@ -554,8 +590,8 @@ void unified_bed_leveling::G29() { } case 4: // Fine Tune (i.e., Edit) the Mesh - #if HAS_LCD_MENU - fine_tune_mesh(param.XY_pos, parser.seen('T')); + #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; @@ -574,7 +610,7 @@ void unified_bed_leveling::G29() { // 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('W')) g29_what_command(); + if (parser.seen_test('W')) g29_what_command(); // // When we are fully debugged, this may go away. But there are some valid @@ -592,7 +628,7 @@ void unified_bed_leveling::G29() { // if (parser.seen('L')) { // Load Current Mesh Data - param.KLS_storage_slot = parser.has_value() ? parser.value_int() : storage_slot; + param.KLS_storage_slot = parser.has_value() ? (int8_t)parser.value_int() : storage_slot; int16_t a = settings.calc_num_meshes(); @@ -602,14 +638,14 @@ void unified_bed_leveling::G29() { } if (!WITHIN(param.KLS_storage_slot, 0, a - 1)) { - SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", 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("Done."); + SERIAL_ECHOLNPGM(STR_DONE); } // @@ -617,10 +653,10 @@ void unified_bed_leveling::G29() { // if (parser.seen('S')) { // Store (or Save) Current Mesh Data - param.KLS_storage_slot = parser.has_value() ? parser.value_int() : storage_slot; + param.KLS_storage_slot = parser.has_value() ? (int8_t)parser.value_int() : storage_slot; - if (param.KLS_storage_slot == -1) // Special case, the user wants to 'Export' the mesh to the - return report_current_mesh(); // host program to be saved on the user's computer + 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(); @@ -630,22 +666,22 @@ void unified_bed_leveling::G29() { } if (!WITHIN(param.KLS_storage_slot, 0, a - 1)) { - SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", 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("Done."); + SERIAL_ECHOLNPGM(STR_DONE); } - if (parser.seen('T')) + if (parser.seen_test('T')) display_map(param.T_map_type); LEAVE: - #if HAS_LCD_MENU + #if HAS_MARLINUI_MENU ui.reset_alert_level(); ui.quick_feedback(); ui.reset_status(); @@ -653,16 +689,16 @@ void unified_bed_leveling::G29() { #endif #ifdef Z_PROBE_END_SCRIPT - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Z Probe End Script: ", 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_P(PSTR(Z_PROBE_END_SCRIPT)); + gcode.process_subcommands_now(F(Z_PROBE_END_SCRIPT)); } #else UNUSED(probe_deployed); #endif - TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index)); + TERN_(HAS_MULTI_HOTEND, if (old_tool_index != 0) tool_change(old_tool_index)); return; } @@ -673,7 +709,7 @@ void unified_bed_leveling::G29() { */ void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const_float_t offset) { float sum = 0; - int n = 0; + uint8_t n = 0; GRID_LOOP(x, y) if (!isnan(z_values[x][y])) { sum += z_values[x][y]; @@ -690,7 +726,7 @@ void unified_bed_leveling::adjust_mesh_to_mean(const bool cflag, const_float_t o if (!isnan(z_values[x][y])) sum_of_diff_squared += sq(z_values[x][y] - mean); - SERIAL_ECHOLNPAIR("# of samples: ", n); + SERIAL_ECHOLNPGM("# of samples: ", n); SERIAL_ECHOLNPAIR_F("Mean Mesh Height: ", mean, 6); const float sigma = SQRT(sum_of_diff_squared / (n + 1)); @@ -724,7 +760,9 @@ void unified_bed_leveling::shift_mesh_height() { 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_LCD_MENU, ui.capture()); + 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; @@ -734,11 +772,11 @@ void unified_bed_leveling::shift_mesh_height() { do { if (do_ubl_mesh_map) display_map(param.T_map_type); - const int point_num = (GRID_MAX_POINTS) - count + 1; - SERIAL_ECHOLNPAIR("Probing mesh point ", point_num, "/", GRID_MAX_POINTS, "."); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), point_num, int(GRID_MAX_POINTS))); + 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_LCD_MENU + #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"); @@ -746,6 +784,7 @@ void unified_bed_leveling::shift_mesh_height() { 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 @@ -773,9 +812,9 @@ void unified_bed_leveling::shift_mesh_height() { TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(best.pos, ExtUI::G29_FINISH)); // Release UI during stow to allow for PAUSE_BEFORE_DEPLOY_STOW - TERN_(HAS_LCD_MENU, ui.release()); + TERN_(HAS_MARLINUI_MENU, ui.release()); probe.stow(); - TERN_(HAS_LCD_MENU, ui.capture()); + TERN_(HAS_MARLINUI_MENU, ui.capture()); probe.move_z_after_probing(); @@ -785,20 +824,23 @@ void unified_bed_leveling::shift_mesh_height() { 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) ); + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); + TERN_(DWIN_LCD_PROUI, DWIN_LevelingDone()); } #endif // HAS_BED_PROBE -void set_message_with_feedback(PGM_P const msg_P) { - #if HAS_LCD_MENU - ui.set_status_P(msg_P); +void set_message_with_feedback(FSTR_P const fstr) { + #if HAS_MARLINUI_MENU + ui.set_status(fstr); ui.quick_feedback(); #else - UNUSED(msg_P); + UNUSED(fstr); #endif } -#if HAS_LCD_MENU +#if HAS_MARLINUI_MENU typedef void (*clickFunc_t)(); @@ -850,7 +892,7 @@ void set_message_with_feedback(PGM_P const msg_P) { planner.synchronize(); SERIAL_ECHOPGM("Place shim under nozzle"); - LCD_MESSAGEPGM(MSG_UBL_BC_INSERT); + LCD_MESSAGE(MSG_UBL_BC_INSERT); ui.return_to_status(); echo_and_take_a_measurement(); @@ -859,7 +901,7 @@ void set_message_with_feedback(PGM_P const msg_P) { planner.synchronize(); SERIAL_ECHOPGM("Remove shim"); - LCD_MESSAGEPGM(MSG_UBL_BC_REMOVE); + LCD_MESSAGE(MSG_UBL_BC_REMOVE); echo_and_take_a_measurement(); const float z2 = measure_point_with_encoder(); @@ -884,6 +926,7 @@ void set_message_with_feedback(PGM_P const msg_P) { */ 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); @@ -897,15 +940,11 @@ void set_message_with_feedback(PGM_P const msg_P) { // 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 = { - mesh_index_to_xpos(lpos.x), - mesh_index_to_ypos(lpos.y), - z_clearance - }; + 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_MESSAGEPGM(MSG_UBL_MOVING_TO_NEXT); + LCD_MESSAGE(MSG_UBL_MOVING_TO_NEXT); do_blocking_move_to(ppos); do_z_clearance(z_clearance); @@ -915,13 +954,13 @@ void set_message_with_feedback(PGM_P const msg_P) { if (do_ubl_mesh_map) display_map(param.T_map_type); // Show user where we're probing - if (parser.seen('B')) { - SERIAL_ECHOPGM_P(GET_TEXT(MSG_UBL_BC_INSERT)); - LCD_MESSAGEPGM(MSG_UBL_BC_INSERT); + if (parser.seen_test('B')) { + SERIAL_ECHOPGM("Place Shim & Measure"); + LCD_MESSAGE(MSG_UBL_BC_INSERT); } else { - SERIAL_ECHOPGM_P(GET_TEXT(MSG_UBL_BC_INSERT2)); - LCD_MESSAGEPGM(MSG_UBL_BC_INSERT2); + SERIAL_ECHOPGM("Measure"); + LCD_MESSAGE(MSG_UBL_BC_INSERT2); } const float z_step = 0.01f; // 0.01mm per encoder tick, occasionally step @@ -947,6 +986,8 @@ void set_message_with_feedback(PGM_P const msg_P) { restore_ubl_active_state_and_leave(); do_blocking_move_to_xy_z(pos, Z_CLEARANCE_DEPLOY_PROBE); + + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); } /** @@ -954,7 +995,7 @@ void set_message_with_feedback(PGM_P const msg_P) { * 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('R')) // fine_tune_mesh() is special. If no repetition count flag is specified + 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) @@ -974,7 +1015,7 @@ void set_message_with_feedback(PGM_P const msg_P) { save_ubl_active_state_and_disable(); - LCD_MESSAGEPGM(MSG_UBL_FINE_TUNE_MESH); + 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 @@ -994,11 +1035,7 @@ void set_message_with_feedback(PGM_P const msg_P) { done_flags.mark(lpos); // Mark this location as 'adjusted' so a new // location is used on the next loop - const xyz_pos_t raw = { - mesh_index_to_xpos(lpos.x), - mesh_index_to_ypos(lpos.y), - Z_CLEARANCE_BETWEEN_PROBES - }; + 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) @@ -1025,7 +1062,7 @@ void set_message_with_feedback(PGM_P const msg_P) { SET_SOFT_ENDSTOP_LOOSE(true); do { - idle(); + 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. @@ -1039,7 +1076,7 @@ void set_message_with_feedback(PGM_P const msg_P) { if (_click_and_hold([]{ ui.return_to_status(); do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); - set_message_with_feedback(GET_TEXT(MSG_EDITING_STOPPED)); + set_message_with_feedback(GET_TEXT_F(MSG_EDITING_STOPPED)); })) break; // TODO: Disable leveling here so the Z value becomes the 'native' Z value. @@ -1060,7 +1097,7 @@ void set_message_with_feedback(PGM_P const msg_P) { do_blocking_move_to_xy_z(pos, Z_CLEARANCE_BETWEEN_PROBES); - LCD_MESSAGEPGM(MSG_UBL_DONE_EDITING_MESH); + LCD_MESSAGE(MSG_UBL_DONE_EDITING_MESH); SERIAL_ECHOLNPGM("Done Editing Mesh"); if (lcd_map_control) @@ -1069,7 +1106,7 @@ void set_message_with_feedback(PGM_P const msg_P) { ui.return_to_status(); } -#endif // HAS_LCD_MENU +#endif // HAS_MARLINUI_MENU /** * Parse and validate most G29 parameters, store for use by G29 functions. @@ -1077,13 +1114,13 @@ void set_message_with_feedback(PGM_P const msg_P) { bool unified_bed_leveling::G29_parse_parameters() { bool err_flag = false; - set_message_with_feedback(GET_TEXT(MSG_UBL_DOING_G29)); + 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_int() : GRID_MAX_POINTS; + 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"); @@ -1091,14 +1128,14 @@ bool unified_bed_leveling::G29_parse_parameters() { } } - param.V_verbosity = parser.seen('V') ? parser.value_int() : 0; + 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 int pv = parser.value_int(); + const uint8_t pv = parser.value_byte(); #if !HAS_BED_PROBE if (pv == 1) { SERIAL_ECHOLNPGM("G29 P1 requires a probe.\n"); @@ -1153,15 +1190,15 @@ bool unified_bed_leveling::G29_parse_parameters() { * Leveling is being enabled here with old data, possibly * none. Error handling should disable for safety... */ - if (parser.seen('A')) { - if (parser.seen('D')) { + 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('D')) { + else if (parser.seen_test('D')) { set_bed_leveling_enabled(false); report_state(); } @@ -1181,7 +1218,7 @@ bool unified_bed_leveling::G29_parse_parameters() { } #endif - param.T_map_type = parser.intval('T'); + param.T_map_type = parser.byteval('T'); if (!WITHIN(param.T_map_type, 0, 2)) { SERIAL_ECHOLNPGM("Invalid map type.\n"); return UBL_ERR; @@ -1200,7 +1237,7 @@ void unified_bed_leveling::save_ubl_active_state_and_disable() { 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(MSG_UBL_SAVE_ERROR)); + set_message_with_feedback(GET_TEXT_F(MSG_UBL_SAVE_ERROR)); return; } #endif @@ -1209,15 +1246,16 @@ void unified_bed_leveling::save_ubl_active_state_and_disable() { } void unified_bed_leveling::restore_ubl_active_state_and_leave() { - TERN_(HAS_LCD_MENU, ui.release()); + 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(MSG_UBL_RESTORE_ERROR)); + 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() { @@ -1230,7 +1268,7 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() { if (!isnan(z_values[i][j])) continue; // Skip valid mesh points // Skip unreachable points - if (!probe.can_reach(mesh_index_to_xpos(i), mesh_index_to_ypos(j))) + if (!probe.can_reach(get_mesh_x(i), get_mesh_y(j))) continue; found_a_NAN = true; @@ -1282,11 +1320,11 @@ mesh_index_pair unified_bed_leveling::find_furthest_invalid_mesh_point() { static bool test_func(uint8_t i, uint8_t j, void *data) { find_closest_t *d = (find_closest_t*)data; - if ( (d->type == (isnan(ubl.z_values[i][j]) ? INVALID : REAL)) + 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 = { ubl.mesh_index_to_xpos(i), ubl.mesh_index_to_ypos(j) }; + 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. @@ -1326,11 +1364,11 @@ mesh_index_pair unified_bed_leveling::find_closest_mesh_point_of_type(const Mesh float best_so_far = 99999.99f; GRID_LOOP(i, j) { - if ( (type == (isnan(z_values[i][j]) ? INVALID : REAL)) + 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 = { mesh_index_to_xpos(i), mesh_index_to_ypos(j) }; + 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. @@ -1386,10 +1424,10 @@ 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 + 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)) { @@ -1438,7 +1476,7 @@ void unified_bed_leveling::smart_fill_mesh() { if (do_3_pt_leveling) { SERIAL_ECHOLNPGM("Tilting mesh (1/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " 1/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + 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)) @@ -1450,14 +1488,14 @@ void unified_bed_leveling::smart_fill_mesh() { #endif if (param.V_verbosity > 3) { serial_spaces(16); - SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); + 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_P(0, PSTR(S_FMT " 2/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + 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); #ifdef VALIDATE_MESH_TILT @@ -1469,7 +1507,7 @@ void unified_bed_leveling::smart_fill_mesh() { measured_z -= get_z_correction(points[1]); if (param.V_verbosity > 3) { serial_spaces(16); - SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); } incremental_LSF(&lsf_results, points[1], measured_z); } @@ -1477,9 +1515,9 @@ void unified_bed_leveling::smart_fill_mesh() { if (!abort_flag) { SERIAL_ECHOLNPGM("Tilting mesh (3/3)"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " 3/3"), GET_TEXT(MSG_LCD_TILTING_MESH))); + 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_STOW, param.V_verbosity); + measured_z = probe.probe_at_point(points[2], PROBE_PT_LAST_STOW, param.V_verbosity); #ifdef VALIDATE_MESH_TILT z3 = measured_z; #endif @@ -1489,7 +1527,7 @@ void unified_bed_leveling::smart_fill_mesh() { measured_z -= get_z_correction(points[2]); if (param.V_verbosity > 3) { serial_spaces(16); - SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); } incremental_LSF(&lsf_results, points[2], measured_z); } @@ -1517,10 +1555,10 @@ void unified_bed_leveling::smart_fill_mesh() { rpos.y = y_min + dy * (zig_zag ? param.J_grid_size - 1 - iy : iy); if (!abort_flag) { - SERIAL_ECHOLNPAIR("Tilting mesh point ", point_num, "/", total_points, "\n"); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_LCD_TILTING_MESH), point_num, total_points)); + 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('E') ? PROBE_PT_STOW : PROBE_PT_RAISE, param.V_verbosity); // TODO: Needs error handling + 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); @@ -1545,7 +1583,7 @@ void unified_bed_leveling::smart_fill_mesh() { if (param.V_verbosity > 3) { serial_spaces(16); - SERIAL_ECHOLNPAIR("Corrected_Z=", measured_z); + SERIAL_ECHOLNPGM("Corrected_Z=", measured_z); } incremental_LSF(&lsf_results, rpos, measured_z); } @@ -1578,9 +1616,7 @@ void unified_bed_leveling::smart_fill_mesh() { matrix_3x3 rotation = matrix_3x3::create_look_at(vector_3(lsf_results.A, lsf_results.B, 1)); GRID_LOOP(i, j) { - float mx = mesh_index_to_xpos(i), - my = mesh_index_to_ypos(j), - mz = z_values[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); @@ -1609,7 +1645,7 @@ void unified_bed_leveling::smart_fill_mesh() { } if (DEBUGGING(LEVELING)) { - rotation.debug(PSTR("rotation matrix:\n")); + 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); @@ -1636,19 +1672,19 @@ void unified_bed_leveling::smart_fill_mesh() { auto normed = [&](const xy_pos_t &pos, const_float_t zadd) { return normal.x * pos.x + normal.y * pos.y + zadd; }; - auto debug_pt = [](PGM_P const pre, const xy_pos_t &pos, const_float_t zadd) { - d_from(); SERIAL_ECHOPGM_P(pre); + 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(PSTR("1st point: "), probe_pt[0], normal.z * z1); - debug_pt(PSTR("2nd point: "), probe_pt[1], normal.z * z2); - debug_pt(PSTR("3rd point: "), probe_pt[2], normal.z * z3); + 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_ECHOPAIR(" Z error = (", Z_SAFE_HOMING_X_POINT, ",", Z_SAFE_HOMING_Y_POINT); + 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) @@ -1677,18 +1713,18 @@ void unified_bed_leveling::smart_fill_mesh() { xy_pos_t ppos; LOOP_L_N(ix, GRID_MAX_POINTS_X) { - ppos.x = mesh_index_to_xpos(ix); + ppos.x = get_mesh_x(ix); LOOP_L_N(iy, GRID_MAX_POINTS_Y) { - ppos.y = mesh_index_to_ypos(iy); + 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 = mesh_index_to_xpos(jx); + rpos.x = get_mesh_x(jx); LOOP_L_N(jy, GRID_MAX_POINTS_Y) { if (TEST(bitmap[jx], jy)) { - rpos.y = mesh_index_to_ypos(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); @@ -1722,7 +1758,7 @@ void unified_bed_leveling::smart_fill_mesh() { if (storage_slot == -1) SERIAL_ECHOPGM("No Mesh Loaded."); else - SERIAL_ECHOPAIR("Mesh ", storage_slot, " Loaded."); + SERIAL_ECHOPGM("Mesh ", storage_slot, " Loaded."); SERIAL_EOL(); serial_delay(50); @@ -1736,18 +1772,18 @@ void unified_bed_leveling::smart_fill_mesh() { SERIAL_ECHOLNPAIR_F("Probe Offset M851 Z", probe.offset.z, 7); #endif - SERIAL_ECHOLNPAIR("MESH_MIN_X " STRINGIFY(MESH_MIN_X) "=", MESH_MIN_X); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_MIN_Y " STRINGIFY(MESH_MIN_Y) "=", MESH_MIN_Y); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_MAX_X " STRINGIFY(MESH_MAX_X) "=", MESH_MAX_X); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_MAX_Y " STRINGIFY(MESH_MAX_Y) "=", MESH_MAX_Y); serial_delay(50); - SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_X ", GRID_MAX_POINTS_X); serial_delay(50); - SERIAL_ECHOLNPAIR("GRID_MAX_POINTS_Y ", GRID_MAX_POINTS_Y); serial_delay(50); - SERIAL_ECHOLNPAIR("MESH_X_DIST ", MESH_X_DIST); - SERIAL_ECHOLNPAIR("MESH_Y_DIST ", MESH_Y_DIST); serial_delay(50); + 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(mesh_index_to_xpos(i)), 3); + SERIAL_ECHO_F(LOGICAL_X_POSITION(get_mesh_x(i)), 3); SERIAL_ECHOPGM(" "); serial_delay(25); } @@ -1755,34 +1791,34 @@ void unified_bed_leveling::smart_fill_mesh() { SERIAL_ECHOPGM("Y-Axis Mesh Points at: "); LOOP_L_N(i, GRID_MAX_POINTS_Y) { - SERIAL_ECHO_F(LOGICAL_Y_POSITION(mesh_index_to_ypos(i)), 3); + SERIAL_ECHO_F(LOGICAL_Y_POSITION(get_mesh_y(i)), 3); SERIAL_ECHOPGM(" "); serial_delay(25); } SERIAL_EOL(); #if HAS_KILL - SERIAL_ECHOLNPAIR("Kill pin on :", KILL_PIN, " state:", kill_state()); + SERIAL_ECHOLNPGM("Kill pin on :", KILL_PIN, " state:", kill_state()); #endif SERIAL_EOL(); serial_delay(50); #if ENABLED(UBL_DEVEL_DEBUGGING) - SERIAL_ECHOLNPAIR("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk); + SERIAL_ECHOLNPGM("ubl_state_at_invocation :", ubl_state_at_invocation, "\nubl_state_recursion_chk :", ubl_state_recursion_chk); serial_delay(50); - SERIAL_ECHOLNPAIR("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index())); + SERIAL_ECHOLNPGM("Meshes go from ", hex_address((void*)settings.meshes_start_index()), " to ", hex_address((void*)settings.meshes_end_index())); serial_delay(50); - SERIAL_ECHOLNPAIR("sizeof(ubl) : ", sizeof(ubl)); SERIAL_EOL(); - SERIAL_ECHOLNPAIR("z_value[][] size: ", sizeof(z_values)); SERIAL_EOL(); + SERIAL_ECHOLNPGM("sizeof(ubl) : ", sizeof(ubl)); SERIAL_EOL(); + SERIAL_ECHOLNPGM("z_value[][] size: ", sizeof(z_values)); SERIAL_EOL(); serial_delay(25); - SERIAL_ECHOLNPAIR("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index()))); + SERIAL_ECHOLNPGM("EEPROM free for UBL: ", hex_address((void*)(settings.meshes_end_index() - settings.meshes_start_index()))); serial_delay(50); - SERIAL_ECHOLNPAIR("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n"); + SERIAL_ECHOLNPGM("EEPROM can hold ", settings.calc_num_meshes(), " meshes.\n"); serial_delay(25); #endif // UBL_DEVEL_DEBUGGING @@ -1829,16 +1865,16 @@ void unified_bed_leveling::smart_fill_mesh() { } if (!parser.has_value() || !WITHIN(parser.value_int(), 0, a - 1)) { - SERIAL_ECHOLNPAIR("?Invalid storage slot.\n?Use 0 to ", a - 1); + SERIAL_ECHOLNPGM("?Invalid storage slot.\n?Use 0 to ", a - 1); return; } - param.KLS_storage_slot = parser.value_int(); + 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_ECHOLNPAIR("Subtracting mesh in slot ", param.KLS_storage_slot, " from current mesh."); + 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]; diff --git a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp index 3ebc5fc2bd..96c30a0efd 100644 --- a/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp +++ b/Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp @@ -19,13 +19,13 @@ * 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/stepper.h" #include "../../../module/motion.h" #if ENABLED(DELTA) @@ -35,8 +35,18 @@ #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 @@ -75,8 +85,8 @@ #endif // The distance is always MESH_X_DIST so multiply by the constant reciprocal. - const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST), - yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST), + 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]); @@ -113,20 +123,22 @@ 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, - e_position = end.e - start.e, - z_position = end.z - start.z; + float on_axis_distance = use_x_dist ? dist.x : dist.y; - const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero - z_normalized_dist = z_position / on_axis_distance; + 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_normalized_flag = isinf(e_normalized_dist), - inf_ratio_flag = isinf(ratio); + const bool inf_ratio_flag = isinf(ratio); + + xyze_pos_t dest; // Stores XYZE for segmented moves /** * Handle vertical lines that stay within one column. @@ -136,42 +148,46 @@ 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 = mesh_index_to_ypos(icell.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. */ - const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio; + dest.x = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio; - float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y) + 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; - const float ry = mesh_index_to_ypos(icell.y); + 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 (ry != start.y) { + if (dest.y != start.y) { if (!inf_normalized_flag) { // fall-through faster than branch - on_axis_distance = use_x_dist ? rx - start.x : ry - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; - z_position = start.z + on_axis_distance * z_normalized_dist; + 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 { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder); - } //else printf("FIRST MOVE PRUNED "); + 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. @@ -188,12 +204,13 @@ */ 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; - const float rx = mesh_index_to_xpos(icell.x); - const float ry = ratio * rx + c; // Calculate Y at the next X mesh line + 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(ry, icell.x, icell.y) + 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. @@ -205,20 +222,23 @@ * 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 (rx != start.x) { + if (dest.x != start.x) { if (!inf_normalized_flag) { - on_axis_distance = use_x_dist ? rx - start.x : ry - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move - z_position = start.z + on_axis_distance * z_normalized_dist; + 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 { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder)) - break; - } //else printf("FIRST MOVE PRUNED "); + 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)) @@ -238,58 +258,66 @@ while (cnt) { - const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x), - next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y), - ry = ratio * next_mesh_line_x + c, // Calculate Y at the next X mesh line - rx = (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.) + const float next_mesh_line_x = get_mesh_x(icell.x + iadd.x), + next_mesh_line_y = get_mesh_y(icell.y + iadd.y); - if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first + 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(rx, icell.x - ineg.x, icell.y + iadd.y) + 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 ? rx - start.x : next_mesh_line_y - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; - z_position = start.z + on_axis_distance * z_normalized_dist; + 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 { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder)) - break; + + 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(ry, icell.x + iadd.x, icell.y - ineg.y) + 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 ? next_mesh_line_x - start.x : ry - start.y; - e_position = start.e + on_axis_distance * e_normalized_dist; - z_position = start.z + on_axis_distance * z_normalized_dist; + 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 { - e_position = end.e; - z_position = end.z; + TERN_(HAS_EXTRUDERS, dest.e = end.e); + dest.z = end.z; } - if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder)) - break; + dest.z += z0; + if (!planner.buffer_segment(dest, scaled_fr_mm_s, extruder)) break; + icell.x += iadd.x; cnt.x--; } @@ -308,7 +336,9 @@ #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 DELTA_SEGMENTS_PER_SECOND) + #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 @@ -323,7 +353,7 @@ * 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) { + 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 @@ -343,11 +373,12 @@ #endif NOLESS(segments, 1U); // Must have at least one segment - const float inv_segments = 1.0f / segments, // Reciprocal to save calculation - segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments; // Length of each 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) - const float inv_duration = scaled_fr_mm_s / segment_xyz_mm; + hints.inv_duration = scaled_fr_mm_s / hints.millimeters; #endif xyze_float_t diff = total * inv_segments; @@ -361,17 +392,9 @@ 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, segment_xyz_mm - #if ENABLED(SCARA_FEEDRATE_SCALING) - , inv_duration - #endif - ); + planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, hints); } - planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, segment_xyz_mm - #if ENABLED(SCARA_FEEDRATE_SCALING) - , inv_duration - #endif - ); + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, hints); return false; // Did not set current from destination } @@ -400,17 +423,19 @@ LIMIT(icell.x, 0, GRID_MAX_CELLS_X); LIMIT(icell.y, 0, GRID_MAX_CELLS_Y); - float z_x0y0 = z_values[icell.x ][icell.y ], // z at lower left corner - z_x1y0 = z_values[icell.x+1][icell.y ], // z at upper left corner - z_x0y1 = z_values[icell.x ][icell.y+1], // z at lower right corner - z_x1y1 = z_values[icell.x+1][icell.y+1]; // z at upper right corner + 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 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 = { mesh_index_to_xpos(icell.x), mesh_index_to_ypos(icell.y) }; + 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) @@ -437,16 +462,11 @@ 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 - #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) - * fade_scaling_factor // apply fade factor to interpolated mesh height - #endif - ; + TERN_(ENABLE_LEVELING_FADE_HEIGHT, * fade_scaling_factor); // apply fade factor to interpolated height - planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm - #if ENABLED(SCARA_FEEDRATE_SCALING) - , inv_duration - #endif - ); + const float oldz = raw.z; raw.z += z_cxcy; + 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 diff --git a/Marlin/src/feature/binary_stream.h b/Marlin/src/feature/binary_stream.h index 9eb151b27f..417e39c745 100644 --- a/Marlin/src/feature/binary_stream.h +++ b/Marlin/src/feature/binary_stream.h @@ -24,9 +24,11 @@ #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) { @@ -37,16 +39,6 @@ inline int bs_read_serial(const serial_index_t index) { return SERIAL_IMPL.read(index); } -#if ENABLED(BINARY_STREAM_COMPRESSION) - static heatshrink_decoder hsd; - #if BOTH(ARDUINO_ARCH_STM32F1, SDIO_SUPPORT) - // STM32 requires a word-aligned buffer for SD card transfers via DMA - static __attribute__((aligned(sizeof(size_t)))) uint8_t decode_buffer[512] = {}; - #else - static uint8_t decode_buffer[512] = {}; - #endif -#endif - class SDFileTransferProtocol { private: struct Packet { @@ -154,11 +146,11 @@ public: transfer_timeout = millis() + TIMEOUT; switch (static_cast(packet_type)) { case FileTransfer::QUERY: - SERIAL_ECHOPAIR("PFT:version:", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH); + SERIAL_ECHOPGM("PFT:version:", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH); #if ENABLED(BINARY_STREAM_COMPRESSION) - SERIAL_ECHOLNPAIR(":compresion:heatshrink,", HEATSHRINK_STATIC_WINDOW_BITS, ",", HEATSHRINK_STATIC_LOOKAHEAD_BITS); + SERIAL_ECHOLNPGM(":compression:heatshrink,", HEATSHRINK_STATIC_WINDOW_BITS, ",", HEATSHRINK_STATIC_LOOKAHEAD_BITS); #else - SERIAL_ECHOLNPGM(":compresion:none"); + SERIAL_ECHOLNPGM(":compression:none"); #endif break; case FileTransfer::OPEN: @@ -330,7 +322,7 @@ public: 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_ECHOLNPAIR("ss", sync, ",", buffer_size, ",", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH); + SERIAL_ECHOLNPGM("ss", sync, ",", buffer_size, ",", VERSION_MAJOR, ".", VERSION_MINOR, ".", VERSION_PATCH); stream_state = StreamState::PACKET_RESET; break; } @@ -345,7 +337,7 @@ public: stream_state = StreamState::PACKET_PROCESS; } else if (packet.header.sync == sync - 1) { // ok response must have been lost - SERIAL_ECHOLNPAIR("ok", packet.header.sync); // transmit valid packet received and drop the payload + SERIAL_ECHOLNPGM("ok", packet.header.sync); // transmit valid packet received and drop the payload stream_state = StreamState::PACKET_RESET; } else if (packet_retries) { @@ -401,7 +393,7 @@ public: packet_retries = 0; bytes_received += packet.header.size; - SERIAL_ECHOLNPAIR("ok", packet.header.sync); // transmit valid packet received + SERIAL_ECHOLNPGM("ok", packet.header.sync); // transmit valid packet received dispatch(); stream_state = StreamState::PACKET_RESET; break; @@ -410,7 +402,7 @@ public: packet_retries++; stream_state = StreamState::PACKET_RESET; SERIAL_ECHO_MSG("Resend request ", packet_retries); - SERIAL_ECHOLNPAIR("rs", sync); + SERIAL_ECHOLNPGM("rs", sync); } else stream_state = StreamState::PACKET_ERROR; @@ -420,7 +412,7 @@ public: stream_state = StreamState::PACKET_RESEND; break; case StreamState::PACKET_ERROR: - SERIAL_ECHOLNPAIR("fe", packet.header.sync); + SERIAL_ECHOLNPGM("fe", packet.header.sync); reset(); // reset everything, resync required stream_state = StreamState::PACKET_RESET; break; diff --git a/Marlin/src/feature/bltouch.cpp b/Marlin/src/feature/bltouch.cpp index 7fccc52d05..fe56341a47 100644 --- a/Marlin/src/feature/bltouch.cpp +++ b/Marlin/src/feature/bltouch.cpp @@ -28,19 +28,22 @@ BLTouch bltouch; -bool BLTouch::last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain +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" -void stop(); - #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_ECHOLNPAIR("BLTouch Command :", cmd); - MOVE_SERVO(Z_PROBE_SERVO_NR, cmd); + 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(); } @@ -63,18 +66,17 @@ void BLTouch::init(const bool set_voltage/*=false*/) { #else - if (DEBUGGING(LEVELING)) { - DEBUG_ECHOLNPAIR("last_written_mode - ", last_written_mode); - DEBUG_ECHOLNPGM("config mode - " - #if ENABLED(BLTOUCH_SET_5V_MODE) - "BLTOUCH_SET_5V_MODE" - #else - "OD" - #endif - ); - } + #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 = last_written_mode != ENABLED(BLTOUCH_SET_5V_MODE); + const bool should_set = od_5v_mode != ENABLED(BLTOUCH_SET_5V_MODE); #endif @@ -107,11 +109,8 @@ bool BLTouch::deploy_proc() { // 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 Recovery Failed"); - - SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action - stop(); // but it's not too bad, no need to kill, allow restart - + 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 } } @@ -149,12 +148,8 @@ bool BLTouch::stow_proc() { // 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 Recovery Failed"); - - SERIAL_ERROR_MSG(STR_STOP_BLTOUCH); // Tell the user something is wrong, needs action - stop(); // but it's not too bad, no need to kill, allow restart - + 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 } } @@ -175,7 +170,7 @@ bool BLTouch::status_proc() { _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_ECHOLNPAIR("BLTouch is ", tr); + 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; @@ -187,13 +182,13 @@ void BLTouch::mode_conv_proc(const bool M5V) { * 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_ECHOLNPAIR("BLTouch Set Mode - ", M5V); + 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(); - last_written_mode = M5V; + od_5v_mode = M5V; } #endif // BLTOUCH diff --git a/Marlin/src/feature/bltouch.h b/Marlin/src/feature/bltouch.h index 9ecccb4256..fa857bb96a 100644 --- a/Marlin/src/feature/bltouch.h +++ b/Marlin/src/feature/bltouch.h @@ -23,10 +23,6 @@ #include "../inc/MarlinConfigPre.h" -#if DISABLED(BLTOUCH_HS_MODE) - #define BLTOUCH_SLOW_MODE 1 -#endif - // BLTouch commands are sent as servo angles typedef unsigned char BLTCommand; @@ -70,8 +66,17 @@ typedef unsigned char BLTCommand; class BLTouch { public: + static void init(const bool set_voltage=false); - static bool last_written_mode; // Initialized by settings.load, 0 = Open Drain; 1 = 5V Drain + 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(); } diff --git a/Marlin/src/feature/cancel_object.cpp b/Marlin/src/feature/cancel_object.cpp index ee5716888d..bffd2bb720 100644 --- a/Marlin/src/feature/cancel_object.cpp +++ b/Marlin/src/feature/cancel_object.cpp @@ -19,6 +19,7 @@ * along with this program. If not, see . * */ + #include "../inc/MarlinConfig.h" #if ENABLED(CANCEL_OBJECTS) @@ -45,7 +46,7 @@ void CancelObject::set_active_object(const int8_t obj) { #if BOTH(HAS_STATUS_MESSAGE, CANCEL_OBJECTS_REPORTING) if (active_object >= 0) - ui.status_printf_P(0, PSTR(S_FMT " %i"), GET_TEXT(MSG_PRINTING_OBJECT), int(active_object)); + ui.status_printf(0, F(S_FMT " %i"), GET_TEXT(MSG_PRINTING_OBJECT), int(active_object)); else ui.reset_status(); #endif diff --git a/Marlin/src/feature/cancel_object.h b/Marlin/src/feature/cancel_object.h index 1d2d77f203..62548a3719 100644 --- a/Marlin/src/feature/cancel_object.h +++ b/Marlin/src/feature/cancel_object.h @@ -32,10 +32,10 @@ public: static void cancel_object(const int8_t obj); static void uncancel_object(const int8_t obj); static void report(); - static inline bool is_canceled(const int8_t obj) { return TEST(canceled, obj); } - static inline void clear_active_object() { set_active_object(-1); } - static inline void cancel_active_object() { cancel_object(active_object); } - static inline void reset() { canceled = 0x0000; object_count = 0; clear_active_object(); } + 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 index d4cc6b1504..eb580a6d62 100644 --- a/Marlin/src/feature/caselight.cpp +++ b/Marlin/src/feature/caselight.cpp @@ -28,10 +28,6 @@ CaseLight caselight; -#if CASE_LIGHT_IS_COLOR_LED - #include "leds/leds.h" -#endif - #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 @@ -43,17 +39,8 @@ CaseLight caselight; bool CaseLight::on = CASE_LIGHT_DEFAULT_ON; #if CASE_LIGHT_IS_COLOR_LED - LEDColor CaseLight::color = - #ifdef CASE_LIGHT_DEFAULT_COLOR - CASE_LIGHT_DEFAULT_COLOR - #else - { 255, 255, 255, 255 } - #endif - ; -#endif - -#ifndef INVERT_CASE_LIGHT - #define INVERT_CASE_LIGHT false + 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) { @@ -72,21 +59,27 @@ void CaseLight::update(const bool sflag) { if (sflag && on) brightness = brightness_sav; // Restore last brightness for M355 S1 - const uint8_t i = on ? brightness : 0, n10ct = INVERT_CASE_LIGHT ? 255 - i : i; + const uint8_t i = on ? brightness : 0, n10ct = ENABLED(INVERT_CASE_LIGHT) ? 255 - i : i; + UNUSED(n10ct); #endif #if CASE_LIGHT_IS_COLOR_LED - - leds.set_color( - MakeLEDColor(color.r, color.g, color.b, color.w, n10ct), - false - ); - + #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()) - analogWrite(pin_t(CASE_LIGHT_PIN), ( + hal.set_pwm_duty(pin_t(CASE_LIGHT_PIN), ( #if CASE_LIGHT_MAX_PWM == 255 n10ct #else @@ -96,7 +89,7 @@ void CaseLight::update(const bool sflag) { else #endif { - const bool s = on ? !INVERT_CASE_LIGHT : INVERT_CASE_LIGHT; + const bool s = on ? TERN(INVERT_CASE_LIGHT, LOW, HIGH) : TERN(INVERT_CASE_LIGHT, HIGH, LOW); WRITE(CASE_LIGHT_PIN, s ? HIGH : LOW); } diff --git a/Marlin/src/feature/caselight.h b/Marlin/src/feature/caselight.h index 05385ad0cb..17e1222acb 100644 --- a/Marlin/src/feature/caselight.h +++ b/Marlin/src/feature/caselight.h @@ -27,10 +27,6 @@ #include "leds/leds.h" // for LEDColor #endif -#if DISABLED(CASE_LIGHT_NO_BRIGHTNESS) || ENABLED(CASE_LIGHT_USE_NEOPIXEL) - #define CASELIGHT_USES_BRIGHTNESS 1 -#endif - class CaseLight { public: static bool on; @@ -49,8 +45,8 @@ public: } static void update(const bool sflag); - static inline void update_brightness() { update(false); } - static inline void update_enabled() { update(true); } + static void update_brightness() { update(false); } + static void update_enabled() { update(true); } #if ENABLED(CASE_LIGHT_IS_COLOR_LED) private: diff --git a/Marlin/src/feature/closedloop.cpp b/Marlin/src/feature/closedloop.cpp index 8a97f0c0cd..1b9f711a6b 100644 --- a/Marlin/src/feature/closedloop.cpp +++ b/Marlin/src/feature/closedloop.cpp @@ -19,6 +19,7 @@ * along with this program. If not, see . * */ + #include "../inc/MarlinConfig.h" #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) diff --git a/Marlin/src/feature/controllerfan.cpp b/Marlin/src/feature/controllerfan.cpp index 0206467752..cc22c642bd 100644 --- a/Marlin/src/feature/controllerfan.cpp +++ b/Marlin/src/feature/controllerfan.cpp @@ -25,7 +25,7 @@ #if ENABLED(USE_CONTROLLER_FAN) #include "controllerfan.h" -#include "../module/stepper/indirection.h" +#include "../module/stepper.h" #include "../module/temperature.h" ControllerFan controllerFan; @@ -40,6 +40,9 @@ uint8_t ControllerFan::speed; void ControllerFan::setup() { SET_OUTPUT(CONTROLLER_FAN_PIN); + #ifdef CONTROLLER_FAN2_PIN + SET_OUTPUT(CONTROLLER_FAN2_PIN); + #endif init(); } @@ -54,31 +57,15 @@ void ControllerFan::update() { if (ELAPSED(ms, nextMotorCheck)) { nextMotorCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s - #define MOTOR_IS_ON(A,B) (A##_ENABLE_READ() == bool(B##_ENABLE_ON)) - #define _OR_ENABLED_E(N) || MOTOR_IS_ON(E##N,E) - - const bool motor_on = ( - ( DISABLED(CONTROLLER_FAN_IGNORE_Z) && - ( MOTOR_IS_ON(Z,Z) - || TERN0(HAS_Z2_ENABLE, MOTOR_IS_ON(Z2,Z)) - || TERN0(HAS_Z3_ENABLE, MOTOR_IS_ON(Z3,Z)) - || TERN0(HAS_Z4_ENABLE, MOTOR_IS_ON(Z4,Z)) - ) - ) || ( - DISABLED(CONTROLLER_FAN_USE_Z_ONLY) && - ( MOTOR_IS_ON(X,X) || MOTOR_IS_ON(Y,Y) - || TERN0(HAS_X2_ENABLE, MOTOR_IS_ON(X2,X)) - || TERN0(HAS_Y2_ENABLE, MOTOR_IS_ON(Y2,Y)) - #if E_STEPPERS - REPEAT(E_STEPPERS, _OR_ENABLED_E) - #endif - ) - ) - ); - - // If any of the drivers or the heated bed are enabled... - if (motor_on || TERN0(HAS_HEATED_BED, thermalManager.temp_bed.soft_pwm_amount > 0)) - lastMotorOn = ms; //... set time to NOW so the fan will turn on + // 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. @@ -88,9 +75,37 @@ void ControllerFan::update() { ? settings.active_speed : settings.idle_speed ); - // Allow digital or PWM fan output (see M42 handling) - WRITE(CONTROLLER_FAN_PIN, speed); - analogWrite(pin_t(CONTROLLER_FAN_PIN), 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 } } diff --git a/Marlin/src/feature/controllerfan.h b/Marlin/src/feature/controllerfan.h index 55f2d5cfc7..55eb2359b0 100644 --- a/Marlin/src/feature/controllerfan.h +++ b/Marlin/src/feature/controllerfan.h @@ -60,9 +60,9 @@ class ControllerFan { #else static const controllerFan_settings_t &settings; #endif - static inline bool state() { return speed > 0; } - static inline void init() { reset(); } - static inline void reset() { TERN_(CONTROLLER_FAN_EDITABLE, settings = controllerFan_defaults); } + 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(); }; diff --git a/Marlin/src/feature/cooler.cpp b/Marlin/src/feature/cooler.cpp index a1f25c5fad..e0f99777d1 100644 --- a/Marlin/src/feature/cooler.cpp +++ b/Marlin/src/feature/cooler.cpp @@ -22,26 +22,27 @@ #include "../inc/MarlinConfig.h" -#if HAS_COOLER +#if EITHER(HAS_COOLER, LASER_COOLANT_FLOW_METER) #include "cooler.h" Cooler cooler; -uint8_t Cooler::mode = 0; -uint16_t Cooler::capacity; -uint16_t Cooler::load; -bool Cooler::enabled = false; +#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 -#if ENABLED(FLOWMETER_SAFETY) - bool Cooler::flowsafety_enabled = true; - bool Cooler::fault = false; -#endif - -#endif // HAS_COOLER +#endif // HAS_COOLER || LASER_COOLANT_FLOW_METER diff --git a/Marlin/src/feature/cooler.h b/Marlin/src/feature/cooler.h index 1e24c729f3..9891514e23 100644 --- a/Marlin/src/feature/cooler.h +++ b/Marlin/src/feature/cooler.h @@ -78,10 +78,8 @@ public: // Get the total flow (in liters per minute) since the last reading static void calc_flowrate() { - //flowmeter_interrupt_disable(); - // const uint16_t pulses = flowpulses; - //flowmeter_interrupt_enable(); - flowrate = flowpulses * 60.0f * (1000.0f / (FLOWMETER_INTERVAL)) * (1000.0f / (FLOWMETER_PPL)); + // flowrate = (litres) * (seconds) = litres per minute + flowrate = (flowpulses / (float)FLOWMETER_PPL) * ((1000.0f / (float)FLOWMETER_INTERVAL) * 60.0f); flowpulses = 0; } @@ -96,12 +94,12 @@ public: } #if ENABLED(FLOWMETER_SAFETY) - static bool fault; // 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 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); - if (too_low) fault = true; + flowfault = too_low; return too_low; } #endif diff --git a/Marlin/src/feature/dac/dac_dac084s085.cpp b/Marlin/src/feature/dac/dac_dac084s085.cpp index 649aa5561b..772bb68de4 100644 --- a/Marlin/src/feature/dac/dac_dac084s085.cpp +++ b/Marlin/src/feature/dac/dac_dac084s085.cpp @@ -11,7 +11,6 @@ #include "dac_dac084s085.h" #include "../../MarlinCore.h" -#include "../../module/stepper.h" #include "../../HAL/shared/Delay.h" dac084s085::dac084s085() { } @@ -20,35 +19,35 @@ void dac084s085::begin() { uint8_t externalDac_buf[] = { 0x20, 0x00 }; // all off // All SPI chip-select HIGH - SET_OUTPUT(DAC0_SYNC); + SET_OUTPUT(DAC0_SYNC_PIN); #if HAS_MULTI_EXTRUDER - SET_OUTPUT(DAC1_SYNC); + SET_OUTPUT(DAC1_SYNC_PIN); #endif cshigh(); spiBegin(); //init onboard DAC DELAY_US(2); - WRITE(DAC0_SYNC, LOW); + WRITE(DAC0_SYNC_PIN, LOW); DELAY_US(2); - WRITE(DAC0_SYNC, HIGH); + WRITE(DAC0_SYNC_PIN, HIGH); DELAY_US(2); - WRITE(DAC0_SYNC, LOW); + WRITE(DAC0_SYNC_PIN, LOW); spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); - WRITE(DAC0_SYNC, HIGH); + WRITE(DAC0_SYNC_PIN, HIGH); #if HAS_MULTI_EXTRUDER //init Piggy DAC DELAY_US(2); - WRITE(DAC1_SYNC, LOW); + WRITE(DAC1_SYNC_PIN, LOW); DELAY_US(2); - WRITE(DAC1_SYNC, HIGH); + WRITE(DAC1_SYNC_PIN, HIGH); DELAY_US(2); - WRITE(DAC1_SYNC, LOW); + WRITE(DAC1_SYNC_PIN, LOW); spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf)); - WRITE(DAC1_SYNC, HIGH); + WRITE(DAC1_SYNC_PIN, HIGH); #endif return; @@ -66,18 +65,18 @@ void dac084s085::setValue(const uint8_t channel, const uint8_t value) { cshigh(); if (channel > 3) { // DAC Piggy E1,E2,E3 - WRITE(DAC1_SYNC, LOW); + WRITE(DAC1_SYNC_PIN, LOW); DELAY_US(2); - WRITE(DAC1_SYNC, HIGH); + WRITE(DAC1_SYNC_PIN, HIGH); DELAY_US(2); - WRITE(DAC1_SYNC, LOW); + WRITE(DAC1_SYNC_PIN, LOW); } else { // DAC onboard X,Y,Z,E0 - WRITE(DAC0_SYNC, LOW); + WRITE(DAC0_SYNC_PIN, LOW); DELAY_US(2); - WRITE(DAC0_SYNC, HIGH); + WRITE(DAC0_SYNC_PIN, HIGH); DELAY_US(2); - WRITE(DAC0_SYNC, LOW); + WRITE(DAC0_SYNC_PIN, LOW); } DELAY_US(2); @@ -85,13 +84,13 @@ void dac084s085::setValue(const uint8_t channel, const uint8_t value) { } void dac084s085::cshigh() { - WRITE(DAC0_SYNC, HIGH); + WRITE(DAC0_SYNC_PIN, HIGH); #if HAS_MULTI_EXTRUDER - WRITE(DAC1_SYNC, HIGH); + WRITE(DAC1_SYNC_PIN, HIGH); #endif - WRITE(SPI_EEPROM1_CS, HIGH); - WRITE(SPI_EEPROM2_CS, HIGH); - WRITE(SPI_FLASH_CS, HIGH); + WRITE(SPI_EEPROM1_CS_PIN, HIGH); + WRITE(SPI_EEPROM2_CS_PIN, HIGH); + WRITE(SPI_FLASH_CS_PIN, HIGH); WRITE(SD_SS_PIN, HIGH); } diff --git a/Marlin/src/feature/dac/dac_mcp4728.cpp b/Marlin/src/feature/dac/dac_mcp4728.cpp index 4f33c4e050..6f5a9ee691 100644 --- a/Marlin/src/feature/dac/dac_mcp4728.cpp +++ b/Marlin/src/feature/dac/dac_mcp4728.cpp @@ -32,7 +32,7 @@ #include "../../inc/MarlinConfig.h" -#if ENABLED(HAS_MOTOR_CURRENT_DAC) +#if HAS_MOTOR_CURRENT_DAC #include "dac_mcp4728.h" @@ -66,14 +66,14 @@ uint8_t MCP4728::analogWrite(const uint8_t channel, const uint16_t value) { } /** - * Write all input resistor values to EEPROM using SequencialWrite method. + * 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_XYZE(i) { + LOOP_LOGICAL_AXES(i) { Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(dac_values[i])); Wire.write(lowByte(dac_values[i])); } @@ -81,7 +81,7 @@ uint8_t MCP4728::eepromWrite() { } /** - * Write Voltage reference setting to all input regiters + * Write Voltage reference setting to all input registers */ uint8_t MCP4728::setVref_all(const uint8_t value) { Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS)); @@ -89,7 +89,7 @@ uint8_t MCP4728::setVref_all(const uint8_t value) { return Wire.endTransmission(); } /** - * Write Gain setting to all input regiters + * Write Gain setting to all input registers */ uint8_t MCP4728::setGain_all(const uint8_t value) { Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS)); @@ -129,13 +129,13 @@ void MCP4728::setDrvPct(xyze_uint_t &pct) { } /** - * FastWrite input register values - All DAC ouput update. refer to DATASHEET 5.6.1 + * 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_XYZE(i) { + LOOP_LOGICAL_AXES(i) { Wire.write(highByte(dac_values[i])); Wire.write(lowByte(dac_values[i])); } diff --git a/Marlin/src/feature/dac/stepper_dac.cpp b/Marlin/src/feature/dac/stepper_dac.cpp index 5170a35511..f5664bc598 100644 --- a/Marlin/src/feature/dac/stepper_dac.cpp +++ b/Marlin/src/feature/dac/stepper_dac.cpp @@ -26,10 +26,9 @@ #include "../../inc/MarlinConfig.h" -#if ENABLED(HAS_MOTOR_CURRENT_DAC) +#if HAS_MOTOR_CURRENT_DAC #include "stepper_dac.h" -#include "../../MarlinCore.h" // for SP_X_LBL... bool dac_present = false; constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER; @@ -51,7 +50,7 @@ int StepperDAC::init() { 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 ) { + if (mcp4728.getDrvPct(0) < 1 || mcp4728.getDrvPct(1) < 1 || mcp4728.getDrvPct(2) < 1 || mcp4728.getDrvPct(3) < 1) { mcp4728.setDrvPct(dac_channel_pct); mcp4728.eepromWrite(); } @@ -60,7 +59,7 @@ int StepperDAC::init() { } void StepperDAC::set_current_value(const uint8_t channel, uint16_t val) { - if (!dac_present) return; + if (!(dac_present && channel < LOGICAL_AXES)) return; NOMORE(val, uint16_t(DAC_STEPPER_MAX)); @@ -77,7 +76,7 @@ static float dac_amps(int8_t n) { return mcp4728.getValue(dac_order[n]) * 0.125 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_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]]; + LOOP_LOGICAL_AXES(i) dac_channel_pct[i] = pct[dac_order[i]]; mcp4728.setDrvPct(dac_channel_pct); } @@ -85,10 +84,14 @@ void StepperDAC::print_values() { if (!dac_present) return; SERIAL_ECHO_MSG("Stepper current values in % (Amps):"); SERIAL_ECHO_START(); - SERIAL_ECHOPAIR_P( SP_X_LBL, dac_perc(X_AXIS), PSTR(" ("), dac_amps(X_AXIS), PSTR(")")); - SERIAL_ECHOPAIR_P( SP_Y_LBL, dac_perc(Y_AXIS), PSTR(" ("), dac_amps(Y_AXIS), PSTR(")")); - SERIAL_ECHOPAIR_P( SP_Z_LBL, dac_perc(Z_AXIS), PSTR(" ("), dac_amps(Z_AXIS), PSTR(")")); - SERIAL_ECHOLNPAIR_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")")); + 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() { diff --git a/Marlin/src/feature/digipot/digipot_mcp4018.cpp b/Marlin/src/feature/digipot/digipot_mcp4018.cpp index 37853ff428..3f2ecbfcdc 100644 --- a/Marlin/src/feature/digipot/digipot_mcp4018.cpp +++ b/Marlin/src/feature/digipot/digipot_mcp4018.cpp @@ -31,9 +31,13 @@ // Settings for the I2C based DIGIPOT (MCP4018) based on WT150 -#define DIGIPOT_A4988_Rsx 0.250 -#define DIGIPOT_A4988_Vrefmax 1.666 -#define DIGIPOT_MCP4018_MAX_VALUE 127 +#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)) diff --git a/Marlin/src/feature/direct_stepping.cpp b/Marlin/src/feature/direct_stepping.cpp index 2698b53dd6..13cf71e076 100644 --- a/Marlin/src/feature/direct_stepping.cpp +++ b/Marlin/src/feature/direct_stepping.cpp @@ -19,6 +19,7 @@ * along with this program. If not, see . * */ + #include "../inc/MarlinConfigPre.h" #if ENABLED(DIRECT_STEPPING) @@ -51,13 +52,13 @@ namespace DirectStepping { volatile bool SerialPageManager::fatal_error; template - volatile PageState SerialPageManager::page_states[Cfg::NUM_PAGES]; + volatile PageState SerialPageManager::page_states[Cfg::PAGE_COUNT]; template volatile bool SerialPageManager::page_states_dirty; template - uint8_t SerialPageManager::pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE]; + uint8_t SerialPageManager::pages[Cfg::PAGE_COUNT][Cfg::PAGE_SIZE]; template uint8_t SerialPageManager::checksum; @@ -73,7 +74,7 @@ namespace DirectStepping { template void SerialPageManager::init() { - for (int i = 0 ; i < Cfg::NUM_PAGES ; i++) + for (int i = 0 ; i < Cfg::PAGE_COUNT ; i++) page_states[i] = PageState::FREE; fatal_error = false; @@ -142,14 +143,16 @@ namespace DirectStepping { // 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; + 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; @@ -160,11 +163,10 @@ namespace DirectStepping { return true; } case State::UNFAIL: - if (c == 0) { + if (c == 0) set_page_state(write_page_idx, PageState::FREE); - } else { + else fatal_error = true; - } state = State::MONITOR; return true; } @@ -173,7 +175,7 @@ namespace DirectStepping { template void SerialPageManager::write_responses() { if (fatal_error) { - kill(GET_TEXT(MSG_BAD_PAGE)); + kill(GET_TEXT_F(MSG_BAD_PAGE)); return; } @@ -182,10 +184,10 @@ namespace DirectStepping { SERIAL_CHAR(Cfg::CONTROL_CHAR); constexpr int state_bits = 2; - constexpr int n_bytes = Cfg::NUM_PAGES >> state_bits; + 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::NUM_PAGES ; i++) { + for (page_idx_t i = 0 ; i < Cfg::PAGE_COUNT ; i++) { bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7); } diff --git a/Marlin/src/feature/direct_stepping.h b/Marlin/src/feature/direct_stepping.h index b3007731cd..962310281e 100644 --- a/Marlin/src/feature/direct_stepping.h +++ b/Marlin/src/feature/direct_stepping.h @@ -68,10 +68,10 @@ namespace DirectStepping { static State state; static volatile bool fatal_error; - static volatile PageState page_states[Cfg::NUM_PAGES]; + static volatile PageState page_states[Cfg::PAGE_COUNT]; static volatile bool page_states_dirty; - static uint8_t pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE]; + 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; @@ -87,8 +87,8 @@ namespace DirectStepping { struct config_t { static constexpr char CONTROL_CHAR = '!'; - static constexpr int NUM_PAGES = num_pages; - static constexpr int NUM_AXES = num_axes; + 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; @@ -96,10 +96,10 @@ namespace DirectStepping { 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 = (NUM_AXES * BITS_SEGMENT * SEGMENTS) / 8; + static constexpr int PAGE_SIZE = (AXIS_COUNT * BITS_SEGMENT * SEGMENTS) / 8; typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t; - typedef typename TypeSelector<(NUM_PAGES>256), uint16_t, uint8_t>::type page_idx_t; + typedef typename TypeSelector<(PAGE_COUNT>256), uint16_t, uint8_t>::type page_idx_t; }; template diff --git a/Marlin/src/feature/e_parser.cpp b/Marlin/src/feature/e_parser.cpp index d98afcfee7..cfe0956aa7 100644 --- a/Marlin/src/feature/e_parser.cpp +++ b/Marlin/src/feature/e_parser.cpp @@ -33,6 +33,9 @@ // 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) diff --git a/Marlin/src/feature/e_parser.h b/Marlin/src/feature/e_parser.h index 3723caa35e..3a15a7ffa0 100644 --- a/Marlin/src/feature/e_parser.h +++ b/Marlin/src/feature/e_parser.h @@ -41,13 +41,15 @@ extern bool wait_for_user, wait_for_heatup; void quickresume_stepper(); #endif -void HAL_reboot(); +#if ENABLED(SOFT_RESET_VIA_SERIAL) + void HAL_reboot(); +#endif class EmergencyParser { public: - // Currently looking for: M108, M112, M410, M876 S[0-9], S000, P000, R000 + // Currently looking for: M108, M112, M410, M524, M876 S[0-9], S000, P000, R000 enum State : uint8_t { EP_RESET, EP_N, @@ -56,6 +58,9 @@ public: 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 @@ -74,6 +79,10 @@ public: 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 @@ -143,6 +152,9 @@ public: 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 @@ -163,6 +175,11 @@ public: 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; @@ -198,8 +215,11 @@ public: 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: host_response_handler(M876_reason); break; + case EP_M876SN: hostui.handle_response(M876_reason); break; #endif #if ENABLED(REALTIME_REPORTING_COMMANDS) case EP_GRBL_STATUS: report_current_position_moving(); break; 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 index abaa93f767..092ce0f8b8 100644 --- a/Marlin/src/feature/encoder_i2c.cpp +++ b/Marlin/src/feature/encoder_i2c.cpp @@ -49,7 +49,7 @@ void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) { initialized = true; - SERIAL_ECHOLNPAIR("Setting up encoder on ", AS_CHAR(axis_codes[encoderAxis]), " axis, addr = ", address); + SERIAL_ECHOLNPGM("Setting up encoder on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis, addr = ", address); position = get_position(); } @@ -67,7 +67,7 @@ void I2CPositionEncoder::update() { /* if (trusted) { //commented out as part of the note below trusted = false; - SERIAL_ECHOLNPAIR("Fault detected on ", AS_CHAR(axis_codes[encoderAxis]), " axis encoder. Disengaging error correction until module is trusted again."); + SERIAL_ECHOLNPGM("Fault detected on ", AS_CHAR(AXIS_CHAR(encoderAxis)), " axis encoder. Disengaging error correction until module is trusted again."); } */ return; @@ -92,9 +92,9 @@ void I2CPositionEncoder::update() { if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) { trusted = true; - SERIAL_ECHOLNPAIR("Untrusted encoder module on ", AS_CHAR(axis_codes[encoderAxis]), " axis has been fault-free for set duration, reinstating error correction."); + 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 occured, so we'll reset and use the printer's + //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(); @@ -103,10 +103,10 @@ void I2CPositionEncoder::update() { zeroOffset -= (positionInTicks - get_position()); #ifdef I2CPE_DEBUG - SERIAL_ECHOLNPAIR("Current position is ", pos); - SERIAL_ECHOLNPAIR("Position in encoder ticks is ", positionInTicks); - SERIAL_ECHOLNPAIR("New zero-offset of ", zeroOffset); - SERIAL_ECHOPAIR("New position reads as ", get_position()); + 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(")"); @@ -149,12 +149,12 @@ void I2CPositionEncoder::update() { const int32_t error = get_axis_error_steps(false); #endif - //SERIAL_ECHOLNPAIR("Axis error steps: ", error); + //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(PSTR("Significant Error")); - SERIAL_ECHOLNPAIR("Axis error over threshold, aborting!", error); + //kill(F("Significant Error")); + SERIAL_ECHOLNPGM("Axis error over threshold, aborting!", error); safe_delay(5000); } #endif @@ -172,8 +172,8 @@ void I2CPositionEncoder::update() { 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_codes[encoderAxis]); - SERIAL_ECHOLNPAIR(" : CORRECT ERR ", errorP * planner.steps_to_mm[encoderAxis], "mm"); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm"); babystep.add_steps(encoderAxis, -LROUND(errorP)); errPrstIdx = 0; } @@ -192,8 +192,8 @@ void I2CPositionEncoder::update() { 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_codes[encoderAxis]); - SERIAL_ECHOLNPAIR(" : LARGE ERR ", error, "; diffSum=", diffSum); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum); errorCount++; nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS; } @@ -212,8 +212,8 @@ void I2CPositionEncoder::set_homed() { homed = trusted = true; #ifdef I2CPE_DEBUG - SERIAL_CHAR(axis_codes[encoderAxis]); - SERIAL_ECHOLNPAIR(" axis encoder homed, offset of ", zeroOffset, " ticks."); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis encoder homed, offset of ", zeroOffset, " ticks."); #endif } } @@ -223,7 +223,7 @@ void I2CPositionEncoder::set_unhomed() { homed = trusted = false; #ifdef I2CPE_DEBUG - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" axis encoder unhomed."); #endif } @@ -231,8 +231,8 @@ void I2CPositionEncoder::set_unhomed() { bool I2CPositionEncoder::passes_test(const bool report) { if (report) { if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. "); - SERIAL_CHAR(axis_codes[encoderAxis]); - serial_ternary(H == I2CPE_MAG_SIG_BAD, PSTR(" axis "), PSTR("magnetic strip "), PSTR("encoder ")); + 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: @@ -252,8 +252,8 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) { error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading if (report) { - SERIAL_CHAR(axis_codes[encoderAxis]); - SERIAL_ECHOLNPAIR(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm"); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm"); } return error; @@ -262,7 +262,7 @@ float I2CPositionEncoder::get_axis_error_mm(const bool report) { int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) { if (!active) { if (report) { - SERIAL_CHAR(axis_codes[encoderAxis]); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); SERIAL_ECHOLNPGM(" axis encoder not active!"); } return 0; @@ -287,8 +287,8 @@ int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) { errorPrev = error; if (report) { - SERIAL_CHAR(axis_codes[encoderAxis]); - SERIAL_ECHOLNPAIR(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error); + SERIAL_CHAR(AXIS_CHAR(encoderAxis)); + SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error); } if (suppressOutput) { @@ -327,7 +327,7 @@ int32_t I2CPositionEncoder::get_raw_count() { } bool I2CPositionEncoder::test_axis() { - //only works on XYZ cartesian machines for the time being + // 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, @@ -337,7 +337,7 @@ bool I2CPositionEncoder::test_axis() { ec = false; xyze_pos_t startCoord, endCoord; - LOOP_XYZ(a) { + LOOP_NUM_AXES(a) { startCoord[a] = planner.get_axis_position_mm((AxisEnum)a); endCoord[a] = planner.get_axis_position_mm((AxisEnum)a); } @@ -345,9 +345,12 @@ bool I2CPositionEncoder::test_axis() { endCoord[encoderAxis] = endPosition; planner.synchronize(); - startCoord.e = planner.get_axis_position_mm(E_AXIS); - planner.buffer_line(startCoord, fr_mm_s, 0); - 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) { @@ -357,7 +360,7 @@ bool I2CPositionEncoder::test_axis() { } if (trusted) { // if trusted, commence test - endCoord.e = planner.get_axis_position_mm(E_AXIS); + TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS)); planner.buffer_line(endCoord, fr_mm_s, 0); planner.synchronize(); } @@ -392,7 +395,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) { travelDistance = endDistance - startDistance; xyze_pos_t startCoord, endCoord; - LOOP_XYZ(a) { + LOOP_NUM_AXES(a) { startCoord[a] = planner.get_axis_position_mm((AxisEnum)a); endCoord[a] = planner.get_axis_position_mm((AxisEnum)a); } @@ -402,7 +405,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) { planner.synchronize(); LOOP_L_N(i, iter) { - startCoord.e = planner.get_axis_position_mm(E_AXIS); + TERN_(HAS_EXTRUDERS, startCoord.e = planner.get_axis_position_mm(E_AXIS)); planner.buffer_line(startCoord, fr_mm_s, 0); planner.synchronize(); @@ -411,7 +414,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) { //do_blocking_move_to(endCoord); - endCoord.e = planner.get_axis_position_mm(E_AXIS); + TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS)); planner.buffer_line(endCoord, fr_mm_s, 0); planner.synchronize(); @@ -421,15 +424,15 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) { travelledDistance = mm_from_count(ABS(stopCount - startCount)); - SERIAL_ECHOLNPAIR("Attempted travel: ", travelDistance, "mm"); - SERIAL_ECHOLNPAIR(" Actual travel: ", travelledDistance, "mm"); + 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_ECHOLNPAIR("Old steps/mm: ", old_steps_mm); - SERIAL_ECHOLNPAIR("New steps/mm: ", new_steps_mm); + 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; @@ -446,7 +449,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) { if (iter > 1) { total /= (float)iter; - SERIAL_ECHOLNPAIR("Average steps/mm: ", total); + SERIAL_ECHOLNPGM("Average steps/mm: ", total); } ec = oldec; @@ -486,7 +489,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_stepper_ticks(I2CPE_ENC_1_TICKS_REV); #endif #ifdef I2CPE_ENC_1_INVERT - encoders[i].set_inverted(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); @@ -497,9 +500,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_active(encoders[i].passes_test(true)); - #if I2CPE_ENC_1_AXIS == E_AXIS - encoders[i].set_homed(); - #endif + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_1_AXIS == E_AXIS) encoders[i].set_homed()); #endif #if I2CPE_ENCODER_CNT > 1 @@ -517,7 +518,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_stepper_ticks(I2CPE_ENC_2_TICKS_REV); #endif #ifdef I2CPE_ENC_2_INVERT - encoders[i].set_inverted(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); @@ -528,9 +529,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_active(encoders[i].passes_test(true)); - #if I2CPE_ENC_2_AXIS == E_AXIS - encoders[i].set_homed(); - #endif + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_2_AXIS == E_AXIS) encoders[i].set_homed()); #endif #if I2CPE_ENCODER_CNT > 2 @@ -548,7 +547,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_stepper_ticks(I2CPE_ENC_3_TICKS_REV); #endif #ifdef I2CPE_ENC_3_INVERT - encoders[i].set_inverted(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); @@ -557,11 +556,9 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_ec_threshold(I2CPE_ENC_3_EC_THRESH); #endif - encoders[i].set_active(encoders[i].passes_test(true)); + encoders[i].set_active(encoders[i].passes_test(true)); - #if I2CPE_ENC_3_AXIS == E_AXIS - encoders[i].set_homed(); - #endif + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_3_AXIS == E_AXIS) encoders[i].set_homed()); #endif #if I2CPE_ENCODER_CNT > 3 @@ -579,7 +576,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_stepper_ticks(I2CPE_ENC_4_TICKS_REV); #endif #ifdef I2CPE_ENC_4_INVERT - encoders[i].set_inverted(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); @@ -590,9 +587,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_active(encoders[i].passes_test(true)); - #if I2CPE_ENC_4_AXIS == E_AXIS - encoders[i].set_homed(); - #endif + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_4_AXIS == E_AXIS) encoders[i].set_homed()); #endif #if I2CPE_ENCODER_CNT > 4 @@ -610,7 +605,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_stepper_ticks(I2CPE_ENC_5_TICKS_REV); #endif #ifdef I2CPE_ENC_5_INVERT - encoders[i].set_inverted(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); @@ -621,9 +616,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_active(encoders[i].passes_test(true)); - #if I2CPE_ENC_5_AXIS == E_AXIS - encoders[i].set_homed(); - #endif + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_5_AXIS == E_AXIS) encoders[i].set_homed()); #endif #if I2CPE_ENCODER_CNT > 5 @@ -641,7 +634,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_stepper_ticks(I2CPE_ENC_6_TICKS_REV); #endif #ifdef I2CPE_ENC_6_INVERT - encoders[i].set_inverted(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); @@ -652,9 +645,7 @@ void I2CPositionEncodersMgr::init() { encoders[i].set_active(encoders[i].passes_test(true)); - #if I2CPE_ENC_6_AXIS == E_AXIS - encoders[i].set_homed(); - #endif + TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_6_AXIS == E_AXIS) encoders[i].set_homed()); #endif } @@ -666,7 +657,7 @@ void I2CPositionEncodersMgr::report_position(const int8_t idx, const bool units, else { if (noOffset) { const int32_t raw_count = encoders[idx].get_raw_count(); - SERIAL_CHAR(axis_codes[encoders[idx].get_axis()], ' '); + SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()], ' '); for (uint8_t j = 31; j > 0; j--) SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j))); @@ -684,18 +675,18 @@ void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const // First check 'new' address is not in use Wire.beginTransmission(I2C_ADDRESS(newaddr)); if (!Wire.endTransmission()) { - SERIAL_ECHOLNPAIR("?There is already a device with that address on the I2C bus! (", newaddr, ")"); + 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_ECHOLNPAIR("?No module detected at this address! (", oldaddr, ")"); + SERIAL_ECHOLNPGM("?No module detected at this address! (", oldaddr, ")"); return; } - SERIAL_ECHOLNPAIR("Module found at ", oldaddr, ", changing address to ", newaddr); + SERIAL_ECHOLNPGM("Module found at ", oldaddr, ", changing address to ", newaddr); // Change the modules address Wire.beginTransmission(I2C_ADDRESS(oldaddr)); @@ -721,7 +712,7 @@ void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const // 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_codes[encoders[idx].get_axis()]); + 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)); } @@ -731,11 +722,11 @@ void I2CPositionEncodersMgr::report_module_firmware(const uint8_t address) { // First check there is a module Wire.beginTransmission(I2C_ADDRESS(address)); if (Wire.endTransmission()) { - SERIAL_ECHOLNPAIR("?No module detected at this address! (", address, ")"); + SERIAL_ECHOLNPGM("?No module detected at this address! (", address, ")"); return; } - SERIAL_ECHOLNPAIR("Requesting version info from module at address ", address, ":"); + SERIAL_ECHOLNPGM("Requesting version info from module at address ", address, ":"); Wire.beginTransmission(I2C_ADDRESS(address)); Wire.write(I2CPE_SET_REPORT_MODE); @@ -765,7 +756,7 @@ int8_t I2CPositionEncodersMgr::parse() { 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 @@ -782,13 +773,13 @@ int8_t I2CPositionEncodersMgr::parse() { else if (parser.seenval('I')) { if (!parser.has_value()) { - SERIAL_ECHOLNPAIR("?I seen, but no index specified! [0-", I2CPE_ENCODER_CNT - 1, "]"); + 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_ECHOLNPAIR("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1, "]"); + SERIAL_ECHOLNPGM("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1, "]"); return I2CPE_PARSE_ERR; } @@ -800,7 +791,7 @@ int8_t I2CPositionEncodersMgr::parse() { I2CPE_anyaxis = parser.seen_axis(); return I2CPE_PARSE_OK; -}; +} /** * M860: Report the position(s) of position encoder module(s). @@ -819,11 +810,11 @@ int8_t I2CPositionEncodersMgr::parse() { void I2CPositionEncodersMgr::M860() { if (parse()) return; - const bool hasU = parser.seen('U'), hasO = parser.seen('O'); + const bool hasU = parser.seen_test('U'), hasO = parser.seen_test('O'); if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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); } @@ -849,8 +840,8 @@ void I2CPositionEncodersMgr::M861() { if (parse()) return; if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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); } @@ -877,8 +868,8 @@ void I2CPositionEncodersMgr::M862() { if (parse()) return; if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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); } @@ -908,8 +899,8 @@ void I2CPositionEncodersMgr::M863() { const uint8_t iterations = constrain(parser.byteval('P', 1), 1, 10); if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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); } @@ -943,7 +934,7 @@ void I2CPositionEncodersMgr::M864() { if (!parser.has_value()) { SERIAL_ECHOLNPGM("?S seen, but no address specified! [30-200]"); return; - }; + } newAddress = parser.value_byte(); if (!WITHIN(newAddress, 30, 200)) { @@ -956,14 +947,14 @@ void I2CPositionEncodersMgr::M864() { return; } else { - if (parser.seen('X')) newAddress = I2CPE_PRESET_ADDR_X; - else if (parser.seen('Y')) newAddress = I2CPE_PRESET_ADDR_Y; - else if (parser.seen('Z')) newAddress = I2CPE_PRESET_ADDR_Z; - else if (parser.seen('E')) newAddress = I2CPE_PRESET_ADDR_E; + 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_ECHOLNPAIR("Changing module at address ", I2CPE_addr, " to address ", newAddress); + SERIAL_ECHOLNPGM("Changing module at address ", I2CPE_addr, " to address ", newAddress); change_module_address(I2CPE_addr, newAddress); } @@ -984,8 +975,8 @@ void I2CPositionEncodersMgr::M865() { if (parse()) return; if (!I2CPE_addr) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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()); } @@ -1012,11 +1003,11 @@ void I2CPositionEncodersMgr::M865() { void I2CPositionEncodersMgr::M866() { if (parse()) return; - const bool hasR = parser.seen('R'); + const bool hasR = parser.seen_test('R'); if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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) @@ -1053,8 +1044,8 @@ void I2CPositionEncodersMgr::M867() { const int8_t onoff = parser.seenval('S') ? parser.value_int() : -1; if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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; @@ -1089,8 +1080,8 @@ void I2CPositionEncodersMgr::M868() { const float newThreshold = parser.seenval('T') ? parser.value_float() : -9999; if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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) @@ -1123,8 +1114,8 @@ void I2CPositionEncodersMgr::M869() { if (parse()) return; if (I2CPE_idx == 0xFF) { - LOOP_XYZE(i) { - if (!I2CPE_anyaxis || parser.seen(axis_codes[i])) { + 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); } diff --git a/Marlin/src/feature/encoder_i2c.h b/Marlin/src/feature/encoder_i2c.h index 20871af98c..f25fe2ea6b 100644 --- a/Marlin/src/feature/encoder_i2c.h +++ b/Marlin/src/feature/encoder_i2c.h @@ -236,7 +236,7 @@ class I2CPositionEncodersMgr { static void report_status(const int8_t idx) { CHECK_IDX(); - SERIAL_ECHOLNPAIR("Encoder ", idx, ": "); + SERIAL_ECHOLNPGM("Encoder ", idx, ": "); encoders[idx].get_raw_count(); encoders[idx].passes_test(true); } @@ -261,32 +261,32 @@ class I2CPositionEncodersMgr { static void report_error_count(const int8_t idx, const AxisEnum axis) { CHECK_IDX(); - SERIAL_ECHOLNPAIR("Error count on ", AS_CHAR(axis_codes[axis]), " axis is ", encoders[idx].get_error_count()); + 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_ECHOLNPAIR("Error count on ", AS_CHAR(axis_codes[axis]), " axis has been reset."); + 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_ECHOPAIR("Error correction on ", AS_CHAR(axis_codes[axis])); + 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_ECHOLNPAIR("Error correct threshold for ", AS_CHAR(axis_codes[axis]), " axis set to ", newThreshold, "mm."); + 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_ECHOLNPAIR("Error correct threshold for ", AS_CHAR(axis_codes[axis]), " axis is ", threshold, "mm."); + SERIAL_ECHOLNPGM("Error correct threshold for ", AS_CHAR(AXIS_CHAR(axis)), " axis is ", threshold, "mm."); } static int8_t idx_from_axis(const AxisEnum axis) { diff --git a/Marlin/src/feature/ethernet.cpp b/Marlin/src/feature/ethernet.cpp index d4a95fa051..c5bfa932cb 100644 --- a/Marlin/src/feature/ethernet.cpp +++ b/Marlin/src/feature/ethernet.cpp @@ -147,7 +147,7 @@ void MarlinEthernet::check() { " | Author: " STRING_CONFIG_H_AUTHOR ); #endif - telnetClient.println("Compiled: " __DATE__); + telnetClient.println(" Compiled: " __DATE__); SERIAL_ECHOLNPGM("Client connected"); have_telnet_client = true; 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/filwidth.h b/Marlin/src/feature/filwidth.h index e63d3d719f..9eb1e77762 100644 --- a/Marlin/src/feature/filwidth.h +++ b/Marlin/src/feature/filwidth.h @@ -41,9 +41,9 @@ public: FilamentWidthSensor() { init(); } static void init(); - static inline void enable(const bool ena) { enabled = ena; } + static void enable(const bool ena) { enabled = ena; } - static inline void set_delay_cm(const uint8_t cm) { + static void set_delay_cm(const uint8_t cm) { meas_delay_cm = _MIN(cm, MAX_MEASUREMENT_DELAY); } @@ -67,18 +67,18 @@ public: } // Convert raw measurement to mm - static inline float raw_to_mm(const uint16_t v) { return v * 5.0f * RECIPROCAL(float(MAX_RAW_THERMISTOR_VALUE)); } - static inline float raw_to_mm() { return raw_to_mm(raw); } + 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 inline void reading_ready() { raw = accum >> 10; } + static void reading_ready() { raw = accum >> 10; } // Update mm from the raw measurement - static inline void update_measured_mm() { measured_mm = raw_to_mm(); } + static void update_measured_mm() { measured_mm = raw_to_mm(); } // Update ring buffer used to delay filament measurements - static inline void advance_e(const_float_t e_move) { + static void advance_e(const_float_t e_move) { // Increment counters with the E distance e_count += e_move; @@ -106,7 +106,7 @@ public: } // Dynamically set the volumetric multiplier based on the delayed width measurement. - static inline void update_volumetric() { + 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 diff --git a/Marlin/src/feature/fwretract.cpp b/Marlin/src/feature/fwretract.cpp index bfcdb8c001..28355640d2 100644 --- a/Marlin/src/feature/fwretract.cpp +++ b/Marlin/src/feature/fwretract.cpp @@ -34,9 +34,8 @@ FWRetract fwretract; // Single instance - this calls the constructor #include "../module/motion.h" #include "../module/planner.h" -#include "../module/stepper.h" -#include "../gcode/parser.h" +#include "../gcode/gcode.h" #if ENABLED(RETRACT_SYNC_MIXING) #include "mixing.h" @@ -45,7 +44,7 @@ FWRetract fwretract; // Single instance - this calls the constructor // private: #if HAS_MULTI_EXTRUDER - bool FWRetract::retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted + Flags FWRetract::retracted_swap; // Which extruders are swap-retracted #endif // public: @@ -56,7 +55,7 @@ fwretract_settings_t FWRetract::settings; // M207 S F Z W, M208 S F bool FWRetract::autoretract_enabled; // M209 S - Autoretract switch #endif -bool FWRetract::retracted[EXTRUDERS]; // Which extruders are currently retracted +Flags FWRetract::retracted; // Which extruders are currently retracted float FWRetract::current_retract[EXTRUDERS], // Retract value used by planner FWRetract::current_hop; @@ -73,10 +72,10 @@ void FWRetract::reset() { settings.swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP; current_hop = 0.0; - LOOP_L_N(i, EXTRUDERS) { - retracted[i] = false; - TERN_(HAS_MULTI_EXTRUDER, retracted_swap[i] = false); - current_retract[i] = 0.0; + retracted.reset(); + EXTRUDER_LOOP() { + E_TERN_(retracted_swap.clear(e)); + current_retract[e] = 0.0; } } @@ -91,11 +90,7 @@ void FWRetract::reset() { * 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 - #if HAS_MULTI_EXTRUDER - , bool swapping/*=false*/ - #endif -) { +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; @@ -110,20 +105,20 @@ void FWRetract::retract(const bool retracting #endif /* // debugging - SERIAL_ECHOLNPAIR( + SERIAL_ECHOLNPGM( "retracting ", AS_DIGIT(retracting), " swapping ", swapping, " active extruder ", active_extruder ); - LOOP_L_N(i, EXTRUDERS) { - SERIAL_ECHOLNPAIR("retracted[", i, "] ", AS_DIGIT(retracted[i])); + EXTRUDER_LOOP() { + SERIAL_ECHOLNPGM("retracted[", e, "] ", AS_DIGIT(retracted[e])); #if HAS_MULTI_EXTRUDER - SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", AS_DIGIT(retracted_swap[i])); + SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e])); #endif } - SERIAL_ECHOLNPAIR("current_position.z ", current_position.z); - SERIAL_ECHOLNPAIR("current_position.e ", current_position.e); - SERIAL_ECHOLNPAIR("current_hop ", current_hop); + 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)) @@ -177,26 +172,26 @@ void FWRetract::retract(const bool retracting TERN_(RETRACT_SYNC_MIXING, mixer.T(old_mixing_tool)); // Restore original mixing tool - retracted[active_extruder] = retracting; // Active extruder now retracted / recovered + 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[active_extruder] = retracting; + if (swapping) retracted_swap.set(active_extruder, retracting); #endif /* // debugging - SERIAL_ECHOLNPAIR("retracting ", AS_DIGIT(retracting)); - SERIAL_ECHOLNPAIR("swapping ", AS_DIGIT(swapping)); - SERIAL_ECHOLNPAIR("active_extruder ", active_extruder); - LOOP_L_N(i, EXTRUDERS) { - SERIAL_ECHOLNPAIR("retracted[", i, "] ", AS_DIGIT(retracted[i])); + 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_ECHOLNPAIR("retracted_swap[", i, "] ", AS_DIGIT(retracted_swap[i])); + SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e])); #endif } - SERIAL_ECHOLNPAIR("current_position.z ", current_position.z); - SERIAL_ECHOLNPAIR("current_position.e ", current_position.e); - SERIAL_ECHOLNPAIR("current_hop ", current_hop); + SERIAL_ECHOLNPGM("current_position.z ", current_position.z); + SERIAL_ECHOLNPGM("current_position.e ", current_position.e); + SERIAL_ECHOLNPGM("current_hop ", current_hop); //*/ } @@ -212,15 +207,14 @@ void FWRetract::retract(const bool retracting */ void FWRetract::M207() { if (!parser.seen("FSWZ")) return M207_report(); - if (parser.seen('S')) settings.retract_length = parser.value_axis_units(E_AXIS); - if (parser.seen('F')) settings.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS)); - if (parser.seen('Z')) settings.retract_zraise = parser.value_linear_units(); - if (parser.seen('W')) settings.swap_retract_length = parser.value_axis_units(E_AXIS); + 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(const bool forReplay/*=false*/) { - if (!forReplay) { SERIAL_ECHO_MSG("; Retract: S F Z"); SERIAL_ECHO_START(); } - SERIAL_ECHOLNPAIR_P( +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)) @@ -238,15 +232,14 @@ void FWRetract::M207_report(const bool forReplay/*=false*/) { */ 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('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); + if (parser.seen('W')) settings.swap_retract_recover_extra = parser.value_axis_units(E_AXIS); } -void FWRetract::M208_report(const bool forReplay/*=false*/) { - if (!forReplay) { SERIAL_ECHO_MSG("; Recover: S F"); SERIAL_ECHO_START(); } - SERIAL_ECHOLNPAIR( +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)) @@ -266,9 +259,8 @@ void FWRetract::M208_report(const bool forReplay/*=false*/) { enable_autoretract(parser.value_bool()); } - void FWRetract::M209_report(const bool forReplay/*=false*/) { - if (!forReplay) { SERIAL_ECHO_MSG("; Auto-Retract: S=0 to disable, 1 to interpret E-only moves as retract/recover"); SERIAL_ECHO_START(); } - SERIAL_ECHOLNPAIR(" M209 S", AS_DIGIT(autoretract_enabled)); + void FWRetract::M209_report() { + SERIAL_ECHOLNPGM(" M209 S", AS_DIGIT(autoretract_enabled)); } #endif // FWRETRACT_AUTORETRACT diff --git a/Marlin/src/feature/fwretract.h b/Marlin/src/feature/fwretract.h index 4fa64ad83b..db2a62c8d4 100644 --- a/Marlin/src/feature/fwretract.h +++ b/Marlin/src/feature/fwretract.h @@ -43,7 +43,7 @@ typedef struct { class FWRetract { private: #if HAS_MULTI_EXTRUDER - static bool retracted_swap[EXTRUDERS]; // Which extruders are swap-retracted + static Flags retracted_swap; // Which extruders are swap-retracted #endif public: @@ -55,7 +55,7 @@ public: static constexpr bool autoretract_enabled = false; #endif - static bool retracted[EXTRUDERS]; // Which extruders are currently retracted + 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 @@ -63,9 +63,7 @@ public: static void reset(); - static void refresh_autoretract() { - LOOP_L_N(i, EXTRUDERS) retracted[i] = false; - } + static void refresh_autoretract() { retracted.reset(); } static void enable_autoretract(const bool enable) { #if ENABLED(FWRETRACT_AUTORETRACT) @@ -74,19 +72,15 @@ public: #endif } - static void retract(const bool retracting - #if HAS_MULTI_EXTRUDER - , bool swapping = false - #endif - ); + static void retract(const bool retracting E_OPTARG(bool swapping=false)); + static void M207_report(); static void M207(); - static void M207_report(const bool forReplay=false); + static void M208_report(); static void M208(); - static void M208_report(const bool forReplay=false); #if ENABLED(FWRETRACT_AUTORETRACT) + static void M209_report(); static void M209(); - static void M209_report(const bool forReplay=false); #endif }; diff --git a/Marlin/src/feature/host_actions.cpp b/Marlin/src/feature/host_actions.cpp index 62e60320f7..773b6ebc61 100644 --- a/Marlin/src/feature/host_actions.cpp +++ b/Marlin/src/feature/host_actions.cpp @@ -24,10 +24,10 @@ #if ENABLED(HOST_ACTION_COMMANDS) -#include "host_actions.h" - //#define DEBUG_HOST_ACTIONS +#include "host_actions.h" + #if ENABLED(ADVANCED_PAUSE_FEATURE) #include "pause.h" #include "../gcode/queue.h" @@ -37,37 +37,54 @@ #include "runout.h" #endif -void host_action(PGM_P const pstr, const bool eol) { +HostUI hostui; + +void HostUI::action(FSTR_P const fstr, const bool eol) { PORT_REDIRECT(SerialMask::All); SERIAL_ECHOPGM("//action:"); - SERIAL_ECHOPGM_P(pstr); + SERIAL_ECHOF(fstr); if (eol) SERIAL_EOL(); } #ifdef ACTION_ON_KILL - void host_action_kill() { host_action(PSTR(ACTION_ON_KILL)); } + void HostUI::kill() { action(F(ACTION_ON_KILL)); } #endif #ifdef ACTION_ON_PAUSE - void host_action_pause(const bool eol/*=true*/) { host_action(PSTR(ACTION_ON_PAUSE), eol); } + void HostUI::pause(const bool eol/*=true*/) { action(F(ACTION_ON_PAUSE), eol); } #endif #ifdef ACTION_ON_PAUSED - void host_action_paused(const bool eol/*=true*/) { host_action(PSTR(ACTION_ON_PAUSED), eol); } + void HostUI::paused(const bool eol/*=true*/) { action(F(ACTION_ON_PAUSED), eol); } #endif #ifdef ACTION_ON_RESUME - void host_action_resume() { host_action(PSTR(ACTION_ON_RESUME)); } + void HostUI::resume() { action(F(ACTION_ON_RESUME)); } #endif #ifdef ACTION_ON_RESUMED - void host_action_resumed() { host_action(PSTR(ACTION_ON_RESUMED)); } + void HostUI::resumed() { action(F(ACTION_ON_RESUMED)); } #endif #ifdef ACTION_ON_CANCEL - void host_action_cancel() { host_action(PSTR(ACTION_ON_CANCEL)); } + void HostUI::cancel() { action(F(ACTION_ON_CANCEL)); } #endif #ifdef ACTION_ON_START - void host_action_start() { host_action(PSTR(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"); @@ -75,65 +92,86 @@ void host_action(PGM_P const pstr, const bool eol) { extern bool wait_for_user; #endif - PromptReason host_prompt_reason = PROMPT_NOT_DEFINED; - - void host_action_notify(const char * const message) { + void HostUI::notify(const char * const cstr) { PORT_REDIRECT(SerialMask::All); - host_action(PSTR("notification "), false); - SERIAL_ECHOLN(message); + action(F("notification "), false); + SERIAL_ECHOLN(cstr); } - void host_action_notify_P(PGM_P const message) { + void HostUI::notify_P(PGM_P const pstr) { PORT_REDIRECT(SerialMask::All); - host_action(PSTR("notification "), false); - SERIAL_ECHOLNPGM_P(message); + action(F("notification "), false); + SERIAL_ECHOLNPGM_P(pstr); } - void host_action_prompt(PGM_P const ptype, const bool eol=true) { + void HostUI::prompt(FSTR_P const ptype, const bool eol/*=true*/) { PORT_REDIRECT(SerialMask::All); - host_action(PSTR("prompt_"), false); - SERIAL_ECHOPGM_P(ptype); + action(F("prompt_"), false); + SERIAL_ECHOF(ptype); if (eol) SERIAL_EOL(); } - void host_action_prompt_plus(PGM_P const ptype, PGM_P const pstr, const char extra_char='\0') { - host_action_prompt(ptype, false); + 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(' '); - SERIAL_ECHOPGM_P(pstr); + if (pgm) + SERIAL_ECHOPGM_P(str); + else + SERIAL_ECHO(str); if (extra_char != '\0') SERIAL_CHAR(extra_char); SERIAL_EOL(); } - void host_action_prompt_begin(const PromptReason reason, PGM_P const pstr, const char extra_char/*='\0'*/) { - host_action_prompt_end(); + + void HostUI::prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char/*='\0'*/) { + prompt_end(); host_prompt_reason = reason; - host_action_prompt_plus(PSTR("begin"), pstr, extra_char); + prompt_plus(F("begin"), fstr, extra_char); } - void host_action_prompt_button(PGM_P const pstr) { host_action_prompt_plus(PSTR("button"), pstr); } - void host_action_prompt_end() { host_action_prompt(PSTR("end")); } - void host_action_prompt_show() { host_action_prompt(PSTR("show")); } - - void _host_prompt_show(PGM_P const btn1/*=nullptr*/, PGM_P const btn2/*=nullptr*/) { - if (btn1) host_action_prompt_button(btn1); - if (btn2) host_action_prompt_button(btn2); - host_action_prompt_show(); - } - void host_prompt_do(const PromptReason reason, PGM_P const pstr, PGM_P const btn1/*=nullptr*/, PGM_P const btn2/*=nullptr*/) { - host_action_prompt_begin(reason, pstr); - _host_prompt_show(btn1, btn2); - } - void host_prompt_do(const PromptReason reason, PGM_P const pstr, const char extra_char, PGM_P const btn1/*=nullptr*/, PGM_P const btn2/*=nullptr*/) { - host_action_prompt_begin(reason, pstr, extra_char); - _host_prompt_show(btn1, btn2); + 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 filament_load_host_prompt() { - const bool disable_to_continue = TERN0(HAS_FILAMENT_SENSOR, runout.filament_ran_out); - host_prompt_do(PROMPT_FILAMENT_RUNOUT, PSTR("Paused"), PSTR("PurgeMore"), - disable_to_continue ? PSTR("DisableRunout") : CONTINUE_STR - ); + 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 @@ -141,7 +179,7 @@ void host_action(PGM_P const pstr, const bool eol) { // - Resume Print response // - Dismissal of info // - void host_response_handler(const uint8_t response) { + 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) { diff --git a/Marlin/src/feature/host_actions.h b/Marlin/src/feature/host_actions.h index 065b59d755..3f75562398 100644 --- a/Marlin/src/feature/host_actions.h +++ b/Marlin/src/feature/host_actions.h @@ -24,34 +24,8 @@ #include "../inc/MarlinConfigPre.h" #include "../HAL/shared/Marduino.h" -void host_action(PGM_P const pstr, const bool eol=true); - -#ifdef ACTION_ON_KILL - void host_action_kill(); -#endif -#ifdef ACTION_ON_PAUSE - void host_action_pause(const bool eol=true); -#endif -#ifdef ACTION_ON_PAUSED - void host_action_paused(const bool eol=true); -#endif -#ifdef ACTION_ON_RESUME - void host_action_resume(); -#endif -#ifdef ACTION_ON_RESUMED - void host_action_resumed(); -#endif -#ifdef ACTION_ON_CANCEL - void host_action_cancel(); -#endif -#ifdef ACTION_ON_START - void host_action_start(); -#endif - #if ENABLED(HOST_PROMPT_SUPPORT) - extern const char CONTINUE_STR[], DISMISS_STR[]; - enum PromptReason : uint8_t { PROMPT_NOT_DEFINED, PROMPT_FILAMENT_RUNOUT, @@ -61,21 +35,94 @@ void host_action(PGM_P const pstr, const bool eol=true); PROMPT_INFO }; - extern PromptReason host_prompt_reason; - - void host_response_handler(const uint8_t response); - void host_action_notify(const char * const message); - void host_action_notify_P(PGM_P const message); - void host_action_prompt_begin(const PromptReason reason, PGM_P const pstr, const char extra_char='\0'); - void host_action_prompt_button(PGM_P const pstr); - void host_action_prompt_end(); - void host_action_prompt_show(); - void host_prompt_do(const PromptReason reason, PGM_P const pstr, PGM_P const btn1=nullptr, PGM_P const btn2=nullptr); - void host_prompt_do(const PromptReason reason, PGM_P const pstr, const char extra_char, PGM_P const btn1=nullptr, PGM_P const btn2=nullptr); - inline void host_prompt_open(const PromptReason reason, PGM_P const pstr, PGM_P const btn1=nullptr, PGM_P const btn2=nullptr) { - if (host_prompt_reason == PROMPT_NOT_DEFINED) host_prompt_do(reason, pstr, btn1, btn2); - } - - void filament_load_host_prompt(); - #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 index b962743ed0..4b137f42da 100644 --- a/Marlin/src/feature/hotend_idle.cpp +++ b/Marlin/src/feature/hotend_idle.cpp @@ -77,7 +77,7 @@ void HotendIdleProtection::check() { void HotendIdleProtection::timed_out() { next_protect_ms = 0; SERIAL_ECHOLNPGM("Hotend Idle Timeout"); - LCD_MESSAGEPGM(MSG_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); diff --git a/Marlin/src/feature/joystick.cpp b/Marlin/src/feature/joystick.cpp index 3dca2eb2e9..acab5d7437 100644 --- a/Marlin/src/feature/joystick.cpp +++ b/Marlin/src/feature/joystick.cpp @@ -68,13 +68,13 @@ Joystick joystick; void Joystick::report() { SERIAL_ECHOPGM("Joystick"); #if HAS_JOY_ADC_X - SERIAL_ECHOPAIR_P(SP_X_STR, JOY_X(x.raw)); + SERIAL_ECHOPGM_P(SP_X_STR, JOY_X(x.getraw())); #endif #if HAS_JOY_ADC_Y - SERIAL_ECHOPAIR_P(SP_Y_STR, JOY_Y(y.raw)); + SERIAL_ECHOPGM_P(SP_Y_STR, JOY_Y(y.getraw())); #endif #if HAS_JOY_ADC_Z - SERIAL_ECHOPAIR_P(SP_Z_STR, JOY_Z(z.raw)); + 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)"); @@ -91,29 +91,29 @@ Joystick joystick; if (READ(JOY_EN_PIN)) return; #endif - auto _normalize_joy = [](float &axis_jog, const int16_t raw, const int16_t (&joy_limits)[4]) { + 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 = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value + 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 int16_t joy_x_limits[4] = JOY_X_LIMITS; - _normalize_joy(norm_jog.x, JOY_X(x.raw), joy_x_limits); + 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 int16_t joy_y_limits[4] = JOY_Y_LIMITS; - _normalize_joy(norm_jog.y, JOY_Y(y.raw), joy_y_limits); + 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 int16_t joy_z_limits[4] = JOY_Z_LIMITS; - _normalize_joy(norm_jog.z, JOY_Z(z.raw), joy_z_limits); + 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 } @@ -163,13 +163,8 @@ Joystick joystick; // norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate] xyz_float_t move_dist{0}; float hypot2 = 0; - LOOP_XYZ(i) if (norm_jog[i]) { - move_dist[i] = seg_time * norm_jog[i] * - #if ENABLED(EXTENSIBLE_UI) - manual_feedrate_mm_s[i]; - #else - planner.settings.max_feedrate_mm_s[i]; - #endif + 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]); } @@ -177,8 +172,9 @@ Joystick joystick; 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, length); + planner.buffer_line(current_position, length / seg_time, active_extruder, hints); injecting_now = false; } } diff --git a/Marlin/src/feature/joystick.h b/Marlin/src/feature/joystick.h index d1c4fbd314..91bf6bdc00 100644 --- a/Marlin/src/feature/joystick.h +++ b/Marlin/src/feature/joystick.h @@ -32,13 +32,13 @@ class Joystick { friend class Temperature; private: - #if ENABLED(HAS_JOY_ADC_X) + #if HAS_JOY_ADC_X static temp_info_t x; #endif - #if ENABLED(HAS_JOY_ADC_Y) + #if HAS_JOY_ADC_Y static temp_info_t y; #endif - #if ENABLED(HAS_JOY_ADC_Z) + #if HAS_JOY_ADC_Z static temp_info_t z; #endif public: diff --git a/Marlin/src/feature/leds/leds.cpp b/Marlin/src/feature/leds/leds.cpp index ef0561a435..3753235ab5 100644 --- a/Marlin/src/feature/leds/leds.cpp +++ b/Marlin/src/feature/leds/leds.cpp @@ -30,30 +30,19 @@ #include "leds.h" -#if ENABLED(BLINKM) - #include "blinkm.h" -#endif - -#if ENABLED(PCA9632) - #include "pca9632.h" -#endif - -#if ENABLED(PCA9533) - #include "pca9533.h" -#endif - -#if ENABLED(CASE_LIGHT_USE_RGB_LED) +#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 = MakeLEDColor( - LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE, - LED_USER_PRESET_WHITE, LED_USER_PRESET_BRIGHTNESS + 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 EITHER(LED_CONTROL_MENU, PRINTER_EVENT_LEDS) +#if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED) LEDColor LEDLights::color; bool LEDLights::lights_on; #endif @@ -68,6 +57,44 @@ void LEDLights::setup() { #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 #endif TERN_(NEOPIXEL_LED, neo.init()); TERN_(PCA9533, PCA9533_init()); @@ -75,37 +102,44 @@ void LEDLights::setup() { } void LEDLights::set_color(const LEDColor &incol - #if ENABLED(NEOPIXEL_LED) - , bool isSequence/*=false*/ - #endif + 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, incol.w); - static uint16_t nextLed = 0; + : neo.Color(incol.r, incol.g, incol.b OPTARG(HAS_WHITE_LED, incol.w)); - #ifdef NEOPIXEL_BKGD_LED_INDEX - if (NEOPIXEL_BKGD_LED_INDEX == nextLed) { - neo.set_color_background(); - if (++nextLed >= neo.pixels()) { - nextLed = 0; - return; + #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 - neo.set_brightness(incol.i); - - if (isSequence) { - neo.set_pixel_color(nextLed, neocolor); - neo.show(); - if (++nextLed >= neo.pixels()) nextLed = 0; - return; - } - + #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 @@ -121,11 +155,11 @@ void LEDLights::set_color(const LEDColor &incol // 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)) \ - analogWrite(pin_t(RGB_LED_##C##_PIN), c); \ - else \ - WRITE(RGB_LED_##C##_PIN, c ? HIGH : LOW); \ + #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); @@ -150,7 +184,7 @@ void LEDLights::set_color(const LEDColor &incol void LEDLights::toggle() { if (lights_on) set_off(); else update(); } #endif -#ifdef LED_BACKLIGHT_TIMEOUT +#if LED_POWEROFF_TIMEOUT > 0 millis_t LEDLights::led_off_time; // = 0 @@ -169,9 +203,10 @@ void LEDLights::set_color(const LEDColor &incol #if ENABLED(NEOPIXEL2_SEPARATE) #if ENABLED(NEO2_COLOR_PRESETS) - const LEDColor LEDLights2::defaultLEDColor = MakeLEDColor( - NEO2_USER_PRESET_RED, NEO2_USER_PRESET_GREEN, NEO2_USER_PRESET_BLUE, - NEO2_USER_PRESET_WHITE, NEO2_USER_PRESET_BRIGHTNESS + 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 @@ -190,7 +225,7 @@ void LEDLights::set_color(const LEDColor &incol 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, incol.w); + : neo2.Color(incol.r, incol.g, incol.b OPTARG(HAS_WHITE_LED2, incol.w)); neo2.set_brightness(incol.i); neo2.set_color(neocolor); diff --git a/Marlin/src/feature/leds/leds.h b/Marlin/src/feature/leds/leds.h index c34eb57f44..c6137b45c3 100644 --- a/Marlin/src/feature/leds/leds.h +++ b/Marlin/src/feature/leds/leds.h @@ -29,13 +29,27 @@ #include -#if ENABLED(NEOPIXEL_LED) - #include "neopixel.h" +// A white component can be passed +#if EITHER(RGBW_LED, PCA9632_RGBW) + #define HAS_WHITE_LED 1 #endif -// A white component can be passed -#if ANY(RGBW_LED, NEOPIXEL_LED, PCA9632_RGBW) - #define HAS_WHITE_LED 1 +#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 /** @@ -43,46 +57,23 @@ */ typedef struct LEDColor { uint8_t r, g, b - #if HAS_WHITE_LED - , w - #if ENABLED(NEOPIXEL_LED) - , i - #endif - #endif + OPTARG(HAS_WHITE_LED, w) + OPTARG(NEOPIXEL_LED, i) ; LEDColor() : r(255), g(255), b(255) - #if HAS_WHITE_LED - , w(255) - #if ENABLED(NEOPIXEL_LED) - , i(NEOPIXEL_BRIGHTNESS) - #endif - #endif + OPTARG(HAS_WHITE_LED, w(255)) + OPTARG(NEOPIXEL_LED, i(NEOPIXEL_BRIGHTNESS)) {} - LEDColor(uint8_t r, uint8_t g, uint8_t b - #if HAS_WHITE_LED - , uint8_t w=0 - #if ENABLED(NEOPIXEL_LED) - , uint8_t i=NEOPIXEL_BRIGHTNESS - #endif - #endif - ) : r(r), g(g), b(b) - #if HAS_WHITE_LED - , w(w) - #if ENABLED(NEOPIXEL_LED) - , i(i) - #endif - #endif - {} + 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]) - #if HAS_WHITE_LED - , w(rgbw[3]) - #if ENABLED(NEOPIXEL_LED) - , i(NEOPIXEL_BRIGHTNESS) - #endif - #endif + OPTARG(HAS_WHITE_LED, w(rgbw[3])) + OPTARG(NEOPIXEL_LED, i(NEOPIXEL_BRIGHTNESS)) {} LEDColor& operator=(const uint8_t (&rgbw)[4]) { @@ -91,11 +82,6 @@ typedef struct LEDColor { return *this; } - LEDColor& operator=(const LEDColor &right) { - if (this != &right) memcpy(this, &right, sizeof(LEDColor)); - return *this; - } - bool operator==(const LEDColor &right) { if (this == &right) return true; return 0 == memcmp(this, &right, sizeof(LEDColor)); @@ -109,17 +95,8 @@ typedef struct LEDColor { } LEDColor; /** - * Color helpers and presets + * Color presets */ -#if HAS_WHITE_LED - #if ENABLED(NEOPIXEL_LED) - #define MakeLEDColor(R,G,B,W,I) LEDColor(R, G, B, W, I) - #else - #define MakeLEDColor(R,G,B,W,I) LEDColor(R, G, B, W) - #endif -#else - #define MakeLEDColor(R,G,B,W,I) LEDColor(R, G, B) -#endif #define LEDColorOff() LEDColor( 0, 0, 0) #define LEDColorRed() LEDColor(255, 0, 0) @@ -142,69 +119,61 @@ typedef struct LEDColor { 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 - #if ENABLED(NEOPIXEL_LED) - , bool isSequence=false - #endif + OPTARG(NEOPIXEL_IS_SEQUENTIAL, bool isSequence=false) ); - static inline void set_color(uint8_t r, uint8_t g, uint8_t b - #if HAS_WHITE_LED - , uint8_t w=0 - #endif - #if ENABLED(NEOPIXEL_LED) - , uint8_t i=NEOPIXEL_BRIGHTNESS - , bool isSequence=false - #endif + 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(MakeLEDColor(r, g, b, w, i) - #if ENABLED(NEOPIXEL_LED) - , isSequence - #endif - ); + set_color(LEDColor(r, g, b OPTARG(HAS_WHITE_LED, w) OPTARG(NEOPIXEL_LED, i)) OPTARG(NEOPIXEL_IS_SEQUENTIAL, isSequence)); } - static inline void set_off() { set_color(LEDColorOff()); } - static inline void set_green() { set_color(LEDColorGreen()); } - static inline void set_white() { set_color(LEDColorWhite()); } + 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 inline void set_default() { set_color(defaultLEDColor); } - static inline void set_red() { set_color(LEDColorRed()); } - static inline void set_orange() { set_color(LEDColorOrange()); } - static inline void set_yellow() { set_color(LEDColorYellow()); } - static inline void set_blue() { set_color(LEDColorBlue()); } - static inline void set_indigo() { set_color(LEDColorIndigo()); } - static inline void set_violet() { set_color(LEDColorViolet()); } + 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 inline LEDColor get_color() { return lights_on ? color : LEDColorOff(); } - #endif - - #if EITHER(LED_CONTROL_MENU, PRINTER_EVENT_LEDS) - static LEDColor color; // last non-off color - static bool lights_on; // the last set color was "on" + 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) - static inline void update() { set_color(color); } + #if EITHER(LED_CONTROL_MENU, CASE_LIGHT_USE_RGB_LED) || LED_POWEROFF_TIMEOUT > 0 + static void update() { set_color(color); } #endif - #ifdef LED_BACKLIGHT_TIMEOUT + #if LED_POWEROFF_TIMEOUT > 0 private: static millis_t led_off_time; public: - static inline void reset_timeout(const millis_t &ms) { - led_off_time = ms + LED_BACKLIGHT_TIMEOUT; + 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); @@ -223,30 +192,36 @@ extern LEDLights leds; static void set_color(const LEDColor &color); - inline void set_color(uint8_t r, uint8_t g, uint8_t b, uint8_t w=0, uint8_t i=NEOPIXEL2_BRIGHTNESS) { - set_color(MakeLEDColor(r, g, b, w, i)); + 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 inline void set_off() { set_color(LEDColorOff()); } - static inline void set_green() { set_color(LEDColorGreen()); } - static inline void set_white() { set_color(LEDColorWhite()); } + 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 inline void set_default() { set_color(defaultLEDColor); } - static inline void set_red() { set_color(LEDColorRed()); } - static inline void set_orange() { set_color(LEDColorOrange()); } - static inline void set_yellow() { set_color(LEDColorYellow()); } - static inline void set_blue() { set_color(LEDColorBlue()); } - static inline void set_indigo() { set_color(LEDColorIndigo()); } - static inline void set_violet() { set_color(LEDColorViolet()); } + 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 inline void update() { set_color(color); } + static void update() { set_color(color); } #endif }; diff --git a/Marlin/src/feature/leds/neopixel.cpp b/Marlin/src/feature/leds/neopixel.cpp index bdd22837ad..4f104234f1 100644 --- a/Marlin/src/feature/leds/neopixel.cpp +++ b/Marlin/src/feature/leds/neopixel.cpp @@ -28,26 +28,30 @@ #if ENABLED(NEOPIXEL_LED) -#include "neopixel.h" +#include "leds.h" #if EITHER(NEOPIXEL_STARTUP_TEST, NEOPIXEL2_STARTUP_TEST) #include "../../core/utility.h" #endif Marlin_NeoPixel neo; -int8_t Marlin_NeoPixel::neoindex; +pixel_index_t Marlin_NeoPixel::neoindex; -Adafruit_NeoPixel Marlin_NeoPixel::adaneo1(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIXEL_TYPE + NEO_KHZ800) - #if CONJOINED_NEOPIXEL - , Marlin_NeoPixel::adaneo2(NEOPIXEL_PIXELS, NEOPIXEL2_PIN, NEOPIXEL2_TYPE + NEO_KHZ800) - #endif -; +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_LED_INDEX +#ifdef NEOPIXEL_BKGD_INDEX_FIRST - void Marlin_NeoPixel::set_color_background() { - uint8_t background_color[4] = NEOPIXEL_BKGD_COLOR; - set_pixel_color(NEOPIXEL_BKGD_LED_INDEX, adaneo1.Color(background_color[0], background_color[1], background_color[2], background_color[3])); + 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); } #endif @@ -59,9 +63,10 @@ void Marlin_NeoPixel::set_color(const uint32_t color) { } else { for (uint16_t i = 0; i < pixels(); ++i) { - #ifdef NEOPIXEL_BKGD_LED_INDEX - if (i == NEOPIXEL_BKGD_LED_INDEX && TERN(NEOPIXEL_BKGD_ALWAYS_ON, true, color != 0x000000)) { - set_color_background(); + #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 @@ -90,41 +95,28 @@ void Marlin_NeoPixel::init() { 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_LED_INDEX - set_color_background(); + #ifdef NEOPIXEL_BKGD_INDEX_FIRST + reset_background_color(); #endif - #if ENABLED(LED_USER_PRESET_STARTUP) - set_color(adaneo1.Color(LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE, LED_USER_PRESET_WHITE)); - #else - set_color(adaneo1.Color(0, 0, 0, 0)); - #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), + (255, 255, 255, 255)) + ); } -#if 0 -bool Marlin_NeoPixel::set_led_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w, const uint8_t p) { - const uint32_t color = adaneo1.Color(r, g, b, w); - set_brightness(p); - #if DISABLED(NEOPIXEL_IS_SEQUENTIAL) - set_color(color); - return false; - #else - static uint16_t nextLed = 0; - set_pixel_color(nextLed, color); - show(); - if (++nextLed >= pixels()) nextLed = 0; - return true; - #endif -} -#endif - #if ENABLED(NEOPIXEL2_SEPARATE) Marlin_NeoPixel2 neo2; - int8_t Marlin_NeoPixel2::neoindex; + 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) { @@ -158,13 +150,17 @@ bool Marlin_NeoPixel::set_led_color(const uint8_t r, const uint8_t g, const uint 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 - #if ENABLED(NEO2_USER_PRESET_STARTUP) - set_color(adaneo.Color(NEO2_USER_PRESET_RED, NEO2_USER_PRESET_GREEN, NEO2_USER_PRESET_BLUE, NEO2_USER_PRESET_WHITE)); - #else - set_color(adaneo.Color(0, 0, 0, 0)); - #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 diff --git a/Marlin/src/feature/leds/neopixel.h b/Marlin/src/feature/leds/neopixel.h index acf2e7f54d..2048e2c2ee 100644 --- a/Marlin/src/feature/leds/neopixel.h +++ b/Marlin/src/feature/leds/neopixel.h @@ -25,6 +25,10 @@ * NeoPixel support */ +#ifndef _NEOPIXEL_INCLUDE_ + #error "Always include 'leds.h' and not 'neopixel.h' directly." +#endif + // ------------------------ // Includes // ------------------------ @@ -38,6 +42,18 @@ // 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 @@ -46,65 +62,58 @@ #define CONJOINED_NEOPIXEL 1 #endif -#if NEOPIXEL_TYPE == NEO_RGB || NEOPIXEL_TYPE == NEO_RBG || NEOPIXEL_TYPE == NEO_GRB || NEOPIXEL_TYPE == NEO_GBR || NEOPIXEL_TYPE == NEO_BRG || NEOPIXEL_TYPE == NEO_BGR - #define NEOPIXEL_IS_RGB 1 -#else - #define NEOPIXEL_IS_RGBW 1 -#endif +// ------------------------ +// Types +// ------------------------ -#if NEOPIXEL_IS_RGB - #define NEO_WHITE 255, 255, 255, 0 -#else - #define NEO_WHITE 0, 0, 0, 255 -#endif +typedef IF<(TERN0(NEOPIXEL_LED, NEOPIXEL_PIXELS > 127)), int16_t, int8_t>::type pixel_index_t; // ------------------------ -// Function prototypes +// Classes // ------------------------ class Marlin_NeoPixel { private: - static Adafruit_NeoPixel adaneo1 - #if CONJOINED_NEOPIXEL - , adaneo2 - #endif - ; + static Adafruit_NeoPixel adaneo1; + #if CONJOINED_NEOPIXEL + static Adafruit_NeoPixel adaneo2; + #endif public: - static int8_t neoindex; + 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_LED_INDEX - static void set_color_background(); + #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(); #endif - static inline void begin() { + static void begin() { adaneo1.begin(); TERN_(CONJOINED_NEOPIXEL, adaneo2.begin()); } - static inline void set_pixel_color(const uint16_t n, const uint32_t c) { + 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); - #if MULTIPLE_NEOPIXEL_TYPES - adaneo2.setPixelColor(n, c); - #endif + TERN_(MULTIPLE_NEOPIXEL_TYPES, adaneo2.setPixelColor(n, c)); #endif } - static inline void set_brightness(const uint8_t b) { + static void set_brightness(const uint8_t b) { adaneo1.setBrightness(b); TERN_(CONJOINED_NEOPIXEL, adaneo2.setBrightness(b)); } - static inline void show() { + 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(); @@ -112,7 +121,6 @@ public: #if CONJOINED_NEOPIXEL adaneo2.show(); #else - IF_DISABLED(NEOPIXEL2_SEPARATE, adaneo1.setPin(NEOPIXEL2_PIN)); adaneo1.show(); adaneo1.setPin(NEOPIXEL_PIN); #endif @@ -120,15 +128,20 @@ public: TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT()); } - #if 0 - bool set_led_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w, const uint8_t p); - #endif - // Accessors - static inline uint16_t pixels() { TERN(NEOPIXEL2_INSERIES, return adaneo1.numPixels() * 2, return adaneo1.numPixels()); } - static inline uint8_t brightness() { return adaneo1.getBrightness(); } - static inline uint32_t Color(uint8_t r, uint8_t g, uint8_t b, uint8_t w) { - return adaneo1.Color(r, g, b, w); + 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)); } }; @@ -137,15 +150,12 @@ extern Marlin_NeoPixel neo; // Neo pixel channel 2 #if ENABLED(NEOPIXEL2_SEPARATE) - #if NEOPIXEL2_TYPE == NEO_RGB || NEOPIXEL2_TYPE == NEO_RBG || NEOPIXEL2_TYPE == NEO_GRB || NEOPIXEL2_TYPE == NEO_GBR || NEOPIXEL2_TYPE == NEO_BRG || NEOPIXEL2_TYPE == NEO_BGR + #if _NEO_IS_RGB(NEOPIXEL2_TYPE) #define NEOPIXEL2_IS_RGB 1 + #define NEO2_WHITE 255, 255, 255 #else #define NEOPIXEL2_IS_RGBW 1 - #endif - - #if NEOPIXEL2_IS_RGB - #define NEO2_WHITE 255, 255, 255, 0 - #else + #define HAS_WHITE_LED2 1 // A white component can be passed for NEOPIXEL2 #define NEO2_WHITE 0, 0, 0, 255 #endif @@ -154,29 +164,32 @@ extern Marlin_NeoPixel neo; static Adafruit_NeoPixel adaneo; public: - static int8_t neoindex; + 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 inline void begin() { adaneo.begin(); } - static inline void set_pixel_color(const uint16_t n, const uint32_t c) { adaneo.setPixelColor(n, c); } - static inline void set_brightness(const uint8_t b) { adaneo.setBrightness(b); } - static inline void show() { + 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 inline uint16_t pixels() { return adaneo.numPixels();} - static inline uint8_t brightness() { return adaneo.getBrightness(); } - static inline uint32_t Color(uint8_t r, uint8_t g, uint8_t b, uint8_t w) { - return adaneo.Color(r, g, b, w); + 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 index 0fd4d66757..914db21ba3 100644 --- a/Marlin/src/feature/leds/pca9533.cpp +++ b/Marlin/src/feature/leds/pca9533.cpp @@ -36,7 +36,7 @@ void PCA9533_init() { PCA9533_reset(); } -static void PCA9533_writeAllRegisters(uint8_t psc0, uint8_t pwm0, uint8_t psc1, uint8_t pwm1, uint8_t ls0){ +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); @@ -44,7 +44,7 @@ static void PCA9533_writeAllRegisters(uint8_t psc0, uint8_t pwm0, uint8_t psc1, delayMicroseconds(1); } -static void PCA9533_writeRegister(uint8_t reg, uint8_t val){ +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); diff --git a/Marlin/src/feature/leds/pca9632.cpp b/Marlin/src/feature/leds/pca9632.cpp index bb30e0b48b..abea988004 100644 --- a/Marlin/src/feature/leds/pca9632.cpp +++ b/Marlin/src/feature/leds/pca9632.cpp @@ -93,9 +93,7 @@ static void PCA9632_WriteRegister(const byte addr, const byte regadd, const byte } static void PCA9632_WriteAllRegisters(const byte addr, const byte regadd, const byte vr, const byte vg, const byte vb - #if ENABLED(PCA9632_RGBW) - , const byte vw - #endif + OPTARG(PCA9632_RGBW, const byte vw) ) { #if DISABLED(PCA9632_NO_AUTO_INC) uint8_t data[4]; @@ -143,9 +141,7 @@ void PCA9632_set_led_color(const LEDColor &color) { ; PCA9632_WriteAllRegisters(PCA9632_ADDRESS,PCA9632_PWM0, color.r, color.g, color.b - #if ENABLED(PCA9632_RGBW) - , color.w - #endif + OPTARG(PCA9632_RGBW, color.w) ); PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_LEDOUT, LEDOUT); } diff --git a/Marlin/src/feature/leds/printer_event_leds.cpp b/Marlin/src/feature/leds/printer_event_leds.cpp index 4765f82e56..e6407a6320 100644 --- a/Marlin/src/feature/leds/printer_event_leds.cpp +++ b/Marlin/src/feature/leds/printer_event_leds.cpp @@ -45,12 +45,10 @@ PrinterEventLEDs printerEventLEDs; 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) { + 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( - MakeLEDColor(r, g, b, 0, neo.brightness()) - #if ENABLED(NEOPIXEL_IS_SEQUENTIAL) - , true - #endif + LEDColor(r, g, b OPTARG(HAS_WHITE_LED, w) OPTARG(NEOPIXEL_LED, neo.brightness())) + OPTARG(NEOPIXEL_IS_SEQUENTIAL, true) ); } diff --git a/Marlin/src/feature/leds/printer_event_leds.h b/Marlin/src/feature/leds/printer_event_leds.h index b2201433d8..2a4342e8f5 100644 --- a/Marlin/src/feature/leds/printer_event_leds.h +++ b/Marlin/src/feature/leds/printer_event_leds.h @@ -36,32 +36,32 @@ private: static bool leds_off_after_print; #endif - static inline void set_done() { TERN(LED_COLOR_PRESETS, leds.set_default(), leds.set_off()); } + static void set_done() { TERN(LED_COLOR_PRESETS, leds.set_default(), leds.set_off()); } public: #if HAS_TEMP_HOTEND - static inline LEDColor onHotendHeatingStart() { old_intensity = 0; return leds.get_color(); } + 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 inline LEDColor onBedHeatingStart() { old_intensity = 127; return leds.get_color(); } + 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 inline LEDColor onChamberHeatingStart() { old_intensity = 127; return leds.get_color(); } + 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 inline void onHeatingDone() { leds.set_white(); } - static inline void onPidTuningDone(LEDColor c) { leds.set_color(c); } + static void onHeatingDone() { leds.set_white(); } + static void onPidTuningDone(LEDColor c) { leds.set_color(c); } #endif #if ENABLED(SDSUPPORT) - static inline void onPrintCompleted() { + static void onPrintCompleted() { leds.set_green(); #if HAS_LEDS_OFF_FLAG leds_off_after_print = true; @@ -71,7 +71,7 @@ public: #endif } - static inline void onResumeAfterWait() { + static void onResumeAfterWait() { #if HAS_LEDS_OFF_FLAG if (leds_off_after_print) { set_done(); diff --git a/Marlin/src/feature/max7219.cpp b/Marlin/src/feature/max7219.cpp index 200e6b580d..2fdfcba32d 100644 --- a/Marlin/src/feature/max7219.cpp +++ b/Marlin/src/feature/max7219.cpp @@ -44,7 +44,6 @@ #include "max7219.h" #include "../module/planner.h" -#include "../module/stepper.h" #include "../MarlinCore.h" #include "../HAL/shared/Delay.h" @@ -52,6 +51,7 @@ #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) @@ -62,6 +62,15 @@ #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 }; @@ -69,7 +78,7 @@ uint8_t Max7219::suspended; // = 0; #define LINE_REG(Q) (max7219_reg_digit0 + ((Q) & 0x7)) -#if _ROT == 0 || _ROT == 270 +#if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_EACH) #define _LED_BIT(Q) (7 - ((Q) & 0x7)) #else #define _LED_BIT(Q) ((Q) & 0x7) @@ -124,13 +133,12 @@ uint8_t Max7219::suspended; // = 0; #define SIG_DELAY() DELAY_NS(250) #endif -void Max7219::error(const char * const func, const int32_t v1, const int32_t v2/*=-1*/) { +void Max7219::error(FSTR_P const func, const int32_t v1, const int32_t v2/*=-1*/) { #if ENABLED(MAX7219_ERRORS) SERIAL_ECHOPGM("??? Max7219::"); - SERIAL_ECHOPGM_P(func); - SERIAL_CHAR('('); + SERIAL_ECHOF(func, AS_CHAR('(')); SERIAL_ECHO(v1); - if (v2 > 0) SERIAL_ECHOPAIR(", ", v2); + if (v2 > 0) SERIAL_ECHOPGM(", ", v2); SERIAL_CHAR(')'); SERIAL_EOL(); #else @@ -267,26 +275,27 @@ void Max7219::set(const uint8_t line, const uint8_t bits) { #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) { - if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(PSTR("led_set"), x, y); +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) { - if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(PSTR("led_on"), x, y); - led_set(x, y, true); +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) { - if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(PSTR("led_off"), x, y); - led_set(x, y, false); +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) { - if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(PSTR("led_toggle"), x, y); - led_set(x, y, !BIT_7219(x, y)); +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) { @@ -328,13 +337,13 @@ void Max7219::fill() { } void Max7219::clear_row(const uint8_t row) { - if (row >= MAX7219_Y_LEDS) return error(PSTR("clear_row"), 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(PSTR("set_column"), 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); } @@ -345,7 +354,7 @@ void Max7219::clear_column(const uint8_t col) { * 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(PSTR("set_row"), row); + 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); @@ -360,7 +369,7 @@ void Max7219::set_row(const uint8_t row, const uint32_t val) { * 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(PSTR("set_column"), col); + 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); @@ -371,56 +380,56 @@ void Max7219::set_column(const uint8_t col, const uint32_t val) { 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(PSTR("set_rows_16bits"), y, val); + 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(PSTR("set_rows_16bits"), y, val); + 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(PSTR("set_rows_32bits"), y, val); + 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(PSTR("set_rows_32bits"), y, val); + 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(PSTR("set_rows_32bits"), y, val); + 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(PSTR("set_columns_16bits"), x, val); + 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(PSTR("set_columns_16bits"), x, val); + 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(PSTR("set_rows_32bits"), x, val); + 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(PSTR("set_rows_32bits"), x, val); + 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(PSTR("set_rows_32bits"), x, val); + if (x > MAX7219_X_LEDS - 1) return error(F("set_rows_32bits"), x, val); set_column(x, val); #endif } @@ -449,7 +458,7 @@ void Max7219::register_setup() { pulse_load(); // Tell the chips to load the clocked out data } -#ifdef MAX7219_INIT_TEST +#if MAX7219_INIT_TEST uint8_t test_mode = 0; millis_t next_patt_ms; @@ -537,13 +546,9 @@ void Max7219::init() { register_setup(); - LOOP_LE_N(i, 7) { // Empty registers to turn all LEDs off - led_line[i] = 0x00; - send(max7219_reg_digit0 + i, 0); - pulse_load(); // Tell the chips to load the clocked out data - } + clear(); - #ifdef MAX7219_INIT_TEST + #if MAX7219_INIT_TEST start_test_pattern(); #endif } @@ -555,41 +560,55 @@ void Max7219::init() { */ // Apply changes to update a marker -void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2) { +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); - led_on(v2 & 0xF, pos); + 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); - led_on(pos, v2 & 0xF); + 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)); - led_on(v2 & 0x7, pos + (v2 >= 8)); + 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) { +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); + 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); + 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); + 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); + 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)); + 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)); + led_on(n & 0x7, y + (n >= 8), rcm); #endif } // Apply changes to update a quantity -void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv) { +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. @@ -600,6 +619,7 @@ void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv) i >> 1, pos + (i & 1) #endif , nv >= ov + , rcm ); } @@ -637,16 +657,20 @@ void Max7219::idle_tasks() { register_setup(); } - #ifdef MAX7219_INIT_TEST + #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); + led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1, &row_change_mask); next_blink = ms + 1000; } #endif @@ -656,7 +680,7 @@ void Max7219::idle_tasks() { 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); + range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head, &row_change_mask); last_head_cnt = head; last_tail_cnt = tail; } @@ -666,7 +690,7 @@ void Max7219::idle_tasks() { #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); + mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head, &row_change_mask); last_head_cnt = head; } #endif @@ -674,7 +698,7 @@ void Max7219::idle_tasks() { #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); + mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail, &row_change_mask); last_tail_cnt = tail; } #endif @@ -685,11 +709,26 @@ void Max7219::idle_tasks() { 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); + 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; diff --git a/Marlin/src/feature/max7219.h b/Marlin/src/feature/max7219.h index 3e5b62db2f..a6b110fdf4 100644 --- a/Marlin/src/feature/max7219.h +++ b/Marlin/src/feature/max7219.h @@ -42,10 +42,11 @@ * 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 -#define _ROT ((MAX7219_ROTATE + 360) % 360) #ifndef MAX7219_NUMBER_UNITS #define MAX7219_NUMBER_UNITS 1 @@ -71,6 +72,67 @@ #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]; @@ -86,13 +148,13 @@ public: static void send(const uint8_t reg, const uint8_t data); // Refresh all units - static inline void refresh() { for (uint8_t i = 0; i < 8; i++) refresh_line(i); } + 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 inline void suspend() { suspended++; } - static inline void resume() { suspended--; suspended |= 0x80; } + 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); @@ -108,10 +170,10 @@ public: #endif // Set a single LED by XY coordinate - static void led_set(const uint8_t x, const uint8_t y, const bool on); - static void led_on(const uint8_t x, const uint8_t y); - static void led_off(const uint8_t x, const uint8_t y); - static void led_toggle(const uint8_t x, const uint8_t y); + 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); @@ -140,16 +202,17 @@ public: private: static uint8_t suspended; - static void error(const char * const func, const int32_t v1, const int32_t v2=-1); + 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); - static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh); - static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv); + 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); - #ifdef MAX7219_INIT_TEST + #if MAX7219_INIT_TEST static void test_pattern(); static void run_test_pattern(); static void start_test_pattern(); diff --git a/Marlin/src/feature/meatpack.cpp b/Marlin/src/feature/meatpack.cpp index 6803a0de7d..07ff41e5be 100644 --- a/Marlin/src/feature/meatpack.cpp +++ b/Marlin/src/feature/meatpack.cpp @@ -26,7 +26,7 @@ * Algorithm & Implementation: Scott Mudge - mail@scottmudge.com * Date: Dec. 2020 * - * Character Frequencies from ~30 MB of comment-stripped gcode: + * 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 @@ -140,7 +140,7 @@ void MeatPack::handle_output_char(const uint8_t c) { #if ENABLED(MP_DEBUG) if (chars_decoded < 1024) { ++chars_decoded; - DEBUG_ECHOLNPAIR("RB: ", AS_CHAR(c)); + DEBUG_ECHOLNPGM("RB: ", AS_CHAR(c)); } #endif } @@ -169,10 +169,9 @@ void MeatPack::handle_command(const MeatPack_Command c) { 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] "); - SERIAL_ECHOPGM(MeatPack_ProtocolVersion " "); + SERIAL_ECHOPGM("[MP] " MeatPack_ProtocolVersion " "); serialprint_onoff(TEST(state, MPConfig_Bit_Active)); - SERIAL_ECHOPGM_P(TEST(state, MPConfig_Bit_NoSpaces) ? PSTR(" NSP\n") : PSTR(" ESP\n")); + SERIAL_ECHOF(TEST(state, MPConfig_Bit_NoSpaces) ? F(" NSP\n") : F(" ESP\n")); } /** diff --git a/Marlin/src/feature/meatpack.h b/Marlin/src/feature/meatpack.h index a56e65b6cc..98a535e592 100644 --- a/Marlin/src/feature/meatpack.h +++ b/Marlin/src/feature/meatpack.h @@ -29,7 +29,7 @@ * 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 gcode samples, and found ~93% of all gcode could + * 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 @@ -38,7 +38,7 @@ * * 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 gcode which is roughly half the original size. + * 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 diff --git a/Marlin/src/feature/mixing.cpp b/Marlin/src/feature/mixing.cpp index 4823ac2c60..b1a069e320 100644 --- a/Marlin/src/feature/mixing.cpp +++ b/Marlin/src/feature/mixing.cpp @@ -63,7 +63,7 @@ void Mixer::normalize(const uint8_t tool_index) { #ifdef MIXER_NORMALIZER_DEBUG SERIAL_ECHOPGM("Mixer: Old relation : [ "); MIXER_STEPPER_LOOP(i) { - SERIAL_ECHO_F(collector[i] / csum, 3); + SERIAL_DECIMAL(collector[i] / csum); SERIAL_CHAR(' '); } SERIAL_ECHOLNPGM("]"); @@ -106,11 +106,32 @@ void Mixer::reset_vtools() { 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 @@ -119,8 +140,6 @@ void Mixer::init() { color[MIXER_AUTORETRACT_TOOL][i] = COLOR_A_MASK; #endif - ZERO(collector); - #if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX) update_mix_from_vtool(); #endif @@ -135,11 +154,11 @@ void Mixer::refresh_collector(const float proportion/*=1.0*/, const uint8_t t/*= cmax = _MAX(cmax, v); csum += v; } - //SERIAL_ECHOPAIR("Mixer::refresh_collector(", proportion, ", ", t, ") cmax=", cmax, " csum=", csum, " color"); + //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_ECHOPAIR(" [", t, "][", i, "] = ", color[t][i], " (", c[i], ") "); + //SERIAL_ECHOPGM(" [", t, "][", i, "] = ", color[t][i], " (", c[i], ") "); } //SERIAL_EOL(); } @@ -150,14 +169,12 @@ void Mixer::refresh_collector(const float proportion/*=1.0*/, const uint8_t t/*= #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[] - #if ENABLED(GRADIENT_VTOOL) - , -1 // vtool_index - #endif + 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 diff --git a/Marlin/src/feature/mixing.h b/Marlin/src/feature/mixing.h index 573b61cb68..85d52d69c8 100644 --- a/Marlin/src/feature/mixing.h +++ b/Marlin/src/feature/mixing.h @@ -126,7 +126,7 @@ class Mixer { static mixer_perc_t mix[MIXING_STEPPERS]; // Scratch array for the Mix in proportion to 100 - static inline void copy_mix_to_color(mixer_comp_t (&tcolor)[MIXING_STEPPERS]) { + 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( @@ -145,14 +145,14 @@ class Mixer { #endif } - static inline void update_mix_from_vtool(const uint8_t j=selected_vtool) { + 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_ECHOPAIR("V-tool ", j, " [ "); + 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]); @@ -165,7 +165,7 @@ class Mixer { #if HAS_DUAL_MIXING // Update the virtual tool from an edited mix - static inline void update_vtool_from_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]; @@ -182,7 +182,7 @@ class Mixer { // 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 inline void gradient_control(const_float_t z) { + static void gradient_control(const_float_t z) { if (gradient.enabled) { if (z >= gradient.end_z) T(gradient.end_vtool); @@ -191,7 +191,7 @@ class Mixer { } } - static inline void update_mix_from_gradient() { + 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); diff --git a/Marlin/src/feature/mmu/mmu.cpp b/Marlin/src/feature/mmu/mmu.cpp index 9a448296bb..58c49ed224 100644 --- a/Marlin/src/feature/mmu/mmu.cpp +++ b/Marlin/src/feature/mmu/mmu.cpp @@ -24,11 +24,19 @@ #if HAS_PRUSA_MMU1 -#include "../module/stepper.h" +#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(); - disable_e_steppers(); + 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); diff --git a/Marlin/src/feature/mmu/mmu.h b/Marlin/src/feature/mmu/mmu.h index 10805c8e26..23742d00c6 100644 --- a/Marlin/src/feature/mmu/mmu.h +++ b/Marlin/src/feature/mmu/mmu.h @@ -21,4 +21,5 @@ */ #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 index 7ff0901742..93135e406f 100644 --- a/Marlin/src/feature/mmu/mmu2-serial-protocol.md +++ b/Marlin/src/feature/mmu/mmu2-serial-protocol.md @@ -51,7 +51,7 @@ When done, the MMU sends - MMU => 'ok\n' -We don't wait for a response here but immediately continue with the next gcode which should +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. diff --git a/Marlin/src/feature/mmu/mmu2.cpp b/Marlin/src/feature/mmu/mmu2.cpp index c1c34f8eee..4f86578a60 100644 --- a/Marlin/src/feature/mmu/mmu2.cpp +++ b/Marlin/src/feature/mmu/mmu2.cpp @@ -35,7 +35,7 @@ MMU2 mmu2; #include "../../libs/nozzle.h" #include "../../module/temperature.h" #include "../../module/planner.h" -#include "../../module/stepper/indirection.h" +#include "../../module/stepper.h" #include "../../MarlinCore.h" #if ENABLED(HOST_PROMPT_SUPPORT) @@ -54,7 +54,8 @@ MMU2 mmu2; #define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0) #define MMU_P0_TIMEOUT 3000UL // Timeout for P0 command: 3seconds -#define MMU2_COMMAND(S) tx_str_P(PSTR(S "\n")) +#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; @@ -75,7 +76,7 @@ MMU2 mmu2; #define MMU2_NO_TOOL 99 #define MMU_BAUD 115200 -bool MMU2::enabled, MMU2::ready, MMU2::mmu_print_saved; +bool MMU2::_enabled, MMU2::ready, MMU2::mmu_print_saved; #if HAS_PRUSA_MMU2S bool MMU2::mmu2s_triggered; #endif @@ -131,7 +132,7 @@ void MMU2::reset() { safe_delay(20); WRITE(MMU2_RST_PIN, HIGH); #else - MMU2_COMMAND("X0"); // Send soft reset + MMU2_SEND("X0"); // Send soft reset #endif } @@ -143,6 +144,11 @@ uint8_t MMU2::get_current_tool() { #define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != 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) { @@ -152,14 +158,12 @@ void MMU2::mmu_loop() { case -1: if (rx_start()) { prev_P0_request = millis(); // Initialize finda sensor timeout - DEBUG_ECHOLNPGM("MMU => 'start'"); DEBUG_ECHOLNPGM("MMU <= 'S1'"); - - MMU2_COMMAND("S1"); // Read Version + MMU2_SEND("S1"); // Read Version state = -2; } - else if (millis() > 3000000) { + else if (millis() > 30000) { // 30sec after reset disable MMU SERIAL_ECHOLNPGM("MMU not responding - DISABLED"); state = 0; } @@ -168,10 +172,8 @@ void MMU2::mmu_loop() { case -2: if (rx_ok()) { sscanf(rx_buffer, "%huok\n", &version); - - DEBUG_ECHOLNPAIR("MMU => ", version, "\nMMU <= 'S2'"); - - MMU2_COMMAND("S2"); // Read Build Number + DEBUG_ECHOLNPGM("MMU => ", version, "\nMMU <= 'S2'"); + MMU2_SEND("S2"); // Read Build Number state = -3; } break; @@ -180,20 +182,18 @@ void MMU2::mmu_loop() { if (rx_ok()) { sscanf(rx_buffer, "%huok\n", &buildnr); - DEBUG_ECHOLNPAIR("MMU => ", buildnr); + DEBUG_ECHOLNPGM("MMU => ", buildnr); check_version(); #if ENABLED(MMU2_MODE_12V) DEBUG_ECHOLNPGM("MMU <= 'M1'"); - - MMU2_COMMAND("M1"); // Stealth Mode + MMU2_SEND("M1"); // Stealth Mode state = -5; #else DEBUG_ECHOLNPGM("MMU <= 'P0'"); - - MMU2_COMMAND("P0"); // Read FINDA + MMU2_SEND("P0"); // Read FINDA state = -4; #endif } @@ -204,10 +204,8 @@ void MMU2::mmu_loop() { // response to M1 if (rx_ok()) { DEBUG_ECHOLNPGM("MMU => ok"); - DEBUG_ECHOLNPGM("MMU <= 'P0'"); - - MMU2_COMMAND("P0"); // Read FINDA + MMU2_SEND("P0"); // Read FINDA state = -4; } break; @@ -217,9 +215,9 @@ void MMU2::mmu_loop() { if (rx_ok()) { sscanf(rx_buffer, "%hhuok\n", &finda); - DEBUG_ECHOLNPAIR("MMU => ", finda, "\nMMU - ENABLED"); + DEBUG_ECHOLNPGM("MMU => ", finda, "\nMMU - ENABLED"); - enabled = true; + _enabled = true; state = 1; TERN_(HAS_PRUSA_MMU2S, mmu2s_triggered = false); } @@ -229,50 +227,49 @@ void MMU2::mmu_loop() { if (cmd) { if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T0 + EXTRUDERS - 1)) { // tool change - int filament = cmd - MMU_CMD_T0; - DEBUG_ECHOLNPAIR("MMU <= T", filament); - tx_printf_P(PSTR("T%d\n"), filament); + 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 - int filament = cmd - MMU_CMD_L0; - DEBUG_ECHOLNPAIR("MMU <= L", filament); - tx_printf_P(PSTR("L%d\n"), filament); + 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_COMMAND("C0"); + MMU2_SEND("C0"); state = 3; // wait for response } else if (cmd == MMU_CMD_U0) { // unload current DEBUG_ECHOLNPGM("MMU <= 'U0'"); - - MMU2_COMMAND("U0"); + MMU2_SEND("U0"); state = 3; // wait for response } else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E0 + EXTRUDERS - 1)) { // eject filament - int filament = cmd - MMU_CMD_E0; - DEBUG_ECHOLNPAIR("MMU <= E", filament); - tx_printf_P(PSTR("E%d\n"), 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_COMMAND("R0"); + MMU2_SEND("R0"); state = 3; // wait for response } else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F0 + EXTRUDERS - 1)) { // filament type - int filament = cmd - MMU_CMD_F0; - DEBUG_ECHOLNPAIR("MMU <= F", filament, " ", cmd_arg); - tx_printf_P(PSTR("F%d %d\n"), filament, cmd_arg); + 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 } @@ -280,7 +277,7 @@ void MMU2::mmu_loop() { cmd = MMU_CMD_NONE; } else if (ELAPSED(millis(), prev_P0_request + 300)) { - MMU2_COMMAND("P0"); // Read FINDA + MMU2_SEND("P0"); // Read FINDA state = 2; // wait for response } @@ -309,7 +306,7 @@ void MMU2::mmu_loop() { if (mmu_idl_sens) { if (FILAMENT_PRESENT() && mmu_loading_flag) { DEBUG_ECHOLNPGM("MMU <= 'A'"); - MMU2_COMMAND("A"); // send 'abort' request + MMU2_SEND("A"); // send 'abort' request mmu_idl_sens = 0; DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT"); } @@ -322,9 +319,9 @@ void MMU2::mmu_loop() { 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' (filament not present in gears)"); + DEBUG_ECHOLNPGM("MMU => 'ok' (no filament in gears)"); DEBUG_ECHOLNPGM("MMU <= 'C0' (keep trying)"); - MMU2_COMMAND("C0"); + MMU2_SEND("C0"); } #else constexpr bool keep_trying = false; @@ -356,13 +353,15 @@ void MMU2::mmu_loop() { */ bool MMU2::rx_start() { // check for start message - return rx_str_P(PSTR("start\n")); + return MMU2_RECV("start"); } /** * Check if the data received ends with the given string. */ -bool MMU2::rx_str_P(const char *str) { +bool MMU2::rx_str(FSTR_P fstr) { + PGM_P pstr = FTOP(fstr); + uint8_t i = strlen(rx_buffer); while (MMU2_SERIAL.available()) { @@ -375,14 +374,14 @@ bool MMU2::rx_str_P(const char *str) { } rx_buffer[i] = '\0'; - uint8_t len = strlen_P(str); + uint8_t len = strlen_P(pstr); if (i < len) return false; - str += len; + pstr += len; while (len--) { - char c0 = pgm_read_byte(str--), c1 = rx_buffer[i--]; + 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 @@ -394,19 +393,19 @@ bool MMU2::rx_str_P(const char *str) { /** * Transfer data to MMU, no argument */ -void MMU2::tx_str_P(const char *str) { +void MMU2::tx_str(FSTR_P fstr) { clear_rx_buffer(); - uint8_t len = strlen_P(str); - LOOP_L_N(i, len) MMU2_SERIAL.write(pgm_read_byte(str++)); + 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_P(const char *format, int argument = -1) { +void MMU2::tx_printf(FSTR_P format, int argument = -1) { clear_rx_buffer(); - uint8_t len = sprintf_P(tx_buffer, format, argument); + 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(); } @@ -414,9 +413,9 @@ void MMU2::tx_printf_P(const char *format, int argument = -1) { /** * Transfer data to MMU, two arguments */ -void MMU2::tx_printf_P(const char *format, int argument1, int argument2) { +void MMU2::tx_printf(FSTR_P format, int argument1, int argument2) { clear_rx_buffer(); - uint8_t len = sprintf_P(tx_buffer, format, argument1, argument2); + 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(); } @@ -433,7 +432,7 @@ void MMU2::clear_rx_buffer() { * Check if we received 'ok' from MMU */ bool MMU2::rx_ok() { - if (rx_str_P(PSTR("ok\n"))) { + if (MMU2_RECV("ok")) { prev_P0_request = millis(); return true; } @@ -446,12 +445,12 @@ bool MMU2::rx_ok() { 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(MSG_KILL_MMU2_FIRMWARE)); + kill(GET_TEXT_F(MSG_KILL_MMU2_FIRMWARE)); } } static void mmu2_not_responding() { - LCD_MESSAGEPGM(MSG_MMU2_NOT_RESPONDING); + LCD_MESSAGE(MSG_MMU2_NOT_RESPONDING); BUZZ(100, 659); BUZZ(200, 698); BUZZ(100, 659); @@ -480,14 +479,14 @@ static void mmu2_not_responding() { */ void MMU2::tool_change(const uint8_t index) { - if (!enabled) return; + if (!_enabled) return; set_runout_valid(false); if (index != extruder) { - DISABLE_AXIS_E0(); - ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1)); + 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); @@ -495,7 +494,7 @@ static void mmu2_not_responding() { if (load_to_gears()) { extruder = index; // filament change is finished active_extruder = 0; - ENABLE_AXIS_E0(); + stepper.enable_extruder(); SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder); } ui.reset_status(); @@ -512,7 +511,7 @@ static void mmu2_not_responding() { * 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; + if (!_enabled) return; set_runout_valid(false); @@ -523,7 +522,7 @@ static void mmu2_not_responding() { while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); load_filament_to_nozzle(index); #else - BUZZ(400, 40); + ERR_BUZZ(); #endif } break; @@ -531,18 +530,18 @@ static void mmu2_not_responding() { #if ENABLED(MMU2_MENUS) planner.synchronize(); const uint8_t index = mmu2_choose_filament(); - DISABLE_AXIS_E0(); + stepper.disable_extruder(); command(MMU_CMD_T0 + index); manage_response(true, true); if (load_to_gears()) { mmu_loop(); - ENABLE_AXIS_E0(); + stepper.enable_extruder(); extruder = index; active_extruder = 0; } #else - BUZZ(400, 40); + ERR_BUZZ(); #endif } break; @@ -561,28 +560,28 @@ static void mmu2_not_responding() { * Handle tool change */ void MMU2::tool_change(const uint8_t index) { - if (!enabled) return; + if (!_enabled) return; set_runout_valid(false); if (index != extruder) { - DISABLE_AXIS_E0(); + 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_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1)); + 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); + //command(MMU_CMD_C0); extruder = index; active_extruder = 0; - ENABLE_AXIS_E0(); + stepper.enable_extruder(); SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder); ui.reset_status(); @@ -599,7 +598,7 @@ static void mmu2_not_responding() { * 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; + if (!_enabled) return; set_runout_valid(false); @@ -611,7 +610,7 @@ static void mmu2_not_responding() { while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); load_filament_to_nozzle(index); #else - BUZZ(400, 40); + ERR_BUZZ(); #endif } break; @@ -620,18 +619,18 @@ static void mmu2_not_responding() { #if ENABLED(MMU2_MENUS) planner.synchronize(); uint8_t index = mmu2_choose_filament(); - DISABLE_AXIS_E0(); + stepper.disable_extruder(); command(MMU_CMD_T0 + index); manage_response(true, true); mmu_continue_loading(); command(MMU_CMD_C0); mmu_loop(); - ENABLE_AXIS_E0(); + stepper.enable_extruder(); extruder = index; active_extruder = 0; #else - BUZZ(400, 40); + ERR_BUZZ(); #endif } break; @@ -646,13 +645,34 @@ static void mmu2_not_responding() { } 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_ECHOLNPAIR("Additional load attempt #", i); - if (FILAMENT_PRESENT()) break; + 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); } - if (!FILAMENT_PRESENT()) { + + // Was the filament still missing in the last check? + if (!fil_present) { DEBUG_ECHOLNPGM("Filament never reached sensor, runout"); filament_runout(); } @@ -665,19 +685,19 @@ static void mmu2_not_responding() { * Handle tool change */ void MMU2::tool_change(const uint8_t index) { - if (!enabled) return; + if (!_enabled) return; set_runout_valid(false); if (index != extruder) { - DISABLE_AXIS_E0(); - ui.status_printf_P(0, GET_TEXT(MSG_MMU2_LOADING_FILAMENT), int(index + 1)); + 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 + extruder = index; // Filament change is finished active_extruder = 0; - ENABLE_AXIS_E0(); + stepper.enable_extruder(); SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder); ui.reset_status(); } @@ -693,7 +713,7 @@ static void mmu2_not_responding() { * 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; + if (!_enabled) return; set_runout_valid(false); @@ -705,7 +725,7 @@ static void mmu2_not_responding() { while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100); load_filament_to_nozzle(index); #else - BUZZ(400, 40); + ERR_BUZZ(); #endif } break; @@ -714,17 +734,17 @@ static void mmu2_not_responding() { #if ENABLED(MMU2_MENUS) planner.synchronize(); uint8_t index = mmu2_choose_filament(); - DISABLE_AXIS_E0(); + stepper.disable_extruder(); command(MMU_CMD_T0 + index); manage_response(true, true); command(MMU_CMD_C0); mmu_loop(); - ENABLE_AXIS_E0(); + stepper.enable_extruder(); extruder = index; active_extruder = 0; #else - BUZZ(400, 40); + ERR_BUZZ(); #endif } break; @@ -744,7 +764,7 @@ static void mmu2_not_responding() { * Set next command */ void MMU2::command(const uint8_t mmu_cmd) { - if (!enabled) return; + if (!_enabled) return; cmd = mmu_cmd; ready = false; } @@ -808,32 +828,33 @@ void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) { if (turn_off_nozzle && resume_hotend_temp) { thermalManager.setTargetHotend(resume_hotend_temp, active_extruder); - LCD_MESSAGEPGM(MSG_HEATING); - BUZZ(200, 40); + LCD_MESSAGE(MSG_HEATING); + ERR_BUZZ(); while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(1000); } - if (move_axes && all_axes_homed()) { - LCD_MESSAGEPGM(MSG_MMU2_RESUMING); - BUZZ(198, 404); BUZZ(4, 0); BUZZ(198, 404); + 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)); } - else { - BUZZ(198, 404); BUZZ(4, 0); BUZZ(198, 404); - LCD_MESSAGEPGM(MSG_MMU2_RESUMING); - } + + #pragma GCC diagnostic pop } } } void MMU2::set_filament_type(const uint8_t index, const uint8_t filamentType) { - if (!enabled) return; + if (!_enabled) return; cmd_arg = filamentType; command(MMU_CMD_F0 + index); @@ -842,7 +863,7 @@ void MMU2::set_filament_type(const uint8_t index, const uint8_t filamentType) { } void MMU2::filament_runout() { - queue.inject_P(PSTR(MMU2_FILAMENT_RUNOUT_SCRIPT)); + queue.inject(F(MMU2_FILAMENT_RUNOUT_SCRIPT)); planner.synchronize(); } @@ -853,7 +874,7 @@ void MMU2::filament_runout() { if (cmd == MMU_CMD_NONE && last_cmd == MMU_CMD_C0) { if (present && !mmu2s_triggered) { DEBUG_ECHOLNPGM("MMU <= 'A'"); - tx_str_P(PSTR("A\n")); + MMU2_SEND("A"); } // Slowly spin the extruder during C0 else { @@ -892,11 +913,11 @@ void MMU2::filament_runout() { // Load filament into MMU2 void MMU2::load_filament(const uint8_t index) { - if (!enabled) return; + if (!_enabled) return; command(MMU_CMD_L0 + index); manage_response(false, false); - BUZZ(200, 404); + mmu2_attn_buzz(); } /** @@ -904,15 +925,15 @@ void MMU2::load_filament(const uint8_t index) { */ bool MMU2::load_filament_to_nozzle(const uint8_t index) { - if (!enabled) return false; + if (!_enabled) return false; if (thermalManager.tooColdToExtrude(active_extruder)) { - BUZZ(200, 404); - LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD); + mmu2_attn_buzz(); + LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD); return false; } - DISABLE_AXIS_E0(); + stepper.disable_extruder(); command(MMU_CMD_T0 + index); manage_response(true, true); @@ -922,7 +943,7 @@ bool MMU2::load_filament_to_nozzle(const uint8_t index) { extruder = index; active_extruder = 0; load_to_nozzle(); - BUZZ(200, 404); + mmu2_attn_buzz(); } return success; } @@ -931,7 +952,7 @@ bool MMU2::load_filament_to_nozzle(const uint8_t index) { * 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, gcode is responsible for loading + * 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() { @@ -940,17 +961,17 @@ void MMU2::load_to_nozzle() { bool MMU2::eject_filament(const uint8_t index, const bool recover) { - if (!enabled) return false; + if (!_enabled) return false; if (thermalManager.tooColdToExtrude(active_extruder)) { - BUZZ(200, 404); - LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD); + mmu2_attn_buzz(); + LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD); return false; } - LCD_MESSAGEPGM(MSG_MMU2_EJECTING_FILAMENT); + LCD_MESSAGE(MSG_MMU2_EJECTING_FILAMENT); - ENABLE_AXIS_E0(); + stepper.enable_extruder(); current_position.e -= MMU2_FILAMENTCHANGE_EJECT_FEED; line_to_current_position(MMM_TO_MMS(2500)); planner.synchronize(); @@ -958,13 +979,12 @@ bool MMU2::eject_filament(const uint8_t index, const bool recover) { manage_response(false, false); if (recover) { - LCD_MESSAGEPGM(MSG_MMU2_EJECT_RECOVER); - BUZZ(200, 404); - TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("MMU2 Eject Recover"), CONTINUE_STR)); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("MMU2 Eject Recover"))); - wait_for_user_response(); - BUZZ(200, 404); - BUZZ(200, 404); + 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); @@ -977,9 +997,9 @@ bool MMU2::eject_filament(const uint8_t index, const bool recover) { set_runout_valid(false); - BUZZ(200, 404); + mmu2_attn_buzz(); - DISABLE_AXIS_E0(); + stepper.disable_extruder(); return true; } @@ -989,11 +1009,11 @@ bool MMU2::eject_filament(const uint8_t index, const bool recover) { */ bool MMU2::unload() { - if (!enabled) return false; + if (!_enabled) return false; if (thermalManager.tooColdToExtrude(active_extruder)) { - BUZZ(200, 404); - LCD_ALERTMESSAGEPGM(MSG_HOTEND_TOO_COLD); + mmu2_attn_buzz(); + LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD); return false; } @@ -1003,7 +1023,7 @@ bool MMU2::unload() { command(MMU_CMD_U0); manage_response(false, true); - BUZZ(200, 404); + mmu2_attn_buzz(); // no active tool extruder = MMU2_NO_TOOL; @@ -1016,7 +1036,7 @@ bool MMU2::unload() { void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) { planner.synchronize(); - ENABLE_AXIS_E0(); + stepper.enable_extruder(); const E_Step* step = sequence; @@ -1024,8 +1044,7 @@ void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) { const float es = pgm_read_float(&(step->extrude)); const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate)); - DEBUG_ECHO_START(); - DEBUG_ECHOLNPAIR("E step ", es, "/", fr_mm_m); + DEBUG_ECHO_MSG("E step ", es, "/", fr_mm_m); current_position.e += es; line_to_current_position(MMM_TO_MMS(fr_mm_m)); @@ -1034,7 +1053,7 @@ void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) { step++; } - DISABLE_AXIS_E0(); + stepper.disable_extruder(); } #endif // HAS_PRUSA_MMU2 diff --git a/Marlin/src/feature/mmu/mmu2.h b/Marlin/src/feature/mmu/mmu2.h index 079a6ef79a..18d6d38a35 100644 --- a/Marlin/src/feature/mmu/mmu2.h +++ b/Marlin/src/feature/mmu/mmu2.h @@ -43,6 +43,7 @@ public: 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); @@ -56,10 +57,10 @@ public: static bool eject_filament(const uint8_t index, const bool recover); private: - static bool rx_str_P(const char *str); - static void tx_str_P(const char *str); - static void tx_printf_P(const char *format, const int argument); - static void tx_printf_P(const char *format, const int argument1, const int argument2); + 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(); @@ -85,10 +86,11 @@ private: #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 bool _enabled, ready, mmu_print_saved; static uint8_t cmd, cmd_arg, last_cmd, extruder; static int8_t state; @@ -98,7 +100,7 @@ private: static millis_t prev_request, prev_P0_request; static char rx_buffer[MMU_RX_SIZE], tx_buffer[MMU_TX_SIZE]; - static inline void set_runout_valid(const bool valid) { + static void set_runout_valid(const bool valid) { finda_runout_valid = valid; #if HAS_FILAMENT_SENSOR if (valid) runout.reset(); diff --git a/Marlin/src/feature/password/password.cpp b/Marlin/src/feature/password/password.cpp index 4e841c243c..1d376cc586 100644 --- a/Marlin/src/feature/password/password.cpp +++ b/Marlin/src/feature/password/password.cpp @@ -40,7 +40,7 @@ uint32_t Password::value, Password::value_entry; // void Password::lock_machine() { is_locked = true; - TERN_(HAS_LCD_MENU, authenticate_user(ui.status_screen, screen_password_entry)); + TERN_(HAS_MARLINUI_MENU, authenticate_user(ui.status_screen, screen_password_entry)); } // @@ -55,7 +55,7 @@ void Password::authentication_check() { is_locked = true; SERIAL_ECHOLNPGM(STR_WRONG_PASSWORD); } - TERN_(HAS_LCD_MENU, authentication_done()); + 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 index 829d222e20..208765b212 100644 --- a/Marlin/src/feature/password/password.h +++ b/Marlin/src/feature/password/password.h @@ -33,7 +33,7 @@ public: static void lock_machine(); static void authentication_check(); - #if HAS_LCD_MENU + #if HAS_MARLINUI_MENU static void access_menu_password(); static void authentication_done(); static void media_gatekeeper(); diff --git a/Marlin/src/feature/pause.cpp b/Marlin/src/feature/pause.cpp index 867502712c..91d25d7187 100644 --- a/Marlin/src/feature/pause.cpp +++ b/Marlin/src/feature/pause.cpp @@ -35,10 +35,17 @@ #include "../gcode/gcode.h" #include "../module/motion.h" #include "../module/planner.h" -#include "../module/stepper.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 @@ -53,11 +60,13 @@ #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_BUZZER +#if HAS_SOUND #include "../libs/buzzer.h" #endif @@ -92,10 +101,10 @@ fil_change_settings_t fc_settings[EXTRUDERS]; #define _PMSG(L) L##_LCD #endif -#if HAS_BUZZER +#if HAS_SOUND static void impatient_beep(const int8_t max_beep_count, const bool restart=false) { - if (TERN0(HAS_LCD_MENU, pause_mode == PAUSE_MODE_PAUSE_PRINT)) return; + if (TERN0(HAS_MARLINUI_MENU, pause_mode == PAUSE_MODE_PAUSE_PRINT)) return; static millis_t next_buzz = 0; static int8_t runout_beep = 0; @@ -130,7 +139,7 @@ fil_change_settings_t fc_settings[EXTRUDERS]; */ static bool ensure_safe_temperature(const bool wait=true, const PauseMode mode=PAUSE_MODE_SAME) { DEBUG_SECTION(est, "ensure_safe_temperature", true); - DEBUG_ECHOLNPAIR("... wait:", wait, " mode:", mode); + DEBUG_ECHOLNPGM("... wait:", wait, " mode:", mode); #if ENABLED(PREVENT_COLD_EXTRUSION) if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder)) @@ -176,7 +185,7 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load DXC_ARGS ) { DEBUG_SECTION(lf, "load_filament", true); - DEBUG_ECHOLNPAIR("... 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); + 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); @@ -191,15 +200,26 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load 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); - host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Load Filament T"), tool, CONTINUE_STR); + hostui.prompt_do(PROMPT_USER_CONTINUE, F("Load Filament T"), tool, FPSTR(CONTINUE_STR)); #endif - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("Load Filament"))); - while (wait_for_user) { impatient_beep(max_beep_count); + #if BOTH(FILAMENT_CHANGE_RESUME_ON_INSERT, FILAMENT_RUNOUT_SENSOR) + #if ENABLED(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) != FIL_RUNOUT_STATE) wait_for_user = false; + #endif + #endif idle_no_sleep(); } } @@ -212,6 +232,8 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load 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); @@ -237,8 +259,8 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_PURGE); - TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Filament Purging..."), CONTINUE_STR)); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("Filament Purging..."))); + 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); @@ -255,14 +277,14 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load unscaled_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE); } - TERN_(HOST_PROMPT_SUPPORT, filament_load_host_prompt()); // Initiate another host prompt. + 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 HAS_LCD_MENU + #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; @@ -272,10 +294,10 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load #endif // Keep looping if "Purge More" was selected - } while (TERN0(M600_PURGE_MORE_RESUMABLE, show_lcd && pause_menu_response == PAUSE_RESPONSE_EXTRUDE_MORE)); + } while (TERN0(M600_PURGE_MORE_RESUMABLE, pause_menu_response == PAUSE_RESPONSE_EXTRUDE_MORE)); #endif - TERN_(HOST_PROMPT_SUPPORT, host_action_prompt_end()); + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_end()); return true; } @@ -286,8 +308,8 @@ bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load * send current back to their board, potentially frying it. */ inline void disable_active_extruder() { - #if HAS_E_STEPPER_ENABLE - disable_e_stepper(active_extruder); + #if HAS_EXTRUDERS + stepper.DISABLE_EXTRUDER(active_extruder); safe_delay(100); #endif } @@ -309,14 +331,14 @@ bool unload_filament(const_float_t unload_length, const bool show_lcd/*=false*/, #endif ) { DEBUG_SECTION(uf, "unload_filament", true); - DEBUG_ECHOLNPAIR("... unloadlen:", unload_length, " showlcd:", show_lcd, " mode:", mode + 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 = 1.0; + constexpr float mix_multiplier = 1.0f; #endif if (!ensure_safe_temperature(false, mode)) { @@ -371,9 +393,9 @@ bool unload_filament(const_float_t unload_length, const bool show_lcd/*=false*/, */ uint8_t did_pause_print = 0; -bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float_t unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) { +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_ECHOLNPAIR("... park.x:", park_point.x, " y:", park_point.y, " z:", park_point.z, " unloadlen:", unload_length, " showlcd:", show_lcd DXC_SAY); + 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); @@ -381,20 +403,22 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float #if ENABLED(HOST_ACTION_COMMANDS) #ifdef ACTION_ON_PAUSED - host_action_paused(); + hostui.paused(); #elif defined(ACTION_ON_PAUSE) - host_action_pause(); + hostui.pause(); #endif #endif - TERN_(HOST_PROMPT_SUPPORT, host_prompt_open(PROMPT_INFO, PSTR("Pause"), DISMISS_STR)); + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_open(PROMPT_INFO, F("Pause"), FPSTR(DISMISS_STR))); + TERN_(DWIN_LCD_PROUI, DWIN_Print_Pause()); // Indicate that the printer is paused ++did_pause_print; // Pause the print job and timer #if ENABLED(SDSUPPORT) - if (IS_SD_PRINTING()) { + const bool was_sd_printing = IS_SD_PRINTING(); + if (was_sd_printing) { card.pauseSDPrint(); ++did_pause_print; // Indicate SD pause also } @@ -405,6 +429,15 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float // 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(); @@ -414,13 +447,20 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float // Initial retract before move to filament change position if (retract && thermalManager.hotEnoughToExtrude(active_extruder)) { - DEBUG_ECHOLNPAIR("... retract:", retract); + 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 } - // Park the nozzle by moving up by z_lift and then moving to (x_pos, y_pos) - if (!axes_should_home()) - nozzle.park(0, park_point); + // 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 #if ENABLED(DUAL_X_CARRIAGE) const int8_t saved_ext = active_extruder; @@ -428,12 +468,11 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float set_duplication_enabled(false, DXC_ext); #endif - if (unload_length) // Unload the filament + // Unload the filament, if specified + if (unload_length) unload_filament(unload_length, show_lcd, PAUSE_MODE_CHANGE_FILAMENT); - #if ENABLED(DUAL_X_CARRIAGE) - set_duplication_enabled(saved_ext_dup_mode, saved_ext); - #endif + TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext)); // Disable the Extruder for manual change disable_active_extruder(); @@ -456,16 +495,16 @@ bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float void show_continue_prompt(const bool is_reload) { DEBUG_SECTION(scp, "pause_print", true); - DEBUG_ECHOLNPAIR("... is_reload:", is_reload); + DEBUG_ECHOLNPGM("... is_reload:", is_reload); ui.pause_show_message(is_reload ? PAUSE_MESSAGE_INSERT : PAUSE_MESSAGE_WAITING); SERIAL_ECHO_START(); - SERIAL_ECHOPGM_P(is_reload ? PSTR(_PMSG(STR_FILAMENT_CHANGE_INSERT) "\n") : PSTR(_PMSG(STR_FILAMENT_CHANGE_WAIT) "\n")); + 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_ECHOLNPAIR("... is_reload:", is_reload, " maxbeep:", max_beep_count DXC_SAY); + DEBUG_ECHOLNPGM("... is_reload:", is_reload, " maxbeep:", max_beep_count DXC_SAY); bool nozzle_timed_out = false; @@ -486,8 +525,8 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep // Wait for filament insert by user and press button KEEPALIVE_STATE(PAUSED_FOR_USER); - TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, GET_TEXT(MSG_NOZZLE_PARKED), CONTINUE_STR)); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(GET_TEXT(MSG_NOZZLE_PARKED))); + 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); @@ -502,15 +541,17 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep ui.pause_show_message(PAUSE_MESSAGE_HEAT); SERIAL_ECHO_MSG(_PMSG(STR_FILAMENT_CHANGE_HEAT)); - TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, GET_TEXT(MSG_HEATER_TIMEOUT), GET_TEXT(MSG_REHEAT))); + 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_P(GET_TEXT(MSG_HEATER_TIMEOUT))); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_HEATER_TIMEOUT))); - wait_for_user_response(0, true); // Wait for LCD click or M108 + TERN_(HAS_RESUME_CONTINUE, wait_for_user_response(0, true)); // Wait for LCD click or M108 - TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_INFO, GET_TEXT(MSG_REHEATING))); + TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_INFO, GET_TEXT_F(MSG_REHEATING))); - TERN_(EXTENSIBLE_UI, ExtUI::onStatusChanged_P(GET_TEXT(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); @@ -525,18 +566,19 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep 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, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Reheat Done"), CONTINUE_STR)); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("Reheat finished."))); - wait_for_user = true; - nozzle_timed_out = false; + 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(); } - #if ENABLED(DUAL_X_CARRIAGE) - set_duplication_enabled(saved_ext_dup_mode, saved_ext); - #endif + TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext)); } /** @@ -561,10 +603,10 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep */ 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_ECHOLNPAIR("... slowlen:", slow_load_length, " fastlen:", fast_load_length, " purgelen:", purge_length, " maxbeep:", max_beep_count, " targetTemp:", targetTemp DXC_SAY); + DEBUG_ECHOLNPGM("... slowlen:", slow_load_length, " fastlen:", fast_load_length, " purgelen:", purge_length, " maxbeep:", max_beep_count, " targetTemp:", targetTemp DXC_SAY); /* - SERIAL_ECHOLNPAIR( + SERIAL_ECHOLNPGM( "start of resume_print()\ndual_x_carriage_mode:", dual_x_carriage_mode, "\nextruder_duplication_enabled:", extruder_duplication_enabled, "\nactive_extruder:", active_extruder, @@ -595,7 +637,7 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_ ui.pause_show_message(PAUSE_MESSAGE_RESUME); // Check Temperature before moving hotend - ensure_safe_temperature(); + ensure_safe_temperature(DISABLED(BELTPRINTER)); // Retract to prevent oozing unscaled_e_move(-(PAUSE_PARK_RETRACT_LENGTH), feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE)); @@ -610,9 +652,16 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_ 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 @@ -622,31 +671,37 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_ // If resume_position is negative if (resume_position.e < 0) unscaled_e_move(resume_position.e, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE)); - #if ADVANCED_PAUSE_RESUME_PRIME != 0 - unscaled_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_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)); - // Write PLR now to update the z axis value - TERN_(POWER_LOSS_RECOVERY, if (recovery.enabled) recovery.save(true)); - ui.pause_show_message(PAUSE_MESSAGE_STATUS); #ifdef ACTION_ON_RESUMED - host_action_resumed(); + hostui.resumed(); #elif defined(ACTION_ON_RESUME) - host_action_resume(); + hostui.resume(); #endif --did_pause_print; - TERN_(HOST_PROMPT_SUPPORT, host_prompt_open(PROMPT_INFO, PSTR("Resuming"), DISMISS_STR)); + 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) { card.startFileprint(); --did_pause_print; } + 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 @@ -655,11 +710,13 @@ void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_ TERN_(HAS_FILAMENT_SENSOR, runout.reset()); - // Resume the print job timer if it was running - if (print_job_timer.isPaused()) print_job_timer.start(); - - TERN_(HAS_STATUS_MESSAGE, ui.reset_status()); - TERN_(HAS_LCD_MENU, ui.return_to_status()); + #if ENABLED(DWIN_LCD_PROUI) + DWIN_Print_Resume(); + HMI_ReturnScreen(); + #else + ui.reset_status(); + ui.return_to_status(); + #endif } #endif // ADVANCED_PAUSE_FEATURE diff --git a/Marlin/src/feature/pause.h b/Marlin/src/feature/pause.h index facd8d8dee..134b1d1b32 100644 --- a/Marlin/src/feature/pause.h +++ b/Marlin/src/feature/pause.h @@ -73,31 +73,52 @@ extern fil_change_settings_t fc_settings[EXTRUDERS]; extern uint8_t did_pause_print; -#if ENABLED(DUAL_X_CARRIAGE) - #define DXC_PARAMS , const int8_t DXC_ext=-1 - #define DXC_ARGS , const int8_t DXC_ext - #define DXC_PASS , DXC_ext - #define DXC_SAY , " dxc:", int(DXC_ext) -#else - #define DXC_PARAMS - #define DXC_ARGS - #define DXC_PASS - #define DXC_SAY -#endif +#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)) -bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const_float_t unload_length=0, const bool show_lcd=false DXC_PARAMS); +// 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, const int8_t max_beep_count=0 DXC_PARAMS); +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, const_float_t fast_load_length=0, const_float_t extrude_length=ADVANCED_PAUSE_PURGE_LENGTH, - const int8_t max_beep_count=0, const celsius_t targetTemp=0 DXC_PARAMS); +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, const_float_t fast_load_length=0, const_float_t extrude_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_PARAMS); +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, const bool show_lcd=false, const PauseMode mode=PAUSE_MODE_PAUSE_PRINT +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=1.0 + , const_float_t mix_multiplier=1.0f // Extrusion multiplier (for a Mixing Extruder) #endif ); diff --git a/Marlin/src/feature/power.cpp b/Marlin/src/feature/power.cpp index 2f19dae7a6..8a16628bac 100644 --- a/Marlin/src/feature/power.cpp +++ b/Marlin/src/feature/power.cpp @@ -24,121 +24,229 @@ * power.cpp - power control */ -#include "../inc/MarlinConfig.h" +#include "../inc/MarlinConfigPre.h" -#if ENABLED(AUTO_POWER_CONTROL) +#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 "../module/stepper/indirection.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 -#if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) - #include "controllerfan.h" -#endif - Power powerManager; +bool Power::psu_on; -millis_t Power::lastPowerOn; - -bool Power::is_power_needed() { - #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 ENABLED(AUTO_POWER_CONTROL) + #include "../module/stepper.h" + #include "../module/temperature.h" #if BOTH(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN) - if (controllerFan.state()) return true; + #include "controllerfan.h" #endif - if (TERN0(AUTO_POWER_CHAMBER_FAN, thermalManager.chamberfan_speed)) - return true; + millis_t Power::lastPowerOn; +#endif - if (TERN0(AUTO_POWER_COOLER_FAN, thermalManager.coolerfan_speed)) - return true; - - // If any of the drivers or the bed are enabled... - if (X_ENABLE_READ() == X_ENABLE_ON || Y_ENABLE_READ() == Y_ENABLE_ON || Z_ENABLE_READ() == Z_ENABLE_ON - #if HAS_X2_ENABLE - || X2_ENABLE_READ() == X_ENABLE_ON - #endif - #if HAS_Y2_ENABLE - || Y2_ENABLE_READ() == Y_ENABLE_ON - #endif - #if HAS_Z2_ENABLE - || Z2_ENABLE_READ() == Z_ENABLE_ON - #endif - #if E_STEPPERS - #define _OR_ENABLED_E(N) || E##N##_ENABLE_READ() == E_ENABLE_ON - REPEAT(E_STEPPERS, _OR_ENABLED_E) - #endif - ) return true; - - HOTEND_LOOP() if (thermalManager.degTargetHotend(e) > 0 || thermalManager.temp_hotend[e].soft_pwm_amount > 0) return true; - if (TERN0(HAS_HEATED_BED, thermalManager.degTargetBed() > 0 || thermalManager.temp_bed.soft_pwm_amount > 0)) return true; - - #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; -} - -void Power::check() { - static millis_t nextPowerCheck = 0; - millis_t ms = millis(); - if (ELAPSED(ms, nextPowerCheck)) { - nextPowerCheck = ms + 2500UL; - if (is_power_needed()) - power_on(); - else if (!lastPowerOn || ELAPSED(ms, lastPowerOn + SEC_TO_MS(POWER_TIMEOUT))) - power_off(); - } +/** + * 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() { - lastPowerOn = millis(); - if (!powersupply_on) { - PSU_PIN_ON(); - safe_delay(PSU_POWERUP_DELAY); - restore_stepper_drivers(); - TERN_(HAS_TRINAMIC_CONFIG, safe_delay(PSU_POWERUP_DELAY)); - #ifdef PSU_POWERUP_GCODE - GcodeSuite::process_subcommands_now_P(PSTR(PSU_POWERUP_GCODE)); - #endif - } -} + #if ENABLED(AUTO_POWER_CONTROL) + const millis_t now = millis(); + lastPowerOn = now + !now; + #endif -void Power::power_off() { - if (powersupply_on) { - #ifdef PSU_POWEROFF_GCODE - GcodeSuite::process_subcommands_now_P(PSTR(PSU_POWEROFF_GCODE)); - #endif - PSU_PIN_OFF(); - } -} + if (psu_on) return; -void Power::power_off_soon() { - #if POWER_OFF_DELAY - lastPowerOn = millis() - SEC_TO_MS(POWER_TIMEOUT) + SEC_TO_MS(POWER_OFF_DELAY); - #else - power_off(); + #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 index 2462b9231b..839366ca60 100644 --- a/Marlin/src/feature/power.h +++ b/Marlin/src/feature/power.h @@ -25,17 +25,48 @@ * power.h - power control */ -#include "../core/millis_t.h" +#if EITHER(AUTO_POWER_CONTROL, POWER_OFF_TIMER) + #include "../core/millis_t.h" +#endif class Power { public: - static void check(); + static bool psu_on; + + static void init(); static void power_on(); static void power_off(); - static void power_off_soon(); - private: - static millis_t lastPowerOn; - static bool is_power_needed(); + + #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 index 1937a54102..e3c3e58fc4 100644 --- a/Marlin/src/feature/power_monitor.cpp +++ b/Marlin/src/feature/power_monitor.cpp @@ -26,7 +26,7 @@ #include "power_monitor.h" -#if HAS_LCD_MENU +#if HAS_MARLINUI_MENU #include "../lcd/marlinui.h" #include "../lcd/lcdprint.h" #endif @@ -53,7 +53,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor void PowerMonitor::draw_current() { const float amps = getAmps(); lcd_put_u8str(amps < 100 ? ftostr31ns(amps) : ui16tostr4rj((uint16_t)amps)); - lcd_put_wchar('A'); + lcd_put_u8str(F("A")); } #endif @@ -61,7 +61,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor void PowerMonitor::draw_voltage() { const float volts = getVolts(); lcd_put_u8str(volts < 100 ? ftostr31ns(volts) : ui16tostr4rj((uint16_t)volts)); - lcd_put_wchar('V'); + lcd_put_u8str(F("V")); } #endif @@ -69,7 +69,7 @@ PowerMonitor power_monitor; // Single instance - this calls the constructor void PowerMonitor::draw_power() { const float power = getPower(); lcd_put_u8str(power < 100 ? ftostr31ns(power) : ui16tostr4rj((uint16_t)power)); - lcd_put_wchar('W'); + lcd_put_u8str(F("W")); } #endif diff --git a/Marlin/src/feature/power_monitor.h b/Marlin/src/feature/power_monitor.h index f6e0b292e3..fa06909053 100644 --- a/Marlin/src/feature/power_monitor.h +++ b/Marlin/src/feature/power_monitor.h @@ -32,7 +32,7 @@ struct pm_lpf_t { uint32_t filter_buf; float value; void add_sample(const uint16_t sample) { - filter_buf = filter_buf - (filter_buf >> K_VALUE) + (uint32_t(sample) << K_SCALE); + 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)))); diff --git a/Marlin/src/feature/powerloss.cpp b/Marlin/src/feature/powerloss.cpp index dd4c78726a..d4450adcd8 100644 --- a/Marlin/src/feature/powerloss.cpp +++ b/Marlin/src/feature/powerloss.cpp @@ -40,7 +40,7 @@ uint8_t PrintJobRecovery::queue_index_r; uint32_t PrintJobRecovery::cmd_sdpos, // = 0 PrintJobRecovery::sdpos[BUFSIZE]; -#if ENABLED(DWIN_CREALITY_LCD) +#if HAS_DWIN_E3V2_BASIC bool PrintJobRecovery::dwin_flag; // = false #endif @@ -54,6 +54,10 @@ uint32_t PrintJobRecovery::cmd_sdpos, // = 0 #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 @@ -66,9 +70,6 @@ PrintJobRecovery recovery; #ifndef POWER_LOSS_PURGE_LEN #define POWER_LOSS_PURGE_LEN 0 #endif -#ifndef POWER_LOSS_ZRAISE - #define POWER_LOSS_ZRAISE 2 // Move on loss with backup power, or on resume without it -#endif #if DISABLED(BACKUP_POWER_SUPPLY) #undef POWER_LOSS_RETRACT_LEN // No retract at outage without backup power @@ -107,13 +108,18 @@ void PrintJobRecovery::changed() { * * If a saved state exists send 'M1000 S' to initiate job recovery. */ -void PrintJobRecovery::check() { +bool PrintJobRecovery::check() { //if (!card.isMounted()) card.mount(); + bool success = false; if (card.isMounted()) { load(); - if (!valid()) return cancel(); - queue.inject_P(PSTR("M1000S")); + success = valid(); + if (!success) + cancel(); + else + queue.inject(F("M1000S")); } + return success; } /** @@ -133,21 +139,23 @@ void PrintJobRecovery::load() { (void)file.read(&info, sizeof(info)); close(); } - debug(PSTR("Load")); + debug(F("Load")); } /** * Set info fields that won't change */ void PrintJobRecovery::prepare() { - card.getAbsFilename(info.sd_filename); // SD filename + 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/*=0*/) { +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 @@ -179,28 +187,27 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=0*/ info.valid_foot = info.valid_head; // Machine state - info.current_position = current_position; + // 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); - - #if HAS_MULTI_EXTRUDER - info.active_extruder = active_extruder; - #endif + E_TERN_(info.active_extruder = active_extruder); #if DISABLED(NO_VOLUMETRICS) - info.volumetric_enabled = parser.volumetric_enabled; + info.flag.volumetric_enabled = parser.volumetric_enabled; #if HAS_MULTI_EXTRUDER - for (int8_t e = 0; e < EXTRUDERS; e++) info.filament_size[e] = planner.filament_size[e]; + 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 EXTRUDERS + #if HAS_EXTRUDERS HOTEND_LOOP() info.target_temperature[e] = thermalManager.degTargetHotend(e); #endif @@ -247,14 +254,14 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=0*/ #if POWER_LOSS_RETRACT_LEN // Retract filament now - gcode.process_subcommands_now_P(PSTR("G1 F3000 E-" STRINGIFY(POWER_LOSS_RETRACT_LEN))); + 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("G0 Z%s"), dtostrf(zraise, 1, 3, str_1)); + sprintf_P(cmd, PSTR("G0Z%s"), dtostrf(zraise, 1, 3, str_1)); gcode.process_subcommands_now(cmd); } #else @@ -268,6 +275,10 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=0*/ #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 @@ -276,7 +287,7 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=0*/ * - If backup power is available Retract E and Raise Z * - Go to the KILL screen */ - void PrintJobRecovery::_outage() { + 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() @@ -290,8 +301,9 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=0*/ constexpr float zraise = 0; #endif - // Save, including the limited Z raise - if (IS_SD_PRINTING()) save(true, zraise); + // 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)); // Disable all heaters to reduce power loss thermalManager.disable_all_heaters(); @@ -303,17 +315,23 @@ void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=0*/ retract_and_lift(zraise); #endif - kill(GET_TEXT(MSG_OUTAGE_RECOVERY)); + if (TERN0(DEBUG_POWER_LOSS_RECOVERY, simulated)) { + card.fileHasFinished(); + current_position.reset(); + sync_plan_position(); + } + else + kill(GET_TEXT_F(MSG_OUTAGE_RECOVERY)); } -#endif +#endif // POWER_LOSS_PIN || DEBUG_POWER_LOSS_RECOVERY /** * Save the recovery info the recovery file */ void PrintJobRecovery::write() { - debug(PSTR("Write")); + debug(F("Write")); open(false); file.seekSet(0); @@ -339,95 +357,148 @@ void PrintJobRecovery::resume() { #if HAS_LEVELING // Make sure leveling is off before any G92 and G28 - gcode.process_subcommands_now_P(PSTR("M420 S0 Z0")); + gcode.process_subcommands_now(F("M420 S0 Z0")); #endif #if HAS_HEATED_BED const celsius_t bt = info.target_temperature_bed; if (bt) { // Restore the bed temperature - sprintf_P(cmd, PSTR("M190 S%i"), bt); + sprintf_P(cmd, PSTR("M190S%i"), bt); gcode.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); + gcode.process_subcommands_now(cmd); + #endif + sprintf_P(cmd, PSTR("M109S%i"), et); + gcode.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. + // + + gcode.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)); + gcode.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)); + gcode.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)); + gcode.process_subcommands_now(cmd); + } + + // Home XY with no Z raise + gcode.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)); + gcode.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)); + gcode.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)); + gcode.process_subcommands_now(cmd); + #endif + #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)); + gcode.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)); + gcode.process_subcommands_now(cmd); + } + if (!info.flag.volumetric_enabled) { + sprintf_P(cmd, PSTR("M200T%iD0"), info.active_extruder); + gcode.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)); + gcode.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%i S"), e); + sprintf_P(cmd, PSTR("T%iS"), e); gcode.process_subcommands_now(cmd); #endif - sprintf_P(cmd, PSTR("M109 S%i"), et); + sprintf_P(cmd, PSTR("M109S%i"), et); gcode.process_subcommands_now(cmd); } } #endif - // Reset E, raise Z, home XY... - #if Z_HOME_DIR > 0 - - // If Z homing goes to max, just reset E and home all - gcode.process_subcommands_now_P(PSTR( - "G92.9 E0\n" - "G28R0" - )); - - #else // "G92.9 E0 ..." - - // If a Z raise occurred at outage restore Z, otherwise raise Z now - sprintf_P(cmd, PSTR("G92.9 E0 " TERN(BACKUP_POWER_SUPPLY, "Z%s", "Z0\nG1Z%s")), dtostrf(info.zraise, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); - - // Home safely with no Z raise - gcode.process_subcommands_now_P(PSTR( - "G28R0" // No raise during G28 - #if IS_CARTESIAN && (DISABLED(POWER_LOSS_RECOVER_ZHOME) || defined(POWER_LOSS_ZHOME_POS)) - "XY" // Don't home Z on Cartesian unless overridden - #endif - )); - - #endif - - #ifdef POWER_LOSS_ZHOME_POS - // If defined move to a safe Z homing position that avoids the print - constexpr xy_pos_t p = POWER_LOSS_ZHOME_POS; - sprintf_P(cmd, PSTR("G1 X%s Y%s F1000\nG28Z"), dtostrf(p.x, 1, 3, str_1), dtostrf(p.y, 1, 3, str_2)); - gcode.process_subcommands_now(cmd); - #endif - - // Ensure that all axes are marked as homed - set_all_homed(); - - #if ENABLED(POWER_LOSS_RECOVER_ZHOME) - // Now move to ZsavedPos + POWER_LOSS_ZRAISE - sprintf_P(cmd, PSTR("G1 F500 Z%s"), dtostrf(info.current_position.z + POWER_LOSS_ZRAISE, 1, 3, str_1)); - gcode.process_subcommands_now(cmd); - #endif - - // Recover volumetric extrusion state - #if DISABLED(NO_VOLUMETRICS) - #if HAS_MULTI_EXTRUDER - for (int8_t e = 0; e < EXTRUDERS; e++) { - sprintf_P(cmd, PSTR("M200 T%i D%s"), e, dtostrf(info.filament_size[e], 1, 3, str_1)); - gcode.process_subcommands_now(cmd); - } - if (!info.volumetric_enabled) { - sprintf_P(cmd, PSTR("M200 T%i D0"), info.active_extruder); - gcode.process_subcommands_now(cmd); - } - #else - if (info.volumetric_enabled) { - sprintf_P(cmd, PSTR("M200 D%s"), dtostrf(info.filament_size[0], 1, 3, str_1)); - gcode.process_subcommands_now(cmd); - } - #endif - #endif - - // Select the previously active tool (with no_move) - #if HAS_MULTI_EXTRUDER + // 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); gcode.process_subcommands_now(cmd); #endif @@ -437,81 +508,66 @@ void PrintJobRecovery::resume() { FANS_LOOP(i) { const int f = info.fan_speed[i]; if (f) { - sprintf_P(cmd, PSTR("M106 P%i S%i"), i, f); + sprintf_P(cmd, PSTR("M106P%iS%i"), i, f); gcode.process_subcommands_now(cmd); } } #endif - // Restore retract and hop state + // Restore retract and hop state from an active `G10` command #if ENABLED(FWRETRACT) - LOOP_L_N(e, EXTRUDERS) { + EXTRUDER_LOOP() { if (info.retract[e] != 0.0) { fwretract.current_retract[e] = info.retract[e]; - fwretract.retracted[e] = true; + fwretract.retracted.set(e); } } fwretract.current_hop = info.retract_hop; #endif - #if HAS_LEVELING - // Restore leveling state before 'G92 Z' to ensure - // the Z stepper count corresponds to the native Z. - if (info.fade || info.flag.leveling) { - sprintf_P(cmd, PSTR("M420 S%i Z%s"), int(info.flag.leveling), dtostrf(info.fade, 1, 1, str_1)); - gcode.process_subcommands_now(cmd); - } - #endif - #if ENABLED(GRADIENT_MIX) memcpy(&mixer.gradient, &info.gradient, sizeof(info.gradient)); #endif // Un-retract if there was a retract at outage - #if POWER_LOSS_RETRACT_LEN - gcode.process_subcommands_now_P(PSTR("G1 E" STRINGIFY(POWER_LOSS_RETRACT_LEN) " F3000")); + #if ENABLED(BACKUP_POWER_SUPPLY) && POWER_LOSS_RETRACT_LEN > 0 + gcode.process_subcommands_now(F("G1F3000E" STRINGIFY(POWER_LOSS_RETRACT_LEN))); #endif - // Additional purge if configured + // Additional purge on resume if configured #if POWER_LOSS_PURGE_LEN - sprintf_P(cmd, PSTR("G1 E%d F3000"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN)); + sprintf_P(cmd, PSTR("G1F3000E%d"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN)); gcode.process_subcommands_now(cmd); #endif #if ENABLED(NOZZLE_CLEAN_FEATURE) - gcode.process_subcommands_now_P(PSTR("G12")); + gcode.process_subcommands_now(F("G12")); #endif - // Move back to the saved XY - sprintf_P(cmd, PSTR("G1 X%s Y%s F3000"), + // 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) ); gcode.process_subcommands_now(cmd); - // Move back to the saved Z - dtostrf(info.current_position.z, 1, 3, str_1); - #if Z_HOME_DIR > 0 || ENABLED(POWER_LOSS_RECOVER_ZHOME) - sprintf_P(cmd, PSTR("G1 Z%s F500"), str_1); - #else - gcode.process_subcommands_now_P(PSTR("G1 Z0 F200")); - sprintf_P(cmd, PSTR("G92.9 Z%s"), str_1); - #endif + // Move back down to the saved Z for printing + sprintf_P(cmd, PSTR("G1Z%sF600"), dtostrf(z_print, 1, 3, str_1)); gcode.process_subcommands_now(cmd); // Restore the feedrate - sprintf_P(cmd, PSTR("G1 F%d"), info.feedrate); + sprintf_P(cmd, PSTR("G1F%d"), info.feedrate); gcode.process_subcommands_now(cmd); // Restore E position with G92.9 - sprintf_P(cmd, PSTR("G92.9 E%s"), dtostrf(info.current_position.e, 1, 3, str_1)); + sprintf_P(cmd, PSTR("G92.9E%s"), dtostrf(info.current_position.e, 1, 3, str_1)); gcode.process_subcommands_now(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_XYZ(i) update_workspace_offset((AxisEnum)i); + LOOP_NUM_AXES(i) update_workspace_offset((AxisEnum)i); #endif // Relative axis modes @@ -529,7 +585,7 @@ void PrintJobRecovery::resume() { char *fn = info.sd_filename; sprintf_P(cmd, M23_STR, fn); gcode.process_subcommands_now(cmd); - sprintf_P(cmd, PSTR("M24 S%ld T%ld"), resume_sdpos, info.print_job_elapsed); + sprintf_P(cmd, PSTR("M24S%ldT%ld"), resume_sdpos, info.print_job_elapsed); gcode.process_subcommands_now(cmd); TERN_(DEBUG_POWER_LOSS_RECOVERY, marlin_debug_flags = old_flags); @@ -537,23 +593,31 @@ void PrintJobRecovery::resume() { #if ENABLED(DEBUG_POWER_LOSS_RECOVERY) - void PrintJobRecovery::debug(PGM_P const prefix) { - DEBUG_ECHOPGM_P(prefix); - DEBUG_ECHOLNPAIR(" Job Recovery Info...\nvalid_head:", info.valid_head, " valid_foot:", info.valid_foot); + 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_XYZE(i) { + LOOP_LOGICAL_AXES(i) { if (i) DEBUG_CHAR(','); DEBUG_DECIMAL(info.current_position[i]); } DEBUG_EOL(); - DEBUG_ECHOLNPAIR("zraise: ", info.zraise); + 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_XYZ(i) { + LOOP_NUM_AXES(i) { if (i) DEBUG_CHAR(','); DEBUG_DECIMAL(info.home_offset[i]); } @@ -562,17 +626,21 @@ void PrintJobRecovery::resume() { #if HAS_POSITION_SHIFT DEBUG_ECHOPGM("position_shift: "); - LOOP_XYZ(i) { + LOOP_NUM_AXES(i) { if (i) DEBUG_CHAR(','); DEBUG_DECIMAL(info.position_shift[i]); } DEBUG_EOL(); #endif - DEBUG_ECHOLNPAIR("feedrate: ", info.feedrate); - #if HAS_MULTI_EXTRUDER - DEBUG_ECHOLNPAIR("active_extruder: ", info.active_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 @@ -585,7 +653,7 @@ void PrintJobRecovery::resume() { #endif #if HAS_HEATED_BED - DEBUG_ECHOLNPAIR("target_temperature_bed: ", info.target_temperature_bed); + DEBUG_ECHOLNPGM("target_temperature_bed: ", info.target_temperature_bed); #endif #if HAS_FAN @@ -598,22 +666,40 @@ void PrintJobRecovery::resume() { #endif #if HAS_LEVELING - DEBUG_ECHOLNPAIR("leveling: ", info.flag.leveling, " fade: ", info.fade); + DEBUG_ECHOLNPGM("leveling: ", info.flag.leveling ? "ON" : "OFF", " fade: ", info.fade); #endif + #if ENABLED(FWRETRACT) DEBUG_ECHOPGM("retract: "); - for (int8_t e = 0; e < EXTRUDERS; e++) { + EXTRUDER_LOOP() { DEBUG_ECHO(info.retract[e]); if (e < EXTRUDERS - 1) DEBUG_CHAR(','); } DEBUG_EOL(); - DEBUG_ECHOLNPAIR("retract_hop: ", info.retract_hop); + DEBUG_ECHOLNPGM("retract_hop: ", info.retract_hop); #endif - DEBUG_ECHOLNPAIR("sd_filename: ", info.sd_filename); - DEBUG_ECHOLNPAIR("sdpos: ", info.sdpos); - DEBUG_ECHOLNPAIR("print_job_elapsed: ", info.print_job_elapsed); - DEBUG_ECHOLNPAIR("dryrun: ", AS_DIGIT(info.flag.dryrun)); - DEBUG_ECHOLNPAIR("allow_cold_extrusion: ", info.flag.allow_cold_extrusion); + + // 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"); diff --git a/Marlin/src/feature/powerloss.h b/Marlin/src/feature/powerloss.h index ad34de6e53..4bf0c06e2d 100644 --- a/Marlin/src/feature/powerloss.h +++ b/Marlin/src/feature/powerloss.h @@ -42,6 +42,10 @@ #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 @@ -52,6 +56,7 @@ typedef struct { // Machine state xyze_pos_t current_position; uint16_t feedrate; + float zraise; // Repeat information @@ -59,32 +64,31 @@ typedef struct { Repeat stored_repeat; #endif - #if ENABLED(HAS_HOME_OFFSET) + #if HAS_HOME_OFFSET xyz_pos_t home_offset; #endif - #if ENABLED(HAS_POSITION_SHIFT) + #if HAS_POSITION_SHIFT xyz_pos_t position_shift; #endif - #if ENABLED(HAS_MULTI_EXTRUDER) + #if HAS_MULTI_EXTRUDER uint8_t active_extruder; #endif #if DISABLED(NO_VOLUMETRICS) - bool volumetric_enabled; float filament_size[EXTRUDERS]; #endif - #if ENABLED(HAS_HOTEND) + #if HAS_HOTEND celsius_t target_temperature[HOTENDS]; #endif - #if ENABLED(HAS_HEATED_BED) + #if HAS_HEATED_BED celsius_t target_temperature_bed; #endif - #if ENABLED(HAS_FAN) + #if HAS_FAN uint8_t fan_speed[FAN_COUNT]; #endif - #if ENABLED(HAS_LEVELING) + #if HAS_LEVELING float fade; #endif @@ -113,10 +117,14 @@ typedef struct { // Misc. Marlin flags struct { + bool raised:1; // Raised before saved bool dryrun:1; // M111 S8 bool allow_cold_extrusion:1; // M302 P1 - #if ENABLED(HAS_LEVELING) - bool leveling:1; + #if HAS_LEVELING + bool leveling:1; // M420 S + #endif + #if DISABLED(NO_VOLUMETRICS) + bool volumetric_enabled:1; // M200 S D #endif } flag; @@ -137,14 +145,17 @@ class PrintJobRecovery { static uint32_t cmd_sdpos, //!< SD position of the next command sdpos[BUFSIZE]; //!< SD positions of queued commands - #if ENABLED(DWIN_CREALITY_LCD) + #if HAS_DWIN_E3V2_BASIC static bool dwin_flag; #endif static void init(); static void prepare(); - static inline void setup() { + 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); @@ -157,42 +168,48 @@ class PrintJobRecovery { } // Track each command's file offsets - static inline uint32_t command_sdpos() { return sdpos[queue_index_r]; } - static inline void commit_sdpos(const uint8_t index_w) { sdpos[index_w] = cmd_sdpos; } + 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 inline bool exists() { return card.jobRecoverFileExists(); } - static inline void open(const bool read) { card.openJobRecoveryFile(read); } - static inline void close() { file.close(); } + static bool exists() { return card.jobRecoverFileExists(); } + static void open(const bool read) { card.openJobRecoveryFile(read); } + static void close() { file.close(); } - static void check(); + static bool check(); static void resume(); static void purge(); - static inline void cancel() { purge(); IF_DISABLED(NO_SD_AUTOSTART, card.autofile_begin()); } + static void cancel() { purge(); } static void load(); - static void save(const bool force=ENABLED(SAVE_EACH_CMD_MODE), const float zraise=0); + 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 inline void outage() { - if (enabled && READ(POWER_LOSS_PIN) == POWER_LOSS_STATE) - _outage(); + 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 inline bool interrupted_file_exists() { return card.fileExists(info.sd_filename); } + static bool interrupted_file_exists() { return card.fileExists(info.sd_filename); } - static inline bool valid() { return info.valid() && interrupted_file_exists(); } + static bool valid() { return info.valid() && interrupted_file_exists(); } #if ENABLED(DEBUG_POWER_LOSS_RECOVERY) - static void debug(PGM_P const prefix); + static void debug(FSTR_P const prefix); #else - static inline void debug(PGM_P const) {} + static void debug(FSTR_P const) {} #endif private: @@ -202,9 +219,9 @@ class PrintJobRecovery { static void retract_and_lift(const_float_t zraise); #endif - #if PIN_EXISTS(POWER_LOSS) + #if PIN_EXISTS(POWER_LOSS) || ENABLED(DEBUG_POWER_LOSS_RECOVERY) friend class GcodeSuite; - static void _outage(); + static void _outage(TERN_(DEBUG_POWER_LOSS_RECOVERY, const bool simulated=false)); #endif }; diff --git a/Marlin/src/feature/probe_temp_comp.cpp b/Marlin/src/feature/probe_temp_comp.cpp index c9d6c6cb3f..b5f636e698 100644 --- a/Marlin/src/feature/probe_temp_comp.cpp +++ b/Marlin/src/feature/probe_temp_comp.cpp @@ -22,40 +22,54 @@ #include "../inc/MarlinConfigPre.h" -#if ENABLED(PROBE_TEMP_COMPENSATION) +#if HAS_PTC + +//#define DEBUG_PTC // Print extra debug output with 'M871' #include "probe_temp_comp.h" #include +#include "../module/temperature.h" -ProbeTempComp temp_comp; +ProbeTempComp ptc; -int16_t ProbeTempComp::z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // = {0} - ProbeTempComp::z_offsets_bed[cali_info_init[TSI_BED].measurements]; // = {0} +#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(USE_TEMP_EXT_COMPENSATION) - int16_t ProbeTempComp::z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // = {0} +#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] = { - ProbeTempComp::z_offsets_probe, ProbeTempComp::z_offsets_bed - #if ENABLED(USE_TEMP_EXT_COMPENSATION) - , ProbeTempComp::z_offsets_ext + #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 }; -const temp_calib_t ProbeTempComp::cali_info[TSI_COUNT] = { - cali_info_init[TSI_PROBE], cali_info_init[TSI_BED] - #if ENABLED(USE_TEMP_EXT_COMPENSATION) - , cali_info_init[TSI_EXT] - #endif -}; - -constexpr xyz_pos_t ProbeTempComp::park_point; -constexpr xy_pos_t ProbeTempComp::measure_point; -constexpr celsius_t ProbeTempComp::probe_calib_bed_temp; +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) @@ -73,19 +87,26 @@ 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_ECHOPGM_P(s == TSI_BED ? PSTR("Bed") : - #if ENABLED(USE_TEMP_EXT_COMPENSATION) - s == TSI_EXT ? PSTR("Extruder") : - #endif - PSTR("Probe") + SERIAL_ECHOF( + TERN_(PTC_BED, s == TSI_BED ? F("Bed") :) + TERN_(PTC_HOTEND, s == TSI_EXT ? F("Extruder") :) + F("Probe") ); - SERIAL_ECHOLNPAIR( + SERIAL_ECHOLNPGM( " temp: ", temp, "C; Offset: ", i < 0 ? 0.0f : sensor_z_offsets[s][i], " um" ); - temp += cali_info[s].temp_res; + 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) { @@ -94,46 +115,37 @@ void ProbeTempComp::prepare_new_calibration(const_float_t init_meas_z) { } void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const_float_t meas_z) { - switch (tsi) { - case TSI_PROBE: - case TSI_BED: - //case TSI_EXT: - if (calib_idx >= cali_info[tsi].measurements) return; - sensor_z_offsets[tsi][calib_idx++] = static_cast(meas_z * 1000.0f - init_measurement * 1000.0f); - default: break; - } + 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 (tsi != TSI_PROBE && tsi != TSI_BED) return false; - - if (calib_idx < 3) { - SERIAL_ECHOLNPGM("!Insufficient measurements (min. 3)."); + 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_res; + res_temp = cali_info[tsi].temp_resolution; int16_t * const data = sensor_z_offsets[tsi]; // Extrapolate float k, d; if (calib_idx < measurements) { - SERIAL_ECHOLNPAIR("Got ", calib_idx, " measurements. "); + SERIAL_ECHOLNPGM("Got ", calib_idx, " measurements. "); if (linear_regression(tsi, k, d)) { SERIAL_ECHOPGM("Applying linear extrapolation"); - calib_idx--; for (; calib_idx < measurements; ++calib_idx) { - const celsius_float_t temp = start_temp + float(calib_idx) * res_temp; + 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]; + const int16_t last_val = data[calib_idx-1]; for (; calib_idx < measurements; ++calib_idx) data[calib_idx] = last_val; } @@ -143,15 +155,15 @@ bool ProbeTempComp::finish_calibration(const TempSensorID tsi) { // Sanity check for (calib_idx = 0; calib_idx < measurements; ++calib_idx) { // Restrict the max. offset - if (abs(data[calib_idx]) > 2000) { + 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) { + 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_PROBE); + clear_offsets(tsi); return false; } } @@ -159,56 +171,60 @@ bool ProbeTempComp::finish_calibration(const TempSensorID tsi) { return true; } -void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const celsius_t temp, float &meas_z) { - if (WITHIN(temp, cali_info[tsi].start_temp, cali_info[tsi].end_temp)) - meas_z -= get_offset_for_temperature(tsi, temp); +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)); } -float ProbeTempComp::get_offset_for_temperature(const TempSensorID tsi, const celsius_t temp) { +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_res; + res_temp = cali_info[tsi].temp_resolution, + end_temp = start_temp + measurements * res_temp; const int16_t * const data = sensor_z_offsets[tsi]; - auto point = [&](uint8_t i) -> xy_float_t { - return xy_float_t({ static_cast(start_temp) + i * res_temp, static_cast(data[i]) }); + // 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) { - return (p2.y - p1.y) / (p2.x - p2.y) * (x - p1.x) + p1.y; + // zoffs1 + zoffset_per_toffset * toffset + return p1.y + (p2.y - p1.y) / (p2.x - p1.x) * (x - p1.x); }; - // Linear interpolation - uint8_t idx = static_cast((temp - start_temp) / res_temp); - // offset in µm float offset = 0.0f; - #if !defined(PTC_LINEAR_EXTRAPOLATION) || PTC_LINEAR_EXTRAPOLATION <= 0 - if (idx < 0) - offset = 0.0f; - else if (idx > measurements - 2) - offset = static_cast(data[measurements - 1]); + #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 (idx < 0) - offset = linear_interp(temp, point(0), point(PTC_LINEAR_EXTRAPOLATION)); - else if (idx > measurements - 2) - offset = linear_interp(temp, point(measurements - PTC_LINEAR_EXTRAPOLATION - 1), point(measurements - 1)); + if (temp < start_temp) + offset = 0.0f; + else if (temp >= end_temp) + offset = static_cast(data[measurements - 1]); #endif - else - offset = linear_interp(temp, point(idx), point(idx + 1)); + else { + // Linear interpolation + const int8_t idx = static_cast((temp - start_temp) / res_temp); + offset = linear_interp(temp, tpoint(idx), tpoint(idx + 1)); + } - // return offset in mm - return offset / 1000.0f; + // convert offset to mm and apply it + meas_z -= offset / 1000.0f; } bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) { - if (tsi != TSI_PROBE && tsi != TSI_BED) return false; - - if (!WITHIN(calib_idx, 2, cali_info[tsi].measurements)) return false; + 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_res; + res_temp = cali_info[tsi].temp_resolution; const int16_t * const data = sensor_z_offsets[tsi]; float sum_x = start_temp, @@ -238,4 +254,4 @@ bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d return true; } -#endif // PROBE_TEMP_COMPENSATION +#endif // HAS_PTC diff --git a/Marlin/src/feature/probe_temp_comp.h b/Marlin/src/feature/probe_temp_comp.h index 2eeb7f47ec..42348db684 100644 --- a/Marlin/src/feature/probe_temp_comp.h +++ b/Marlin/src/feature/probe_temp_comp.h @@ -24,19 +24,22 @@ #include "../inc/MarlinConfig.h" enum TempSensorID : uint8_t { - TSI_PROBE, - TSI_BED, - #if ENABLED(USE_TEMP_EXT_COMPENSATION) + #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_res, // Resolution in °C between measurements - start_temp, // Base measurement; z-offset == 0 - end_temp; + 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; /** @@ -45,89 +48,55 @@ typedef struct { * measurement errors/shifts due to changed temperature. */ -// Probe temperature calibration constants -#ifndef PTC_SAMPLE_COUNT - #define PTC_SAMPLE_COUNT 10U -#endif -#ifndef PTC_SAMPLE_RES - #define PTC_SAMPLE_RES 5 -#endif -#ifndef PTC_SAMPLE_START - #define PTC_SAMPLE_START 30 -#endif -#define PTC_SAMPLE_END ((PTC_SAMPLE_START) + (PTC_SAMPLE_COUNT) * (PTC_SAMPLE_RES)) - -// Bed temperature calibration constants -#ifndef BTC_PROBE_TEMP - #define BTC_PROBE_TEMP 30 -#endif -#ifndef BTC_SAMPLE_COUNT - #define BTC_SAMPLE_COUNT 10U -#endif -#ifndef BTC_SAMPLE_STEP - #define BTC_SAMPLE_RES 5 -#endif -#ifndef BTC_SAMPLE_START - #define BTC_SAMPLE_START 60 -#endif -#define BTC_SAMPLE_END ((BTC_SAMPLE_START) + (BTC_SAMPLE_COUNT) * (BTC_SAMPLE_RES)) - -#ifndef PTC_PROBE_HEATING_OFFSET - #define PTC_PROBE_HEATING_OFFSET 0.5f -#endif - -#ifndef PTC_PROBE_RAISE - #define PTC_PROBE_RAISE 10 -#endif - -static constexpr temp_calib_t cali_info_init[TSI_COUNT] = { - { PTC_SAMPLE_COUNT, PTC_SAMPLE_RES, PTC_SAMPLE_START, PTC_SAMPLE_END }, // Probe - { BTC_SAMPLE_COUNT, BTC_SAMPLE_RES, BTC_SAMPLE_START, BTC_SAMPLE_END }, // Bed - #if ENABLED(USE_TEMP_EXT_COMPENSATION) - { 20, 5, 180, 180 + 5 * 20 } // Extruder - #endif -}; - class ProbeTempComp { public: - static const temp_calib_t cali_info[TSI_COUNT]; + 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 + }; - // Where to park nozzle to wait for probe cooldown - static constexpr xyz_pos_t park_point = PTC_PARK_POS; - - // XY coordinates of nozzle for probing the bed - static constexpr xy_pos_t measure_point = PTC_PROBE_POS; // Coordinates to probe - //measure_point = { 12.0f, 7.3f }; // Coordinates for the MK52 magnetic heatbed - - static constexpr celsius_t probe_calib_bed_temp = BED_MAX_TARGET, // Bed temperature while calibrating probe - bed_calib_probe_temp = BTC_PROBE_TEMP; // Probe temperature while calibrating bed - - static int16_t *sensor_z_offsets[TSI_COUNT], - z_offsets_probe[cali_info_init[TSI_PROBE].measurements], // (µm) - z_offsets_bed[cali_info_init[TSI_BED].measurements]; // (µm) - - #if ENABLED(USE_TEMP_EXT_COMPENSATION) - static int16_t z_offsets_ext[cali_info_init[TSI_EXT].measurements]; // (µm) + 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 inline void reset_index() { calib_idx = 0; }; - static inline uint8_t get_index() { return calib_idx; } - static void clear_offsets(const TempSensorID tsi); - static inline void clear_all_offsets() { - clear_offsets(TSI_BED); - clear_offsets(TSI_PROBE); - TERN_(USE_TEMP_EXT_COMPENSATION, clear_offsets(TSI_EXT)); + 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 compensate_measurement(const TempSensorID tsi, const celsius_t temp, float &meas_z); + 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 @@ -135,13 +104,13 @@ class ProbeTempComp { */ static float init_measurement; - static float get_offset_for_temperature(const TempSensorID tsi, const celsius_t temp); - /** * 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 temp_comp; +extern ProbeTempComp ptc; diff --git a/Marlin/src/feature/repeat.cpp b/Marlin/src/feature/repeat.cpp index 11e4dd6a93..fed7ac0908 100644 --- a/Marlin/src/feature/repeat.cpp +++ b/Marlin/src/feature/repeat.cpp @@ -19,6 +19,7 @@ * along with this program. If not, see . * */ + #include "../inc/MarlinConfig.h" #if ENABLED(GCODE_REPEAT_MARKERS) @@ -41,9 +42,9 @@ void Repeat::add_marker(const uint32_t sdpos, const uint16_t count) { SERIAL_ECHO_MSG("!Too many markers."); else { marker[index].sdpos = sdpos; - marker[index].counter = count ?: -1; + marker[index].counter = count ? count - 1 : -1; index++; - DEBUG_ECHOLNPAIR("Add Marker ", index, " at ", sdpos, " (", count, ")"); + DEBUG_ECHOLNPGM("Add Marker ", index, " at ", sdpos, " (", count, ")"); } } @@ -53,14 +54,14 @@ void Repeat::loop() { else { const uint8_t ind = index - 1; // Active marker's index if (!marker[ind].counter) { // Did its counter run out? - DEBUG_ECHOLNPAIR("Pass Marker ", index); + 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_ECHOLNPAIR("Goto Marker ", index, " at ", marker[ind].sdpos, " (", marker[ind].counter, ")"); + DEBUG_ECHOLNPGM("Goto Marker ", index, " at ", marker[ind].sdpos, " (", marker[ind].counter, ")"); } } } @@ -69,7 +70,7 @@ 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_ECHOLNPAIR("Parsing \"", cmd, "\""); + DEBUG_ECHOLNPGM("Parsing \"", cmd, "\""); parser.parse(cmd); if (parser.seen('L')) add_marker(card.getIndex(), parser.value_ushort()); diff --git a/Marlin/src/feature/repeat.h b/Marlin/src/feature/repeat.h index 0f4d9425b7..fc11e4a9e2 100644 --- a/Marlin/src/feature/repeat.h +++ b/Marlin/src/feature/repeat.h @@ -38,8 +38,8 @@ private: static repeat_marker_t marker[MAX_REPEAT_NESTING]; static uint8_t index; public: - static inline void reset() { index = 0; } - static inline bool is_active() { + static void reset() { index = 0; } + static bool is_active() { LOOP_L_N(i, index) if (marker[i].counter) return true; return false; } diff --git a/Marlin/src/feature/runout.cpp b/Marlin/src/feature/runout.cpp index 531ca1081f..98b6bd0510 100644 --- a/Marlin/src/feature/runout.cpp +++ b/Marlin/src/feature/runout.cpp @@ -68,6 +68,8 @@ bool FilamentMonitorBase::enabled = true, #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) { @@ -86,6 +88,7 @@ void event_filament_runout(const uint8_t extruder) { #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); @@ -93,8 +96,7 @@ void event_filament_runout(const uint8_t extruder) { //action:out_of_filament #if ENABLED(HOST_PROMPT_SUPPORT) - host_action_prompt_begin(PROMPT_FILAMENT_RUNOUT, PSTR("FilamentRunout T"), tool); - host_action_prompt_show(); + hostui.prompt_do(PROMPT_FILAMENT_RUNOUT, F("FilamentRunout T"), tool); //action:out_of_filament #endif const bool run_runout_script = !runout.host_handling; @@ -106,18 +108,18 @@ void event_filament_runout(const uint8_t extruder) { || TERN0(ADVANCED_PAUSE_FEATURE, strstr(FILAMENT_RUNOUT_SCRIPT, "M25")) ) ) { - host_action_paused(false); + 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 - host_action(PSTR(ACTION_ON_FILAMENT_RUNOUT " T"), false); + hostui.action(F(ACTION_ON_FILAMENT_RUNOUT " T"), false); SERIAL_CHAR(tool); SERIAL_EOL(); #endif - host_action_pause(false); + hostui.pause(false); } SERIAL_ECHOPGM(" " ACTION_REASON_ON_FILAMENT_RUNOUT " "); SERIAL_CHAR(tool); @@ -129,7 +131,7 @@ void event_filament_runout(const uint8_t extruder) { char script[strlen(FILAMENT_RUNOUT_SCRIPT) + 1]; sprintf_P(script, PSTR(FILAMENT_RUNOUT_SCRIPT), tool); #if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG) - SERIAL_ECHOLNPAIR("Runout Command: ", script); + SERIAL_ECHOLNPGM("Runout Command: ", script); #endif queue.inject(script); #else @@ -137,7 +139,7 @@ void event_filament_runout(const uint8_t extruder) { SERIAL_ECHOPGM("Runout Command: "); SERIAL_ECHOLNPGM(FILAMENT_RUNOUT_SCRIPT); #endif - queue.inject_P(PSTR(FILAMENT_RUNOUT_SCRIPT)); + queue.inject(F(FILAMENT_RUNOUT_SCRIPT)); #endif } } diff --git a/Marlin/src/feature/runout.h b/Marlin/src/feature/runout.h index 15bf607550..e74d857a79 100644 --- a/Marlin/src/feature/runout.h +++ b/Marlin/src/feature/runout.h @@ -83,30 +83,30 @@ class TFilamentMonitor : public FilamentMonitorBase { static sensor_t sensor; public: - static inline void setup() { + static void setup() { sensor.setup(); reset(); } - static inline void 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 inline void filament_present(const uint8_t extruder) { + static void filament_present(const uint8_t extruder) { response.filament_present(extruder); } #if HAS_FILAMENT_RUNOUT_DISTANCE - static inline float& runout_distance() { return response.runout_distance_mm; } - static inline void set_runout_distance(const_float_t mm) { response.runout_distance_mm = mm; } + 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 inline void block_completed(const block_t * const b) { + static void block_completed(const block_t * const b) { if (enabled) { response.block_completed(b); sensor.block_completed(b); @@ -114,7 +114,7 @@ class TFilamentMonitor : public FilamentMonitorBase { } // Give the response a chance to update its counter. - static inline void run() { + 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(); @@ -145,7 +145,7 @@ class TFilamentMonitor : public FilamentMonitorBase { if (runout_flags) { SERIAL_ECHOPGM("Runout Sensors: "); LOOP_L_N(i, 8) SERIAL_ECHO('0' + TEST(runout_flags, i)); - SERIAL_ECHOPAIR(" -> ", extruder); + SERIAL_ECHOPGM(" -> ", extruder); if (ran_out) SERIAL_ECHOPGM(" RUN OUT"); SERIAL_EOL(); } @@ -168,12 +168,12 @@ class FilamentSensorBase { * Called by FilamentSensorSwitch::run when filament is detected. * Called by FilamentSensorEncoder::block_completed when motion is detected. */ - static inline void filament_present(const uint8_t extruder) { + static void filament_present(const uint8_t extruder) { runout.filament_present(extruder); // ...which calls response.filament_present(extruder) } public: - static inline void setup() { + 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 @@ -205,14 +205,14 @@ class FilamentSensorBase { } // Return a bitmask of runout pin states - static inline uint8_t poll_runout_pins() { + static uint8_t poll_runout_pins() { #define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0) - return (0 REPEAT_S(1, INCREMENT(NUM_RUNOUT_SENSORS), _OR_RUNOUT)); + return (0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_RUNOUT)); #undef _OR_RUNOUT } // Return a bitmask of runout flag states (1 bits always indicates runout) - static inline uint8_t poll_runout_states() { + 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)) @@ -254,7 +254,7 @@ class FilamentSensorBase { private: static uint8_t motion_detected; - static inline void poll_motion_sensor() { + static void poll_motion_sensor() { static uint8_t old_state; const uint8_t new_state = poll_runout_pins(), change = old_state ^ new_state; @@ -273,7 +273,7 @@ class FilamentSensorBase { } public: - static inline void block_completed(const block_t * const b) { + 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)) @@ -283,7 +283,7 @@ class FilamentSensorBase { motion_detected = 0; } - static inline void run() { poll_motion_sensor(); } + static void run() { poll_motion_sensor(); } }; #else @@ -294,7 +294,7 @@ class FilamentSensorBase { */ class FilamentSensorSwitch : public FilamentSensorBase { private: - static inline bool poll_runout_state(const uint8_t extruder) { + 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()) @@ -307,9 +307,9 @@ class FilamentSensorBase { } public: - static inline void block_completed(const block_t * const) {} + static void block_completed(const block_t * const) {} - static inline void run() { + static void run() { LOOP_L_N(s, NUM_RUNOUT_SENSORS) { const bool out = poll_runout_state(s); if (!out) filament_present(s); @@ -317,7 +317,7 @@ class FilamentSensorBase { static uint8_t was_out; // = 0 if (out != TEST(was_out, s)) { TBI(was_out, s); - SERIAL_ECHOLNPAIR_P(PSTR("Filament Sensor "), '0' + s, out ? PSTR(" OUT") : PSTR(" IN")); + SERIAL_ECHOLNF(F("Filament Sensor "), AS_DIGIT(s), out ? F(" OUT") : F(" IN")); } #endif } @@ -341,39 +341,39 @@ class FilamentSensorBase { public: static float runout_distance_mm; - static inline void reset() { + static void reset() { LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i); } - static inline void run() { + 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_ECHOPAIR_P(i ? PSTR(", ") : PSTR("Remaining mm: "), runout_mm_countdown[i]); + SERIAL_ECHOF(i ? F(", ") : F("Remaining mm: "), runout_mm_countdown[i]); SERIAL_EOL(); } #endif } - static inline uint8_t has_run_out() { + 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 inline void filament_present(const uint8_t extruder) { + static void filament_present(const uint8_t extruder) { runout_mm_countdown[extruder] = runout_distance_mm; } - static inline void block_completed(const block_t * const b) { + 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.steps_to_mm[E_AXIS_N(e)]; + runout_mm_countdown[e] -= (TEST(b->direction_bits, E_AXIS) ? -steps : steps) * planner.mm_per_step[E_AXIS_N(e)]; } } }; @@ -389,23 +389,23 @@ class FilamentSensorBase { static int8_t runout_count[NUM_RUNOUT_SENSORS]; public: - static inline void reset() { + static void reset() { LOOP_L_N(i, NUM_RUNOUT_SENSORS) filament_present(i); } - static inline void run() { + static void run() { LOOP_L_N(i, NUM_RUNOUT_SENSORS) if (runout_count[i] >= 0) runout_count[i]--; } - static inline uint8_t has_run_out() { + 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 inline void block_completed(const block_t * const) { } + static void block_completed(const block_t * const) { } - static inline void filament_present(const uint8_t extruder) { + static void filament_present(const uint8_t extruder) { runout_count[extruder] = runout_threshold; } }; diff --git a/Marlin/src/feature/solenoid.cpp b/Marlin/src/feature/solenoid.cpp index 623f223caa..861e44ed05 100644 --- a/Marlin/src/feature/solenoid.cpp +++ b/Marlin/src/feature/solenoid.cpp @@ -27,65 +27,29 @@ #include "solenoid.h" #include "../module/motion.h" // for active_extruder - -// PARKING_EXTRUDER options alter the default behavior of solenoids, this ensures compliance of M380-381 - -#if ENABLED(PARKING_EXTRUDER) - #include "../module/tool_change.h" -#endif - -#define HAS_SOLENOID(N) (HAS_SOLENOID_##N && (ENABLED(MANUAL_SOLENOID_CONTROL) || N < EXTRUDERS)) +#include "../module/tool_change.h" // Used primarily with MANUAL_SOLENOID_CONTROL -static void set_solenoid(const uint8_t num, const bool active) { - const uint8_t value = active ? PE_MAGNET_ON_STATE : !PE_MAGNET_ON_STATE; +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) { - case 0: OUT_WRITE(SOL0_PIN, value); break; - #if HAS_SOLENOID(1) - case 1: OUT_WRITE(SOL1_PIN, value); break; - #endif - #if HAS_SOLENOID(2) - case 2: OUT_WRITE(SOL2_PIN, value); break; - #endif - #if HAS_SOLENOID(3) - case 3: OUT_WRITE(SOL3_PIN, value); break; - #endif - #if HAS_SOLENOID(4) - case 4: OUT_WRITE(SOL4_PIN, value); break; - #endif - #if HAS_SOLENOID(5) - case 5: OUT_WRITE(SOL5_PIN, value); break; - #endif + REPEAT(8, _SOL_CASE) default: SERIAL_ECHO_MSG(STR_INVALID_SOLENOID); break; } #if ENABLED(PARKING_EXTRUDER) - if (!active && active_extruder == num) // If active extruder's solenoid is disabled, carriage is considered parked + if (state == LOW && active_extruder == num) // If active extruder's solenoid is disabled, carriage is considered parked parking_extruder_set_parked(true); #endif } -void enable_solenoid(const uint8_t num) { set_solenoid(num, true); } -void disable_solenoid(const uint8_t num) { set_solenoid(num, false); } -void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); } +// 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() { - disable_solenoid(0); - #if HAS_SOLENOID(1) - disable_solenoid(1); - #endif - #if HAS_SOLENOID(2) - disable_solenoid(2); - #endif - #if HAS_SOLENOID(3) - disable_solenoid(3); - #endif - #if HAS_SOLENOID(4) - disable_solenoid(4); - #endif - #if HAS_SOLENOID(5) - disable_solenoid(5); - #endif + #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 index 2ba4983fb0..3131aeb868 100644 --- a/Marlin/src/feature/solenoid.h +++ b/Marlin/src/feature/solenoid.h @@ -21,7 +21,6 @@ */ #pragma once -void enable_solenoid_on_active_extruder(); 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 index 78fa75cac6..e7898268e8 100644 --- a/Marlin/src/feature/spindle_laser.cpp +++ b/Marlin/src/feature/spindle_laser.cpp @@ -34,103 +34,133 @@ #include "../module/servo.h" #endif -SpindleLaser cutter; -uint8_t SpindleLaser::power; -#if ENABLED(LASER_FEATURE) - cutter_test_pulse_t SpindleLaser::testPulse = 50; // Test fire Pulse time ms value. +#if ENABLED(I2C_AMMETER) + #include "../feature/ammeter.h" #endif -bool SpindleLaser::isReady; // Ready to apply power setting from the UI to OCR -cutter_power_t SpindleLaser::menuPower, // Power set via LCD menu in PWM, PERCENT, or RPM - SpindleLaser::unitPower; // LCD status power in PWM, PERCENT, or RPM -#if ENABLED(MARLIN_DEV_MODE) - cutter_frequency_t SpindleLaser::frequency; // PWM frequency setting; range: 2K - 50K +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 -// +/** + * Init the cutter to a safe OFF state + */ void SpindleLaser::init() { #if ENABLED(SPINDLE_SERVO) - MOVE_SERVO(SPINDLE_SERVO_NR, SPINDLE_SERVO_MIN); - #else + 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 ? 255 : 0); // Init rotation to clockwise (M3) + OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR); // Init rotation to clockwise (M3) #endif - #if ENABLED(SPINDLE_LASER_PWM) + #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); - analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed - #endif - #if ENABLED(HAL_CAN_SET_PWM_FREQ) && defined(SPINDLE_LASER_FREQUENCY) - set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY); - TERN_(MARLIN_DEV_MODE, frequency = SPINDLE_LASER_FREQUENCY); + 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_PWM) +#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 NEEDS_HARDWARE_PWM && SPINDLE_LASER_FREQUENCY - set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), TERN(MARLIN_DEV_MODE, frequency, SPINDLE_LASER_FREQUENCY)); - set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF); - #else - analogWrite(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF); + #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) { - WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_STATE); // Cutter ON + #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() { - WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF + #if PIN_EXISTS(SPINDLE_LASER_ENA) + WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF + #endif _set_ocr(0); } -#endif +#endif // SPINDLE_LASER_USE_PWM -// -// Set cutter ON/OFF state (and PWM) to the given cutter power value -// +/** + * 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) { - static uint8_t last_power_applied = 0; - if (opwr == last_power_applied) return; - last_power_applied = opwr; - power = opwr; - #if ENABLED(SPINDLE_LASER_PWM) - if (cutter.unitPower == 0 && CUTTER_UNIT_IS(RPM)) { - ocr_off(); - isReady = false; - } - else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled()) { - set_ocr(power); - isReady = true; - } - else { - ocr_off(); - isReady = false; - } - #elif ENABLED(SPINDLE_SERVO) - MOVE_SERVO(SPINDLE_SERVO_NR, power); - #else - WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE); - isReady = true; - #endif + 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) + MOVE_SERVO(SPINDLE_SERVO_NR, power); + #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 - // + /** + * 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(); @@ -139,14 +169,17 @@ void SpindleLaser::apply_power(const uint8_t opwr) { #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 index c3454d0b3c..0a99585bc0 100644 --- a/Marlin/src/feature/spindle_laser.h +++ b/Marlin/src/feature/spindle_laser.h @@ -30,100 +30,104 @@ #include "spindle_laser_types.h" -#if USE_BEEPER +#if HAS_BEEPER #include "../libs/buzzer.h" #endif -#if ENABLED(LASER_POWER_INLINE) - #include "../module/planner.h" -#endif +// Inline laser power +#include "../module/planner.h" #define PCT_TO_PWM(X) ((X) * 255 / 100) #define PCT_TO_SERVO(X) ((X) * 180 / 100) -#ifndef SPEED_POWER_INTERCEPT - #define SPEED_POWER_INTERCEPT 0 -#endif -// #define _MAP(N,S1,S2,D1,D2) ((N)*_MAX((D2)-(D1),0)/_MAX((S2)-(S1),1)+(D1)) +// 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 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); + static CutterMode cutter_mode; - static const inline uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); } + 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 const inline uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) { - constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0), - power_range = SPEED_POWER_MAX - power_floor; - return cpwr ? round(100.0f * (cpwr - power_floor) / power_range) : 0; + 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 a cpower (e.g., SPEED_POWER_STARTUP) to unit power (upwr, upower), - // which can be PWM, Percent, Servo angle, or RPM (rel/abs). - static const inline cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power - const cutter_power_t upwr = ( + // 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 values are in RPM + // Spindle configured define values are in RPM #if CUTTER_UNIT_IS(RPM) - cpwr // to RPM - #elif CUTTER_UNIT_IS(PERCENT) // to PCT - cpwr_to_pct(cpwr) - #elif CUTTER_UNIT_IS(SERVO) // to SERVO angle - PCT_TO_SERVO(cpwr_to_pct(cpwr)) - #else // to PWM - PCT_TO_PWM(cpwr_to_pct(cpwr)) + 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 values are in PCT + // Laser configured define values are in Percent #if CUTTER_UNIT_IS(PWM255) - PCT_TO_PWM(cpwr) + PCT_TO_PWM(cpwr) // to PWM #else - cpwr // to RPM/PCT + cpwr // to same #endif #endif ); - return upwr; } - static const cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); } - static const cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); } + 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; // Test fire Pulse ms value + 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 isReady; // Ready to apply power setting from the UI to OCR - static uint8_t power; + 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 - #if ENABLED(MARLIN_DEV_MODE) - static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K - #endif + 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(MARLIN_DEV_MODE) - static inline void refresh_frequency() { set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); } + #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 inline bool enabled(const cutter_power_t opwr) { return opwr > 0; } - static inline bool enabled() { return enabled(power); } + 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); } - FORCE_INLINE static void set_power(const uint8_t upwr) { power = upwr; refresh(); } - #if ENABLED(SPINDLE_LASER_PWM) + #if ENABLED(SPINDLE_LASER_USE_PWM) private: @@ -132,196 +136,196 @@ public: public: static void set_ocr(const uint8_t ocr); - static inline void set_ocr_power(const uint8_t ocr) { power = ocr; set_ocr(ocr); } static void ocr_off(); - // Used to update output for power->OCR translation - static inline uint8_t upower_to_ocr(const cutter_power_t upwr) { - return ( + + /** + * 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) - uint8_t(upwr) + upwr #elif CUTTER_UNIT_IS(PERCENT) pct_to_ocr(upwr) #else - uint8_t(pct_to_ocr(cpwr_to_pct(upwr))) + pct_to_ocr(cpwr_to_pct(upwr)) #endif ); } - // Correct power to configured range - static inline cutter_power_t power_to_range(const cutter_power_t pwr) { - return power_to_range(pwr, ( - #if CUTTER_UNIT_IS(PWM255) - 0 - #elif CUTTER_UNIT_IS(PERCENT) - 1 - #elif CUTTER_UNIT_IS(RPM) - 2 - #else - #error "CUTTER_UNIT_IS(unknown)" - #endif - )); - } - static inline cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit) { - if (pwr <= 0) return 0; - cutter_power_t upwr; - switch (pwrUnit) { - case 0: // PWM - upwr = cutter_power_t( - (pwr < pct_to_ocr(min_pct)) ? pct_to_ocr(min_pct) // Use minimum if set below - : (pwr > pct_to_ocr(max_pct)) ? pct_to_ocr(max_pct) // Use maximum if set above - : pwr - ); - break; - case 1: // PERCENT - upwr = cutter_power_t( - (pwr < min_pct) ? min_pct // Use minimum if set below - : (pwr > max_pct) ? max_pct // Use maximum if set above - : pwr // PCT - ); - break; - case 2: // RPM - upwr = cutter_power_t( - (pwr < SPEED_POWER_MIN) ? SPEED_POWER_MIN // Use minimum if set below - : (pwr > SPEED_POWER_MAX) ? SPEED_POWER_MAX // Use maximum if set above - : pwr // Calculate OCR value - ); - break; - default: break; - } - return upwr; - } + #endif // SPINDLE_LASER_USE_PWM - #endif // SPINDLE_LASER_PWM - - static inline void set_enabled(const bool enable) { - set_power(enable ? TERN(SPINDLE_LASER_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0); + /** + * 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; } - // Wait for spindle to spin up or spin down - static inline void power_delay(const bool on) { - #if DISABLED(LASER_POWER_INLINE) - safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY); + /** + * 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 inline void set_reverse(const bool) {} + 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 inline bool air_evac_state() { // Get current state + 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 - static inline void disable() { isReady = false; set_enabled(false); } - - #if HAS_LCD_MENU - static inline void enable_with_dir(const bool reverse) { - isReady = true; - const uint8_t ocr = TERN(SPINDLE_LASER_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); + #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); } - 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 - #if ENABLED(SPINDLE_LASER_PWM) - static inline void update_from_mpower() { - if (isReady) power = upower_to_ocr(menuPower); + #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 inline void test_fire_pulse() { - TERN_(USE_BEEPER, buzzer.tone(30, 3000)); - enable_forward(); // Turn Laser on (Spindle speak but same funct) - delay(testPulse); // Delay for time set by user in pulse ms menu screen. - disable(); // Turn laser off + 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 + #endif // LASER_FEATURE - #endif // HAS_LCD_MENU + #endif // HAS_MARLINUI_MENU - #if ENABLED(LASER_POWER_INLINE) - /** - * Inline power adds extra fields to the planner block - * to handle laser power and scale to movement speed. - */ + #if ENABLED(LASER_FEATURE) - // Force disengage planner power control - static inline void inline_disable() { - isReady = false; - unitPower = 0; - planner.laser_inline.status.isPlanned = false; - planner.laser_inline.status.isEnabled = false; - planner.laser_inline.power = 0; + // 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 inline void set_inline_enabled(const bool enable) { - if (enable) - inline_power(255); - else { - isReady = false; - unitPower = menuPower = 0; - planner.laser_inline.status.isPlanned = false; - TERN(SPINDLE_LASER_PWM, inline_ocr_power, inline_power)(0); - } - } + 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 upwr) { - unitPower = menuPower = upwr; - #if ENABLED(SPINDLE_LASER_PWM) - #if ENABLED(SPEED_POWER_RELATIVE) && !CUTTER_UNIT_IS(RPM) // relative mode does not turn laser off at 0, except for RPM - planner.laser_inline.status.isEnabled = true; - planner.laser_inline.power = upower_to_ocr(upwr); - isReady = true; - #else - inline_ocr_power(upower_to_ocr(upwr)); - #endif - #else - planner.laser_inline.status.isEnabled = enabled(upwr); - planner.laser_inline.power = upwr; - isReady = enabled(upwr); - #endif + 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); } - static inline void inline_direction(const bool) { /* never */ } + #endif // LASER_FEATURE - #if ENABLED(SPINDLE_LASER_PWM) - static inline void inline_ocr_power(const uint8_t ocrpwr) { - isReady = ocrpwr > 0; - planner.laser_inline.status.isEnabled = ocrpwr > 0; - planner.laser_inline.power = ocrpwr; - } - #endif - #endif // LASER_POWER_INLINE - - static inline void kill() { - TERN_(LASER_POWER_INLINE, inline_disable()); - disable(); - } + 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 index 0075e54819..2f36a68a1a 100644 --- a/Marlin/src/feature/spindle_laser_types.h +++ b/Marlin/src/feature/spindle_laser_types.h @@ -28,12 +28,34 @@ #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 -#define MSG_CUTTER(M) _MSG_CUTTER(M) typedef IF<(SPEED_POWER_MAX > 255), uint16_t, uint8_t>::type cutter_cpower_t; @@ -52,12 +74,10 @@ typedef IF<(SPEED_POWER_MAX > 255), uint16_t, uint8_t>::type cutter_cpower_t; #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 -#endif - -#if ENABLED(MARLIN_DEV_MODE) - typedef uint16_t cutter_frequency_t; #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 index 991f5a5906..b8762da9b0 100644 --- a/Marlin/src/feature/stepper_driver_safety.cpp +++ b/Marlin/src/feature/stepper_driver_safety.cpp @@ -28,78 +28,55 @@ static uint32_t axis_plug_backward = 0; -void stepper_driver_backward_error(PGM_P str) { +void stepper_driver_backward_error(FSTR_P const fstr) { SERIAL_ERROR_START(); - SERIAL_ECHOPGM_P(str); + SERIAL_ECHOF(fstr); SERIAL_ECHOLNPGM(" driver is backward!"); - ui.status_printf_P(2, PSTR(S_FMT S_FMT), str, GET_TEXT(MSG_DRIVER_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 { \ + #define _TEST_BACKWARD(AXIS, BIT) do { \ SET_INPUT(AXIS##_ENABLE_PIN); \ OUT_WRITE(AXIS##_STEP_PIN, false); \ delay(20); \ if (READ(AXIS##_ENABLE_PIN) == false) { \ SBI(axis_plug_backward, BIT); \ - stepper_driver_backward_error(PSTR(STRINGIFY(AXIS))); \ + stepper_driver_backward_error(F(STRINGIFY(AXIS))); \ } \ }while(0) - #if HAS_X_ENABLE - TEST_BACKWARD(X, 0); - #endif - #if HAS_X2_ENABLE - TEST_BACKWARD(X2, 1); - #endif + #define TEST_BACKWARD(AXIS, BIT) TERN_(HAS_##AXIS##_ENABLE, _TEST_BACKWARD(AXIS, BIT)) - #if HAS_Y_ENABLE - TEST_BACKWARD(Y, 2); - #endif - #if HAS_Y2_ENABLE - TEST_BACKWARD(Y2, 3); - #endif + TEST_BACKWARD(X, 0); + TEST_BACKWARD(X2, 1); - #if HAS_Z_ENABLE - TEST_BACKWARD(Z, 4); - #endif - #if HAS_Z2_ENABLE - TEST_BACKWARD(Z2, 5); - #endif - #if HAS_Z3_ENABLE - TEST_BACKWARD(Z3, 6); - #endif - #if HAS_Z4_ENABLE - TEST_BACKWARD(Z4, 7); - #endif + TEST_BACKWARD(Y, 2); + TEST_BACKWARD(Y2, 3); - #if HAS_E0_ENABLE - TEST_BACKWARD(E0, 8); - #endif - #if HAS_E1_ENABLE - TEST_BACKWARD(E1, 9); - #endif - #if HAS_E2_ENABLE - TEST_BACKWARD(E2, 10); - #endif - #if HAS_E3_ENABLE - TEST_BACKWARD(E3, 11); - #endif - #if HAS_E4_ENABLE - TEST_BACKWARD(E4, 12); - #endif - #if HAS_E5_ENABLE - TEST_BACKWARD(E5, 13); - #endif - #if HAS_E6_ENABLE - TEST_BACKWARD(E6, 14); - #endif - #if HAS_E7_ENABLE - TEST_BACKWARD(E7, 15); - #endif + 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); @@ -108,64 +85,39 @@ void stepper_driver_backward_check() { void stepper_driver_backward_report() { if (!axis_plug_backward) return; - auto _report_if_backward = [](PGM_P axis, uint8_t bit) { + 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) _report_if_backward(PSTR(STRINGIFY(axis)), bit) + #define REPORT_BACKWARD(axis, bit) TERN_(HAS_##axis##_ENABLE, _report_if_backward(F(STRINGIFY(axis)), bit)) - #if HAS_X_ENABLE - REPORT_BACKWARD(X, 0); - #endif - #if HAS_X2_ENABLE - REPORT_BACKWARD(X2, 1); - #endif + REPORT_BACKWARD(X, 0); + REPORT_BACKWARD(X2, 1); - #if HAS_Y_ENABLE - REPORT_BACKWARD(Y, 2); - #endif - #if HAS_Y2_ENABLE - REPORT_BACKWARD(Y2, 3); - #endif + REPORT_BACKWARD(Y, 2); + REPORT_BACKWARD(Y2, 3); - #if HAS_Z_ENABLE - REPORT_BACKWARD(Z, 4); - #endif - #if HAS_Z2_ENABLE - REPORT_BACKWARD(Z2, 5); - #endif - #if HAS_Z3_ENABLE - REPORT_BACKWARD(Z3, 6); - #endif - #if HAS_Z4_ENABLE - REPORT_BACKWARD(Z4, 7); - #endif + REPORT_BACKWARD(Z, 4); + REPORT_BACKWARD(Z2, 5); + REPORT_BACKWARD(Z3, 6); + REPORT_BACKWARD(Z4, 7); - #if HAS_E0_ENABLE - REPORT_BACKWARD(E0, 8); - #endif - #if HAS_E1_ENABLE - REPORT_BACKWARD(E1, 9); - #endif - #if HAS_E2_ENABLE - REPORT_BACKWARD(E2, 10); - #endif - #if HAS_E3_ENABLE - REPORT_BACKWARD(E3, 11); - #endif - #if HAS_E4_ENABLE - REPORT_BACKWARD(E4, 12); - #endif - #if HAS_E5_ENABLE - REPORT_BACKWARD(E5, 13); - #endif - #if HAS_E6_ENABLE - REPORT_BACKWARD(E6, 14); - #endif - #if HAS_E7_ENABLE - REPORT_BACKWARD(E7, 15); - #endif + 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/tmc_util.cpp b/Marlin/src/feature/tmc_util.cpp index a4f71414a6..0867686363 100644 --- a/Marlin/src/feature/tmc_util.cpp +++ b/Marlin/src/feature/tmc_util.cpp @@ -33,17 +33,12 @@ #include "../gcode/gcode.h" #if ENABLED(TMC_DEBUG) - #include "../module/planner.h" #include "../libs/hex_print.h" #if ENABLED(MONITOR_DRIVER_STATUS) static uint16_t report_tmc_status_interval; // = 0 #endif #endif -#if HAS_LCD_MENU - #include "../module/stepper.h" -#endif - /** * Check for over temperature or short to ground error flags. * Report and log warning of overtemperature condition. @@ -208,11 +203,11 @@ #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, HEX); + 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(true, true, true, true)); - kill(PSTR("Driver error")); + TERN_(TMC_DEBUG, tmc_report_all()); + kill(F("Driver error")); } #endif @@ -226,7 +221,7 @@ SERIAL_ECHO(timestamp); SERIAL_ECHOPGM(": "); st.printLabel(); - SERIAL_ECHOLNPAIR(" driver overtemperature warning! (", st.getMilliamps(), "mA)"); + SERIAL_ECHOLNPGM(" driver overtemperature warning! (", st.getMilliamps(), "mA)"); } template @@ -271,7 +266,7 @@ st.rms_current(I_rms); #if ENABLED(REPORT_CURRENT_CHANGE) st.printLabel(); - SERIAL_ECHOLNPAIR(" current decreased to ", I_rms); + SERIAL_ECHOLNPGM(" current decreased to ", I_rms); #endif } } @@ -417,6 +412,31 @@ } #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 @@ -457,12 +477,8 @@ void tmc_set_report_interval(const uint16_t update_interval) { if ((report_tmc_status_interval = update_interval)) SERIAL_ECHOLNPGM("axis:pwm_scale" - #if HAS_STEALTHCHOP - "/curr_scale" - #endif - #if HAS_STALLGUARD - "/mech_load" - #endif + TERN_(HAS_STEALTHCHOP, "/curr_scale") + TERN_(HAS_STALLGUARD, "/mech_load") "|flags|warncount" ); } @@ -546,7 +562,7 @@ }; template - static void print_vsense(TMC &st) { SERIAL_ECHOPGM_P(st.vsense() ? PSTR("1=.18") : PSTR("0=.325")); } + 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) { @@ -717,7 +733,7 @@ SERIAL_ECHO(st.cs()); SERIAL_ECHOPGM("/31"); break; - case TMC_VSENSE: SERIAL_ECHOPGM_P(st.vsense() ? PSTR("1=.165") : PSTR("0=.310")); 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; @@ -757,128 +773,166 @@ } } - static void tmc_debug_loop(const TMC_debug_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) { - if (print_x) { + 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, i); + tmc_status(stepperX, n); #endif #if AXIS_IS_TMC(X2) - tmc_status(stepperX2, i); + tmc_status(stepperX2, n); #endif } - if (print_y) { + if (TERN0(HAS_Y_AXIS, y)) { #if AXIS_IS_TMC(Y) - tmc_status(stepperY, i); + tmc_status(stepperY, n); #endif #if AXIS_IS_TMC(Y2) - tmc_status(stepperY2, i); + tmc_status(stepperY2, n); #endif } - if (print_z) { + if (TERN0(HAS_Z_AXIS, z)) { #if AXIS_IS_TMC(Z) - tmc_status(stepperZ, i); + tmc_status(stepperZ, n); #endif #if AXIS_IS_TMC(Z2) - tmc_status(stepperZ2, i); + tmc_status(stepperZ2, n); #endif #if AXIS_IS_TMC(Z3) - tmc_status(stepperZ3, i); + tmc_status(stepperZ3, n); #endif #if AXIS_IS_TMC(Z4) - tmc_status(stepperZ4, i); + tmc_status(stepperZ4, n); #endif } - if (print_e) { + #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, i); + tmc_status(stepperE0, n); #endif #if AXIS_IS_TMC(E1) - tmc_status(stepperE1, i); + tmc_status(stepperE1, n); #endif #if AXIS_IS_TMC(E2) - tmc_status(stepperE2, i); + tmc_status(stepperE2, n); #endif #if AXIS_IS_TMC(E3) - tmc_status(stepperE3, i); + tmc_status(stepperE3, n); #endif #if AXIS_IS_TMC(E4) - tmc_status(stepperE4, i); + tmc_status(stepperE4, n); #endif #if AXIS_IS_TMC(E5) - tmc_status(stepperE5, i); + tmc_status(stepperE5, n); #endif #if AXIS_IS_TMC(E6) - tmc_status(stepperE6, i); + tmc_status(stepperE6, n); #endif #if AXIS_IS_TMC(E7) - tmc_status(stepperE7, i); + tmc_status(stepperE7, n); #endif } SERIAL_EOL(); } - static void drv_status_loop(const TMC_drv_status_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) { - if (print_x) { + 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, i); + tmc_parse_drv_status(stepperX, n); #endif #if AXIS_IS_TMC(X2) - tmc_parse_drv_status(stepperX2, i); + tmc_parse_drv_status(stepperX2, n); #endif } - if (print_y) { + if (TERN0(HAS_Y_AXIS, y)) { #if AXIS_IS_TMC(Y) - tmc_parse_drv_status(stepperY, i); + tmc_parse_drv_status(stepperY, n); #endif #if AXIS_IS_TMC(Y2) - tmc_parse_drv_status(stepperY2, i); + tmc_parse_drv_status(stepperY2, n); #endif } - if (print_z) { + if (TERN0(HAS_Z_AXIS, z)) { #if AXIS_IS_TMC(Z) - tmc_parse_drv_status(stepperZ, i); + tmc_parse_drv_status(stepperZ, n); #endif #if AXIS_IS_TMC(Z2) - tmc_parse_drv_status(stepperZ2, i); + tmc_parse_drv_status(stepperZ2, n); #endif #if AXIS_IS_TMC(Z3) - tmc_parse_drv_status(stepperZ3, i); + tmc_parse_drv_status(stepperZ3, n); #endif #if AXIS_IS_TMC(Z4) - tmc_parse_drv_status(stepperZ4, i); + tmc_parse_drv_status(stepperZ4, n); #endif } - if (print_e) { + #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, i); + tmc_parse_drv_status(stepperE0, n); #endif #if AXIS_IS_TMC(E1) - tmc_parse_drv_status(stepperE1, i); + tmc_parse_drv_status(stepperE1, n); #endif #if AXIS_IS_TMC(E2) - tmc_parse_drv_status(stepperE2, i); + tmc_parse_drv_status(stepperE2, n); #endif #if AXIS_IS_TMC(E3) - tmc_parse_drv_status(stepperE3, i); + tmc_parse_drv_status(stepperE3, n); #endif #if AXIS_IS_TMC(E4) - tmc_parse_drv_status(stepperE4, i); + tmc_parse_drv_status(stepperE4, n); #endif #if AXIS_IS_TMC(E5) - tmc_parse_drv_status(stepperE5, i); + tmc_parse_drv_status(stepperE5, n); #endif #if AXIS_IS_TMC(E6) - tmc_parse_drv_status(stepperE6, i); + tmc_parse_drv_status(stepperE6, n); #endif #if AXIS_IS_TMC(E7) - tmc_parse_drv_status(stepperE7, i); + tmc_parse_drv_status(stepperE7, n); #endif } @@ -889,9 +943,10 @@ * M122 report functions */ - void tmc_report_all(bool print_x, const bool print_y, const bool print_z, const bool print_e) { - #define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM, print_x, print_y, print_z, print_e); }while(0) - #define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM, print_x, print_y, print_z, print_e); }while(0) + 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); @@ -1015,72 +1070,91 @@ } #endif - static void tmc_get_registers(TMC_get_registers_enum i, const bool print_x, const bool print_y, const bool print_z, const bool print_e) { - if (print_x) { + 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, i); + tmc_get_registers(stepperX, n); #endif #if AXIS_IS_TMC(X2) - tmc_get_registers(stepperX2, i); + tmc_get_registers(stepperX2, n); #endif } - if (print_y) { + if (TERN0(HAS_Y_AXIS, y)) { #if AXIS_IS_TMC(Y) - tmc_get_registers(stepperY, i); + tmc_get_registers(stepperY, n); #endif #if AXIS_IS_TMC(Y2) - tmc_get_registers(stepperY2, i); + tmc_get_registers(stepperY2, n); #endif } - if (print_z) { + if (TERN0(HAS_Z_AXIS, z)) { #if AXIS_IS_TMC(Z) - tmc_get_registers(stepperZ, i); + tmc_get_registers(stepperZ, n); #endif #if AXIS_IS_TMC(Z2) - tmc_get_registers(stepperZ2, i); + tmc_get_registers(stepperZ2, n); #endif #if AXIS_IS_TMC(Z3) - tmc_get_registers(stepperZ3, i); + tmc_get_registers(stepperZ3, n); #endif #if AXIS_IS_TMC(Z4) - tmc_get_registers(stepperZ4, i); + tmc_get_registers(stepperZ4, n); #endif } - if (print_e) { + #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, i); + tmc_get_registers(stepperE0, n); #endif #if AXIS_IS_TMC(E1) - tmc_get_registers(stepperE1, i); + tmc_get_registers(stepperE1, n); #endif #if AXIS_IS_TMC(E2) - tmc_get_registers(stepperE2, i); + tmc_get_registers(stepperE2, n); #endif #if AXIS_IS_TMC(E3) - tmc_get_registers(stepperE3, i); + tmc_get_registers(stepperE3, n); #endif #if AXIS_IS_TMC(E4) - tmc_get_registers(stepperE4, i); + tmc_get_registers(stepperE4, n); #endif #if AXIS_IS_TMC(E5) - tmc_get_registers(stepperE5, i); + tmc_get_registers(stepperE5, n); #endif #if AXIS_IS_TMC(E6) - tmc_get_registers(stepperE6, i); + tmc_get_registers(stepperE6, n); #endif #if AXIS_IS_TMC(E7) - tmc_get_registers(stepperE7, i); + tmc_get_registers(stepperE7, n); #endif } SERIAL_EOL(); } - void tmc_get_registers(bool print_x, bool print_y, bool print_z, bool print_e) { - #define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM, print_x, print_y, print_z, print_e); }while(0) + 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"); @@ -1138,6 +1212,114 @@ #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() { @@ -1165,6 +1347,24 @@ #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 @@ -1191,93 +1391,3 @@ #endif } #endif // HAS_TMC_SPI - -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 "); - - const char *stat; - switch (test_result) { - default: - case 0: stat = PSTR("OK"); break; - case 1: stat = PSTR("HIGH"); break; - case 2: stat = PSTR("LOW"); break; - } - SERIAL_ECHOPGM_P(stat); - SERIAL_EOL(); - - return test_result; -} - -void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e) { - uint8_t axis_connection = 0; - - if (test_x) { - #if AXIS_IS_TMC(X) - axis_connection += test_connection(stepperX); - #endif - #if AXIS_IS_TMC(X2) - axis_connection += test_connection(stepperX2); - #endif - } - - if (test_y) { - #if AXIS_IS_TMC(Y) - axis_connection += test_connection(stepperY); - #endif - #if AXIS_IS_TMC(Y2) - axis_connection += test_connection(stepperY2); - #endif - } - - if (test_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 (test_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_MESSAGEPGM(MSG_ERROR_TMC); -} - -#endif // HAS_TRINAMIC_CONFIG diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index 1767313ba2..c10bab6274 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -45,6 +45,12 @@ constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const u return 12650000UL * msteps / (256 * thrs * spmm); } +typedef struct { + uint8_t toff; + int8_t hend; + uint8_t hstrt; +} chopper_timing_t; + template class TMCStorage { protected: @@ -58,27 +64,21 @@ class TMCStorage { uint8_t otpw_count = 0, error_count = 0; bool flag_otpw = false; - inline bool getOTPW() { return flag_otpw; } - inline void clear_otpw() { flag_otpw = 0; } + bool getOTPW() { return flag_otpw; } + void clear_otpw() { flag_otpw = 0; } #endif - inline uint16_t getMilliamps() { return val_mA; } + uint16_t getMilliamps() { return val_mA; } - inline void printLabel() { + void printLabel() { SERIAL_CHAR(AXIS_LETTER); if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID); } struct { - #if ENABLED(HAS_STEALTHCHOP) - bool stealthChop_enabled = false; - #endif - #if ENABLED(HYBRID_THRESHOLD) - uint8_t hybrid_thrs = 0; - #endif - #if ENABLED(USE_SENSORLESS) - int16_t homing_thrs = 0; - #endif + OPTCODE(HAS_STEALTHCHOP, bool stealthChop_enabled = false) + OPTCODE(HYBRID_THRESHOLD, uint8_t hybrid_thrs = 0) + OPTCODE(USE_SENSORLESS, int16_t homing_thrs = 0) } stored; }; @@ -97,55 +97,61 @@ class TMCMarlin : public TMC, public TMCStorage { 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) {} - inline uint16_t rms_current() { return TMC::rms_current(); } - inline void rms_current(uint16_t mA) { + uint16_t rms_current() { return TMC::rms_current(); } + void rms_current(uint16_t mA) { this->val_mA = mA; TMC::rms_current(mA); } - inline void rms_current(const uint16_t mA, const float mult) { + void rms_current(const uint16_t mA, const float mult) { this->val_mA = mA; TMC::rms_current(mA, mult); } - inline uint16_t get_microstep_counter() { return TMC::MSCNT(); } + uint16_t get_microstep_counter() { return TMC::MSCNT(); } #if HAS_STEALTHCHOP - inline bool get_stealthChop() { return this->en_pwm_mode(); } - inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } - inline void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); } - inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } - inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_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_LCD_MENU, this->stored.hybrid_thrs = thrs); + TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs); } #endif #if USE_SENSORLESS - inline int16_t homing_threshold() { return TMC::sgt(); } + 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_LCD_MENU, this->stored.homing_thrs = sgt_val); + TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val); } #if ENABLED(SPI_ENDSTOPS) bool test_stall_status(); #endif #endif - #if HAS_LCD_MENU - inline void refresh_stepper_current() { rms_current(this->val_mA); } + #if HAS_MARLINUI_MENU + void refresh_stepper_current() { rms_current(this->val_mA); } #if ENABLED(HYBRID_THRESHOLD) - inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } #endif #if USE_SENSORLESS - inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } #endif #endif @@ -167,39 +173,45 @@ class TMCMarlin : public TMC220 {} uint16_t rms_current() { return TMC2208Stepper::rms_current(); } - inline void rms_current(const uint16_t mA) { + void rms_current(const uint16_t mA) { this->val_mA = mA; TMC2208Stepper::rms_current(mA); } - inline void rms_current(const uint16_t mA, const float mult) { + void rms_current(const uint16_t mA, const float mult) { this->val_mA = mA; TMC2208Stepper::rms_current(mA, mult); } - inline uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); } + uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); } #if HAS_STEALTHCHOP - inline bool get_stealthChop() { return !this->en_spreadCycle(); } - inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } - inline void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); } - inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } - inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_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_LCD_MENU, this->stored.hybrid_thrs = thrs); + TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs); } #endif - #if HAS_LCD_MENU - inline void refresh_stepper_current() { rms_current(this->val_mA); } + #if HAS_MARLINUI_MENU + void refresh_stepper_current() { rms_current(this->val_mA); } #if ENABLED(HYBRID_THRESHOLD) - inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } #endif #endif }; @@ -215,50 +227,56 @@ class TMCMarlin : public TMC220 {} uint8_t get_address() { return slave_address; } uint16_t rms_current() { return TMC2209Stepper::rms_current(); } - inline void rms_current(const uint16_t mA) { + void rms_current(const uint16_t mA) { this->val_mA = mA; TMC2209Stepper::rms_current(mA); } - inline void rms_current(const uint16_t mA, const float mult) { + void rms_current(const uint16_t mA, const float mult) { this->val_mA = mA; TMC2209Stepper::rms_current(mA, mult); } - inline uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); } + uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); } #if HAS_STEALTHCHOP - inline bool get_stealthChop() { return !this->en_spreadCycle(); } - inline bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; } - inline void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); } - inline void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); } - inline bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_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_LCD_MENU, this->stored.hybrid_thrs = thrs); + TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs); } #endif #if USE_SENSORLESS - inline int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); } + 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_LCD_MENU, this->stored.homing_thrs = sgt_val); + TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val); } #endif - #if HAS_LCD_MENU - inline void refresh_stepper_current() { rms_current(this->val_mA); } + #if HAS_MARLINUI_MENU + void refresh_stepper_current() { rms_current(this->val_mA); } #if ENABLED(HYBRID_THRESHOLD) - inline void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } + void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); } #endif #if USE_SENSORLESS - inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } #endif #endif @@ -275,27 +293,33 @@ class TMCMarlin : public TMC266 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) {} - inline uint16_t rms_current() { return TMC2660Stepper::rms_current(); } - inline void rms_current(const uint16_t mA) { + uint16_t rms_current() { return TMC2660Stepper::rms_current(); } + void rms_current(const uint16_t mA) { this->val_mA = mA; TMC2660Stepper::rms_current(mA); } - inline uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); } + 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 - inline int16_t homing_threshold() { return TMC2660Stepper::sgt(); } + 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_LCD_MENU, this->stored.homing_thrs = sgt_val); + TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val); } #endif - #if HAS_LCD_MENU - inline void refresh_stepper_current() { rms_current(this->val_mA); } + #if HAS_MARLINUI_MENU + void refresh_stepper_current() { rms_current(this->val_mA); } #if USE_SENSORLESS - inline void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } + void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); } #endif #endif @@ -303,52 +327,15 @@ class TMCMarlin : public TMC266 sgt_max = 63; }; -template -void tmc_print_current(TMC &st) { - st.printLabel(); - SERIAL_ECHOLNPAIR(" driver current: ", st.getMilliamps()); -} - -#if ENABLED(MONITOR_DRIVER_STATUS) - template - void tmc_report_otpw(TMC &st) { - st.printLabel(); - SERIAL_ECHOPGM(" temperature prewarn triggered: "); - serialprint_truefalse(st.getOTPW()); - SERIAL_EOL(); - } - template - void tmc_clear_otpw(TMC &st) { - st.clear_otpw(); - st.printLabel(); - SERIAL_ECHOLNPGM(" prewarn flag cleared"); - } -#endif -#if ENABLED(HYBRID_THRESHOLD) - template - void tmc_print_pwmthrs(TMC &st) { - st.printLabel(); - SERIAL_ECHOLNPAIR(" stealthChop max speed: ", st.get_pwm_thrs()); - } -#endif -#if USE_SENSORLESS - template - void tmc_print_sgt(TMC &st) { - st.printLabel(); - SERIAL_ECHOPGM(" homing sensitivity: "); - SERIAL_PRINTLN(st.homing_threshold(), DEC); - } -#endif - void monitor_tmc_drivers(); -void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z, const bool test_e); +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(const bool print_x, const bool print_y, const bool print_z, const bool print_e); - void tmc_get_registers(const bool print_x, const bool print_y, const bool print_z, const bool print_e); + void tmc_report_all(LOGICAL_AXIS_DECL(const bool, true)); + void tmc_get_registers(LOGICAL_AXIS_ARGS(const bool)); #endif /** @@ -361,18 +348,11 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z #if USE_SENSORLESS // Track enabled status of stealthChop and only re-enable where applicable - struct sensorless_t { bool x, y, z, x2, y2, z2, z3, z4; }; + 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; - - struct slow_homing_t { - xy_ulong_t acceleration; - #if ENABLED(HAS_CLASSIC_JERK) - xy_float_t jerk_xy; - #endif - }; #endif bool tmc_enable_stallguard(TMC2130Stepper &st); @@ -402,8 +382,8 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z #endif // USE_SENSORLESS +#endif // HAS_TRINAMIC_CONFIG + #if HAS_TMC_SPI void tmc_init_cs_pins(); #endif - -#endif // HAS_TRINAMIC_CONFIG diff --git a/Marlin/src/feature/tramming.h b/Marlin/src/feature/tramming.h index eb27fe82fe..925659e29d 100644 --- a/Marlin/src/feature/tramming.h +++ b/Marlin/src/feature/tramming.h @@ -28,12 +28,12 @@ #error "TRAMMING_SCREW_THREAD must be equal to 30, 31, 40, 41, 50, or 51." #endif -constexpr xy_pos_t screws_tilt_adjust_pos[] = TRAMMING_POINT_XY; +constexpr xy_pos_t tramming_points[] = TRAMMING_POINT_XY; -#define G35_PROBE_COUNT COUNT(screws_tilt_adjust_pos) +#define G35_PROBE_COUNT COUNT(tramming_points) static_assert(WITHIN(G35_PROBE_COUNT, 3, 6), "TRAMMING_POINT_XY requires between 3 and 6 XY positions."); -#define VALIDATE_TRAMMING_POINT(N) static_assert(N >= G35_PROBE_COUNT || Probe::build_time::can_reach(screws_tilt_adjust_pos[N]), \ +#define VALIDATE_TRAMMING_POINT(N) static_assert(N >= G35_PROBE_COUNT || 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.") VALIDATE_TRAMMING_POINT(0); VALIDATE_TRAMMING_POINT(1); VALIDATE_TRAMMING_POINT(2); VALIDATE_TRAMMING_POINT(3); VALIDATE_TRAMMING_POINT(4); VALIDATE_TRAMMING_POINT(5); diff --git a/Marlin/src/feature/twibus.cpp b/Marlin/src/feature/twibus.cpp index 755224544c..9aec6b0305 100644 --- a/Marlin/src/feature/twibus.cpp +++ b/Marlin/src/feature/twibus.cpp @@ -28,13 +28,24 @@ #include +#include "../libs/hex_print.h" + TWIBus i2c; TWIBus::TWIBus() { #if I2C_SLAVE_ADDRESS == 0 - Wire.begin(); // No address joins the BUS as the master + + #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 + + Wire.begin(I2C_SLAVE_ADDRESS); // Join the bus as a slave + #endif reset(); } @@ -45,33 +56,32 @@ void TWIBus::reset() { } void TWIBus::address(const uint8_t adr) { - if (!WITHIN(adr, 8, 127)) { + if (!WITHIN(adr, 8, 127)) SERIAL_ECHO_MSG("Bad I2C address (8-127)"); - } addr = adr; - debug(PSTR("address"), adr); + debug(F("address"), adr); } void TWIBus::addbyte(const char c) { if (buffer_s >= COUNT(buffer)) return; buffer[buffer_s++] = c; - debug(PSTR("addbyte"), c); + debug(F("addbyte"), c); } void TWIBus::addbytes(char src[], uint8_t bytes) { - debug(PSTR("addbytes"), bytes); + debug(F("addbytes"), bytes); while (bytes--) addbyte(*src++); } void TWIBus::addstring(char str[]) { - debug(PSTR("addstring"), str); + debug(F("addstring"), str); while (char c = *str++) addbyte(c); } void TWIBus::send() { - debug(PSTR("send"), addr); + debug(F("send"), addr); Wire.beginTransmission(I2C_ADDRESS(addr)); Wire.write(buffer, buffer_s); @@ -81,21 +91,60 @@ void TWIBus::send() { } // static -void TWIBus::echoprefix(uint8_t bytes, const char pref[], uint8_t adr) { +void TWIBus::echoprefix(uint8_t bytes, FSTR_P const pref, uint8_t adr) { SERIAL_ECHO_START(); - SERIAL_ECHOPGM_P(pref); - SERIAL_ECHOPAIR(": from:", adr, " bytes:", bytes, " data:"); + SERIAL_ECHOF(pref); + SERIAL_ECHOPGM(": from:", adr, " bytes:", bytes, " data:"); } // static -void TWIBus::echodata(uint8_t bytes, const char pref[], uint8_t adr) { +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()) SERIAL_CHAR(Wire.read()); + + 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(const char pref[], uint8_t adr) { - echoprefix(buffer_s, pref, adr); +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(); } @@ -103,22 +152,22 @@ void TWIBus::echobuffer(const char pref[], uint8_t adr) { bool TWIBus::request(const uint8_t bytes) { if (!addr) return false; - debug(PSTR("request"), bytes); + debug(F("request"), bytes); // requestFrom() is a blocking function if (Wire.requestFrom(I2C_ADDRESS(addr), bytes) == 0) { - debug("request fail", I2C_ADDRESS(addr)); + debug(F("request fail"), I2C_ADDRESS(addr)); return false; } return true; } -void TWIBus::relay(const uint8_t bytes) { - debug(PSTR("relay"), bytes); +void TWIBus::relay(const uint8_t bytes, const uint8_t style/*=0*/) { + debug(F("relay"), bytes); if (request(bytes)) - echodata(bytes, PSTR("i2c-reply"), addr); + echodata(bytes, F("i2c-reply"), addr, style); } uint8_t TWIBus::capture(char *dst, const uint8_t bytes) { @@ -127,7 +176,7 @@ uint8_t TWIBus::capture(char *dst, const uint8_t bytes) { while (count < bytes && Wire.available()) dst[count++] = Wire.read(); - debug(PSTR("capture"), count); + debug(F("capture"), count); return count; } @@ -140,12 +189,12 @@ void TWIBus::flush() { #if I2C_SLAVE_ADDRESS > 0 void TWIBus::receive(uint8_t bytes) { - debug(PSTR("receive"), bytes); - echodata(bytes, PSTR("i2c-receive"), 0); + debug(F("receive"), bytes); + echodata(bytes, F("i2c-receive"), 0); } void TWIBus::reply(char str[]/*=nullptr*/) { - debug(PSTR("reply"), str); + debug(F("reply"), str); if (str) { reset(); @@ -170,18 +219,16 @@ void TWIBus::flush() { #if ENABLED(DEBUG_TWIBUS) // static - void TWIBus::prefix(const char func[]) { - SERIAL_ECHOPGM("TWIBus::"); - SERIAL_ECHOPGM_P(func); - SERIAL_ECHOPGM(": "); + void TWIBus::prefix(FSTR_P const func) { + SERIAL_ECHOPGM("TWIBus::", func, ": "); } - void TWIBus::debug(const char func[], uint32_t adr) { + void TWIBus::debug(FSTR_P const func, uint32_t adr) { if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(adr); } } - void TWIBus::debug(const char func[], char c) { + void TWIBus::debug(FSTR_P const func, char c) { if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(c); } } - void TWIBus::debug(const char func[], char str[]) { + void TWIBus::debug(FSTR_P const func, char str[]) { if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(str); } } diff --git a/Marlin/src/feature/twibus.h b/Marlin/src/feature/twibus.h index 5939153482..806e2a147a 100644 --- a/Marlin/src/feature/twibus.h +++ b/Marlin/src/feature/twibus.h @@ -142,7 +142,7 @@ class TWIBus { * * @param bytes the number of bytes to request */ - static void echoprefix(uint8_t bytes, const char prefix[], uint8_t adr); + static void echoprefix(uint8_t bytes, FSTR_P const prefix, uint8_t adr); /** * @brief Echo data on the bus to serial @@ -150,8 +150,9 @@ class TWIBus { * 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, const char prefix[], uint8_t adr); + 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 @@ -160,7 +161,7 @@ class TWIBus { * * @param bytes the number of bytes to request */ - void echobuffer(const char prefix[], uint8_t adr); + void echobuffer(FSTR_P const prefix, uint8_t adr); /** * @brief Request data from the slave device and wait. @@ -192,10 +193,11 @@ class TWIBus { * @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); + void relay(const uint8_t bytes, const uint8_t style=0); #if I2C_SLAVE_ADDRESS > 0 @@ -237,17 +239,16 @@ class TWIBus { * @brief Prints a debug message * @details Prints a simple debug message "TWIBus::function: value" */ - static void prefix(const char func[]); - static void debug(const char func[], uint32_t adr); - static void debug(const char func[], char c); - static void debug(const char func[], char adr[]); - static inline void debug(const char func[], uint8_t v) { debug(func, (uint32_t)v); } + 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 inline void debug(const char[], uint32_t) {} - static inline void debug(const char[], char) {} - static inline void debug(const char[], char[]) {} - static inline void debug(const char[], uint8_t) {} + 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 index 1b4eb44749..9dba21d821 100644 --- a/Marlin/src/feature/z_stepper_align.cpp +++ b/Marlin/src/feature/z_stepper_align.cpp @@ -33,35 +33,35 @@ ZStepperAlign z_stepper_align; -xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPER_DRIVERS]; +xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPERS]; -#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) - xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPER_DRIVERS]; +#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_STEPPER_DRIVERS, + static_assert(COUNT(xy_init) == NUM_Z_STEPPERS, "Z_STEPPER_ALIGN_XY requires " - #if NUM_Z_STEPPER_DRIVERS == 4 + #if NUM_Z_STEPPERS == 4 "four {X,Y} entries (Z, Z2, Z3, and Z4)." - #elif NUM_Z_STEPPER_DRIVERS == 3 + #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_STEPPER_DRIVERS || Probe::build_time::can_reach(xy_init[N]), \ + #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_STEPPER_DRIVERS >= 3 // First probe point... + #if NUM_Z_STEPPERS >= 3 // First probe point... #if !Z_STEPPERS_ORIENTATION { probe.min_x(), probe.min_y() }, // SW #elif Z_STEPPERS_ORIENTATION == 1 @@ -73,7 +73,7 @@ void ZStepperAlign::reset_to_default() { #else #error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)." #endif - #if NUM_Z_STEPPER_DRIVERS == 4 // 3 more points... + #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 @@ -103,14 +103,14 @@ void ZStepperAlign::reset_to_default() { COPY(xy, xy_init); - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #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_STEPPER_DRIVERS, + COUNT(stepper_xy_init) == NUM_Z_STEPPERS, "Z_STEPPER_ALIGN_STEPPER_XY requires " - #if NUM_Z_STEPPER_DRIVERS == 4 + #if NUM_Z_STEPPERS == 4 "four {X,Y} entries (Z, Z2, Z3, and Z4)." - #elif NUM_Z_STEPPER_DRIVERS == 3 + #elif NUM_Z_STEPPERS == 3 "three {X,Y} entries (Z, Z2, and Z3)." #endif ); diff --git a/Marlin/src/feature/z_stepper_align.h b/Marlin/src/feature/z_stepper_align.h index e1b235b52c..f3f9abb845 100644 --- a/Marlin/src/feature/z_stepper_align.h +++ b/Marlin/src/feature/z_stepper_align.h @@ -29,10 +29,10 @@ class ZStepperAlign { public: - static xy_pos_t xy[NUM_Z_STEPPER_DRIVERS]; + static xy_pos_t xy[NUM_Z_STEPPERS]; - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) - static xy_pos_t stepper_xy[NUM_Z_STEPPER_DRIVERS]; + #if HAS_Z_STEPPER_ALIGN_STEPPER_XY + static xy_pos_t stepper_xy[NUM_Z_STEPPERS]; #endif static void reset_to_default(); diff --git a/Marlin/src/gcode/bedlevel/G26.cpp b/Marlin/src/gcode/bedlevel/G26.cpp index fe039def73..aa6e0c1f0c 100644 --- a/Marlin/src/gcode/bedlevel/G26.cpp +++ b/Marlin/src/gcode/bedlevel/G26.cpp @@ -71,8 +71,8 @@ * pliers while holding the LCD Click wheel in a depressed state. If you do not have * an LCD, you must specify a value if you use P. * - * Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and - * un-retraction is at 1.2mm These numbers will be scaled by the specified amount + * 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. @@ -107,7 +107,6 @@ #include "../../MarlinCore.h" #include "../../module/planner.h" -#include "../../module/stepper.h" #include "../../module/motion.h" #include "../../module/tool_change.h" #include "../../module/temperature.h" @@ -156,15 +155,15 @@ constexpr float g26_e_axis_feedrate = 0.025; static MeshFlags circle_flags; float g26_random_deviation = 0.0; -#if HAS_LCD_MENU +#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_P(GET_TEXT(MSG_G26_CANCELED), 99); - TERN_(HAS_LCD_MENU, ui.quick_feedback()); + ui.set_status(GET_TEXT_F(MSG_G26_CANCELED), 99); + TERN_(HAS_MARLINUI_MENU, ui.quick_feedback()); ui.wait_for_release(); return true; } @@ -291,12 +290,12 @@ typedef struct { 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)) { + if (circle_flags.marked(p1.x, p1.y) && circle_flags.marked(p2.x, p2.y)) { xyz_pos_t s, e; - s.x = _GET_MESH_X(p1.x) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; - e.x = _GET_MESH_X(p2.x) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx; - s.y = _GET_MESH_Y(p1.y) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; - e.y = _GET_MESH_Y(p2.y) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy; + 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 @@ -306,7 +305,7 @@ typedef struct { LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1); #endif - if (position_is_reachable(s.x, s.y) && position_is_reachable(e.x, e.y)) + if (position_is_reachable(s) && position_is_reachable(e)) print_line_from_here_to_there(s, e); } } @@ -323,19 +322,15 @@ typedef struct { if (bed_temp > 25) { #if HAS_WIRED_LCD - ui.set_status_P(GET_TEXT(MSG_G26_HEATING_BED), 99); + ui.set_status(GET_TEXT_F(MSG_G26_HEATING_BED), 99); ui.quick_feedback(); - TERN_(HAS_LCD_MENU, ui.capture()); + TERN_(HAS_MARLINUI_MENU, ui.capture()); #endif thermalManager.setTargetBed(bed_temp); // Wait for the temperature to stabilize - if (!thermalManager.wait_for_bed(true - #if G26_CLICK_CAN_CANCEL - , true - #endif - ) - ) return G26_ERR; + if (!thermalManager.wait_for_bed(true OPTARG(G26_CLICK_CAN_CANCEL, true))) + return G26_ERR; } #else @@ -346,17 +341,14 @@ typedef struct { // Start heating the active nozzle #if HAS_WIRED_LCD - ui.set_status_P(GET_TEXT(MSG_G26_HEATING_NOZZLE), 99); + 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 - #if G26_CLICK_CAN_CANCEL - , true - #endif - )) return G26_ERR; + if (!thermalManager.wait_for_hotend(active_extruder, true OPTARG(G26_CLICK_CAN_CANCEL, true))) + return G26_ERR; #if HAS_WIRED_LCD ui.reset_status(); @@ -372,14 +364,14 @@ typedef struct { bool prime_nozzle() { const feedRate_t fr_slow_e = planner.settings.max_feedrate_mm_s[E_AXIS] / 15.0f; - #if HAS_LCD_MENU && !HAS_TOUCH_BUTTONS // ui.button_pressed issue with touchscreen + #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_P(GET_TEXT(MSG_G26_MANUAL_PRIME), 99); + ui.set_status(GET_TEXT_F(MSG_G26_MANUAL_PRIME), 99); ui.chirp(); destination = current_position; @@ -406,7 +398,7 @@ typedef struct { ui.wait_for_release(); - ui.set_status_P(GET_TEXT(MSG_G26_PRIME_DONE), 99); + ui.set_status(GET_TEXT_F(MSG_G26_PRIME_DONE), 99); ui.quick_feedback(); ui.release(); } @@ -414,7 +406,7 @@ typedef struct { #endif { #if HAS_WIRED_LCD - ui.set_status_P(GET_TEXT(MSG_G26_FIXED_LENGTH), 99); + ui.set_status(GET_TEXT_F(MSG_G26_FIXED_LENGTH), 99); ui.quick_feedback(); #endif destination = current_position; @@ -455,7 +447,7 @@ typedef struct { GRID_LOOP(i, j) { if (!circle_flags.marked(i, j)) { // We found a circle that needs to be printed - const xy_pos_t m = { _GET_MESH_X(i), _GET_MESH_Y(j) }; + 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(); @@ -527,7 +519,7 @@ void GcodeSuite::G26() { g26.keep_heaters_on = parser.boolval('K'); // Accept 'I' if temperature presets are defined - #if PREHEAT_COUNT + #if HAS_PREHEAT const uint8_t preset_index = parser.seenval('I') ? _MIN(parser.value_byte(), PREHEAT_COUNT - 1) + 1 : 0; #endif @@ -537,7 +529,7 @@ void GcodeSuite::G26() { celsius_t bedtemp = 0; // Use the 'I' index if temperature presets are defined - #if PREHEAT_COUNT + #if HAS_PREHEAT if (preset_index) bedtemp = ui.material_preset[preset_index - 1].bed_temp; #endif @@ -546,7 +538,7 @@ void GcodeSuite::G26() { if (bedtemp) { if (!WITHIN(bedtemp, 40, BED_MAX_TARGET)) { - SERIAL_ECHOLNPAIR("?Specified bed temperature not plausible (40-", BED_MAX_TARGET, "C)."); + SERIAL_ECHOLNPGM("?Specified bed temperature not plausible (40-", BED_MAX_TARGET, "C)."); return; } g26.bed_temp = bedtemp; @@ -586,7 +578,7 @@ void GcodeSuite::G26() { if (parser.seen('P')) { if (!parser.has_value()) { - #if HAS_LCD_MENU + #if HAS_MARLINUI_MENU g26.prime_flag = -1; #else SERIAL_ECHOLNPGM("?Prime length must be specified when not using an LCD."); @@ -620,7 +612,7 @@ void GcodeSuite::G26() { celsius_t noztemp = 0; // Accept 'I' if temperature presets are defined - #if PREHEAT_COUNT + #if HAS_PREHEAT if (preset_index) noztemp = ui.material_preset[preset_index - 1].hotend_temp; #endif @@ -645,15 +637,15 @@ void GcodeSuite::G26() { // Get repeat from 'R', otherwise do one full circuit int16_t g26_repeats; - #if HAS_LCD_MENU + #if HAS_MARLINUI_MENU g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1); #else - if (!parser.seen('R')) { + 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; } - else - g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1; #endif if (g26_repeats < 1) { SERIAL_ECHOLNPGM("?(R)epeat value not plausible; must be at least 1."); @@ -671,7 +663,7 @@ void GcodeSuite::G26() { /** * Wait until all parameters are verified before altering the state! */ - set_bed_leveling_enabled(!parser.seen('D')); + set_bed_leveling_enabled(!parser.seen_test('D')); do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES); @@ -706,7 +698,7 @@ void GcodeSuite::G26() { move_to(destination, 0.0); move_to(destination, g26.ooze_amount); - TERN_(HAS_LCD_MENU, ui.capture()); + TERN_(HAS_MARLINUI_MENU, ui.capture()); #if DISABLED(ARC_SUPPORT) @@ -736,7 +728,7 @@ void GcodeSuite::G26() { if (location.valid()) { TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_POINT_START)); - const xy_pos_t circle = _GET_MESH_POS(location.pos); + 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; @@ -745,8 +737,8 @@ void GcodeSuite::G26() { // 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; + r = st.x >= (GRID_MAX_POINTS_X) - 1, + b = st.y >= (GRID_MAX_POINTS_Y) - 1; #if ENABLED(ARC_SUPPORT) @@ -802,7 +794,7 @@ void GcodeSuite::G26() { destination = current_position; } - if (TERN0(HAS_LCD_MENU, user_canceled())) goto LEAVE; // Check if the user wants to stop the Mesh Validation + if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE; // Check if the user wants to stop the Mesh Validation #else // !ARC_SUPPORT @@ -826,7 +818,7 @@ void GcodeSuite::G26() { for (int8_t ind = start_ind; ind <= end_ind; ind++) { - if (TERN0(HAS_LCD_MENU, user_canceled())) goto LEAVE; // Check if the user wants to stop the Mesh Validation + 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 }; @@ -853,7 +845,7 @@ void GcodeSuite::G26() { 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_LCD_MENU, user_canceled())) goto LEAVE; + if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE; } SERIAL_FLUSH(); // Prevent host M105 buffer overrun. @@ -861,7 +853,7 @@ void GcodeSuite::G26() { } while (--g26_repeats && location.valid()); LEAVE: - ui.set_status_P(GET_TEXT(MSG_G26_LEAVING), -1); + ui.set_status(GET_TEXT_F(MSG_G26_LEAVING), -1); TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, ExtUI::G26_FINISH)); g26.retract_filament(destination); @@ -873,7 +865,7 @@ void GcodeSuite::G26() { planner.calculate_volumetric_multipliers(); #endif - TERN_(HAS_LCD_MENU, ui.release()); // Give back control of the LCD + TERN_(HAS_MARLINUI_MENU, ui.release()); // Give back control of the LCD if (!g26.keep_heaters_on) { TERN_(HAS_HEATED_BED, thermalManager.setTargetBed(0)); diff --git a/Marlin/src/gcode/bedlevel/G35.cpp b/Marlin/src/gcode/bedlevel/G35.cpp index ad2cc67db0..dd828bf0c8 100644 --- a/Marlin/src/gcode/bedlevel/G35.cpp +++ b/Marlin/src/gcode/bedlevel/G35.cpp @@ -33,6 +33,10 @@ #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" @@ -91,8 +95,8 @@ void GcodeSuite::G35() { // Disable duplication mode on homing TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false)); - // Home all before this procedure - home_all_axes(); + // 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; @@ -102,23 +106,25 @@ void GcodeSuite::G35() { // 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) - do_blocking_move_to_z(SUM_TERN(BLTOUCH_HS_MODE, Z_CLEARANCE_BETWEEN_PROBES, 7)); - const float z_probed_height = probe.probe_at_point(screws_tilt_adjust_pos[i], PROBE_PT_RAISE, 0, true); + + // 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_ECHOPAIR("G35 failed at point ", i, " ("); + SERIAL_ECHOPGM("G35 failed at point ", i + 1, " ("); SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i])); SERIAL_CHAR(')'); - SERIAL_ECHOLNPAIR_P(SP_X_STR, screws_tilt_adjust_pos[i].x, SP_Y_STR, screws_tilt_adjust_pos[i].y); + 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_ECHOPAIR("Probing point ", i, " ("); - DEBUG_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i])); + DEBUG_ECHOPGM("Probing point ", i + 1, " ("); + DEBUG_ECHOF(FPSTR(pgm_read_ptr(&tramming_point_name[i]))); DEBUG_CHAR(')'); - DEBUG_ECHOLNPAIR_P(SP_X_STR, screws_tilt_adjust_pos[i].x, SP_Y_STR, screws_tilt_adjust_pos[i].y, SP_Z_STR, z_probed_height); + 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; @@ -130,7 +136,7 @@ void GcodeSuite::G35() { // 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]; + 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); @@ -138,9 +144,9 @@ void GcodeSuite::G35() { SERIAL_ECHOPGM("Turn "); SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i])); - SERIAL_ECHOPAIR(" ", (screw_thread & 1) == (adjust > 0) ? "CCW" : "CW", " by ", abs(full_turns), " turns"); - if (minutes) SERIAL_ECHOPAIR(" and ", abs(minutes), " minutes"); - if (ENABLED(REPORT_TRAMMING_MM)) SERIAL_ECHOPAIR(" (", -diff, "mm)"); + 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(); } } @@ -149,7 +155,7 @@ void GcodeSuite::G35() { // Restore the active tool after homing #if HAS_MULTI_HOTEND - tool_change(old_tool_index, DISABLED(PARKING_EXTRUDER)); // Fetch previous toolhead if not PARKING_EXTRUDER + 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) diff --git a/Marlin/src/gcode/bedlevel/G42.cpp b/Marlin/src/gcode/bedlevel/G42.cpp index a2896ed6c7..cb5ed97406 100644 --- a/Marlin/src/gcode/bedlevel/G42.cpp +++ b/Marlin/src/gcode/bedlevel/G42.cpp @@ -48,8 +48,8 @@ void GcodeSuite::G42() { // Move to current_position, as modified by I, J, P parameters destination = current_position; - if (hasI) destination.x = _GET_MESH_X(ix); - if (hasJ) destination.y = _GET_MESH_Y(iy); + 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')) { diff --git a/Marlin/src/gcode/bedlevel/M420.cpp b/Marlin/src/gcode/bedlevel/M420.cpp index e42a590265..277f95b9ff 100644 --- a/Marlin/src/gcode/bedlevel/M420.cpp +++ b/Marlin/src/gcode/bedlevel/M420.cpp @@ -67,18 +67,21 @@ void GcodeSuite::M420() { 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) - bilinear_start.set(x_min, y_min); - bilinear_grid_spacing.set((x_max - x_min) / (GRID_MAX_CELLS_X), - (y_max - y_min) / (GRID_MAX_CELLS_Y)); + 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) { - Z_VALUES(x, y) = 0.001 * random(-200, 200); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, Z_VALUES(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_ECHOPAIR(" (", x_min); + SERIAL_ECHOPGM(" (", x_min); SERIAL_CHAR(','); SERIAL_ECHO(y_min); - SERIAL_ECHOPAIR(")-(", x_max); + SERIAL_ECHOPGM(")-(", x_max); SERIAL_CHAR(','); SERIAL_ECHO(y_max); SERIAL_ECHOLNPGM(")"); } @@ -98,7 +101,7 @@ void GcodeSuite::M420() { set_bed_leveling_enabled(false); #if ENABLED(EEPROM_SETTINGS) - const int8_t storage_slot = parser.has_value() ? parser.value_int() : ubl.storage_slot; + const int8_t storage_slot = parser.has_value() ? parser.value_int() : bedlevel.storage_slot; const int16_t a = settings.calc_num_meshes(); if (!a) { @@ -108,12 +111,12 @@ void GcodeSuite::M420() { if (!WITHIN(storage_slot, 0, a - 1)) { SERIAL_ECHOLNPGM("?Invalid storage slot."); - SERIAL_ECHOLNPAIR("?Use 0 to ", a - 1); + SERIAL_ECHOLNPGM("?Use 0 to ", a - 1); return; } settings.load_mesh(storage_slot); - ubl.storage_slot = storage_slot; + bedlevel.storage_slot = storage_slot; #else @@ -125,15 +128,15 @@ void GcodeSuite::M420() { // L or V display the map info if (parser.seen("LV")) { - ubl.display_map(parser.byteval('T')); + bedlevel.display_map(parser.byteval('T')); SERIAL_ECHOPGM("Mesh is "); - if (!ubl.mesh_is_valid()) SERIAL_ECHOPGM("in"); - SERIAL_ECHOLNPAIR("valid\nStorage slot: ", ubl.storage_slot); + 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('V'); + const bool seenV = parser.seen_test('V'); #if HAS_MESH @@ -145,7 +148,7 @@ void GcodeSuite::M420() { #if ENABLED(AUTO_BED_LEVELING_UBL) set_bed_leveling_enabled(false); - ubl.adjust_mesh_to_mean(true, cval); + bedlevel.adjust_mesh_to_mean(true, cval); #else @@ -153,7 +156,7 @@ void GcodeSuite::M420() { // Get the sum and average of all mesh values float mesh_sum = 0; - GRID_LOOP(x, y) mesh_sum += Z_VALUES(x, y); + GRID_LOOP(x, y) mesh_sum += bedlevel.z_values[x][y]; const float zmean = mesh_sum / float(GRID_MAX_POINTS); #else // midrange @@ -161,7 +164,7 @@ void GcodeSuite::M420() { // Find the low and high mesh values. float lo_val = 100, hi_val = -100; GRID_LOOP(x, y) { - const float z = Z_VALUES(x, y); + const float z = bedlevel.z_values[x][y]; NOMORE(lo_val, z); NOLESS(hi_val, z); } @@ -175,10 +178,10 @@ void GcodeSuite::M420() { set_bed_leveling_enabled(false); // Subtract the mean from all values GRID_LOOP(x, y) { - Z_VALUES(x, y) -= zmean; - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, Z_VALUES(x, y))); + bedlevel.z_values[x][y] -= zmean; + TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y])); } - TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate()); + TERN_(AUTO_BED_LEVELING_BILINEAR, bedlevel.refresh_bed_level()); } #endif @@ -195,15 +198,14 @@ void GcodeSuite::M420() { // V to print the matrix or mesh if (seenV) { #if ABL_PLANAR - planner.bed_level_matrix.debug(PSTR("Bed Level Correction Matrix:")); + planner.bed_level_matrix.debug(F("Bed Level Correction Matrix:")); #else if (leveling_is_valid()) { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - print_bilinear_leveling_grid(); - TERN_(ABL_BILINEAR_SUBDIVISION, print_bilinear_leveling_grid_virt()); + bedlevel.print_leveling_grid(); #elif ENABLED(MESH_BED_LEVELING) SERIAL_ECHOLNPGM("Mesh Bed Level data:"); - mbl.report_mesh(); + bedlevel.report_mesh(); #endif } #endif @@ -242,4 +244,18 @@ void GcodeSuite::M420() { 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 index 735fad015e..0fef5ad683 100644 --- a/Marlin/src/gcode/bedlevel/abl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/abl/G29.cpp @@ -32,19 +32,9 @@ #include "../../../feature/bedlevel/bedlevel.h" #include "../../../module/motion.h" #include "../../../module/planner.h" -#include "../../../module/stepper.h" #include "../../../module/probe.h" #include "../../queue.h" -#if ENABLED(PROBE_TEMP_COMPENSATION) - #include "../../../feature/probe_temp_comp.h" - #include "../../../module/temperature.h" -#endif - -#if HAS_STATUS_MESSAGE - #include "../../../lcd/marlinui.h" -#endif - #if ENABLED(AUTO_BED_LEVELING_LINEAR) #include "../../../libs/least_squares_fit.h" #endif @@ -53,21 +43,22 @@ #include "../../../libs/vector_3.h" #endif -#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) -#include "../../../core/debug_out.h" - +#include "../../../lcd/marlinui.h" #if ENABLED(EXTENSIBLE_UI) #include "../../../lcd/extui/ui_api.h" -#endif - -#if ENABLED(DWIN_CREALITY_LCD) - #include "../../../lcd/dwin/e3v2/dwin.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 @@ -82,7 +73,20 @@ #endif #endif -#define G29_RETURN(b) return TERN_(G29_RETRY_AND_RECOVER, b) +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 { @@ -93,10 +97,22 @@ public: 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 + static constexpr int abl_points = GRID_MAX_POINTS; + #endif + #if ABL_USES_GRID xy_int8_t meshCount; @@ -113,16 +129,9 @@ public: static constexpr xy_uint8_t grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y }; #endif - #if ENABLED(AUTO_BED_LEVELING_LINEAR) - int abl_points; - #elif ENABLED(AUTO_BED_LEVELING_3POINT) - static constexpr int abl_points = 3; - #else - static constexpr int abl_points = GRID_MAX_POINTS; - #endif - #if ENABLED(AUTO_BED_LEVELING_BILINEAR) float Z_offset; + bed_mesh_t z_values; #endif #if ENABLED(AUTO_BED_LEVELING_LINEAR) @@ -217,55 +226,65 @@ public: * 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; - TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE)); - + // Keep powered steppers from timing out reset_stepper_timeout(); - const bool seenQ = EITHER(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen('Q'); + // 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) - const uint8_t old_debug_flags = marlin_debug_flags; - if (seenQ) marlin_debug_flags |= MARLIN_DEBUG_LEVELING; - DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING)); - if (DEBUGGING(LEVELING)) log_machine_info(); - marlin_debug_flags = old_debug_flags; - if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false); + if (seenQ || DEBUGGING(LEVELING)) log_machine_info(); + if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false, false); #endif - const bool seenA = TERN0(PROBE_MANUALLY, parser.seen('A')), + // 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; - if (!no_action && planner.leveling_active && parser.boolval('O')) { // Auto-level only if needed + // 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); + G29_RETURN(false, false); } // Send 'N' to force homing before G29 (internal only) - if (parser.seen('N')) - process_subcommands_now_P(TERN(G28_L0_ENSURES_LEVELING_OFF, PSTR("G28L0"), G28_STR)); + 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); + 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) { - TERN_(HAS_MULTI_HOTEND, if (active_extruder) tool_change(0)); + #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; @@ -275,40 +294,48 @@ G29_TYPE GcodeSuite::G29() { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - const bool seen_w = parser.seen('W'); + const bool seen_w = parser.seen_test('W'); if (seen_w) { if (!leveling_is_valid()) { SERIAL_ERROR_MSG("No bilinear grid"); - G29_RETURN(false); + 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); + 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 - bilinear_start.x + 0.5 * abl.gridSpacing.x) / abl.gridSpacing.x; - j = (ry - bilinear_start.y + 0.5 * abl.gridSpacing.y) / abl.gridSpacing.y; + 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); - z_values[i][j] = rz; - TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate()); + bedlevel.z_values[i][j] = rz; + bedlevel.refresh_bed_level(); TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, rz)); - set_bed_leveling_enabled(abl.reenable); - if (abl.reenable) report_current_position(); + if (abl.reenable) { + set_bed_leveling_enabled(true); + report_current_position(); + } } - G29_RETURN(false); - } // parser.seen('W') + G29_RETURN(false, false); + } // parser.seen_test('W') #else @@ -317,15 +344,15 @@ G29_TYPE GcodeSuite::G29() { #endif // Jettison bed leveling data - if (!seen_w && parser.seen('J')) { + if (!seen_w && parser.seen_test('J')) { reset_bed_level(); - G29_RETURN(false); + 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); + G29_RETURN(false, false); } abl.dryrun = parser.boolval('D') || TERN0(PROBE_MANUALLY, no_action); @@ -346,11 +373,11 @@ G29_TYPE GcodeSuite::G29() { 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); + 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); + G29_RETURN(false, false); } abl.abl_points = abl.grid_points.x * abl.grid_points.y; @@ -381,11 +408,11 @@ G29_TYPE GcodeSuite::G29() { if (!probe.good_bounds(abl.probe_position_lf, abl.probe_position_rb)) { if (DEBUGGING(LEVELING)) { - DEBUG_ECHOLNPAIR("G29 L", abl.probe_position_lf.x, " R", abl.probe_position_rb.x, + 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); + G29_RETURN(false, false); } // Probe at the points of a lattice grid @@ -405,48 +432,90 @@ G29_TYPE GcodeSuite::G29() { #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 - #if BOTH(AUTO_BED_LEVELING_BILINEAR, EXTENSIBLE_UI) - ExtUI::onMeshLevelingStart(); - #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, LEVELING_BED_TEMP); + 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 defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \ + || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \ + || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W) + 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 + // 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 HAS_BED_PROBE - if (ENABLED(BLTOUCH)) - do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE); - else if (probe.deploy()) { + #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); + G29_RETURN(false, true); } #endif #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - if (TERN1(PROBE_MANUALLY, !no_action) - && (abl.gridSpacing != bilinear_grid_spacing || abl.probe_position_lf != bilinear_start) + 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(); - // Initialize a grid with the given dimensions - bilinear_grid_spacing = abl.gridSpacing; - bilinear_start = abl.probe_position_lf; - // 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 @@ -472,15 +541,14 @@ G29_TYPE GcodeSuite::G29() { // Query G29 status if (abl.verbose_level || seenQ) { SERIAL_ECHOPGM("Manual G29 "); - if (g29_in_progress) { - SERIAL_ECHOPAIR("point ", _MIN(abl.abl_probe_index + 1, abl.abl_points)); - SERIAL_ECHOLNPAIR(" of ", abl.abl_points); - } + if (g29_in_progress) + SERIAL_ECHOLNPGM("point ", _MIN(abl.abl_probe_index + 1, abl.abl_points), " of ", abl.abl_points); else SERIAL_ECHOLNPGM("idle"); } - if (no_action) G29_RETURN(false); + // 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 @@ -515,10 +583,10 @@ G29_TYPE GcodeSuite::G29() { #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) const float newz = abl.measured_z + abl.Z_offset; - z_values[abl.meshCount.x][abl.meshCount.y] = newz; + abl.z_values[abl.meshCount.x][abl.meshCount.y] = newz; TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, newz)); - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR_P(PSTR("Save X"), abl.meshCount.x, SP_Y_STR, abl.meshCount.y, SP_Z_STR, abl.measured_z + abl.Z_offset); + 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 } @@ -555,7 +623,7 @@ G29_TYPE GcodeSuite::G29() { // 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); + G29_RETURN(false, true); } else { // Leveling done! Fall through to G29 finishing code below @@ -568,12 +636,12 @@ G29_TYPE GcodeSuite::G29() { // Probe at 3 arbitrary points if (abl.abl_probe_index < abl.abl_points) { - abl.probePos = points[abl.abl_probe_index]; + 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); + G29_RETURN(false, true); } else { @@ -605,8 +673,6 @@ G29_TYPE GcodeSuite::G29() { bool zig = PR_OUTER_SIZE & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION - abl.measured_z = 0; - // 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++) { @@ -640,8 +706,8 @@ G29_TYPE GcodeSuite::G29() { // Avoid probing outside the round or hexagonal area if (TERN0(IS_KINEMATIC, !probe.can_reach(abl.probePos))) continue; - if (abl.verbose_level) SERIAL_ECHOLNPAIR("Probing mesh point ", pt_index, "/", abl.abl_points, "."); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), int(pt_index), int(abl.abl_points))); + 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); @@ -650,12 +716,6 @@ G29_TYPE GcodeSuite::G29() { break; // Breaks out of both loops } - #if ENABLED(PROBE_TEMP_COMPENSATION) - temp_comp.compensate_measurement(TSI_BED, thermalManager.degBed(), abl.measured_z); - temp_comp.compensate_measurement(TSI_PROBE, thermalManager.degProbe(), abl.measured_z); - TERN_(USE_TEMP_EXT_COMPENSATION, temp_comp.compensate_measurement(TSI_EXT, thermalManager.degHotend(), abl.measured_z)); - #endif - #if ENABLED(AUTO_BED_LEVELING_LINEAR) abl.mean += abl.measured_z; @@ -669,12 +729,12 @@ G29_TYPE GcodeSuite::G29() { #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) const float z = abl.measured_z + abl.Z_offset; - z_values[abl.meshCount.x][abl.meshCount.y] = z; + abl.z_values[abl.meshCount.x][abl.meshCount.y] = z; TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z)); #endif - abl.reenable = false; + abl.reenable = false; // Don't re-enable after modifying the mesh idle_no_sleep(); } // inner @@ -685,11 +745,11 @@ G29_TYPE GcodeSuite::G29() { // Probe at 3 arbitrary points LOOP_L_N(i, 3) { - if (abl.verbose_level) SERIAL_ECHOLNPAIR("Probing point ", i + 1, "/3."); - TERN_(HAS_STATUS_MESSAGE, ui.status_printf_P(0, PSTR(S_FMT " %i/3"), GET_TEXT(MSG_PROBING_MESH), int(i + 1))); + 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 = points[i]; + 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); @@ -740,12 +800,16 @@ G29_TYPE GcodeSuite::G29() { if (!isnan(abl.measured_z)) { #if ENABLED(AUTO_BED_LEVELING_BILINEAR) - if (!abl.dryrun) extrapolate_unprobed_bed_level(); - print_bilinear_leveling_grid(); + 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(); - refresh_bed_level(); - - TERN_(ABL_BILINEAR_SUBDIVISION, print_bilinear_leveling_grid_virt()); + bedlevel.print_leveling_grid(); + } #elif ENABLED(AUTO_BED_LEVELING_LINEAR) @@ -788,14 +852,14 @@ G29_TYPE GcodeSuite::G29() { float min_diff = 999; - auto print_topo_map = [&](PGM_P const title, const bool get_min) { - SERIAL_ECHOPGM_P(title); + 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); + 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; @@ -807,19 +871,19 @@ G29_TYPE GcodeSuite::G29() { SERIAL_EOL(); }; - print_topo_map(PSTR("\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); + 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(PSTR("\nCorrected Bed Height vs. Bed Topology:\n"), false); + print_topo_map(F("\nCorrected Bed Height vs. Bed Topology:\n"), false); } // abl.topography_map @@ -830,7 +894,7 @@ G29_TYPE GcodeSuite::G29() { // For LINEAR and 3POINT leveling correct the current position if (abl.verbose_level > 0) - planner.bed_level_matrix.debug(PSTR("\n\nBed Level Correction Matrix:")); + planner.bed_level_matrix.debug(F("\n\nBed Level Correction Matrix:")); if (!abl.dryrun) { // @@ -847,7 +911,7 @@ G29_TYPE GcodeSuite::G29() { && 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_ECHOLNPAIR("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z); converted.z = simple_z; } @@ -855,53 +919,41 @@ G29_TYPE GcodeSuite::G29() { 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) - if (!abl.dryrun) { - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("G29 uncorrected Z:", current_position.z); + // Auto Bed Leveling is complete! Enable if possible. + if (!abl.dryrun || abl.reenable) set_bed_leveling_enabled(true); - // Unapply the offset because it is going to be immediately applied - // and cause compensation movement in Z - const float fade_scaling_factor = TERN(ENABLE_LEVELING_FADE_HEIGHT, planner.fade_scaling_factor_for_z(current_position.z), 1); - current_position.z -= fade_scaling_factor * bilinear_z_offset(current_position); + #endif - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(" corrected Z:", current_position.z); - } - - #endif // ABL_PLANAR - - // Auto Bed Leveling is complete! Enable if possible. - planner.leveling_active = !abl.dryrun || abl.reenable; } // !isnan(abl.measured_z) // Restore state after probing if (!faux) restore_feedrate_and_scaling(); - // Sync the planner from the current_position - if (planner.leveling_active) sync_plan_position(); - - #if HAS_BED_PROBE - probe.move_z_after_probing(); - #endif + TERN_(HAS_BED_PROBE, probe.move_z_after_probing()); #ifdef Z_PROBE_END_SCRIPT - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Probe End Script: ", Z_PROBE_END_SCRIPT); planner.synchronize(); - process_subcommands_now_P(PSTR(Z_PROBE_END_SCRIPT)); + process_subcommands_now(F(Z_PROBE_END_SCRIPT)); #endif - #if ENABLED(DWIN_CREALITY_LCD) - DWIN_CompletedLeveling(); - #endif + TERN_(HAS_MULTI_HOTEND, if (abl.tool_index != 0) tool_change(abl.tool_index)); report_current_position(); - TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE)); - - G29_RETURN(isnan(abl.measured_z)); - + 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 index 182dc32515..3272ea1bd2 100644 --- a/Marlin/src/gcode/bedlevel/abl/M421.cpp +++ b/Marlin/src/gcode/bedlevel/abl/M421.cpp @@ -58,11 +58,11 @@ void GcodeSuite::M421() { 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) { - z_values[x][y] = zval + (hasQ ? z_values[x][y] : 0); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, z_values[x][y])); + 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])); } } - TERN_(ABL_BILINEAR_SUBDIVISION, bed_level_virt_interpolate()); + bedlevel.refresh_bed_level(); } else SERIAL_ERROR_MSG(STR_ERR_MESH_XY); diff --git a/Marlin/src/gcode/bedlevel/mbl/G29.cpp b/Marlin/src/gcode/bedlevel/mbl/G29.cpp index afc6aad32c..e98f3d5ee3 100644 --- a/Marlin/src/gcode/bedlevel/mbl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/mbl/G29.cpp @@ -36,12 +36,17 @@ #include "../../../libs/buzzer.h" #include "../../../lcd/marlinui.h" #include "../../../module/motion.h" -#include "../../../module/stepper.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."); } @@ -59,8 +64,16 @@ inline void echo_not_entered(const char c) { SERIAL_CHAR(c); SERIAL_ECHOLNPGM(" * S5 Reset and disable mesh */ void GcodeSuite::G29() { + DEBUG_SECTION(log_G29, "G29", true); - TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE)); + // 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; @@ -70,24 +83,66 @@ void GcodeSuite::G29() { 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); - mbl.report_mesh(); + bedlevel.report_mesh(); } else SERIAL_ECHOLNPGM("has no data."); break; case MeshStart: - mbl.reset(); + bedlevel.reset(); mbl_probe_index = 0; if (!ui.wait_for_move) { - queue.inject_P(parser.seen('N') ? PSTR("G28" TERN(G28_L0_ENSURES_LEVELING_OFF, "L0", "") "\nG29S2") : PSTR("G29S2")); + 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 defined(SAFE_BED_LEVELING_START_X) || defined(SAFE_BED_LEVELING_START_Y) || defined(SAFE_BED_LEVELING_START_Z) \ + || defined(SAFE_BED_LEVELING_START_I) || defined(SAFE_BED_LEVELING_START_J) || defined(SAFE_BED_LEVELING_START_K) \ + || defined(SAFE_BED_LEVELING_START_U) || defined(SAFE_BED_LEVELING_START_V) || defined(SAFE_BED_LEVELING_START_W) + 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 + return; } state = MeshNext; @@ -100,15 +155,19 @@ void GcodeSuite::G29() { // For each G29 S2... if (mbl_probe_index == 0) { // Move close to the bed before the first point - do_blocking_move_to_z(0.4f + do_blocking_move_to_z( #ifdef MANUAL_PROBE_START_Z - + (MANUAL_PROBE_START_Z) - 0.4f + MANUAL_PROBE_START_Z + #else + 0.4f #endif ); } else { // Save Z for the previous mesh position - mbl.set_zigzag_z(mbl_probe_index - 1, current_position.z); + 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. @@ -116,8 +175,8 @@ void GcodeSuite::G29() { // 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); - mbl.zigzag(mbl_probe_index++, ix, iy); - _manual_goto_xy({ mbl.index_to_xpos[ix], mbl.index_to_ypos[iy] }); + 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 @@ -134,9 +193,8 @@ void GcodeSuite::G29() { // After recording the last point, activate home and activate mbl_probe_index = -1; SERIAL_ECHOLNPGM("Mesh probing done."); - TERN_(HAS_STATUS_MESSAGE, ui.set_status(GET_TEXT(MSG_MESH_DONE))); - BUZZ(100, 659); - BUZZ(100, 698); + TERN_(HAS_STATUS_MESSAGE, LCD_MESSAGE(MSG_MESH_DONE)); + OKAY_BUZZ(); home_all_axes(); set_bed_leveling_enabled(true); @@ -148,6 +206,7 @@ void GcodeSuite::G29() { #endif TERN_(LCD_BED_LEVELING, ui.wait_for_move = false); + TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone()); } break; @@ -155,7 +214,7 @@ void GcodeSuite::G29() { if (parser.seenval('I')) { ix = parser.value_int(); if (!WITHIN(ix, 0, (GRID_MAX_POINTS_X) - 1)) { - SERIAL_ECHOLNPAIR("I out of range (0-", (GRID_MAX_POINTS_X) - 1, ")"); + SERIAL_ECHOLNPGM("I out of range (0-", (GRID_MAX_POINTS_X) - 1, ")"); return; } } @@ -165,7 +224,7 @@ void GcodeSuite::G29() { if (parser.seenval('J')) { iy = parser.value_int(); if (!WITHIN(iy, 0, (GRID_MAX_POINTS_Y) - 1)) { - SERIAL_ECHOLNPAIR("J out of range (0-", (GRID_MAX_POINTS_Y) - 1, ")"); + SERIAL_ECHOLNPGM("J out of range (0-", (GRID_MAX_POINTS_Y) - 1, ")"); return; } } @@ -173,8 +232,9 @@ void GcodeSuite::G29() { return echo_not_entered('J'); if (parser.seenval('Z')) { - mbl.z_values[ix][iy] = parser.value_linear_units(); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ix, iy, mbl.z_values[ix][iy])); + 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'); @@ -182,7 +242,7 @@ void GcodeSuite::G29() { case MeshSetZOffset: if (parser.seenval('Z')) - mbl.z_offset = parser.value_linear_units(); + bedlevel.z_offset = parser.value_linear_units(); else return echo_not_entered('Z'); break; @@ -194,8 +254,8 @@ void GcodeSuite::G29() { } // switch(state) if (state == MeshNext) { - SERIAL_ECHOLNPAIR("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_P(0, PSTR(S_FMT " %i/%i"), GET_TEXT(MSG_PROBING_MESH), _MIN(mbl_probe_index, GRID_MAX_POINTS), int(GRID_MAX_POINTS))); + 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(); diff --git a/Marlin/src/gcode/bedlevel/mbl/M421.cpp b/Marlin/src/gcode/bedlevel/mbl/M421.cpp index 1368ab0bef..e23683d55f 100644 --- a/Marlin/src/gcode/bedlevel/mbl/M421.cpp +++ b/Marlin/src/gcode/bedlevel/mbl/M421.cpp @@ -43,9 +43,9 @@ */ void GcodeSuite::M421() { const bool hasX = parser.seen('X'), hasI = parser.seen('I'); - const int8_t ix = hasI ? parser.value_int() : hasX ? mbl.probe_index_x(RAW_X_POSITION(parser.value_linear_units())) : -1; + 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 ? mbl.probe_index_y(RAW_Y_POSITION(parser.value_linear_units())) : -1; + 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)) @@ -53,7 +53,7 @@ void GcodeSuite::M421() { else if (ix < 0 || iy < 0) SERIAL_ERROR_MSG(STR_ERR_MESH_XY); else - mbl.set_z(ix, iy, parser.value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0)); + 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 index 932503d72b..90deab3d2e 100644 --- a/Marlin/src/gcode/bedlevel/ubl/G29.cpp +++ b/Marlin/src/gcode/bedlevel/ubl/G29.cpp @@ -39,7 +39,7 @@ void GcodeSuite::G29() { TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE)); - ubl.G29(); + bedlevel.G29(); TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE)); } diff --git a/Marlin/src/gcode/bedlevel/ubl/M421.cpp b/Marlin/src/gcode/bedlevel/ubl/M421.cpp index 600c1fc8ba..ff74f4c6f7 100644 --- a/Marlin/src/gcode/bedlevel/ubl/M421.cpp +++ b/Marlin/src/gcode/bedlevel/ubl/M421.cpp @@ -21,7 +21,7 @@ */ /** - * unified.cpp - Unified Bed Leveling + * M421.cpp - Unified Bed Leveling */ #include "../../../inc/MarlinConfig.h" @@ -33,37 +33,43 @@ #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 - * M421 I J Q - * M421 I J N - * M421 C Z - * M421 C Q + * 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('C'), - hasN = parser.seen('N'), + hasC = parser.seen_test('C'), + hasN = parser.seen_test('N'), hasZ = parser.seen('Z'), hasQ = !hasZ && parser.seen('Q'); - if (hasC) ij = ubl.find_closest_mesh_point_of_type(REAL, current_position); + 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 = ubl.z_values[ij.x][ij.y]; - zval = hasN ? NAN : parser.value_linear_units() + (hasQ ? zval : 0); - TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(ij.x, ij.y, zval)); + 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)); } } diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 10e094cba7..a6dff2d75a 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -24,8 +24,9 @@ #include "../gcode.h" -#include "../../module/stepper.h" #include "../../module/endstops.h" +#include "../../module/planner.h" +#include "../../module/stepper.h" // for various #if HAS_MULTI_HOTEND #include "../../module/tool_change.h" @@ -35,6 +36,10 @@ #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 @@ -46,19 +51,16 @@ #endif #include "../../lcd/marlinui.h" -#if ENABLED(DWIN_CREALITY_LCD) - #include "../../lcd/dwin/e3v2/dwin.h" -#endif #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_L64XX // set L6470 absolute position registers to counts - #include "../../libs/L64XX/L64XX_Marlin.h" -#endif - -#if ENABLED(LASER_MOVE_G28_OFF) +#if ENABLED(LASER_FEATURE) #include "../../feature/spindle_laser.h" #endif @@ -73,44 +75,35 @@ current_position.set(0.0, 0.0); sync_plan_position(); - const int x_axis_home_dir = x_home_dir(active_extruder); + const int x_axis_home_dir = TOOL_X_HOME_DIR(active_extruder); - const float mlx = max_length(X_AXIS), - mly = max_length(Y_AXIS), - mlratio = mlx > mly ? mly / mlx : mlx / mly, - fr_mm_s = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0); + // 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 { - tmc_enable_stallguard(stepperX) - , tmc_enable_stallguard(stepperY) - , false - , false - #if AXIS_HAS_STALLGUARD(X2) - || tmc_enable_stallguard(stepperX2) - #endif - , false - #if AXIS_HAS_STALLGUARD(Y2) - || tmc_enable_stallguard(stepperY2) - #endif + NUM_AXIS_LIST( + TERN0(X_SENSORLESS, tmc_enable_stallguard(stepperX)), + TERN0(Y_SENSORLESS, tmc_enable_stallguard(stepperY)), + 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 * mlx * x_axis_home_dir, 1.5 * mly * Y_HOME_DIR, fr_mm_s); + 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) - tmc_disable_stallguard(stepperX, stealth_states.x); - tmc_disable_stallguard(stepperY, stealth_states.y); - #if AXIS_HAS_STALLGUARD(X2) - tmc_disable_stallguard(stepperX2, stealth_states.x2); - #endif - #if AXIS_HAS_STALLGUARD(Y2) - tmc_disable_stallguard(stepperY2, stealth_states.y2); - #endif + 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 } @@ -155,7 +148,7 @@ homeaxis(Z_AXIS); } else { - LCD_MESSAGEPGM(MSG_ZPROBE_OUT); + LCD_MESSAGE(MSG_ZPROBE_OUT); SERIAL_ECHO_MSG(STR_ZPROBE_OUT_SER); } } @@ -164,25 +157,29 @@ #if ENABLED(IMPROVE_HOMING_RELIABILITY) - slow_homing_t begin_slow_homing() { - slow_homing_t slow_homing{0}; - slow_homing.acceleration.set(planner.settings.max_acceleration_mm_per_s2[X_AXIS], - planner.settings.max_acceleration_mm_per_s2[Y_AXIS]); + 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 - slow_homing.jerk_xy = planner.max_jerk; - planner.max_jerk.set(0, 0); + motion_state.jerk_state = planner.max_jerk; + planner.max_jerk.set(0, 0 OPTARG(DELTA, 0)); #endif - planner.reset_acceleration_rates(); - return slow_homing; + planner.refresh_acceleration_rates(); + return motion_state; } - void end_slow_homing(const slow_homing_t &slow_homing) { - planner.settings.max_acceleration_mm_per_s2[X_AXIS] = slow_homing.acceleration.x; - planner.settings.max_acceleration_mm_per_s2[Y_AXIS] = slow_homing.acceleration.y; - TERN_(HAS_CLASSIC_JERK, planner.max_jerk = slow_homing.jerk_xy); - planner.reset_acceleration_rates(); + 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 @@ -195,9 +192,9 @@ * None Home to all axes with no parameters. * With QUICK_HOME enabled XY will home together, then Z. * - * O Home only if position is unknown - * - * Rn Raise by n mm/inches before homing + * 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 * @@ -209,9 +206,14 @@ void GcodeSuite::G28() { DEBUG_SECTION(log_G28, "G28", DEBUGGING(LEVELING)); if (DEBUGGING(LEVELING)) log_machine_info(); - TERN_(LASER_MOVE_G28_OFF, cutter.set_inline_enabled(false)); // turn off laser + TERN_(BD_SENSOR, bdl.config_state = 0); - TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOMING)); + /** + * 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; @@ -219,8 +221,8 @@ void GcodeSuite::G28() { #endif #if ENABLED(MARLIN_DEV_MODE) - if (parser.seen('S')) { - LOOP_XYZ(a) set_axis_is_at_home((AxisEnum)a); + 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(); @@ -229,12 +231,17 @@ void GcodeSuite::G28() { #endif // Home (O)nly if position is unknown - if (!axes_should_home() && parser.boolval('O')) { + if (!axes_should_home() && parser.seen_test('O')) { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> homing not needed, skip"); return; } - TERN_(DWIN_CREALITY_LCD, DWIN_StartHoming()); + #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! @@ -242,12 +249,16 @@ void GcodeSuite::G28() { SET_SOFT_ENDSTOP_LOOSE(false); // Reset a leftover 'loose' motion state // Disable the leveling matrix before homing - #if HAS_LEVELING - const bool leveling_restore_state = parser.boolval('L', TERN(RESTORE_LEVELING_AFTER_G28, planner.leveling_active, ENABLED(ENABLE_LEVELING_AFTER_G28))); - IF_ENABLED(PROBE_MANUALLY, g29_in_progress = false); // Cancel the active G29 session - set_bed_leveling_enabled(false); + #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); @@ -255,37 +266,77 @@ void GcodeSuite::G28() { 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) + #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 = [](PGM_P const s, const int16_t a, const int16_t b){ - DEBUG_ECHOPGM_P(s); DEBUG_ECHOLNPAIR(" current: ", a, " -> ", b); + 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(PSTR("X"), tmc_save_current_X, 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(PSTR("X2"), tmc_save_current_X2, 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(PSTR("Y"), tmc_save_current_Y, 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(PSTR("Y2"), tmc_save_current_Y2, 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 - TERN_(IMPROVE_HOMING_RELIABILITY, slow_homing_t slow_homing = begin_slow_homing()); + #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 @@ -311,7 +362,7 @@ void GcodeSuite::G28() { home_delta(); - TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing)); + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); #elif ENABLED(AXEL_TPARA) @@ -321,33 +372,53 @@ void GcodeSuite::G28() { #else - const bool homeZ = parser.seen('Z'), - needX = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(X_AXIS))), - needY = homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(Y_AXIS))), - homeX = needX || parser.seen('X'), homeY = needY || parser.seen('Y'), - home_all = homeX == homeY && homeX == homeZ, // All or None - doX = home_all || homeX, doY = home_all || homeY, doZ = home_all || homeZ; + #define _UNSAFE(A) (homeZ && TERN0(Z_SAFE_HOMING, axes_should_home(_BV(A##_AXIS)))) - #if ENABLED(HOME_Z_FIRST) - - if (doZ) homeaxis(Z_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; #endif - const float z_homing_height = parser.seenval('R') ? parser.value_linear_units() : Z_HOMING_HEIGHT; + TERN_(HOME_Z_FIRST, if (doZ) homeaxis(Z_AXIS)); - if (z_homing_height && (doX || doY || TERN0(Z_SAFE_HOMING, doZ))) { + 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_ECHOLNPAIR("Raise Z (before homing) by ", z_homing_height); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Raise Z (before homing) by ", z_homing_height); do_z_clearance(z_homing_height); TERN_(BLTOUCH, bltouch.init()); } - #if ENABLED(QUICK_HOME) - - if (doX && doY) quick_home_xy(); - - #endif + // Diagonal move first if both are homing + TERN_(QUICK_HOME, if (doX && doY) quick_home_xy()); // Home Y (before X) if (ENABLED(HOME_Y_BEFORE_X) && (doY || TERN0(CODEPENDENT_XY_HOMING, doX))) @@ -379,23 +450,51 @@ void GcodeSuite::G28() { #endif } + #if BOTH(FOAMCUTTER_XYUV, HAS_I_AXIS) + // Home I (after X) + if (doI) homeaxis(I_AXIS); + #endif + // Home Y (after X) if (DISABLED(HOME_Y_BEFORE_X) && doY) homeaxis(Y_AXIS); - TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing)); + #if BOTH(FOAMCUTTER_XYUV, HAS_J_AXIS) + // Home J (after Y) + if (doJ) homeaxis(J_AXIS); + #endif - // Home Z last if homing towards the bed - #if 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 + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); - TERN(Z_SAFE_HOMING, home_z_safely(), homeaxis(Z_AXIS)); - probe.move_z_after_homing(); - } + #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(); @@ -412,7 +511,7 @@ void GcodeSuite::G28() { if (idex_is_duplicating()) { - TERN_(IMPROVE_HOMING_RELIABILITY, slow_homing = begin_slow_homing()); + TERN_(IMPROVE_HOMING_RELIABILITY, saved_motion_state = begin_slow_homing()); // Always home the 2nd (right) extruder first active_extruder = 1; @@ -431,7 +530,7 @@ void GcodeSuite::G28() { dual_x_carriage_mode = IDEX_saved_mode; set_duplication_enabled(IDEX_saved_duplication_state); - TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(slow_homing)); + TERN_(IMPROVE_HOMING_RELIABILITY, end_slow_homing(saved_motion_state)); } #endif // DUAL_X_CARRIAGE @@ -441,12 +540,10 @@ void GcodeSuite::G28() { // Clear endstop state for polled stallGuard endstops TERN_(SPI_ENDSTOPS, endstops.clear_endstop_state()); - #if BOTH(DELTA, DELTA_HOME_TO_SAFE_ZONE) - // move to a height where we can use the full xy-area - do_blocking_move_to_z(delta_clip_start_height); - #endif + // 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_(HAS_LEVELING, set_bed_leveling_enabled(leveling_restore_state)); + TERN_(CAN_SET_LEVELING_AFTER_G28, if (leveling_restore_state) set_bed_leveling_enabled()); restore_feedrate_and_scaling(); @@ -469,32 +566,42 @@ void GcodeSuite::G28() { #if HAS_CURRENT_HOME(Y2) stepperY2.rms_current(tmc_save_current_Y2); #endif - #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_(DWIN_CREALITY_LCD, DWIN_CompletedHoming()); - TERN_(EXTENSIBLE_UI, ExtUI::onHomingComplete()); + 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(M_IDLE)); + TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(old_grblstate)); - #if HAS_L64XX - // Set L6470 absolute position registers to counts - // constexpr *might* move this to PROGMEM. - // If not, this will need a PROGMEM directive and an accessor. - static constexpr AxisEnum L64XX_axis_xref[MAX_L64XX] = { - X_AXIS, Y_AXIS, Z_AXIS, - X_AXIS, Y_AXIS, Z_AXIS, Z_AXIS, - E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS, E_AXIS - }; - for (uint8_t j = 1; j <= L64XX::chain[0]; j++) { - const uint8_t cv = L64XX::chain[j]; - L64xxManager.set_param((L64XX_axis_t)cv, L6470_ABS_POS, stepper.position(L64XX_axis_xref[cv])); - } - #endif } diff --git a/Marlin/src/gcode/calibrate/G33.cpp b/Marlin/src/gcode/calibrate/G33.cpp index d60099a330..656c23cb78 100644 --- a/Marlin/src/gcode/calibrate/G33.cpp +++ b/Marlin/src/gcode/calibrate/G33.cpp @@ -27,7 +27,7 @@ #include "../gcode.h" #include "../../module/delta.h" #include "../../module/motion.h" -#include "../../module/stepper.h" +#include "../../module/planner.h" #include "../../module/endstops.h" #include "../../lcd/marlinui.h" @@ -63,7 +63,7 @@ enum CalEnum : char { // the 7 main calibration points - #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 ENABLED(HAS_MULTI_HOTEND) +#if HAS_MULTI_HOTEND const uint8_t old_tool_index = active_extruder; #endif @@ -71,7 +71,9 @@ 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(); } @@ -93,38 +95,35 @@ void ac_cleanup(TERN_(HAS_MULTI_HOTEND, const uint8_t old_tool_index)) { TERN_(HAS_MULTI_HOTEND, tool_change(old_tool_index, true)); } -void print_signed_float(PGM_P const prefix, const_float_t f) { +void print_signed_float(FSTR_P const prefix, const_float_t f) { SERIAL_ECHOPGM(" "); - SERIAL_ECHOPGM_P(prefix); - SERIAL_CHAR(':'); - if (f >= 0) SERIAL_CHAR('+'); - SERIAL_ECHO_F(f, 2); + 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_ECHOPAIR(".Height:", delta_height); + SERIAL_ECHOPGM(".Height:", delta_height); if (end_stops) { - print_signed_float(PSTR("Ex"), delta_endstop_adj.a); - print_signed_float(PSTR("Ey"), delta_endstop_adj.b); - print_signed_float(PSTR("Ez"), delta_endstop_adj.c); + 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_ECHOPAIR(" Radius:", delta_radius); - SERIAL_EOL(); + SERIAL_ECHOLNPGM(" Radius:", delta_radius); SERIAL_CHAR('.'); SERIAL_ECHO_SP(13); } if (tower_angles) { - print_signed_float(PSTR("Tx"), delta_tower_angle_trim.a); - print_signed_float(PSTR("Ty"), delta_tower_angle_trim.b); - print_signed_float(PSTR("Tz"), delta_tower_angle_trim.c); - } - if ((!end_stops && tower_angles) || (end_stops && !tower_angles)) { // XOR - SERIAL_ECHOPAIR(" Radius:", delta_radius); + 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(); } @@ -133,11 +132,11 @@ static void print_calibration_settings(const bool end_stops, const bool tower_an */ static void print_calibration_results(const float z_pt[NPP + 1], const bool tower_points, const bool opposite_points) { SERIAL_ECHOPGM(". "); - print_signed_float(PSTR("c"), z_pt[CEN]); + print_signed_float(F("c"), z_pt[CEN]); if (tower_points) { - print_signed_float(PSTR(" x"), z_pt[__A]); - print_signed_float(PSTR(" y"), z_pt[__B]); - print_signed_float(PSTR(" z"), z_pt[__C]); + 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(); @@ -145,9 +144,9 @@ static void print_calibration_results(const float z_pt[NPP + 1], const bool towe SERIAL_ECHO_SP(13); } if (opposite_points) { - print_signed_float(PSTR("yz"), z_pt[_BC]); - print_signed_float(PSTR("zx"), z_pt[_CA]); - print_signed_float(PSTR("xy"), z_pt[_AB]); + 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(); } @@ -173,9 +172,9 @@ static float std_dev_points(float z_pt[NPP + 1], const bool _0p_cal, const bool /** * - Probe a point */ -static float calibration_probe(const xy_pos_t &xy, const bool stow) { +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, true, false); + 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); @@ -185,7 +184,7 @@ static float calibration_probe(const xy_pos_t &xy, const bool stow) { /** * - Probe a grid */ -static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_points, const bool towers_set, const bool stow_after_each) { +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, @@ -207,11 +206,9 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi if (!_0p_calibration) { - const float dcr = delta_calibration_radius(); - 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); + z_pt[CEN] += calibration_probe(center, stow_after_each, probe_at_offset); if (isnan(z_pt[CEN])) return false; } @@ -222,7 +219,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi 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); + 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); @@ -247,7 +244,7 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi 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); + 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))); @@ -271,10 +268,9 @@ static bool probe_calibration_points(float z_pt[NPP + 1], const int8_t probe_poi * - 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]) { +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}; - const float dcr = delta_calibration_radius(); LOOP_CAL_ALL(rad) { const float a = RADIANS(210 + (360 / NPP) * (rad - 1)), r = (rad == CEN ? 0.0f : dcr); @@ -284,8 +280,8 @@ static void reverse_kinematics_probe_points(float z_pt[NPP + 1], abc_float_t mm_ } } -static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], float z_pt[NPP + 1]) { - const float r_quot = delta_calibration_radius() / delta_radius; +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) @@ -303,19 +299,19 @@ static void forward_kinematics_probe_points(abc_float_t mm_at_pt_axis[NPP + 1], z_pt[_AB] = Zp1(_AB, a) + Zp1(_AB, b) + Zm2(_AB, c); } -static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t delta_e, const float delta_r, abc_float_t delta_t) { +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); + 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); + 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); + 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; @@ -325,31 +321,31 @@ static void calc_kinematics_diff_probe_points(float z_pt[NPP + 1], abc_float_t d recalc_delta_settings(); } -static float auto_tune_h() { - const float r_quot = delta_calibration_radius() / delta_radius; +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() { +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, delta_e, delta_r, delta_t); + 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() { +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_XYZ(axis) { + LOOP_NUM_AXES(axis) { delta_t[axis] = diff; - calc_kinematics_diff_probe_points(z_pt, delta_e, delta_r, delta_t); + 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; @@ -371,6 +367,8 @@ static float auto_tune_a() { * 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 @@ -384,6 +382,16 @@ static float auto_tune_a() { * 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() { @@ -395,7 +403,18 @@ void GcodeSuite::G33() { return; } - const bool towers_set = !parser.seen('T'); + 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) { @@ -415,7 +434,12 @@ void GcodeSuite::G33() { return; } - const bool stow_after_each = parser.seen('E'); + 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, @@ -439,24 +463,13 @@ void GcodeSuite::G33() { SERIAL_ECHOLNPGM("G33 Auto Calibrate"); - const float dcr = delta_calibration_radius(); - - if (!_1p_calibration && !_0p_calibration) { // test if the outer radius is reachable - LOOP_CAL_RAD(axis) { - const float a = RADIANS(210 + (360 / NPP) * (axis - 1)); - if (!position_is_reachable(cos(a) * dcr, sin(a) * dcr)) { - SERIAL_ECHOLNPGM("?Bed calibration radius implausible."); - return; - } - } - } - // 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_P(checkingac); + ui.set_status(checkingac); print_calibration_settings(_endstop_results, _angle_results); @@ -464,6 +477,25 @@ void GcodeSuite::G33() { 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 }; @@ -473,7 +505,7 @@ void GcodeSuite::G33() { // Probe the points zero_std_dev_old = zero_std_dev; - if (!probe_calibration_points(z_at_pt, probe_points, towers_set, stow_after_each)) { + 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)); } @@ -512,11 +544,11 @@ void GcodeSuite::G33() { #define Z0(I) ZP(0, I) // calculate factors - if (_7p_9_center) calibration_radius_factor = 0.9f; - h_factor = auto_tune_h(); - r_factor = auto_tune_r(); - a_factor = auto_tune_a(); - calibration_radius_factor = 1.0f; + 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: @@ -525,7 +557,7 @@ void GcodeSuite::G33() { case 1: test_precision = 0.0f; // forced end - LOOP_XYZ(axis) e_delta[axis] = +Z4(CEN); + LOOP_NUM_AXES(axis) e_delta[axis] = +Z4(CEN); break; case 2: @@ -573,22 +605,31 @@ void GcodeSuite::G33() { // Normalize angles to least-squares if (_angle_results) { float a_sum = 0.0f; - LOOP_XYZ(axis) a_sum += delta_tower_angle_trim[axis]; - LOOP_XYZ(axis) delta_tower_angle_trim[axis] -= a_sum / 3.0f; + 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_XYZ(axis) delta_endstop_adj[axis] -= 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) + 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 @@ -628,13 +669,13 @@ void GcodeSuite::G33() { } } else { // dry run - PGM_P const enddryrun = PSTR("End DRY-RUN"); - SERIAL_ECHOPGM_P(enddryrun); + 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, enddryrun); + 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)); @@ -649,6 +690,9 @@ void GcodeSuite::G33() { 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 index bcca00dd42..1be3952ffe 100644 --- a/Marlin/src/gcode/calibrate/G34.cpp +++ b/Marlin/src/gcode/calibrate/G34.cpp @@ -26,9 +26,12 @@ #include "../gcode.h" #include "../../module/motion.h" -#include "../../module/stepper.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 @@ -39,7 +42,7 @@ void GcodeSuite::G34() { // Home before the alignment procedure - if (!all_axes_trusted()) home_all_axes(); + home_if_needed(); TERN_(HAS_LEVELING, TEMPORARY_BED_LEVELING_STATE(false)); @@ -47,7 +50,7 @@ void GcodeSuite::G34() { TemporaryGlobalEndstopsState unlock_z(false); #ifdef GANTRY_CALIBRATION_COMMANDS_PRE - gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_PRE)); + process_subcommands_now(F(GANTRY_CALIBRATION_COMMANDS_PRE)); if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Sub Commands Processed"); #endif @@ -79,19 +82,19 @@ void GcodeSuite::G34() { 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[Z_AXIS]; + const uint32_t previous_current = stepper.motor_current_setting[1]; // Z stepper.set_digipot_current(1, target_current); - #elif ENABLED(HAS_MOTOR_CURRENT_DAC) + #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 ENABLED(HAS_MOTOR_CURRENT_I2C) + #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_STEPPER_DRIVERS]; + 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); @@ -114,10 +117,6 @@ void GcodeSuite::G34() { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Final Z Move"); do_blocking_move_to_z(zgrind, MMM_TO_MMS(GANTRY_CALIBRATION_FEEDRATE)); - // 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)); - #if _REDUCE_CURRENT // Reset current to original values if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Restore Current"); @@ -127,9 +126,9 @@ void GcodeSuite::G34() { stepper.set_digipot_current(Z_AXIS, previous_current); #elif HAS_MOTOR_CURRENT_PWM stepper.set_digipot_current(1, previous_current); - #elif ENABLED(HAS_MOTOR_CURRENT_DAC) + #elif HAS_MOTOR_CURRENT_DAC stepper_dac.set_current_value(Z_AXIS, previous_current); - #elif ENABLED(HAS_MOTOR_CURRENT_I2C) + #elif HAS_MOTOR_CURRENT_I2C digipot_i2c.set_current(Z_AXIS, previous_current) #elif HAS_TRINAMIC_CONFIG #if AXIS_IS_TMC(Z) @@ -146,9 +145,13 @@ void GcodeSuite::G34() { #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"); - gcode.process_subcommands_now_P(PSTR(GANTRY_CALIBRATION_COMMANDS_POST)); + process_subcommands_now(F(GANTRY_CALIBRATION_COMMANDS_POST)); #endif SET_SOFT_ENDSTOP_LOOSE(false); diff --git a/Marlin/src/gcode/calibrate/G34_M422.cpp b/Marlin/src/gcode/calibrate/G34_M422.cpp index 1614dd6fbd..8cf652cd84 100644 --- a/Marlin/src/gcode/calibrate/G34_M422.cpp +++ b/Marlin/src/gcode/calibrate/G34_M422.cpp @@ -31,7 +31,7 @@ #include "../../module/stepper.h" #include "../../module/planner.h" #include "../../module/probe.h" -#include "../../lcd/marlinui.h" // for LCD_MESSAGEPGM +#include "../../lcd/marlinui.h" // for LCD_MESSAGE #if HAS_LEVELING #include "../../feature/bedlevel/bedlevel.h" @@ -41,13 +41,24 @@ #include "../../module/tool_change.h" #endif -#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) +#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 * @@ -82,9 +93,9 @@ void GcodeSuite::G34() { switch (parser.intval('Z')) { case 1: stepper.set_z1_lock(state); break; case 2: stepper.set_z2_lock(state); break; - #if NUM_Z_STEPPER_DRIVERS >= 3 + #if TRIPLE_Z case 3: stepper.set_z3_lock(state); break; - #if NUM_Z_STEPPER_DRIVERS >= 4 + #if QUAD_Z case 4: stepper.set_z4_lock(state); break; #endif #endif @@ -99,13 +110,6 @@ void GcodeSuite::G34() { #if ENABLED(Z_STEPPER_AUTO_ALIGN) do { // break out on error - #if NUM_Z_STEPPER_DRIVERS == 4 - SERIAL_ECHOLNPGM("Alignment for 4 steppers is Experimental!"); - #elif NUM_Z_STEPPER_DRIVERS > 4 - SERIAL_ECHOLNPGM("Alignment not supported for over 4 steppers"); - break; - #endif - 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)."); @@ -118,7 +122,7 @@ void GcodeSuite::G34() { break; } - const float z_auto_align_amplification = TERN(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, Z_STEPPER_ALIGN_AMP, parser.floatval('A', Z_STEPPER_ALIGN_AMP)); + 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; @@ -149,7 +153,7 @@ void GcodeSuite::G34() { // 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 + 7.0f * BOTH(BLTOUCH, BLTOUCH_HS_MODE)) + #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 @@ -157,19 +161,17 @@ void GcodeSuite::G34() { 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( - #if NUM_Z_STEPPER_DRIVERS == 3 - _MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 0)) - #elif NUM_Z_STEPPER_DRIVERS == 4 - _MAX(magnitude2(0, 1), magnitude2(1, 2), magnitude2(2, 3), - magnitude2(3, 0), magnitude2(0, 2), magnitude2(1, 3)) - #else - magnitude2(0, 1) + 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 - if (!all_axes_trusted()) home_all_axes(); + home_if_needed(); // Move the Z coordinate realm towards the positive - dirty trick current_position.z += z_probe * 0.5f; @@ -177,16 +179,16 @@ void GcodeSuite::G34() { // 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 DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) - float last_z_align_move[NUM_Z_STEPPER_DRIVERS] = ARRAY_N(NUM_Z_STEPPER_DRIVERS, 10000.0f, 10000.0f, 10000.0f, 10000.0f); + #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_STEPPER_DRIVERS] = { 0 }, + float z_measured[NUM_Z_STEPPERS] = { 0 }, z_maxdiff = 0.0f, amplification = z_auto_align_amplification; - #if DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #if !HAS_Z_STEPPER_ALIGN_STEPPER_XY bool adjustment_reverse = false; #endif @@ -203,7 +205,7 @@ void GcodeSuite::G34() { if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> probing all positions."); const int iter = iteration + 1; - SERIAL_ECHOLNPAIR("\nG34 Iteration: ", iter); + SERIAL_ECHOLNPGM("\nG34 Iteration: ", iter); #if HAS_STATUS_MESSAGE char str[iter_str_len + 2 + 1]; sprintf_P(str, msg_iteration, iter); @@ -215,23 +217,25 @@ void GcodeSuite::G34() { float z_measured_max = -100000.0f; // Probe all positions (one per Z-Stepper) - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) { + LOOP_L_N(i, NUM_Z_STEPPERS) { // iteration odd/even --> downward / upward stepper sequence - const uint8_t iprobe = (iteration & 1) ? NUM_Z_STEPPER_DRIVERS - 1 - i : i; + 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_ECHOLNPAIR_P(PSTR("Probing X"), z_stepper_align.xy[iprobe].x, SP_Y_STR, z_stepper_align.xy[iprobe].y); + 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(z_stepper_align.xy[iprobe], raise_after, 0, true, false); + 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_MESSAGEPGM(MSG_LCD_PROBING_FAILED); + LCD_MESSAGE(MSG_LCD_PROBING_FAILED); err_break = true; break; } @@ -240,7 +244,7 @@ void GcodeSuite::G34() { // 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_ECHOLNPAIR("> Z", iprobe + 1, " measured position is ", z_measured[iprobe]); + 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]); @@ -254,7 +258,7 @@ void GcodeSuite::G34() { z_maxdiff = z_measured_max - z_measured_min; z_probe = Z_BASIC_CLEARANCE + z_measured_max + z_maxdiff; - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #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. @@ -268,72 +272,87 @@ void GcodeSuite::G34() { // 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_STEPPER_DRIVERS) { - SERIAL_ECHOLNPAIR("PROBEPT_", i, ": ", z_measured[i]); + 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_STEPPER_DRIVERS) { + 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_ECHOLNPAIR("CALCULATED STEPPER POSITIONS: Z1=", z_measured[0], " Z2=", z_measured[1], " Z3=", z_measured[2]); + 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_ECHOLNPAIR("\n" - "DIFFERENCE Z1-Z2=", ABS(z_measured[0] - z_measured[1]) - #if NUM_Z_STEPPER_DRIVERS == 3 - , " Z2-Z3=", ABS(z_measured[1] - z_measured[2]) + 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]; - #if NUM_Z_STEPPER_DRIVERS == 2 - char msg[6 + (6 + 5) * 1 + 1]; - #else - char msg[6 + (6 + 5) * 3 + 1], fstr2[10], fstr3[10]; - #endif - sprintf_P(msg, - PSTR("Diffs Z1-Z2=%s" - #if NUM_Z_STEPPER_DRIVERS == 3 - " Z2-Z3=%s" - " Z3-Z1=%s" + 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 - ), dtostrf(ABS(z_measured[0] - z_measured[1]), 1, 3, fstr1) - #if NUM_Z_STEPPER_DRIVERS == 3 - , dtostrf(ABS(z_measured[1] - z_measured[2]), 1, 3, fstr2) - , dtostrf(ABS(z_measured[2] - z_measured[0]), 1, 3, fstr3) #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){ + auto decreasing_accuracy = [](const_float_t v1, const_float_t v2) { if (v1 < v2 * 0.7f) { SERIAL_ECHOLNPGM("Decreasing Accuracy Detected."); - LCD_MESSAGEPGM(MSG_DECREASING_ACCURACY); + LCD_MESSAGE(MSG_DECREASING_ACCURACY); return true; } return false; }; - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #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_STEPPER_DRIVERS) z_measured_mean += z_measured[zstepper]; - z_measured_mean /= NUM_Z_STEPPER_DRIVERS; + 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_STEPPER_DRIVERS) + 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 @@ -348,19 +367,19 @@ void GcodeSuite::G34() { bool success_break = true; // Correct the individual stepper offsets - LOOP_L_N(zstepper, NUM_Z_STEPPER_DRIVERS) { + 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 DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #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_ECHOLNPAIR("> Z", zstepper + 1, " last_z_align_move = ", last_z_align_move[zstepper]); - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", zstepper + 1, " z_align_abs = ", 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; } @@ -372,17 +391,17 @@ void GcodeSuite::G34() { // Stop early if all measured points achieve accuracy target if (z_align_abs > z_auto_align_accuracy) success_break = false; - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("> Z", zstepper + 1, " corrected by ", z_align_move); + 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 DISABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + #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_ECHOLNPAIR("> Z", zstepper + 1, " correction reversed to ", z_align_move); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Z", zstepper + 1, " correction reversed to ", z_align_move); } #endif @@ -398,7 +417,7 @@ void GcodeSuite::G34() { if (success_break) { SERIAL_ECHOLNPGM("Target accuracy achieved."); - LCD_MESSAGEPGM(MSG_ACCURACY_ACHIEVED); + LCD_MESSAGE(MSG_ACCURACY_ACHIEVED); break; } @@ -408,7 +427,7 @@ void GcodeSuite::G34() { if (err_break) SERIAL_ECHOLNPGM("G34 aborted."); else { - SERIAL_ECHOLNPAIR("Did ", iteration + (iteration != z_auto_align_iterations), " of ", z_auto_align_iterations); + SERIAL_ECHOLNPGM("Did ", iteration + (iteration != z_auto_align_iterations), " of ", z_auto_align_iterations); SERIAL_ECHOLNPAIR_F("Accuracy: ", z_maxdiff); } @@ -420,7 +439,7 @@ void GcodeSuite::G34() { // After this operation the z position needs correction set_axis_never_homed(Z_AXIS); // Home Z after the alignment procedure - process_subcommands_now_P(PSTR("G28Z")); + 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. @@ -437,7 +456,7 @@ void GcodeSuite::G34() { #endif }while(0); - #endif + #endif // Z_STEPPER_AUTO_ALIGN } #endif // Z_MULTI_ENDSTOPS || Z_STEPPER_AUTO_ALIGN @@ -450,7 +469,7 @@ void GcodeSuite::G34() { * * S : Index of the probe point to set * - * With Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS: + * With Z_STEPPER_ALIGN_STEPPER_XY: * W : Index of the Z stepper position to set * The W and S parameters may not be combined. * @@ -462,57 +481,50 @@ void GcodeSuite::G34() { */ void GcodeSuite::M422() { + if (!parser.seen_any()) return M422_report(); + if (parser.seen('R')) { z_stepper_align.reset_to_default(); return; } - if (!parser.seen_any()) { - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) - SERIAL_ECHOLNPAIR_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 ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) - LOOP_L_N(i, NUM_Z_STEPPER_DRIVERS) - SERIAL_ECHOLNPAIR_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 - return; - } + const bool is_probe_point = parser.seen_test('S'); - const bool is_probe_point = parser.seen('S'); - - if (TERN0(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, is_probe_point && parser.seen('W'))) { + 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 *pos_dest = ( - TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !is_probe_point ? z_stepper_align.stepper_xy :) + 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(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, !parser.seen('W'))) { - SERIAL_ECHOLNPGM("?(S)" TERN_(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS, " or (W)") " is required."); + 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; - if (is_probe_point) { - position_index = parser.intval('S') - 1; - if (!WITHIN(position_index, 0, int8_t(NUM_Z_STEPPER_DRIVERS) - 1)) { - SERIAL_ECHOLNPGM("?(S) Probe-position index invalid."); - return; - } - } + int8_t position_index = 1; + FSTR_P err_string = F("?(S) Probe-position"); + if (is_probe_point) + position_index = parser.intval('S'); else { - #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) - position_index = parser.intval('W') - 1; - if (!WITHIN(position_index, 0, NUM_Z_STEPPER_DRIVERS - 1)) { - SERIAL_ECHOLNPGM("?(W) Z-stepper index invalid."); - return; - } + #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) @@ -532,4 +544,26 @@ void GcodeSuite::M422() { 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 index 0918bc9d4f..a22608f5b4 100644 --- a/Marlin/src/gcode/calibrate/G425.cpp +++ b/Marlin/src/gcode/calibrate/G425.cpp @@ -73,11 +73,32 @@ #if BOTH(CALIBRATION_MEASURE_LEFT, CALIBRATION_MEASURE_RIGHT) #define HAS_X_CENTER 1 #endif -#if BOTH(CALIBRATION_MEASURE_FRONT, CALIBRATION_MEASURE_BACK) +#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 }; +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; @@ -93,19 +114,33 @@ struct measurements_t { }; #if ENABLED(BACKLASH_GCODE) - #define TEMPORARY_BACKLASH_CORRECTION(value) REMEMBER(tbst, backlash.correction, value) + 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) - #define TEMPORARY_BACKLASH_SMOOTHING(value) REMEMBER(tbsm, backlash.smoothing_mm, value) + 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(current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); + do_blocking_move_to((xyz_pos_t)current_position, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); } /** @@ -174,7 +209,7 @@ float measuring_movement(const AxisEnum axis, const int dir, const bool stop_sta destination = current_position; for (float travel = 0; travel < limit; travel += step) { destination[axis] += dir * step; - do_blocking_move_to(destination, mms); + do_blocking_move_to((xyz_pos_t)destination, mms); planner.synchronize(); if (read_calibration_pin() == stop_state) break; } @@ -194,18 +229,22 @@ float measuring_movement(const AxisEnum axis, const int dir, const bool stop_sta 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 position - destination = current_position; - const float start_pos = destination[axis]; + // 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); } - // Return to starting position + + // Move back to the starting position + destination = current_position; destination[axis] = start_pos; - do_blocking_move_to(destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); + do_blocking_move_to((xyz_pos_t)destination, MMM_TO_MMS(CALIBRATION_FEEDRATE_TRAVEL)); return measured_pos; } @@ -225,8 +264,17 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t 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(Z) + #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; @@ -234,13 +282,23 @@ inline void probe_side(measurements_t &m, const float uncertainty, const side_t return; } #endif - #if AXIS_CAN_CALIBRATE(X) - case LEFT: axis = X_AXIS; break; - case RIGHT: axis = X_AXIS; dir = -1; break; + #if HAS_I_AXIS && AXIS_CAN_CALIBRATE(I) + _PCASE(I); #endif - #if AXIS_CAN_CALIBRATE(Y) - case FRONT: axis = Y_AXIS; break; - case BACK: axis = Y_AXIS; dir = -1; break; + #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; } @@ -285,14 +343,32 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { 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_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_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 @@ -303,36 +379,86 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { // The difference between the known and the measured location // of the calibration object is the positional error - m.pos_error.x = (0 - #if HAS_X_CENTER - + true_center.x - m.obj_center.x - #endif + 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) ); - m.pos_error.y = (0 - #if HAS_Y_CENTER - + true_center.y - m.obj_center.y - #endif - ); - m.pos_error.z = true_center.z - m.obj_center.z; } #if ENABLED(CALIBRATION_REPORTING) inline void report_measured_faces(const measurements_t &m) { SERIAL_ECHOLNPGM("Sides:"); - #if AXIS_CAN_CALIBRATE(Z) - SERIAL_ECHOLNPAIR(" Top: ", m.obj_side[TOP]); + #if HAS_Z_AXIS && AXIS_CAN_CALIBRATE(Z) + SERIAL_ECHOLNPGM(" Top: ", m.obj_side[TOP]); #endif #if ENABLED(CALIBRATION_MEASURE_LEFT) - SERIAL_ECHOLNPAIR(" Left: ", m.obj_side[LEFT]); + SERIAL_ECHOLNPGM(" Left: ", m.obj_side[LEFT]); #endif #if ENABLED(CALIBRATION_MEASURE_RIGHT) - SERIAL_ECHOLNPAIR(" Right: ", m.obj_side[RIGHT]); + SERIAL_ECHOLNPGM(" Right: ", m.obj_side[RIGHT]); #endif - #if ENABLED(CALIBRATION_MEASURE_FRONT) - SERIAL_ECHOLNPAIR(" Front: ", m.obj_side[FRONT]); + #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 ENABLED(CALIBRATION_MEASURE_BACK) - SERIAL_ECHOLNPAIR(" Back: ", m.obj_side[BACK]); + #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(); } @@ -340,12 +466,30 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { inline void report_measured_center(const measurements_t &m) { SERIAL_ECHOLNPGM("Center:"); #if HAS_X_CENTER - SERIAL_ECHOLNPAIR_P(SP_X_STR, m.obj_center.x); + SERIAL_ECHOLNPGM_P(SP_X_STR, m.obj_center.x); #endif #if HAS_Y_CENTER - SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.obj_center.y); + 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_ECHOLNPAIR_P(SP_Z_STR, m.obj_center.z); SERIAL_EOL(); } @@ -353,22 +497,70 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_ECHOLNPGM("Backlash:"); #if AXIS_CAN_CALIBRATE(X) #if ENABLED(CALIBRATION_MEASURE_LEFT) - SERIAL_ECHOLNPAIR(" Left: ", m.backlash[LEFT]); + SERIAL_ECHOLNPGM(" Left: ", m.backlash[LEFT]); #endif #if ENABLED(CALIBRATION_MEASURE_RIGHT) - SERIAL_ECHOLNPAIR(" Right: ", m.backlash[RIGHT]); + SERIAL_ECHOLNPGM(" Right: ", m.backlash[RIGHT]); #endif #endif - #if AXIS_CAN_CALIBRATE(Y) + #if HAS_Y_AXIS && AXIS_CAN_CALIBRATE(Y) #if ENABLED(CALIBRATION_MEASURE_FRONT) - SERIAL_ECHOLNPAIR(" Front: ", m.backlash[FRONT]); + SERIAL_ECHOLNPGM(" Front: ", m.backlash[FRONT]); #endif #if ENABLED(CALIBRATION_MEASURE_BACK) - SERIAL_ECHOLNPAIR(" Back: ", m.backlash[BACK]); + SERIAL_ECHOLNPGM(" Back: ", m.backlash[BACK]); #endif #endif - #if AXIS_CAN_CALIBRATE(Z) - SERIAL_ECHOLNPAIR(" Top: ", m.backlash[TOP]); + #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(); } @@ -377,29 +569,46 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { SERIAL_CHAR('T'); SERIAL_ECHO(active_extruder); SERIAL_ECHOLNPGM(" Positional Error:"); - #if HAS_X_CENTER - SERIAL_ECHOLNPAIR_P(SP_X_STR, m.pos_error.x); + #if HAS_X_CENTER && AXIS_CAN_CALIBRATE(X) + SERIAL_ECHOLNPGM_P(SP_X_STR, m.pos_error.x); #endif - #if HAS_Y_CENTER - SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.pos_error.y); + #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 - if (AXIS_CAN_CALIBRATE(Z)) SERIAL_ECHOLNPAIR_P(SP_Z_STR, m.pos_error.z); SERIAL_EOL(); } inline void report_measured_nozzle_dimensions(const measurements_t &m) { SERIAL_ECHOLNPGM("Nozzle Tip Outer Dimensions:"); - #if HAS_X_CENTER || HAS_Y_CENTER - #if HAS_X_CENTER - SERIAL_ECHOLNPAIR_P(SP_X_STR, m.nozzle_outer_dimension.x); - #endif - #if HAS_Y_CENTER - SERIAL_ECHOLNPAIR_P(SP_Y_STR, m.nozzle_outer_dimension.y); - #endif - #else - UNUSED(m); + #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 @@ -408,7 +617,7 @@ inline void probe_sides(measurements_t &m, const float uncertainty) { // inline void report_hotend_offsets() { LOOP_S_L_N(e, 1, HOTENDS) - SERIAL_ECHOLNPAIR_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); + 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 @@ -425,7 +634,7 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { { // New scope for TEMPORARY_BACKLASH_CORRECTION - TEMPORARY_BACKLASH_CORRECTION(all_off); + TEMPORARY_BACKLASH_CORRECTION(backlash.all_off); TEMPORARY_BACKLASH_SMOOTHING(0.0f); probe_sides(m, uncertainty); @@ -433,23 +642,72 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { #if ENABLED(BACKLASH_GCODE) #if HAS_X_CENTER - backlash.distance_mm.x = (m.backlash[LEFT] + m.backlash[RIGHT]) / 2; + backlash.set_distance_mm(X_AXIS, (m.backlash[LEFT] + m.backlash[RIGHT]) / 2); #elif ENABLED(CALIBRATION_MEASURE_LEFT) - backlash.distance_mm.x = m.backlash[LEFT]; + backlash.set_distance_mm(X_AXIS, m.backlash[LEFT]); #elif ENABLED(CALIBRATION_MEASURE_RIGHT) - backlash.distance_mm.x = m.backlash[RIGHT]; + backlash.set_distance_mm(X_AXIS, m.backlash[RIGHT]); #endif #if HAS_Y_CENTER - backlash.distance_mm.y = (m.backlash[FRONT] + m.backlash[BACK]) / 2; + backlash.set_distance_mm(Y_AXIS, (m.backlash[FRONT] + m.backlash[BACK]) / 2); #elif ENABLED(CALIBRATION_MEASURE_FRONT) - backlash.distance_mm.y = m.backlash[FRONT]; + backlash.set_distance_mm(Y_AXIS, m.backlash[FRONT]); #elif ENABLED(CALIBRATION_MEASURE_BACK) - backlash.distance_mm.y = m.backlash[BACK]; + backlash.set_distance_mm(Y_AXIS, m.backlash[BACK]); #endif - if (AXIS_CAN_CALIBRATE(Z)) backlash.distance_mm.z = m.backlash[TOP]; - #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) @@ -457,9 +715,13 @@ inline void calibrate_backlash(measurements_t &m, const float uncertainty) { // allowed directions to take up any backlash { // New scope for TEMPORARY_BACKLASH_CORRECTION - TEMPORARY_BACKLASH_CORRECTION(all_on); + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); TEMPORARY_BACKLASH_SMOOTHING(0.0f); - const xyz_float_t move = { AXIS_CAN_CALIBRATE(X) * 3, AXIS_CAN_CALIBRATE(Y) * 3, AXIS_CAN_CALIBRATE(Z) * 3 }; + 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(); } @@ -484,14 +746,10 @@ inline void update_measurements(measurements_t &m, const AxisEnum axis) { * - Call calibrate_backlash() beforehand for best accuracy */ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const uint8_t extruder) { - TEMPORARY_BACKLASH_CORRECTION(all_on); + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); TEMPORARY_BACKLASH_SMOOTHING(0.0f); - #if HAS_MULTI_HOTEND - set_nozzle(m, extruder); - #else - UNUSED(extruder); - #endif + TERN(HAS_MULTI_HOTEND, set_nozzle(m, extruder), UNUSED(extruder)); probe_sides(m, uncertainty); @@ -510,6 +768,13 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const 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(); } @@ -521,7 +786,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const * 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(all_on); + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); TEMPORARY_BACKLASH_SMOOTHING(0.0f); HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e); @@ -537,7 +802,7 @@ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty) * 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 axis (if BACKLASH_GCODE is enabled) + * 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. @@ -547,7 +812,7 @@ inline void calibrate_all() { TERN_(HAS_HOTEND_OFFSET, reset_hotend_offsets()); - TEMPORARY_BACKLASH_CORRECTION(all_on); + TEMPORARY_BACKLASH_CORRECTION(backlash.all_on); TEMPORARY_BACKLASH_SMOOTHING(0.0f); // Do a fast and rough calibration of the toolheads @@ -580,7 +845,7 @@ inline void calibrate_all() { void GcodeSuite::G425() { #ifdef CALIBRATION_SCRIPT_PRE - GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_PRE)); + process_subcommands_now(F(CALIBRATION_SCRIPT_PRE)); #endif if (homing_needed_error()) return; @@ -589,12 +854,12 @@ void GcodeSuite::G425() { SET_SOFT_ENDSTOP_LOOSE(true); measurements_t m; - float uncertainty = parser.seenval('U') ? parser.value_float() : CALIBRATION_MEASUREMENT_UNCERTAIN; + const float uncertainty = parser.floatval('U', CALIBRATION_MEASUREMENT_UNCERTAIN); - if (parser.seen('B')) + if (parser.seen_test('B')) calibrate_backlash(m, uncertainty); - else if (parser.seen('T')) - calibrate_toolhead(m, uncertainty, parser.has_value() ? parser.value_int() : active_extruder); + 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); @@ -616,7 +881,7 @@ void GcodeSuite::G425() { SET_SOFT_ENDSTOP_LOOSE(false); #ifdef CALIBRATION_SCRIPT_POST - GcodeSuite::process_subcommands_now_P(PSTR(CALIBRATION_SCRIPT_POST)); + process_subcommands_now(F(CALIBRATION_SCRIPT_POST)); #endif } diff --git a/Marlin/src/gcode/calibrate/G76_M192_M871.cpp b/Marlin/src/gcode/calibrate/G76_M192_M871.cpp deleted file mode 100644 index d5266179c7..0000000000 --- a/Marlin/src/gcode/calibrate/G76_M192_M871.cpp +++ /dev/null @@ -1,358 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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 ENABLED(PROBE_TEMP_COMPENSATION) - -#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. Alternativly 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. - */ - -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() { - // Check if heated bed is available and z-homing is done with probe - #if TEMP_SENSOR_BED == 0 || !(HOMING_Z_WITH_PROBE) - return; - #endif - - 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 - const float measured_z = probe.probe_at_point(nozpos, PROBE_PT_STOW, 0, false); // verbose=0, probe_relative=false - if (isnan(measured_z)) - SERIAL_ECHOLNPGM("!Received NAN. Aborting."); - else { - SERIAL_ECHOLNPAIR_F("Measured: ", measured_z); - if (targ == cali_info_init[sid].start_temp) - temp_comp.prepare_new_calibration(measured_z); - else - temp_comp.push_back_new_measurement(sid, measured_z); - targ += cali_info_init[sid].temp_res; - } - 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(); - - const xyz_pos_t parkpos = temp_comp.park_point, - probe_pos_xyz = xyz_pos_t(temp_comp.measure_point) + 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_P(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_ECHOLNPAIR("Target Bed:", tb, " Probe:", tp); - }; - - if (do_bed_cal) { - - celsius_t target_bed = cali_info_init[TSI_BED].start_temp, - target_probe = temp_comp.bed_calib_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 (;;) { - 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_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index()); - if (temp_comp.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 = temp_comp.probe_calib_bed_temp; - thermalManager.setTargetBed(target_bed); - - celsius_t target_probe = cali_info_init[TSI_PROBE].start_temp; - - 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 (;;) { - // 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_ECHOLNPAIR(" 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) || target_probe > cali_info_init[TSI_PROBE].end_temp) break; - } - - SERIAL_ECHOLNPAIR("Retrieved measurements: ", temp_comp.get_index()); - if (temp_comp.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:"); - temp_comp.print_offsets(); - } // do_probe_cal - - restore_feedrate_and_scaling(); -} - -/** - * 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 - temp_comp.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 = (parser.seen('B') ? TSI_BED : - #if ENABLED(USE_TEMP_EXT_COMPENSATION) - parser.seen('E') ? TSI_EXT : - #endif - TSI_PROBE - ); - if (idx > 0 && temp_comp.set_offset(mod, idx - 1, offset_val)) - SERIAL_ECHOLNPAIR("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. - temp_comp.print_offsets(); -} - -/** - * M192: Wait for probe temperature sensor to reach a target - * - * Select only one of these flags: - * R - Wait for heating or cooling - * S - Wait only for heating - */ -void GcodeSuite::M192() { - if (DEBUGGING(DRYRUN)) return; - - const bool no_wait_for_cooling = parser.seenval('S'); - if (!no_wait_for_cooling && ! parser.seenval('R')) { - SERIAL_ERROR_MSG("No target temperature set."); - return; - } - - const celsius_t target_temp = parser.value_celsius(); - ui.set_status_P(thermalManager.isProbeBelowTemp(target_temp) ? GET_TEXT(MSG_PROBE_HEATING) : GET_TEXT(MSG_PROBE_COOLING)); - thermalManager.wait_for_probe(target_temp, no_wait_for_cooling); -} - -#endif // PROBE_TEMP_COMPENSATION 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 index ee572e033d..338392b597 100644 --- a/Marlin/src/gcode/calibrate/M100.cpp +++ b/Marlin/src/gcode/calibrate/M100.cpp @@ -51,7 +51,7 @@ * 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(PGM_P const title, const char * const start, const uintptr_t size); + * void M100_dump_routine(FSTR_P const title, const char * const start, const uintptr_t size); * * Initial version by Roxy-3D */ @@ -182,8 +182,8 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { } } - void M100_dump_routine(PGM_P const title, const char * const start, const uintptr_t size) { - SERIAL_ECHOLNPGM_P(title); + 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 // @@ -196,13 +196,13 @@ inline int32_t count_test_bytes(const char * const start_free_memory) { #endif // M100_FREE_MEMORY_DUMPER -inline int check_for_free_memory_corruption(PGM_P const title) { - SERIAL_ECHOPGM_P(title); +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_ECHOLNPAIR("\nfmc() n=", n, + SERIAL_ECHOLNPGM("\nfmc() n=", n, "\nfree_memory_start=", hex_address(free_memory_start), " end=", hex_address(end_free_memory)); @@ -217,7 +217,7 @@ inline int check_for_free_memory_corruption(PGM_P const title) { // idle(); serial_delay(20); #if ENABLED(M100_FREE_MEMORY_DUMPER) - M100_dump_routine(PSTR(" Memory corruption detected with end_free_memory 8) { - //SERIAL_ECHOPAIR("Found ", j); - //SERIAL_ECHOLNPAIR(" bytes free at ", hex_address(start_free_memory + i)); + //SERIAL_ECHOPGM("Found ", j); + //SERIAL_ECHOLNPGM(" bytes free at ", hex_address(start_free_memory + i)); i += j; block_cnt++; - SERIAL_ECHOLNPAIR(" (", block_cnt, ") found=", j); + SERIAL_ECHOLNPGM(" (", block_cnt, ") found=", j); } } } - SERIAL_ECHOPAIR(" block_found=", block_cnt); + SERIAL_ECHOPGM(" block_found=", block_cnt); if (block_cnt != 1) SERIAL_ECHOLNPGM("\nMemory Corruption detected in free memory area."); @@ -267,7 +267,7 @@ inline void free_memory_pool_report(char * const start_free_memory, const int32_ if (*addr == TEST_BYTE) { const int32_t j = count_test_bytes(addr); if (j > 8) { - SERIAL_ECHOLNPAIR("Found ", j, " bytes free at ", hex_address(addr)); + SERIAL_ECHOLNPGM("Found ", j, " bytes free at ", hex_address(addr)); if (j > max_cnt) { max_cnt = j; max_addr = addr; @@ -277,11 +277,11 @@ inline void free_memory_pool_report(char * const start_free_memory, const int32_ } } } - if (block_cnt > 1) SERIAL_ECHOLNPAIR( + 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_ECHOLNPAIR("check_for_free_memory_corruption() = ", check_for_free_memory_corruption(PSTR("M100 F "))); + SERIAL_ECHOLNPGM("check_for_free_memory_corruption() = ", check_for_free_memory_corruption(F("M100 F "))); } #if ENABLED(M100_FREE_MEMORY_CORRUPTOR) @@ -299,7 +299,7 @@ inline void free_memory_pool_report(char * const start_free_memory, const int32_ for (uint32_t i = 1; i <= size; i++) { char * const addr = start_free_memory + i * j; *addr = i; - SERIAL_ECHOPAIR("\nCorrupting address: ", hex_address(addr)); + SERIAL_ECHOPGM("\nCorrupting address: ", hex_address(addr)); } SERIAL_EOL(); } @@ -327,8 +327,8 @@ inline void init_free_memory(char *start_free_memory, int32_t size) { for (int32_t i = 0; i < size; i++) { if (start_free_memory[i] != TEST_BYTE) { - SERIAL_ECHOPAIR("? address : ", hex_address(start_free_memory + i)); - SERIAL_ECHOLNPAIR("=", hex_byte(start_free_memory[i])); + SERIAL_ECHOPGM("? address : ", hex_address(start_free_memory + i)); + SERIAL_ECHOLNPGM("=", hex_byte(start_free_memory[i])); SERIAL_EOL(); } } @@ -340,14 +340,14 @@ inline void init_free_memory(char *start_free_memory, int32_t size) { void GcodeSuite::M100() { char *sp = top_of_stack(); if (!free_memory_end) free_memory_end = sp - MEMORY_END_CORRECTION; - SERIAL_ECHOPAIR("\nbss_end : ", hex_address(end_bss)); - if (heaplimit) SERIAL_ECHOPAIR("\n__heaplimit : ", hex_address(heaplimit)); - SERIAL_ECHOPAIR("\nfree_memory_start : ", hex_address(free_memory_start)); - if (stacklimit) SERIAL_ECHOPAIR("\n__stacklimit : ", hex_address(stacklimit)); - SERIAL_ECHOPAIR("\nfree_memory_end : ", hex_address(free_memory_end)); + 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_ECHOPAIR("\nMEMORY_END_CORRECTION : ", MEMORY_END_CORRECTION); - SERIAL_ECHOLNPAIR("\nStack Pointer : ", hex_address(sp)); + 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; diff --git a/Marlin/src/gcode/calibrate/M12.cpp b/Marlin/src/gcode/calibrate/M12.cpp index da24454375..191ff22d7d 100644 --- a/Marlin/src/gcode/calibrate/M12.cpp +++ b/Marlin/src/gcode/calibrate/M12.cpp @@ -19,6 +19,7 @@ * along with this program. If not, see . * */ + #include "../../inc/MarlinConfigPre.h" #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) diff --git a/Marlin/src/gcode/calibrate/M425.cpp b/Marlin/src/gcode/calibrate/M425.cpp index 40441ac08d..a6c6ff9dae 100644 --- a/Marlin/src/gcode/calibrate/M425.cpp +++ b/Marlin/src/gcode/calibrate/M425.cpp @@ -47,18 +47,17 @@ 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: - case X_AXIS: return AXIS_CAN_CALIBRATE(X); - case Y_AXIS: return AXIS_CAN_CALIBRATE(Y); - case Z_AXIS: return AXIS_CAN_CALIBRATE(Z); + default: return false; + MAIN_AXIS_MAP(_CAN_CASE) } }; - LOOP_XYZ(a) { - if (axis_can_calibrate(a) && parser.seen(XYZ_CHAR(a))) { + LOOP_NUM_AXES(a) { + if (axis_can_calibrate(a) && parser.seen(AXIS_CHAR(a))) { planner.synchronize(); - backlash.distance_mm[a] = parser.has_value() ? parser.value_linear_units() : backlash.get_measurement(AxisEnum(a)); + backlash.set_distance_mm((AxisEnum)a, parser.has_value() ? parser.value_axis_units((AxisEnum)a) : backlash.get_measurement((AxisEnum)a)); noArgs = false; } } @@ -72,33 +71,30 @@ void GcodeSuite::M425() { #ifdef BACKLASH_SMOOTHING_MM if (parser.seen('S')) { planner.synchronize(); - backlash.smoothing_mm = parser.value_linear_units(); + backlash.set_smoothing_mm(parser.value_linear_units()); noArgs = false; } #endif if (noArgs) { SERIAL_ECHOPGM("Backlash Correction "); - if (!backlash.correction) SERIAL_ECHOPGM("in"); + if (!backlash.get_correction_uint8()) SERIAL_ECHOPGM("in"); SERIAL_ECHOLNPGM("active:"); - SERIAL_ECHOLNPAIR(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)"); + SERIAL_ECHOLNPGM(" Correction Amount/Fade-out: F", backlash.get_correction(), " (F1.0 = full, F0.0 = none)"); SERIAL_ECHOPGM(" Backlash Distance (mm): "); - LOOP_XYZ(a) if (axis_can_calibrate(a)) { - SERIAL_CHAR(' ', XYZ_CHAR(a)); - SERIAL_ECHO(backlash.distance_mm[a]); - SERIAL_EOL(); + 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_ECHOLNPAIR(" Smoothing (mm): S", 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_XYZ(a) if (axis_can_calibrate(a) && backlash.has_measurement(AxisEnum(a))) { - SERIAL_CHAR(' ', XYZ_CHAR(a)); - SERIAL_ECHO(backlash.get_measurement(AxisEnum(a))); + 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 @@ -108,4 +104,25 @@ void GcodeSuite::M425() { } } +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 index 19b11f602a..bfb3b64007 100644 --- a/Marlin/src/gcode/calibrate/M48.cpp +++ b/Marlin/src/gcode/calibrate/M48.cpp @@ -35,11 +35,15 @@ #include "../../module/planner.h" #endif +#if HAS_PTC + #include "../../feature/probe_temp_comp.h" +#endif + /** * M48: Z probe repeatability measurement function. * * Usage: - * M48 + * M48 * P = Number of sampled points (4-50, default 10) * X = Sample X position * Y = Sample Y position @@ -47,6 +51,7 @@ * 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. */ @@ -79,7 +84,7 @@ void GcodeSuite::M48() { }; if (!probe.can_reach(test_position)) { - ui.set_status_P(GET_TEXT(MSG_M48_OUT_OF_BOUNDS), 99); + ui.set_status(GET_TEXT_F(MSG_M48_OUT_OF_BOUNDS), 99); SERIAL_ECHOLNPGM("? (X,Y) out of bounds."); return; } @@ -107,6 +112,8 @@ void GcodeSuite::M48() { set_bed_leveling_enabled(false); #endif + TERN_(HAS_PTC, ptc.set_enabled(parser.boolval('C', true))); + // Work with reasonable feedrates remember_feedrate_scaling_off(); @@ -144,7 +151,7 @@ void GcodeSuite::M48() { LOOP_L_N(n, n_samples) { #if HAS_STATUS_MESSAGE // Display M48 progress in the status bar - ui.status_printf_P(0, PSTR(S_FMT ": %d/%d"), GET_TEXT(MSG_M48_POINT), int(n + 1), int(n_samples)); + 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 @@ -162,7 +169,7 @@ void GcodeSuite::M48() { #endif ); if (verbose_level > 3) { - SERIAL_ECHOPAIR("Start radius:", radius, " angle:", angle, " dir:"); + SERIAL_ECHOPGM("Start radius:", radius, " angle:", angle, " dir:"); if (dir > 0) SERIAL_CHAR('C'); SERIAL_ECHOLNPGM("CW"); } @@ -200,7 +207,7 @@ void GcodeSuite::M48() { while (!probe.can_reach(next_pos)) { next_pos *= 0.8f; if (verbose_level > 3) - SERIAL_ECHOLNPAIR_P(PSTR("Moving inward: X"), next_pos.x, SP_Y_STR, next_pos.y); + 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 @@ -209,7 +216,7 @@ void GcodeSuite::M48() { #endif if (verbose_level > 3) - SERIAL_ECHOLNPAIR_P(PSTR("Going to: X"), next_pos.x, SP_Y_STR, next_pos.y); + 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 @@ -241,7 +248,7 @@ void GcodeSuite::M48() { if (verbose_level > 1) { SERIAL_ECHO(n + 1); - SERIAL_ECHOPAIR(" of ", n_samples); + SERIAL_ECHOPGM(" of ", n_samples); SERIAL_ECHOPAIR_F(": z: ", pz, 3); SERIAL_CHAR(' '); dev_report(verbose_level > 2, mean, sigma, min, max); @@ -260,7 +267,7 @@ void GcodeSuite::M48() { #if HAS_STATUS_MESSAGE // Display M48 results in the status bar char sigma_str[8]; - ui.status_printf_P(0, PSTR(S_FMT ": %s"), GET_TEXT(MSG_M48_DEVIATION), dtostrf(sigma, 2, 6, sigma_str)); + ui.status_printf(0, F(S_FMT ": %s"), GET_TEXT(MSG_M48_DEVIATION), dtostrf(sigma, 2, 6, sigma_str)); #endif } @@ -269,6 +276,9 @@ void GcodeSuite::M48() { // 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(); } diff --git a/Marlin/src/gcode/calibrate/M665.cpp b/Marlin/src/gcode/calibrate/M665.cpp index 0d0c4146d9..a8e02831e2 100644 --- a/Marlin/src/gcode/calibrate/M665.cpp +++ b/Marlin/src/gcode/calibrate/M665.cpp @@ -30,6 +30,7 @@ #if ENABLED(DELTA) #include "../../module/delta.h" + /** * M665: Set delta configurations * @@ -45,6 +46,8 @@ * 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(); @@ -58,6 +61,22 @@ 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" @@ -67,15 +86,20 @@ * * Parameters: * - * S[segments-per-second] - Segments-per-second - * 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 + * 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 @@ -107,6 +131,56 @@ #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 index 75becf13f3..90fad1811c 100644 --- a/Marlin/src/gcode/calibrate/M666.cpp +++ b/Marlin/src/gcode/calibrate/M666.cpp @@ -27,30 +27,49 @@ #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" +#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)); - LOOP_XYZ(i) { - if (parser.seen(XYZ_CHAR(i))) { + 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 * Z_HOME_DIR <= 0) delta_endstop_adj[i] = v; - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("delta_endstop_adj[", AS_CHAR(XYZ_CHAR(i)), "] = ", delta_endstop_adj[i]); + 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(); } -#elif HAS_EXTRA_ENDSTOPS + 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) + ); + } - #include "../../module/endstops.h" +#else /** * M666: Set Dual Endstops offsets for X, Y, and/or Z. @@ -63,6 +82,8 @@ * 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 @@ -71,33 +92,40 @@ #endif #if ENABLED(Z_MULTI_ENDSTOPS) if (parser.seenval('Z')) { - #if NUM_Z_STEPPER_DRIVERS >= 3 - const float z_adj = parser.value_linear_units(); - const int ind = parser.intval('S'); - if (!ind || ind == 2) endstops.z2_endstop_adj = z_adj; - if (!ind || ind == 3) endstops.z3_endstop_adj = z_adj; - #if NUM_Z_STEPPER_DRIVERS >= 4 - if (!ind || ind == 4) endstops.z4_endstop_adj = z_adj; - #endif + const float z_adj = parser.value_linear_units(); + #if NUM_Z_STEPPERS == 2 + endstops.z2_endstop_adj = z_adj; #else - endstops.z2_endstop_adj = parser.value_linear_units(); + 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 - if (!parser.seen("XYZ")) { - SERIAL_ECHOPGM("Dual Endstop Adjustment (mm): "); - #if ENABLED(X_DUAL_ENDSTOPS) - SERIAL_ECHOPAIR(" X2:", endstops.x2_endstop_adj); + } + + 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 - #if ENABLED(Y_DUAL_ENDSTOPS) - SERIAL_ECHOPAIR(" Y2:", endstops.y2_endstop_adj); - #endif - #if ENABLED(Z_MULTI_ENDSTOPS) - #define _ECHO_ZADJ(N) SERIAL_ECHOPAIR(" Z" STRINGIFY(N) ":", endstops.z##N##_endstop_adj); - REPEAT_S(2, INCREMENT(NUM_Z_STEPPER_DRIVERS), _ECHO_ZADJ) - #endif - SERIAL_EOL(); - } + #endif } #endif // HAS_EXTRA_ENDSTOPS diff --git a/Marlin/src/gcode/calibrate/M852.cpp b/Marlin/src/gcode/calibrate/M852.cpp index e52f03b86c..6c661dcd61 100644 --- a/Marlin/src/gcode/calibrate/M852.cpp +++ b/Marlin/src/gcode/calibrate/M852.cpp @@ -36,10 +36,11 @@ * K[yz_factor] - New YZ skew factor */ void GcodeSuite::M852() { - uint8_t ijk = 0, badval = 0, setval = 0; + if (!parser.seen("SIJK")) return M852_report(); - if (parser.seen('I') || parser.seen('S')) { - ++ijk; + 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) { @@ -53,8 +54,7 @@ void GcodeSuite::M852() { #if ENABLED(SKEW_CORRECTION_FOR_Z) - if (parser.seen('J')) { - ++ijk; + 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) { @@ -66,8 +66,7 @@ void GcodeSuite::M852() { ++badval; } - if (parser.seen('K')) { - ++ijk; + 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) { @@ -86,21 +85,22 @@ void GcodeSuite::M852() { // When skew is changed the current position changes if (setval) { - set_current_from_steppers_for_axis(ALL_AXES); + set_current_from_steppers_for_axis(ALL_AXES_ENUM); sync_plan_position(); report_current_position(); } +} - if (!ijk) { - SERIAL_ECHO_START(); - SERIAL_ECHOPGM_P(GET_TEXT(MSG_SKEW_FACTOR)); - SERIAL_ECHOPAIR_F(" XY: ", planner.skew_factor.xy, 6); - #if ENABLED(SKEW_CORRECTION_FOR_Z) - SERIAL_ECHOPAIR_F(" XZ: ", planner.skew_factor.xz, 6); - SERIAL_ECHOPAIR_F(" YZ: ", planner.skew_factor.yz, 6); - #endif - SERIAL_EOL(); - } +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 index cb17fc45a6..87c1f2ce30 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -32,9 +32,14 @@ * 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; @@ -69,48 +74,150 @@ 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 (M201 X1000 Y1000) + * M201: Set max acceleration in units/s^2 for print moves. * - * With multiple extruders use T to specify which one. + * 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('G')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100; + if (parser.seenval('S')) planner.xy_freq_min_speed_factor = constrain(parser.value_float(), 1, 100) / 100; #endif - LOOP_XYZE(i) { - if (parser.seen(axis_codes[i])) { - const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i); - planner.set_max_acceleration(a, parser.value_axis_units((AxisEnum)a)); + 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_XYZE(i) - if (parser.seen(axis_codes[i])) { - const uint8_t a = (i == E_AXIS ? uint8_t(E_AXIS_N(target_extruder)) : i); - planner.set_max_feedrate(a, parser.value_axis_units((AxisEnum)a)); + 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) * @@ -119,11 +226,8 @@ void GcodeSuite::M203() { * T = Travel (non printing) moves */ void GcodeSuite::M204() { - if (!parser.seen("PRST")) { - SERIAL_ECHOPAIR("Acceleration: P", planner.settings.acceleration); - SERIAL_ECHOPAIR(" R", planner.settings.retract_acceleration); - SERIAL_ECHOLNPAIR_P(SP_T_STR, planner.settings.travel_acceleration); - } + if (!parser.seen("PRST")) + return M204_report(); else { //planner.synchronize(); // 'S' for legacy compatibility. Should NOT BE USED for new development @@ -134,6 +238,15 @@ void GcodeSuite::M204() { } } +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) + ); +} + /** * M205: Set Advanced Settings * @@ -147,24 +260,18 @@ void GcodeSuite::M204() { * J = Junction Deviation (mm) (If not using CLASSIC_JERK) */ void GcodeSuite::M205() { - #if HAS_JUNCTION_DEVIATION - #define J_PARAM "J" - #else - #define J_PARAM - #endif - #if HAS_CLASSIC_JERK - #define XYZE_PARAM "XYZE" - #else - #define XYZE_PARAM - #endif - if (!parser.seen("BST" J_PARAM XYZE_PARAM)) return; + if (!parser.seen("BST" TERN_(HAS_JUNCTION_DEVIATION, "J") TERN_(HAS_CLASSIC_JERK, "XYZE"))) + return M205_report(); //planner.synchronize(); - if (parser.seen('B')) planner.settings.min_segment_time_us = parser.value_ulong(); - if (parser.seen('S')) planner.settings.min_feedrate_mm_s = parser.value_linear_units(); - if (parser.seen('T')) planner.settings.min_travel_feedrate_mm_s = parser.value_linear_units(); + if (parser.seenval('B')) 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 (parser.seen('J')) { + #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; @@ -175,17 +282,62 @@ void GcodeSuite::M205() { } #endif #if HAS_CLASSIC_JERK - if (parser.seen('X')) planner.set_max_jerk(X_AXIS, parser.value_linear_units()); - if (parser.seen('Y')) planner.set_max_jerk(Y_AXIS, parser.value_linear_units()); - if (parser.seen('Z')) { - planner.set_max_jerk(Z_AXIS, parser.value_linear_units()); - #if HAS_MESH && DISABLED(LIMITED_JERK_EDITING) - if (planner.max_jerk.z <= 0.1f) - SERIAL_ECHOLNPGM("WARNING! Low Z Jerk may lead to unwanted pauses."); - #endif - } - #if HAS_CLASSIC_E_JERK - if (parser.seen('E')) planner.set_max_jerk(E_AXIS, parser.value_linear_units()); + 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 + #endif // HAS_CLASSIC_JERK +} + +void GcodeSuite::M205_report(const bool forReplay/*=true*/) { + report_heading_etc(forReplay, F( + "Advanced (B 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 B"), LINEAR_UNIT(planner.settings.min_segment_time_us) + , PSTR(" S"), LINEAR_UNIT(planner.settings.min_feedrate_mm_s) + , SP_T_STR, LINEAR_UNIT(planner.settings.min_travel_feedrate_mm_s) + #if HAS_JUNCTION_DEVIATION + , PSTR(" J"), LINEAR_UNIT(planner.junction_deviation_mm) + #endif + #if HAS_CLASSIC_JERK + , 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 index 2035ae55ab..b360739e21 100644 --- a/Marlin/src/gcode/config/M217.cpp +++ b/Marlin/src/gcode/config/M217.cpp @@ -33,64 +33,33 @@ #include "../../MarlinCore.h" // for SP_X_STR, etc. -void M217_report(const bool eeprom=false) { - - #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) - SERIAL_ECHOPGM_P(eeprom ? PSTR(" M217") : PSTR("Toolchange:")); - SERIAL_ECHOPAIR(" S", LINEAR_UNIT(toolchange_settings.swap_length)); - SERIAL_ECHOPAIR_P(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)); - SERIAL_ECHOPAIR(" R", LINEAR_UNIT(toolchange_settings.retract_speed), - " U", LINEAR_UNIT(toolchange_settings.unretract_speed), - " F", toolchange_settings.fan_speed, - " G", toolchange_settings.fan_time); - - #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) - SERIAL_ECHOPAIR(" A", migration.automode); - SERIAL_ECHOPAIR(" L", LINEAR_UNIT(migration.last)); - #endif - - #if ENABLED(TOOLCHANGE_PARK) - SERIAL_ECHOPAIR(" W", LINEAR_UNIT(toolchange_settings.enable_park)); - SERIAL_ECHOPAIR_P(SP_X_STR, LINEAR_UNIT(toolchange_settings.change_point.x)); - SERIAL_ECHOPAIR_P(SP_Y_STR, LINEAR_UNIT(toolchange_settings.change_point.y)); - #endif - - #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED) - SERIAL_ECHOPAIR(" V", LINEAR_UNIT(enable_first_prime)); - #endif - - #else - - UNUSED(eeprom); - - #endif - - SERIAL_ECHOPAIR_P(SP_Z_STR, LINEAR_UNIT(toolchange_settings.z_raise)); - SERIAL_EOL(); -} - /** - * M217 - Set SINGLENOZZLE toolchange parameters + * M217 - Set toolchange parameters * * // Tool change command * Q Prime active tool and exit * * // Tool change settings - * S[linear] Swap length - * B[linear] Extra Swap length - * E[linear] Prime length - * P[linear/m] Prime speed - * R[linear/m] Retract speed - * U[linear/m] UnRetract 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) - * Z[linear] Z Raise - * F[linear] Fan Speed 0-255 - * G[linear/s] Fan time + * 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 @@ -111,11 +80,12 @@ void GcodeSuite::M217() { 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 int16_t v = parser.value_linear_units(); toolchange_settings.fan_speed = constrain(v, 0, 255); } - if (parser.seenval('G')) { const int16_t v = parser.value_linear_units(); toolchange_settings.fan_time = constrain(v, 1, 30); } + 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 @@ -126,10 +96,32 @@ void GcodeSuite::M217() { #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 (parser.seenval('Y')) { const int16_t v = parser.value_linear_units(); toolchange_settings.change_point.y = constrain(v, Y_MIN_POS, Y_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 (parser.seenval('Z')) { toolchange_settings.z_raise = parser.value_linear_units(); } + #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 @@ -168,4 +160,57 @@ void GcodeSuite::M217() { 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 index 7701320e9e..c39447a28d 100644 --- a/Marlin/src/gcode/config/M218.cpp +++ b/Marlin/src/gcode/config/M218.cpp @@ -41,6 +41,8 @@ */ 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; @@ -48,24 +50,23 @@ void GcodeSuite::M218() { 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 (!parser.seen("XYZ")) { - SERIAL_ECHO_START(); - SERIAL_ECHOPGM(STR_HOTEND_OFFSET); - HOTEND_LOOP() { - SERIAL_CHAR(' '); - SERIAL_ECHO(hotend_offset[e].x); - SERIAL_CHAR(','); - SERIAL_ECHO(hotend_offset[e].y); - SERIAL_CHAR(','); - SERIAL_ECHO_F(hotend_offset[e].z, 3); - } - SERIAL_EOL(); - } - #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 index 75339f10b9..c9070df803 100644 --- a/Marlin/src/gcode/config/M220.cpp +++ b/Marlin/src/gcode/config/M220.cpp @@ -44,7 +44,7 @@ void GcodeSuite::M220() { if (parser.seenval('S')) feedrate_percentage = parser.value_int(); if (!parser.seen_any()) { - SERIAL_ECHOPAIR("FR:", feedrate_percentage); + SERIAL_ECHOPGM("FR:", feedrate_percentage); SERIAL_CHAR('%'); SERIAL_EOL(); } diff --git a/Marlin/src/gcode/config/M221.cpp b/Marlin/src/gcode/config/M221.cpp index 7ba22d1901..f653aded7c 100644 --- a/Marlin/src/gcode/config/M221.cpp +++ b/Marlin/src/gcode/config/M221.cpp @@ -23,7 +23,7 @@ #include "../gcode.h" #include "../../module/planner.h" -#if EXTRUDERS +#if HAS_EXTRUDERS /** * M221: Set extrusion percentage (M221 T0 S95) @@ -38,7 +38,7 @@ void GcodeSuite::M221() { else { SERIAL_ECHO_START(); SERIAL_CHAR('E', '0' + target_extruder); - SERIAL_ECHOPAIR(" Flow: ", planner.flow_percentage[target_extruder]); + SERIAL_ECHOPGM(" Flow: ", planner.flow_percentage[target_extruder]); SERIAL_CHAR('%'); SERIAL_EOL(); } diff --git a/Marlin/src/gcode/config/M281.cpp b/Marlin/src/gcode/config/M281.cpp index eeb0fcc470..e4ef3ab40b 100644 --- a/Marlin/src/gcode/config/M281.cpp +++ b/Marlin/src/gcode/config/M281.cpp @@ -19,6 +19,7 @@ * along with this program. If not, see . * */ + #include "../../inc/MarlinConfig.h" #if ENABLED(EDITABLE_SERVO_ANGLES) @@ -34,6 +35,7 @@ * U - Stowed Angle */ void GcodeSuite::M281() { + if (!parser.seen_any()) return M281_report(); if (!parser.seenval('P')) return; @@ -45,24 +47,32 @@ void GcodeSuite::M281() { return; } #endif - bool angle_change = false; - if (parser.seen('L')) { - servo_angles[servo_index][0] = parser.value_int(); - angle_change = true; - } - if (parser.seen('U')) { - servo_angles[servo_index][1] = parser.value_int(); - angle_change = true; - } - if (!angle_change) { - SERIAL_ECHO_MSG(" Servo ", servo_index, - " L", servo_angles[servo_index][0], - " U", servo_angles[servo_index][1]); - } + 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 index 7b3f57608b..a3938acb11 100644 --- a/Marlin/src/gcode/config/M301.cpp +++ b/Marlin/src/gcode/config/M301.cpp @@ -46,46 +46,62 @@ * 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 - const uint8_t e = parser.byteval('E'); // extruder being updated + 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.seen('P')) PID_PARAM(Kp, e) = parser.value_float(); - if (parser.seen('I')) PID_PARAM(Ki, e) = scalePID_i(parser.value_float()); - if (parser.seen('D')) PID_PARAM(Kd, e) = scalePID_d(parser.value_float()); + + 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.seen('C')) PID_PARAM(Kc, e) = parser.value_float(); + if (parser.seenval('C')) SET_HOTEND_PID(Kc, e, parser.value_float()); if (parser.seenval('L')) thermalManager.lpq_len = parser.value_int(); - NOMORE(thermalManager.lpq_len, LPQ_MAX_LEN); - NOLESS(thermalManager.lpq_len, 0); + LIMIT(thermalManager.lpq_len, 0, LPQ_MAX_LEN); #endif #if ENABLED(PID_FAN_SCALING) - if (parser.seen('F')) PID_PARAM(Kf, e) = parser.value_float(); + if (parser.seenval('F')) SET_HOTEND_PID(Kf, e, parser.value_float()); #endif thermalManager.updatePID(); - - SERIAL_ECHO_START(); - #if ENABLED(PID_PARAMS_PER_HOTEND) - SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output - #endif - SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e), - " i:", unscalePID_i(PID_PARAM(Ki, e)), - " d:", unscalePID_d(PID_PARAM(Kd, e))); - #if ENABLED(PID_EXTRUSION_SCALING) - SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e)); - #endif - #if ENABLED(PID_FAN_SCALING) - SERIAL_ECHOPAIR(" f:", PID_PARAM(Kf, e)); - #endif - - SERIAL_EOL(); } 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 index e3ce5a10ef..9f4d569d7b 100644 --- a/Marlin/src/gcode/config/M302.cpp +++ b/Marlin/src/gcode/config/M302.cpp @@ -27,6 +27,10 @@ #include "../gcode.h" #include "../../module/temperature.h" +#if ENABLED(DWIN_LCD_PROUI) + #include "../../lcd/e3v2/proui/dwin_defines.h" +#endif + /** * M302: Allow cold extrudes, or set the minimum extrude temperature * @@ -47,6 +51,7 @@ void GcodeSuite::M302() { 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')) @@ -55,8 +60,8 @@ void GcodeSuite::M302() { // Report current state SERIAL_ECHO_START(); SERIAL_ECHOPGM("Cold extrudes are "); - SERIAL_ECHOPGM_P(thermalManager.allow_cold_extrude ? PSTR("en") : PSTR("dis")); - SERIAL_ECHOLNPAIR("abled (min temp ", thermalManager.extrude_min_temp, "C)"); + SERIAL_ECHOF(thermalManager.allow_cold_extrude ? F("en") : F("dis")); + SERIAL_ECHOLNPGM("abled (min temp ", thermalManager.extrude_min_temp, "C)"); } } diff --git a/Marlin/src/gcode/config/M304.cpp b/Marlin/src/gcode/config/M304.cpp index b1af5a5ae2..a71a34c6de 100644 --- a/Marlin/src/gcode/config/M304.cpp +++ b/Marlin/src/gcode/config/M304.cpp @@ -35,15 +35,19 @@ * 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()); +} - if (parser.seen('P')) thermalManager.temp_bed.pid.Kp = parser.value_float(); - if (parser.seen('I')) thermalManager.temp_bed.pid.Ki = scalePID_i(parser.value_float()); - if (parser.seen('D')) thermalManager.temp_bed.pid.Kd = scalePID_d(parser.value_float()); - - SERIAL_ECHO_MSG(" p:", thermalManager.temp_bed.pid.Kp, - " i:", unscalePID_i(thermalManager.temp_bed.pid.Ki), - " d:", unscalePID_d(thermalManager.temp_bed.pid.Kd)); - +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 index 10ef55c173..e7746923b3 100644 --- a/Marlin/src/gcode/config/M305.cpp +++ b/Marlin/src/gcode/config/M305.cpp @@ -52,28 +52,28 @@ void GcodeSuite::M305() { 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.seen('R')) // Pullup resistor value + 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.seen('T')) // Resistance at 25C + 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.seen('B')) // Beta value + 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.seen('C')) // Steinhart-Hart C coefficient + 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.log_user_thermistor(i); + thermalManager.M305_report(i); } else // ...one user thermistor - thermalManager.log_user_thermistor(t_index); + 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 index 2247481b25..4953113041 100644 --- a/Marlin/src/gcode/config/M309.cpp +++ b/Marlin/src/gcode/config/M309.cpp @@ -35,14 +35,19 @@ * D - Set the D value */ void GcodeSuite::M309() { - if (parser.seen('P')) thermalManager.temp_chamber.pid.Kp = parser.value_float(); - if (parser.seen('I')) thermalManager.temp_chamber.pid.Ki = scalePID_i(parser.value_float()); - if (parser.seen('D')) thermalManager.temp_chamber.pid.Kd = scalePID_d(parser.value_float()); + 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()); +} - SERIAL_ECHO_START(); - SERIAL_ECHOLNPAIR(" p:", thermalManager.temp_chamber.pid.Kp, - " i:", unscalePID_i(thermalManager.temp_chamber.pid.Ki), - " d:", unscalePID_d(thermalManager.temp_chamber.pid.Kd)); +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 index 4009721a57..5807844012 100644 --- a/Marlin/src/gcode/config/M43.cpp +++ b/Marlin/src/gcode/config/M43.cpp @@ -65,12 +65,12 @@ inline void toggle_pins() { 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, PSTR("Untouched ")); + report_pin_state_extended(pin, ignore_protection, true, F("Untouched ")); SERIAL_EOL(); } else { - watchdog_refresh(); - report_pin_state_extended(pin, ignore_protection, true, PSTR("Pulsing ")); + hal.watchdog_refresh(); + report_pin_state_extended(pin, ignore_protection, true, F("Pulsing ")); #ifdef __STM32F1__ const auto prior_mode = _GET_MODE(i); #else @@ -98,10 +98,10 @@ inline void toggle_pins() { { pinMode(pin, OUTPUT); for (int16_t j = 0; j < repeat; j++) { - watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); - watchdog_refresh(); extDigitalWrite(pin, 1); safe_delay(wait); - watchdog_refresh(); extDigitalWrite(pin, 0); safe_delay(wait); - watchdog_refresh(); + 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__ @@ -112,7 +112,7 @@ inline void toggle_pins() { } SERIAL_EOL(); } - SERIAL_ECHOLNPGM("Done."); + SERIAL_ECHOLNPGM(STR_DONE); } // toggle_pins @@ -130,7 +130,7 @@ inline void servo_probe_test() { const uint8_t probe_index = parser.byteval('P', Z_PROBE_SERVO_NR); - SERIAL_ECHOLNPAIR("Servo probe test\n" + SERIAL_ECHOLNPGM("Servo probe test\n" ". using index: ", probe_index, ", deploy angle: ", servo_angles[probe_index][0], ", stow angle: ", servo_angles[probe_index][1] @@ -143,7 +143,7 @@ inline void servo_probe_test() { #define PROBE_TEST_PIN Z_MIN_PIN constexpr bool probe_inverting = Z_MIN_ENDSTOP_INVERTING; - SERIAL_ECHOLNPAIR(". Probe Z_MIN_PIN: ", PROBE_TEST_PIN); + SERIAL_ECHOLNPGM(". Probe Z_MIN_PIN: ", PROBE_TEST_PIN); SERIAL_ECHOPGM(". Z_MIN_ENDSTOP_INVERTING: "); #else @@ -151,7 +151,7 @@ inline void servo_probe_test() { #define PROBE_TEST_PIN Z_MIN_PROBE_PIN constexpr bool probe_inverting = Z_MIN_PROBE_ENDSTOP_INVERTING; - SERIAL_ECHOLNPAIR(". Probe Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN); + SERIAL_ECHOLNPGM(". Probe Z_MIN_PROBE_PIN: ", PROBE_TEST_PIN); SERIAL_ECHOPGM( ". Z_MIN_PROBE_ENDSTOP_INVERTING: "); #endif @@ -198,10 +198,10 @@ inline void servo_probe_test() { uint8_t i = 0; SERIAL_ECHOLNPGM(". Deploy & stow 4 times"); do { - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy safe_delay(500); deploy_state = READ(PROBE_TEST_PIN); - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow safe_delay(500); stow_state = READ(PROBE_TEST_PIN); } while (++i < 4); @@ -211,11 +211,11 @@ inline void servo_probe_test() { if (deploy_state != stow_state) { SERIAL_ECHOLNPGM("= Mechanical Switch detected"); if (deploy_state) { - SERIAL_ECHOLNPAIR(" DEPLOYED state: HIGH (logic 1)", + SERIAL_ECHOLNPGM(" DEPLOYED state: HIGH (logic 1)", " STOWED (triggered) state: LOW (logic 0)"); } else { - SERIAL_ECHOLNPAIR(" DEPLOYED state: LOW (logic 0)", + SERIAL_ECHOLNPGM(" DEPLOYED state: LOW (logic 0)", " STOWED (triggered) state: HIGH (logic 1)"); } #if ENABLED(BLTOUCH) @@ -226,7 +226,7 @@ inline void servo_probe_test() { } // Ask the user for a trigger event and measure the pulse width. - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][0]); // Deploy + 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; @@ -244,7 +244,7 @@ inline void servo_probe_test() { if (probe_counter == 15) SERIAL_ECHOLNPGM(": 30ms or more"); else - SERIAL_ECHOLNPAIR(" (+/- 4ms): ", probe_counter * 2); + SERIAL_ECHOLNPGM(" (+/- 4ms): ", probe_counter * 2); if (probe_counter >= 4) { if (probe_counter == 15) { @@ -256,7 +256,7 @@ inline void servo_probe_test() { } else SERIAL_ECHOLNPGM("FAIL: Noise detected - please re-run test"); - MOVE_SERVO(probe_index, servo_angles[Z_PROBE_SERVO_NR][1]); // Stow + servo[probe_index].move(servo_angles[Z_PROBE_SERVO_NR][1]); // Stow return; } } @@ -288,8 +288,8 @@ inline void servo_probe_test() { * 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 continueing to next pin - * W - Wait time (in miliseconds) between pulses. If not given will default to 500 + * 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 @@ -303,7 +303,7 @@ void GcodeSuite::M43() { if (parser.seen('E')) { endstops.monitor_flag = parser.value_bool(); SERIAL_ECHOPGM("endstop monitor "); - SERIAL_ECHOPGM_P(endstops.monitor_flag ? PSTR("en") : PSTR("dis")); + SERIAL_ECHOF(endstops.monitor_flag ? F("en") : F("dis")); SERIAL_ECHOLNPGM("abled"); return; } @@ -313,9 +313,16 @@ void GcodeSuite::M43() { // 'P' Get the range of pins to test or watch uint8_t first_pin = PARSED_PIN_INDEX('P', 0), - last_pin = parser.seenval('P') ? first_pin : NUMBER_PINS_TOTAL - 1; + last_pin = parser.seenval('L') ? PARSED_PIN_INDEX('L', 0) : parser.seenval('P') ? first_pin : (NUMBER_PINS_TOTAL) - 1; - if (first_pin > last_pin) return; + 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'); @@ -333,19 +340,19 @@ void GcodeSuite::M43() { 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 (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, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("M43 Wait Called"), CONTINUE_STR)); - TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("M43 Wait Called"))); + 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 (;;) { diff --git a/Marlin/src/gcode/config/M540.cpp b/Marlin/src/gcode/config/M540.cpp index 54d52f3a31..e751248dd6 100644 --- a/Marlin/src/gcode/config/M540.cpp +++ b/Marlin/src/gcode/config/M540.cpp @@ -25,7 +25,7 @@ #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) #include "../gcode.h" -#include "../../module/stepper.h" +#include "../../module/planner.h" /** * M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>) diff --git a/Marlin/src/gcode/config/M575.cpp b/Marlin/src/gcode/config/M575.cpp index ce5f8fda0e..2c12428d98 100644 --- a/Marlin/src/gcode/config/M575.cpp +++ b/Marlin/src/gcode/config/M575.cpp @@ -52,19 +52,25 @@ void GcodeSuite::M575() { 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 set0 = (port == -99 || port == 0); - if (set0) SERIAL_ECHO_MSG(" Serial ", '0', " baud rate set to ", baud); + const bool set1 = (port == -99 || port == 0); + if (set1) SERIAL_ECHO_MSG(" Serial ", AS_DIGIT(0), " baud rate set to ", baud); #if HAS_MULTI_SERIAL - const bool set1 = (port == -99 || port == 1); - if (set1) SERIAL_ECHO_MSG(" Serial ", '1', " baud rate set to ", baud); + 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 SERIAL_FLUSH(); - if (set0) { MYSERIAL1.end(); MYSERIAL1.begin(baud); } - + if (set1) { MYSERIAL1.end(); MYSERIAL1.begin(baud); } #if HAS_MULTI_SERIAL - if (set1) { MYSERIAL2.end(); MYSERIAL2.begin(baud); } + if (set2) { MYSERIAL2.end(); MYSERIAL2.begin(baud); } + #ifdef SERIAL_PORT_3 + if (set3) { MYSERIAL3.end(); MYSERIAL3.begin(baud); } + #endif #endif } break; diff --git a/Marlin/src/gcode/config/M672.cpp b/Marlin/src/gcode/config/M672.cpp index af74230516..257b49471f 100644 --- a/Marlin/src/gcode/config/M672.cpp +++ b/Marlin/src/gcode/config/M672.cpp @@ -53,7 +53,7 @@ // 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% +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 diff --git a/Marlin/src/gcode/config/M92.cpp b/Marlin/src/gcode/config/M92.cpp index bdb95db8d6..c7610b83a9 100644 --- a/Marlin/src/gcode/config/M92.cpp +++ b/Marlin/src/gcode/config/M92.cpp @@ -23,40 +23,19 @@ #include "../gcode.h" #include "../../module/planner.h" -void report_M92(const bool echo=true, const int8_t e=-1) { - if (echo) SERIAL_ECHO_START(); else SERIAL_CHAR(' '); - SERIAL_ECHOPAIR_P(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])); - #if DISABLED(DISTINCT_E_FACTORS) - SERIAL_ECHOPAIR_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; - if (echo) SERIAL_ECHO_START(); else SERIAL_CHAR(' '); - SERIAL_ECHOLNPAIR_P(PSTR(" M92 T"), i, - SP_E_STR, VOLUMETRIC_UNIT(planner.settings.axis_steps_per_mm[E_AXIS_N(i)])); - } - #endif - - UNUSED_E(e); -} - /** - * M92: Set axis steps-per-unit for one or more axes, X, Y, Z, and E. + * 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' specifies micro-steps to use. We guess if it's not supplied. - * 'L' specifies a desired layer height. Nearest good heights are shown. + * 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() { @@ -64,28 +43,26 @@ void GcodeSuite::M92() { if (target_extruder < 0) return; // No arguments? Show M92 report. - if (!parser.seen("XYZE" - #if ENABLED(MAGIC_NUMBERS_GCODE) - "HL" - #endif - )) return report_M92(true, target_extruder); + if (!parser.seen(STR_AXES_LOGICAL TERN_(MAGIC_NUMBERS_GCODE, "HL"))) + return M92_report(true, target_extruder); - LOOP_XYZE(i) { - if (parser.seenval(axis_codes[i])) { - if (i == E_AXIS) { - 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; - } - else { + 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 } } } @@ -95,16 +72,16 @@ void GcodeSuite::M92() { #ifndef Z_MICROSTEPS #define Z_MICROSTEPS 16 #endif - const float wanted = parser.floatval('L'); + 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.steps_to_mm[Z_AXIS]; + const float z_full_step_mm = micro_steps * planner.mm_per_step[Z_AXIS]; SERIAL_ECHO_START(); - SERIAL_ECHOPAIR("{ micro_steps:", micro_steps, ", z_full_step_mm:", z_full_step_mm); + 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_ECHOPAIR(", best:[", best); + SERIAL_ECHOPGM(", best:[", best); if (best != wanted) { SERIAL_CHAR(','); SERIAL_DECIMAL(best + z_full_step_mm); } SERIAL_CHAR(']'); } @@ -112,3 +89,35 @@ void GcodeSuite::M92() { } #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 index 26f67e6cb6..d5a69dcfcc 100644 --- a/Marlin/src/gcode/control/M10-M11.cpp +++ b/Marlin/src/gcode/control/M10-M11.cpp @@ -25,14 +25,12 @@ #if ENABLED(AIR_EVACUATION) #include "../gcode.h" -#include "../../module/planner.h" #include "../../feature/spindle_laser.h" /** * M10: Vacuum or Blower On */ void GcodeSuite::M10() { - planner.synchronize(); // Wait for move to arrive (TODO: asynchronous) cutter.air_evac_enable(); // Turn on Vacuum or Blower motor } @@ -40,7 +38,6 @@ void GcodeSuite::M10() { * M11: Vacuum or Blower OFF */ void GcodeSuite::M11() { - planner.synchronize(); // Wait for move to arrive (TODO: asynchronous) cutter.air_evac_disable(); // Turn off Vacuum or Blower motor } diff --git a/Marlin/src/gcode/control/M108_M112_M410.cpp b/Marlin/src/gcode/control/M108_M112_M410.cpp index 309c806c8f..39f9c04e19 100644 --- a/Marlin/src/gcode/control/M108_M112_M410.cpp +++ b/Marlin/src/gcode/control/M108_M112_M410.cpp @@ -40,7 +40,7 @@ void GcodeSuite::M108() { * M112: Full Shutdown */ void GcodeSuite::M112() { - kill(M112_KILL_STR, nullptr, true); + kill(FPSTR(M112_KILL_STR), nullptr, true); } /** diff --git a/Marlin/src/gcode/control/M111.cpp b/Marlin/src/gcode/control/M111.cpp index e762e3387f..a92d334ae9 100644 --- a/Marlin/src/gcode/control/M111.cpp +++ b/Marlin/src/gcode/control/M111.cpp @@ -26,7 +26,7 @@ * M111: Set the debug level */ void GcodeSuite::M111() { - if (parser.seen('S')) marlin_debug_flags = parser.byteval('S'); + 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); @@ -34,12 +34,12 @@ void GcodeSuite::M111() { 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_lvl, STR_DEBUG_LEVELING); + 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_lvl) + TERN_(DEBUG_LEVELING_FEATURE, str_debug_detail) }; SERIAL_ECHO_START(); @@ -49,7 +49,7 @@ void GcodeSuite::M111() { LOOP_L_N(i, COUNT(debug_strings)) { if (TEST(marlin_debug_flags, i)) { if (comma++) SERIAL_CHAR(','); - SERIAL_ECHOPGM_P((char*)pgm_read_ptr(&debug_strings[i])); + SERIAL_ECHOPGM_P((PGM_P)pgm_read_ptr(&debug_strings[i])); } } } @@ -57,19 +57,19 @@ void GcodeSuite::M111() { SERIAL_ECHOPGM(STR_DEBUG_OFF); #if !defined(__AVR__) || !defined(USBCON) #if ENABLED(SERIAL_STATS_RX_BUFFER_OVERRUNS) - SERIAL_ECHOPAIR("\nBuffer Overruns: ", MYSERIAL1.buffer_overruns()); + SERIAL_ECHOPGM("\nBuffer Overruns: ", MYSERIAL1.buffer_overruns()); #endif #if ENABLED(SERIAL_STATS_RX_FRAMING_ERRORS) - SERIAL_ECHOPAIR("\nFraming Errors: ", MYSERIAL1.framing_errors()); + SERIAL_ECHOPGM("\nFraming Errors: ", MYSERIAL1.framing_errors()); #endif #if ENABLED(SERIAL_STATS_DROPPED_RX) - SERIAL_ECHOPAIR("\nDropped bytes: ", MYSERIAL1.dropped()); + SERIAL_ECHOPGM("\nDropped bytes: ", MYSERIAL1.dropped()); #endif #if ENABLED(SERIAL_STATS_MAX_RX_QUEUED) - SERIAL_ECHOPAIR("\nMax RX Queue Size: ", MYSERIAL1.rxMaxEnqueued()); + SERIAL_ECHOPGM("\nMax RX Queue Size: ", MYSERIAL1.rxMaxEnqueued()); #endif #endif // !__AVR__ || !USBCON } diff --git a/Marlin/src/gcode/control/M17_M18_M84.cpp b/Marlin/src/gcode/control/M17_M18_M84.cpp index b35b465331..4ff48568fa 100644 --- a/Marlin/src/gcode/control/M17_M18_M84.cpp +++ b/Marlin/src/gcode/control/M17_M18_M84.cpp @@ -23,47 +23,227 @@ #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 -/** - * M17: Enable stepper motors - */ -void GcodeSuite::M17() { - if (parser.seen("XYZE")) { - if (parser.seen('X')) ENABLE_AXIS_X(); - if (parser.seen('Y')) ENABLE_AXIS_Y(); - if (parser.seen('Z')) ENABLE_AXIS_Z(); - if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen('E'))) enable_e_steppers(); +#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]; + } } - else { - LCD_MESSAGEPGM(MSG_NO_MOVE); - enable_all_steppers(); + #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)); } /** - * M18, M84: Disable stepper motors + * 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(); - stepper_inactive_time = parser.value_millis_from_seconds(); + #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("XYZE")) { + if (parser.seen_axis()) { planner.synchronize(); - if (parser.seen('X')) DISABLE_AXIS_X(); - if (parser.seen('Y')) DISABLE_AXIS_Y(); - if (parser.seen('Z')) DISABLE_AXIS_Z(); - if (TERN0(HAS_E_STEPPER_ENABLE, parser.seen('E'))) disable_e_steppers(); + 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, ubl.steppers_were_disabled()); + 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 index 2049f1eb69..95ae052a7b 100644 --- a/Marlin/src/gcode/control/M211.cpp +++ b/Marlin/src/gcode/control/M211.cpp @@ -33,14 +33,22 @@ * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report */ void GcodeSuite::M211() { - const xyz_pos_t l_soft_min = soft_endstop.min.asLogical(), - l_soft_max = soft_endstop.max.asLogical(); - SERIAL_ECHO_START(); - SERIAL_ECHOPGM(STR_SOFT_ENDSTOPS); - if (parser.seen('S')) soft_endstop._enabled = parser.value_bool(); - serialprint_onoff(soft_endstop._enabled); - print_xyz(l_soft_min, PSTR(STR_SOFT_MIN), PSTR(" ")); - print_xyz(l_soft_max, PSTR(STR_SOFT_MAX)); + if (parser.seen('S')) + soft_endstop._enabled = parser.value_bool(); + else + M211_report(); } -#endif +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 index 63f022e82b..4eb3db4bc3 100644 --- a/Marlin/src/gcode/control/M226.cpp +++ b/Marlin/src/gcode/control/M226.cpp @@ -26,7 +26,7 @@ #include "../gcode.h" #include "../../MarlinCore.h" // for pin_is_protected and idle() -#include "../../module/stepper.h" +#include "../../module/planner.h" void protected_pin_err(); diff --git a/Marlin/src/gcode/control/M280.cpp b/Marlin/src/gcode/control/M280.cpp index 187c9a9b19..82981e44bc 100644 --- a/Marlin/src/gcode/control/M280.cpp +++ b/Marlin/src/gcode/control/M280.cpp @@ -26,22 +26,44 @@ #include "../gcode.h" #include "../../module/servo.h" +#include "../../module/planner.h" /** - * M280: Get or set servo position. P [S] + * 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.seen('P')) return; + 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.seen('S')) { - const int a = parser.value_int(); - if (a == -1) - servo[servo_index].detach(); + 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 - MOVE_SERVO(servo_index, a); + servo[servo_index].detach(); } else SERIAL_ECHO_MSG(" Servo ", servo_index, ": ", servo[servo_index].read()); diff --git a/Marlin/src/HAL/ESP32/watchdog.cpp b/Marlin/src/gcode/control/M282.cpp similarity index 64% rename from Marlin/src/HAL/ESP32/watchdog.cpp rename to Marlin/src/gcode/control/M282.cpp index 5ec03c4607..3ac5ac9f5b 100644 --- a/Marlin/src/HAL/ESP32/watchdog.cpp +++ b/Marlin/src/gcode/control/M282.cpp @@ -1,6 +1,6 @@ /** * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] * * Based on Sprinter and grbl. * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm @@ -19,24 +19,27 @@ * along with this program. If not, see . * */ -#ifdef ARDUINO_ARCH_ESP32 #include "../../inc/MarlinConfig.h" -#if ENABLED(USE_WATCHDOG) +#if ENABLED(SERVO_DETACH_GCODE) -#define WDT_TIMEOUT_US TERN(WATCHDOG_DURATION_8S, 8000000, 4000000) // 4 or 8 second timeout +#include "../gcode.h" +#include "../../module/servo.h" -#include "watchdog.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"); -void watchdogSetup() { - // do whatever. don't remove this function. } -void watchdog_init() { - // TODO -} - -#endif // USE_WATCHDOG - -#endif // ARDUINO_ARCH_ESP32 +#endif // SERVO_DETACH_GCODE diff --git a/Marlin/src/gcode/control/M3-M5.cpp b/Marlin/src/gcode/control/M3-M5.cpp index 711bb7e5e4..5d5d44e8bf 100644 --- a/Marlin/src/gcode/control/M3-M5.cpp +++ b/Marlin/src/gcode/control/M3-M5.cpp @@ -26,24 +26,34 @@ #include "../gcode.h" #include "../../feature/spindle_laser.h" -#include "../../module/stepper.h" +#include "../../module/planner.h" /** * Laser: * M3 - Laser ON/Power (Ramped power) - * M4 - Laser ON/Power (Continuous 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, except in relative mode. - * O - Set power and OCR (oscillator count register) + * S - Set power. S0 will turn the spindle/laser off. * - * If no PWM pin is defined then M3/M4 just turns it on. + * 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. + * 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. @@ -66,75 +76,81 @@ * PWM duty cycle goes from 0 (off) to 255 (always on). */ void GcodeSuite::M3_M4(const bool is_M4) { - auto get_s_power = [] { - if (parser.seenval('S')) { - const float spwr = parser.value_float(); - #if ENABLED(SPINDLE_SERVO) - cutter.unitPower = spwr; - #else - cutter.unitPower = TERN(SPINDLE_LASER_PWM, - cutter.power_to_range(cutter_power_t(round(spwr))), - spwr > 0 ? 255 : 0); - #endif + #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); } - else - cutter.unitPower = cutter.cpwr_to_upwr(SPEED_POWER_STARTUP); - return cutter.unitPower; + #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 ENABLED(LASER_POWER_INLINE) - if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) { - // Laser power in inline mode - cutter.inline_direction(is_M4); // Should always be unused - #if ENABLED(SPINDLE_LASER_PWM) - if (parser.seen('O')) { - cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0); - cutter.inline_ocr_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t) - } - else - cutter.inline_power(cutter.upower_to_ocr(get_s_power())); + 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 - cutter.set_inline_enabled(true); + planner.synchronize(); + cutter.inline_power(cutter.power); #endif - return; - } - // Non-inline, standard case - cutter.inline_disable(); // Prevent future blocks re-setting the power - #endif - - planner.synchronize(); // Wait for previous movement commands (G0/G0/G2/G3) to complete before changing power - cutter.set_reverse(is_M4); - - #if ENABLED(SPINDLE_LASER_PWM) - if (parser.seenval('O')) { - cutter.unitPower = cutter.power_to_range(parser.value_byte(), 0); - cutter.set_ocr_power(cutter.unitPower); // The OCR is a value from 0 to 255 (uint8_t) - } - else - cutter.set_power(cutter.upower_to_ocr(get_s_power())); - #elif ENABLED(SPINDLE_SERVO) - cutter.set_power(get_s_power()); - #else + #endif + } + else { cutter.set_enabled(true); - #endif - cutter.menuPower = cutter.unitPower; + 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() { - #if ENABLED(LASER_POWER_INLINE) - if (parser.seen('I') == DISABLED(LASER_POWER_INLINE_INVERT)) { - cutter.set_inline_enabled(false); // Laser power in inline mode - return; - } - // Non-inline, standard case - cutter.inline_disable(); // Prevent future blocks re-setting the power - #endif planner.synchronize(); - cutter.set_enabled(false); - cutter.menuPower = cutter.unitPower; + 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 index 463bd2ad58..ac6b5a329b 100644 --- a/Marlin/src/gcode/control/M350_M351.cpp +++ b/Marlin/src/gcode/control/M350_M351.cpp @@ -27,35 +27,45 @@ #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. + #if AXIS_COLLISION('B') + #error "M350 parameter 'B' collision with axis name." + #endif +#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_LE_N(i, 4) stepper.microstep_mode(i, parser.value_byte()); - LOOP_XYZE(i) if (parser.seen(axis_codes[i])) stepper.microstep_mode(i, parser.value_byte()); - if (parser.seen('B')) stepper.microstep_mode(4, parser.value_byte()); + 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 + * 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_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, parser.value_byte(), -1, -1); - if (parser.seenval('B')) stepper.microstep_ms(4, parser.value_byte(), -1, -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_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, parser.value_byte(), -1); - if (parser.seenval('B')) stepper.microstep_ms(4, -1, parser.value_byte(), -1); + 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_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.microstep_ms(i, -1, -1, parser.value_byte()); - if (parser.seenval('B')) stepper.microstep_ms(4, -1, -1, parser.value_byte()); + 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(); diff --git a/Marlin/src/gcode/control/M380_M381.cpp b/Marlin/src/gcode/control/M380_M381.cpp index 3f5b252465..6bcec891e2 100644 --- a/Marlin/src/gcode/control/M380_M381.cpp +++ b/Marlin/src/gcode/control/M380_M381.cpp @@ -37,7 +37,7 @@ void GcodeSuite::M380() { #if ENABLED(MANUAL_SOLENOID_CONTROL) enable_solenoid(parser.intval('S', active_extruder)); #else - enable_solenoid_on_active_extruder(); + enable_solenoid(active_extruder); #endif } diff --git a/Marlin/src/gcode/control/M400.cpp b/Marlin/src/gcode/control/M400.cpp index 9a5ad4e9df..6058fb894e 100644 --- a/Marlin/src/gcode/control/M400.cpp +++ b/Marlin/src/gcode/control/M400.cpp @@ -21,7 +21,7 @@ */ #include "../gcode.h" -#include "../../module/stepper.h" +#include "../../module/planner.h" /** * M400: Finish all moves diff --git a/Marlin/src/gcode/control/M42.cpp b/Marlin/src/gcode/control/M42.cpp index 6ef8455e0b..1b3a29d100 100644 --- a/Marlin/src/gcode/control/M42.cpp +++ b/Marlin/src/gcode/control/M42.cpp @@ -31,6 +31,13 @@ #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); } @@ -45,7 +52,7 @@ void protected_pin_err() { * S Pin status from 0 - 255 * I Flag to ignore Marlin's pin protection * - * M Pin mode: 0=INPUT 1=OUTPUT 2=INPUT_PULLUP 3=INPUT_PULLDOWN + * 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)); @@ -55,13 +62,20 @@ void GcodeSuite::M42() { if (!parser.boolval('I') && pin_is_protected(pin)) return protected_pin_err(); - if (parser.seenval('M')) { + bool avoidWrite = false; + if (parser.seenval('T')) { switch (parser.value_byte()) { - case 0: pinMode(pin, INPUT); break; + case 0: pinMode(pin, INPUT); avoidWrite = true; break; case 1: pinMode(pin, OUTPUT); break; - case 2: pinMode(pin, INPUT_PULLUP); break; + case 2: pinMode(pin, INPUT_PULLUP); avoidWrite = true; break; #ifdef INPUT_PULLDOWN - case 3: pinMode(pin, INPUT_PULLDOWN); break; + 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; } @@ -99,9 +113,23 @@ void GcodeSuite::M42() { } #endif - pinMode(pin, OUTPUT); + 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); - analogWrite(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 index e0c79f0e54..e3ca43e17f 100644 --- a/Marlin/src/gcode/control/M605.cpp +++ b/Marlin/src/gcode/control/M605.cpp @@ -28,7 +28,6 @@ #include "../gcode.h" #include "../../module/motion.h" -#include "../../module/stepper.h" #include "../../module/tool_change.h" #include "../../module/planner.h" @@ -64,48 +63,53 @@ void GcodeSuite::M605() { planner.synchronize(); - if (parser.seen('S')) { + 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); - if (dual_x_carriage_mode == 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); - float x_jog = current_position.x - .1; - for (uint8_t i = 2; --i;) { - planner.buffer_line(x_jog, current_position.y, current_position.z, current_position.e, feedrate_mm_s, 0); - x_jog += .1; - } - return; - } - 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.seen('X')) duplicate_extruder_x_offset = _MAX(parser.value_linear_units(), (X2_MIN_POS) - (X1_MIN_POS)); - if (parser.seen('R')) duplicate_extruder_temp_offset = parser.value_celsius_diff(); + 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 - gcode.process_subcommands_now_P(PSTR(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 @@ -122,26 +126,26 @@ case DXC_DUPLICATION_MODE: DEBUG_ECHOPGM("DUPLICATION"); break; case DXC_MIRRORED_MODE: DEBUG_ECHOPGM("MIRRORED"); break; } - DEBUG_ECHOPAIR("\nActive Ext: ", active_extruder); + DEBUG_ECHOPGM("\nActive Ext: ", active_extruder); if (!active_extruder_parked) DEBUG_ECHOPGM(" NOT "); DEBUG_ECHOPGM(" parked."); - DEBUG_ECHOPAIR("\nactive_extruder_x_pos: ", current_position.x); - DEBUG_ECHOPAIR("\ninactive_extruder_x: ", inactive_extruder_x); - DEBUG_ECHOPAIR("\nextruder_duplication_enabled: ", extruder_duplication_enabled); - DEBUG_ECHOPAIR("\nduplicate_extruder_x_offset: ", duplicate_extruder_x_offset); - DEBUG_ECHOPAIR("\nduplicate_extruder_temp_offset: ", duplicate_extruder_temp_offset); - DEBUG_ECHOPAIR("\ndelayed_move_time: ", delayed_move_time); - DEBUG_ECHOPAIR("\nX1 Home X: ", x_home_pos(0), "\nX1_MIN_POS=", X1_MIN_POS, "\nX1_MAX_POS=", X1_MAX_POS); - DEBUG_ECHOPAIR("\nX2 Home X: ", x_home_pos(1), "\nX2_MIN_POS=", X2_MIN_POS, "\nX2_MAX_POS=", X2_MAX_POS); - DEBUG_ECHOPAIR("\nX2_HOME_DIR=", X2_HOME_DIR, "\nX2_HOME_POS=", X2_HOME_POS); - DEBUG_ECHOPAIR("\nDEFAULT_DUAL_X_CARRIAGE_MODE=", STRINGIFY(DEFAULT_DUAL_X_CARRIAGE_MODE)); - DEBUG_ECHOPAIR("\toolchange_settings.z_raise=", toolchange_settings.z_raise); - DEBUG_ECHOPAIR("\nDEFAULT_DUPLICATION_X_OFFSET=", DEFAULT_DUPLICATION_X_OFFSET); + 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_ECHOPAIR_P(SP_T_STR, e); - LOOP_XYZ(a) DEBUG_ECHOPAIR(" hotend_offset[", e, "].", AS_CHAR(XYZ_CHAR(a) | 0x20), "=", hotend_offset[e][a]); + 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(); diff --git a/Marlin/src/gcode/control/M7-M9.cpp b/Marlin/src/gcode/control/M7-M9.cpp index a33e43288b..ccde4f552c 100644 --- a/Marlin/src/gcode/control/M7-M9.cpp +++ b/Marlin/src/gcode/control/M7-M9.cpp @@ -20,9 +20,9 @@ * */ -#include "../../inc/MarlinConfig.h" +#include "../../inc/MarlinConfigPre.h" -#if ENABLED(COOLANT_CONTROL) +#if ANY(COOLANT_MIST, COOLANT_FLOOD, AIR_ASSIST) #include "../gcode.h" #include "../../module/planner.h" @@ -37,27 +37,41 @@ } #endif -#if ENABLED(COOLANT_FLOOD) +#if EITHER(COOLANT_FLOOD, AIR_ASSIST) + + #if ENABLED(AIR_ASSIST) + #include "../../feature/spindle_laser.h" + #endif + /** - * M8: Flood Coolant On + * M8: Flood Coolant / Air Assist ON */ void GcodeSuite::M8() { - planner.synchronize(); // Wait for move to arrive - WRITE(COOLANT_FLOOD_PIN, !(COOLANT_FLOOD_INVERT)); // Turn on Flood coolant + 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 OFF + * M9: Coolant / Air Assist OFF */ void GcodeSuite::M9() { - planner.synchronize(); // Wait for move to arrive + planner.synchronize(); // Wait for move to arrive #if ENABLED(COOLANT_MIST) - WRITE(COOLANT_MIST_PIN, COOLANT_MIST_INVERT); // Turn off Mist coolant + 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 + 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_CONTROL +#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 index 1b5ea2f7ef..90b25e7ed3 100644 --- a/Marlin/src/gcode/control/M80_M81.cpp +++ b/Marlin/src/gcode/control/M80_M81.cpp @@ -25,29 +25,21 @@ #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_MESSAGEPGM_P +#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) - #if ENABLED(AUTO_POWER_CONTROL) - #include "../../feature/power.h" - #else - void restore_stepper_drivers(); - #endif - - // Could be moved to a feature, but this is all the data - bool powersupply_on; - - #if HAS_TRINAMIC_CONFIG - #include "../../feature/tmc_util.h" - #endif - /** * M80 : Turn on the Power Supply * M80 S : Report the current state and exit @@ -56,11 +48,11 @@ // S: Report the current power supply state and exit if (parser.seen('S')) { - SERIAL_ECHOPGM_P(powersupply_on ? PSTR("PS:1\n") : PSTR("PS:0\n")); + SERIAL_ECHOF(powerManager.psu_on ? F("PS:1\n") : F("PS:0\n")); return; } - PSU_ON(); + powerManager.power_on(); /** * If you have a switch on suicide pin, this is useful @@ -68,16 +60,10 @@ * a print without suicide... */ #if HAS_SUICIDE - OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_INVERTING); + OUT_WRITE(SUICIDE_PIN, !SUICIDE_PIN_STATE); #endif - #if DISABLED(AUTO_POWER_CONTROL) - safe_delay(PSU_POWERUP_DELAY); - restore_stepper_drivers(); - TERN_(HAS_TRINAMIC_CONFIG, safe_delay(PSU_POWERUP_DELAY)); - #endif - - TERN_(HAS_LCD_MENU, ui.reset_status()); + TERN_(HAS_MARLINUI_MENU, ui.reset_status()); } #endif // PSU_CONTROL @@ -88,26 +74,47 @@ * This code should ALWAYS be available for FULL SHUTDOWN! */ void GcodeSuite::M81() { - thermalManager.disable_all_heaters(); planner.finish_and_disable(); + thermalManager.cooldown(); print_job_timer.stop(); - #if HAS_FAN - thermalManager.zero_fan_speeds(); - #if ENABLED(PROBING_FANS_OFF) - thermalManager.fans_paused = false; - ZERO(thermalManager.saved_fan_speed); - #endif + #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) - PSU_OFF_SOON(); + powerManager.power_off_soon(); #endif - - LCD_MESSAGEPGM_P(PSTR(MACHINE_NAME " " STR_OFF ".")); } diff --git a/Marlin/src/gcode/control/M85.cpp b/Marlin/src/gcode/control/M85.cpp index 9c8c02c59a..ee868349ed 100644 --- a/Marlin/src/gcode/control/M85.cpp +++ b/Marlin/src/gcode/control/M85.cpp @@ -29,7 +29,14 @@ void GcodeSuite::M85() { if (parser.seen('S')) { reset_stepper_timeout(); - max_inactive_time = parser.value_millis_from_seconds(); + 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 index ff9ff85bf5..598a73fab7 100644 --- a/Marlin/src/gcode/control/M993_M994.cpp +++ b/Marlin/src/gcode/control/M993_M994.cpp @@ -22,7 +22,7 @@ #include "../../inc/MarlinConfig.h" -#if ALL(HAS_SPI_FLASH, SDSUPPORT, MARLIN_DEV_MODE) +#if ALL(SPI_FLASH, SDSUPPORT, MARLIN_DEV_MODE) #include "../gcode.h" #include "../../sd/cardreader.h" @@ -37,7 +37,7 @@ void GcodeSuite::M993() { char fname[] = "spiflash.bin"; card.openFileWrite(fname); if (!card.isFileOpen()) { - SERIAL_ECHOLNPAIR("Failed to open ", fname, " to write."); + SERIAL_ECHOLNPGM("Failed to open ", fname, " to write."); return; } @@ -65,7 +65,7 @@ void GcodeSuite::M994() { char fname[] = "spiflash.bin"; card.openFileRead(fname); if (!card.isFileOpen()) { - SERIAL_ECHOLNPAIR("Failed to open ", fname, " to read."); + SERIAL_ECHOLNPGM("Failed to open ", fname, " to read."); return; } @@ -85,4 +85,4 @@ void GcodeSuite::M994() { card.closefile(); } -#endif // HAS_SPI_FLASH && SDSUPPORT && MARLIN_DEV_MODE +#endif // SPI_FLASH && SDSUPPORT && MARLIN_DEV_MODE diff --git a/Marlin/src/gcode/control/M997.cpp b/Marlin/src/gcode/control/M997.cpp index cdff96f1ac..74ed8b0d07 100644 --- a/Marlin/src/gcode/control/M997.cpp +++ b/Marlin/src/gcode/control/M997.cpp @@ -24,11 +24,17 @@ #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')); } diff --git a/Marlin/src/gcode/control/M999.cpp b/Marlin/src/gcode/control/M999.cpp index b7219673a3..b7d6db9f23 100644 --- a/Marlin/src/gcode/control/M999.cpp +++ b/Marlin/src/gcode/control/M999.cpp @@ -22,7 +22,7 @@ #include "../gcode.h" -#include "../../lcd/marlinui.h" // for lcd_reset_alert_level +#include "../../lcd/marlinui.h" // for ui.reset_alert_level #include "../../MarlinCore.h" // for marlin_state #include "../queue.h" // for flush_and_request_resend diff --git a/Marlin/src/gcode/control/T.cpp b/Marlin/src/gcode/control/T.cpp index 6a084d83ad..5e8f6b5436 100644 --- a/Marlin/src/gcode/control/T.cpp +++ b/Marlin/src/gcode/control/T.cpp @@ -49,7 +49,7 @@ void GcodeSuite::T(const int8_t tool_index) { DEBUG_SECTION(log_T, "T", DEBUGGING(LEVELING)); - if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("...(", tool_index, ")"); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("...(", tool_index, ")"); // Count this command as movement / activity reset_stepper_timeout(); diff --git a/Marlin/src/gcode/eeprom/M500-M504.cpp b/Marlin/src/gcode/eeprom/M500-M504.cpp index cd7833c701..412d003355 100644 --- a/Marlin/src/gcode/eeprom/M500-M504.cpp +++ b/Marlin/src/gcode/eeprom/M500-M504.cpp @@ -25,6 +25,11 @@ #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 */ @@ -50,9 +55,24 @@ void GcodeSuite::M502() { /** * 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 @@ -75,14 +95,14 @@ void GcodeSuite::M502() { if (dowrite) { val = parser.byteval('V'); persistentStore.write_data(addr, &val); - SERIAL_ECHOLNPAIR("Wrote address ", addr, " with ", 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_ECHOLNPAIR("0x", hex_word(addr), ":", hex_byte(val)); + SERIAL_ECHOLNPGM("0x", hex_word(addr), ":", hex_byte(val)); addr++; safe_delay(10); } @@ -90,7 +110,7 @@ void GcodeSuite::M502() { } else { persistentStore.read_data(addr, &val); - SERIAL_ECHOLNPAIR("Read address ", addr, " and got ", val); + SERIAL_ECHOLNPGM("Read address ", addr, " and got ", val); } } return; diff --git a/Marlin/src/gcode/feature/L6470/M122.cpp b/Marlin/src/gcode/feature/L6470/M122.cpp deleted file mode 100644 index cfac427642..0000000000 --- a/Marlin/src/gcode/feature/L6470/M122.cpp +++ /dev/null @@ -1,151 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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_L64XX - -#include "../../gcode.h" -#include "../../../libs/L64XX/L64XX_Marlin.h" -#include "../../../module/stepper/indirection.h" - -void echo_yes_no(const bool yes); - -inline void L6470_say_status(const L64XX_axis_t axis) { - if (L64xxManager.spi_abort) return; - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - L64xxManager.get_status(axis); - L64xxManager.say_axis(axis); - #if ENABLED(L6470_CHITCHAT) - char temp_buf[20]; - sprintf_P(temp_buf, PSTR(" status: %4x "), sh.STATUS_AXIS_RAW); - SERIAL_ECHO(temp_buf); - print_bin(sh.STATUS_AXIS_RAW); - switch (sh.STATUS_AXIS_LAYOUT) { - case L6470_STATUS_LAYOUT: SERIAL_ECHOPGM(" L6470"); break; - case L6474_STATUS_LAYOUT: SERIAL_ECHOPGM(" L6474"); break; - case L6480_STATUS_LAYOUT: SERIAL_ECHOPGM(" L6480/powerSTEP01"); break; - } - #endif - SERIAL_ECHOPGM("\n...OUTPUT: "); - SERIAL_ECHOPGM_P(sh.STATUS_AXIS & STATUS_HIZ ? PSTR("OFF") : PSTR("ON ")); - SERIAL_ECHOPGM(" BUSY: "); echo_yes_no((sh.STATUS_AXIS & STATUS_BUSY) == 0); - SERIAL_ECHOPGM(" DIR: "); - SERIAL_ECHOPGM_P((((sh.STATUS_AXIS & STATUS_DIR) >> 4) ^ L64xxManager.index_to_dir[axis]) ? PSTR("FORWARD") : PSTR("REVERSE")); - if (sh.STATUS_AXIS_LAYOUT == L6480_STATUS_LAYOUT) { - SERIAL_ECHOPGM(" Last Command: "); - if (sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD) SERIAL_ECHOPGM("VALID"); - else SERIAL_ECHOPGM("ERROR"); - SERIAL_ECHOPGM("\n...THERMAL: "); - switch ((sh.STATUS_AXIS & (sh.STATUS_AXIS_TH_SD | sh.STATUS_AXIS_TH_WRN)) >> 11) { - case 0: SERIAL_ECHOPGM("DEVICE SHUTDOWN"); break; - case 1: SERIAL_ECHOPGM("BRIDGE SHUTDOWN"); break; - case 2: SERIAL_ECHOPGM("WARNING "); break; - case 3: SERIAL_ECHOPGM("OK "); break; - } - } - else { - SERIAL_ECHOPGM(" Last Command: "); - if (!(sh.STATUS_AXIS & sh.STATUS_AXIS_WRONG_CMD)) SERIAL_ECHOPGM("IN"); - SERIAL_ECHOPGM("VALID "); - SERIAL_ECHOPGM_P(sh.STATUS_AXIS & sh.STATUS_AXIS_NOTPERF_CMD ? PSTR("COMPLETED ") : PSTR("Not PERFORMED")); - SERIAL_ECHOPAIR("\n...THERMAL: ", !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_SD) ? "SHUTDOWN " : !(sh.STATUS_AXIS & sh.STATUS_AXIS_TH_WRN) ? "WARNING " : "OK "); - } - SERIAL_ECHOPGM(" OVERCURRENT:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_OCD) == 0); - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) { - SERIAL_ECHOPGM(" STALL:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_A) == 0 || (sh.STATUS_AXIS & sh.STATUS_AXIS_STEP_LOSS_B) == 0); - SERIAL_ECHOPGM(" STEP-CLOCK MODE:"); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_SCK_MOD) != 0); - } - else { - SERIAL_ECHOPGM(" STALL: NA " - " STEP-CLOCK MODE: NA" - " UNDER VOLTAGE LOCKOUT: "); echo_yes_no((sh.STATUS_AXIS & sh.STATUS_AXIS_UVLO) == 0); - } - SERIAL_EOL(); -} - -/** - * M122: Debug L6470 drivers - */ -void GcodeSuite::M122() { - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway - - //if (parser.seen('S')) - // tmc_set_report_interval(parser.value_bool()); - //else - - #if AXIS_IS_L64XX(X) - L6470_say_status(X); - #endif - #if AXIS_IS_L64XX(X2) - L6470_say_status(X2); - #endif - #if AXIS_IS_L64XX(Y) - L6470_say_status(Y); - #endif - #if AXIS_IS_L64XX(Y2) - L6470_say_status(Y2); - #endif - #if AXIS_IS_L64XX(Z) - L6470_say_status(Z); - #endif - #if AXIS_IS_L64XX(Z2) - L6470_say_status(Z2); - #endif - #if AXIS_IS_L64XX(Z3) - L6470_say_status(Z3); - #endif - #if AXIS_IS_L64XX(Z4) - L6470_say_status(Z4); - #endif - #if AXIS_IS_L64XX(E0) - L6470_say_status(E0); - #endif - #if AXIS_IS_L64XX(E1) - L6470_say_status(E1); - #endif - #if AXIS_IS_L64XX(E2) - L6470_say_status(E2); - #endif - #if AXIS_IS_L64XX(E3) - L6470_say_status(E3); - #endif - #if AXIS_IS_L64XX(E4) - L6470_say_status(E4); - #endif - #if AXIS_IS_L64XX(E5) - L6470_say_status(E5); - #endif - #if AXIS_IS_L64XX(E6) - L6470_say_status(E6); - #endif - #if AXIS_IS_L64XX(E7) - L6470_say_status(E7); - #endif - - L64xxManager.spi_active = false; // done with all SPI transfers - clear handshake flags - L64xxManager.spi_abort = false; - L64xxManager.pause_monitor(false); -} - -#endif // HAS_L64XX diff --git a/Marlin/src/gcode/feature/L6470/M906.cpp b/Marlin/src/gcode/feature/L6470/M906.cpp deleted file mode 100644 index 3638fae45b..0000000000 --- a/Marlin/src/gcode/feature/L6470/M906.cpp +++ /dev/null @@ -1,370 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General 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_L64XX - -#include "../../gcode.h" -#include "../../../libs/L64XX/L64XX_Marlin.h" -#include "../../../module/stepper/indirection.h" -#include "../../../module/planner.h" - -#define DEBUG_OUT ENABLED(L6470_CHITCHAT) -#include "../../../core/debug_out.h" - -/** - * M906: report or set KVAL_HOLD which sets the maximum effective voltage provided by the - * PWMs to the steppers - * - * On L6474 this sets the TVAL register (same address). - * - * I - select which driver(s) to change on multi-driver axis - * 0 - (default) all drivers on the axis or E0 - * 1 - monitor only X, Y, Z or E1 - * 2 - monitor only X2, Y2, Z2 or E2 - * 3 - monitor only Z3 or E3 - * 4 - monitor only Z4 or E4 - * 5 - monitor only E5 - * Xxxx, Yxxx, Zxxx, Exxx - axis to change (optional) - * L6474 - current in mA (4A max) - * All others - 0-255 - */ - -/** - * Sets KVAL_HOLD wich affects the current being driven through the stepper. - * - * L6470 is used in the STEP-CLOCK mode. KVAL_HOLD is the only KVAL_xxx - * that affects the effective voltage seen by the stepper. - */ - -/** - * MACRO to fetch information on the items associated with current limiting - * and maximum voltage output. - * - * L6470 can be setup to shutdown if either current threshold is exceeded. - * - * L6470 output current can not be set directly. It is set indirectly by - * setting the maximum effective output voltage. - * - * Effective output voltage is set by PWM duty cycle. - * - * Maximum effective output voltage is affected by MANY variables. The main ones are: - * KVAL_HOLD - * KVAL_RUN - * KVAL_ACC - * KVAL_DEC - * Vs compensation (if enabled) - */ -void L64XX_report_current(L64XX &motor, const L64XX_axis_t axis) { - - if (L64xxManager.spi_abort) return; // don't do anything if set_directions() has occurred - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - const uint16_t status = L64xxManager.get_status(axis); //also populates shadow structure - const uint8_t OverCurrent_Threshold = uint8_t(motor.GetParam(L6470_OCD_TH)); - - auto say_axis_status = [](const L64XX_axis_t axis, const uint16_t status) { - L64xxManager.say_axis(axis); - #if ENABLED(L6470_CHITCHAT) - char tmp[10]; - sprintf_P(tmp, PSTR("%4x "), status); - DEBUG_ECHOPAIR(" status: ", tmp); - print_bin(status); - #else - UNUSED(status); - #endif - SERIAL_EOL(); - }; - - char temp_buf[10]; - - switch (sh.STATUS_AXIS_LAYOUT) { - case L6470_STATUS_LAYOUT: // L6470 - case L6480_STATUS_LAYOUT: { // L6480 & powerstep01 - const uint16_t Stall_Threshold = (uint8_t)motor.GetParam(L6470_STALL_TH), - motor_status = (status & (STATUS_MOT_STATUS)) >> 5, - L6470_ADC_out = motor.GetParam(L6470_ADC_OUT), - L6470_ADC_out_limited = constrain(L6470_ADC_out, 8, 24); - const float comp_coef = 1600.0f / L6470_ADC_out_limited; - const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); - - say_axis_status(axis, sh.STATUS_AXIS_RAW); - - SERIAL_ECHOPGM("...OverCurrent Threshold: "); - sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV); - SERIAL_ECHOPGM(" mA)"); - SERIAL_ECHOPGM(" Stall Threshold: "); - sprintf_P(temp_buf, PSTR("%2d ("), Stall_Threshold); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((Stall_Threshold + 1) * motor.STALL_CURRENT_CONSTANT_INV); - SERIAL_ECHOPGM(" mA)"); - SERIAL_ECHOPGM(" Motor Status: "); - switch (motor_status) { - case 0: SERIAL_ECHOPGM("stopped"); break; - case 1: SERIAL_ECHOPGM("accelerating"); break; - case 2: SERIAL_ECHOPGM("decelerating"); break; - case 3: SERIAL_ECHOPGM("at constant speed"); break; - } - SERIAL_EOL(); - - SERIAL_ECHOPAIR("...MicroSteps: ", MicroSteps, - " ADC_OUT: ", L6470_ADC_out); - SERIAL_ECHOPGM(" Vs_compensation: "); - SERIAL_ECHOPGM_P((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_EN_VSCOMP) ? PSTR("ENABLED ") : PSTR("DISABLED")); - SERIAL_ECHOLNPAIR(" Compensation coefficient: ~", comp_coef * 0.01f); - - SERIAL_ECHOPAIR("...KVAL_HOLD: ", motor.GetParam(L6470_KVAL_HOLD), - " KVAL_RUN : ", motor.GetParam(L6470_KVAL_RUN), - " KVAL_ACC: ", motor.GetParam(L6470_KVAL_ACC), - " KVAL_DEC: ", motor.GetParam(L6470_KVAL_DEC), - " V motor max = "); - switch (motor_status) { - case 0: SERIAL_ECHO(motor.GetParam(L6470_KVAL_HOLD) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break; - case 1: SERIAL_ECHO(motor.GetParam(L6470_KVAL_RUN) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_RUN)"); break; - case 2: SERIAL_ECHO(motor.GetParam(L6470_KVAL_ACC) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_ACC)"); break; - case 3: SERIAL_ECHO(motor.GetParam(L6470_KVAL_DEC) * 100 / 256); SERIAL_ECHOPGM("% (KVAL_HOLD)"); break; - } - SERIAL_EOL(); - - #if ENABLED(L6470_CHITCHAT) - DEBUG_ECHOPGM("...SLEW RATE: "); - switch (sh.STATUS_AXIS_LAYOUT) { - case L6470_STATUS_LAYOUT: { - switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) { - case 0: { DEBUG_ECHOLNPGM("320V/uS") ; break; } - case 1: { DEBUG_ECHOLNPGM("75V/uS") ; break; } - case 2: { DEBUG_ECHOLNPGM("110V/uS") ; break; } - case 3: { DEBUG_ECHOLNPGM("260V/uS") ; break; } - } - break; - } - case L6480_STATUS_LAYOUT: { - switch (motor.GetParam(L6470_GATECFG1) & CONFIG1_SR ) { - case CONFIG1_SR_220V_us: { DEBUG_ECHOLNPGM("220V/uS") ; break; } - case CONFIG1_SR_400V_us: { DEBUG_ECHOLNPGM("400V/uS") ; break; } - case CONFIG1_SR_520V_us: { DEBUG_ECHOLNPGM("520V/uS") ; break; } - case CONFIG1_SR_980V_us: { DEBUG_ECHOLNPGM("980V/uS") ; break; } - default: { DEBUG_ECHOLNPGM("unknown") ; break; } - } - } - } - #endif - SERIAL_EOL(); - break; - } - - case L6474_STATUS_LAYOUT: { // L6474 - const uint16_t L6470_ADC_out = motor.GetParam(L6470_ADC_OUT) & 0x1F, - L6474_TVAL_val = motor.GetParam(L6474_TVAL) & 0x7F; - - say_axis_status(axis, sh.STATUS_AXIS_RAW); - - SERIAL_ECHOPGM("...OverCurrent Threshold: "); - sprintf_P(temp_buf, PSTR("%2d ("), OverCurrent_Threshold); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((OverCurrent_Threshold + 1) * motor.OCD_CURRENT_CONSTANT_INV); - SERIAL_ECHOPGM(" mA)"); - SERIAL_ECHOPGM(" TVAL: "); - sprintf_P(temp_buf, PSTR("%2d ("), L6474_TVAL_val); - SERIAL_ECHO(temp_buf); - SERIAL_ECHO((L6474_TVAL_val + 1) * motor.STALL_CURRENT_CONSTANT_INV); - SERIAL_ECHOLNPGM(" mA) Motor Status: NA"); - - const uint16_t MicroSteps = _BV(motor.GetParam(L6470_STEP_MODE) & 0x07); //NOMORE(MicroSteps, 16); - SERIAL_ECHOPAIR("...MicroSteps: ", MicroSteps, - " ADC_OUT: ", L6470_ADC_out); - - SERIAL_ECHOLNPGM(" Vs_compensation: NA\n"); - SERIAL_ECHOLNPGM("...KVAL_HOLD: NA" - " KVAL_RUN : NA" - " KVAL_ACC: NA" - " KVAL_DEC: NA" - " V motor max = NA"); - - #if ENABLED(L6470_CHITCHAT) - DEBUG_ECHOPGM("...SLEW RATE: "); - switch ((motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT) { - case 0: DEBUG_ECHOLNPGM("320V/uS") ; break; - case 1: DEBUG_ECHOLNPGM("75V/uS") ; break; - case 2: DEBUG_ECHOLNPGM("110V/uS") ; break; - case 3: DEBUG_ECHOLNPGM("260V/uS") ; break; - default: DEBUG_ECHOLNPAIR("slew rate: ", (motor.GetParam(sh.L6470_AXIS_CONFIG) & CONFIG_POW_SR) >> CONFIG_POW_SR_BIT); break; - } - #endif - SERIAL_EOL(); - SERIAL_EOL(); - break; - } - } -} - -void GcodeSuite::M906() { - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - #define L6470_SET_KVAL_HOLD(Q) (AXIS_IS_L64XX(Q) ? stepper##Q.setTVALCurrent(value) : stepper##Q.SetParam(L6470_KVAL_HOLD, uint8_t(value))) - - DEBUG_ECHOLNPGM("M906"); - - uint8_t report_current = true; - - #if HAS_L64XX - const uint8_t index = parser.byteval('I'); - #endif - - LOOP_XYZE(i) if (uint16_t value = parser.intval(axis_codes[i])) { - - report_current = false; - - if (planner.has_blocks_queued() || planner.cleaning_buffer_counter) { - SERIAL_ECHOLNPGM("Test aborted. Can't set KVAL_HOLD while steppers are moving."); - return; - } - - switch (i) { - case X_AXIS: - #if AXIS_IS_L64XX(X) - if (index == 0) L6470_SET_KVAL_HOLD(X); - #endif - #if AXIS_IS_L64XX(X2) - if (index == 1) L6470_SET_KVAL_HOLD(X2); - #endif - break; - case Y_AXIS: - #if AXIS_IS_L64XX(Y) - if (index == 0) L6470_SET_KVAL_HOLD(Y); - #endif - #if AXIS_IS_L64XX(Y2) - if (index == 1) L6470_SET_KVAL_HOLD(Y2); - #endif - break; - case Z_AXIS: - #if AXIS_IS_L64XX(Z) - if (index == 0) L6470_SET_KVAL_HOLD(Z); - #endif - #if AXIS_IS_L64XX(Z2) - if (index == 1) L6470_SET_KVAL_HOLD(Z2); - #endif - #if AXIS_IS_L64XX(Z3) - if (index == 2) L6470_SET_KVAL_HOLD(Z3); - #endif - #if AXIS_DRIVER_TYPE_Z4(L6470) - if (index == 3) L6470_SET_KVAL_HOLD(Z4); - #endif - break; - case E_AXIS: { - const int8_t target_extruder = get_target_extruder_from_command(); - if (target_extruder < 0) return; - switch (target_extruder) { - #if AXIS_IS_L64XX(E0) - case 0: L6470_SET_KVAL_HOLD(E0); break; - #endif - #if AXIS_IS_L64XX(E1) - case 1: L6470_SET_KVAL_HOLD(E1); break; - #endif - #if AXIS_IS_L64XX(E2) - case 2: L6470_SET_KVAL_HOLD(E2); break; - #endif - #if AXIS_IS_L64XX(E3) - case 3: L6470_SET_KVAL_HOLD(E3); break; - #endif - #if AXIS_IS_L64XX(E4) - case 4: L6470_SET_KVAL_HOLD(E4); break; - #endif - #if AXIS_IS_L64XX(E5) - case 5: L6470_SET_KVAL_HOLD(E5); break; - #endif - #if AXIS_IS_L64XX(E6) - case 6: L6470_SET_KVAL_HOLD(E6); break; - #endif - #if AXIS_IS_L64XX(E7) - case 7: L6470_SET_KVAL_HOLD(E7); break; - #endif - } - } break; - } - } - - if (report_current) { - #define L64XX_REPORT_CURRENT(Q) L64XX_report_current(stepper##Q, Q) - - L64xxManager.spi_active = true; // Tell set_directions() a series of SPI transfers is underway - - #if AXIS_IS_L64XX(X) - L64XX_REPORT_CURRENT(X); - #endif - #if AXIS_IS_L64XX(X2) - L64XX_REPORT_CURRENT(X2); - #endif - #if AXIS_IS_L64XX(Y) - L64XX_REPORT_CURRENT(Y); - #endif - #if AXIS_IS_L64XX(Y2) - L64XX_REPORT_CURRENT(Y2); - #endif - #if AXIS_IS_L64XX(Z) - L64XX_REPORT_CURRENT(Z); - #endif - #if AXIS_IS_L64XX(Z2) - L64XX_REPORT_CURRENT(Z2); - #endif - #if AXIS_IS_L64XX(Z3) - L64XX_REPORT_CURRENT(Z3); - #endif - #if AXIS_IS_L64XX(Z4) - L64XX_REPORT_CURRENT(Z4); - #endif - #if AXIS_IS_L64XX(E0) - L64XX_REPORT_CURRENT(E0); - #endif - #if AXIS_IS_L64XX(E1) - L64XX_REPORT_CURRENT(E1); - #endif - #if AXIS_IS_L64XX(E2) - L64XX_REPORT_CURRENT(E2); - #endif - #if AXIS_IS_L64XX(E3) - L64XX_REPORT_CURRENT(E3); - #endif - #if AXIS_IS_L64XX(E4) - L64XX_REPORT_CURRENT(E4); - #endif - #if AXIS_IS_L64XX(E5) - L64XX_REPORT_CURRENT(E5); - #endif - #if AXIS_IS_L64XX(E6) - L64XX_REPORT_CURRENT(E6); - #endif - #if AXIS_IS_L64XX(E7) - L64XX_REPORT_CURRENT(E7); - #endif - - L64xxManager.spi_active = false; // done with all SPI transfers - clear handshake flags - L64xxManager.spi_abort = false; - L64xxManager.pause_monitor(false); - } -} - -#endif // HAS_L64XX diff --git a/Marlin/src/gcode/feature/L6470/M916-918.cpp b/Marlin/src/gcode/feature/L6470/M916-918.cpp deleted file mode 100644 index 8a1ea48306..0000000000 --- a/Marlin/src/gcode/feature/L6470/M916-918.cpp +++ /dev/null @@ -1,651 +0,0 @@ -/** - * Marlin 3D Printer Firmware - * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] - * - * Based on Sprinter and grbl. - * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm - * - * This program is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program. If not, see . - * - */ - -// -// NOTE: All tests assume each axis uses matching driver chips. -// - -#include "../../../inc/MarlinConfig.h" - -#if HAS_L64XX - -#include "../../gcode.h" -#include "../../../module/stepper/indirection.h" -#include "../../../module/planner.h" -#include "../../../libs/L64XX/L64XX_Marlin.h" - -#define DEBUG_OUT ENABLED(L6470_CHITCHAT) -#include "../../../core/debug_out.h" - -/** - * M916: increase KVAL_HOLD until get thermal warning - * NOTE - on L6474 it is TVAL that is used - * - * J - select which driver(s) to monitor on multi-driver axis - * 0 - (default) monitor all drivers on the axis or E0 - * 1 - monitor only X, Y, Z, E1 - * 2 - monitor only X2, Y2, Z2, E2 - * 3 - monitor only Z3, E3 - * 4 - monitor only Z4, E4 - * - * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement - * xxx (1-255) is distance moved on either side of current position - * - * F - feedrate - * optional - will use default max feedrate from configuration.h if not specified - * - * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only - * optional - will report current value from driver if not specified - * - * K - value for KVAL_HOLD (0 - 255) (ignored for L6474) - * optional - will report current value from driver if not specified - * - * D - time (in seconds) to run each setting of KVAL_HOLD/TVAL - * optional - defaults to zero (runs each setting once) - */ - -/** - * This routine is also useful for determining the approximate KVAL_HOLD - * where the stepper stops losing steps. The sound will get noticeably quieter - * as it stops losing steps. - */ - -void GcodeSuite::M916() { - - DEBUG_ECHOLNPGM("M916"); - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - // Variables used by L64xxManager.get_user_input function - some may not be used - char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored - L64XX_axis_t axis_index[3]; - uint16_t axis_status[3]; - uint8_t driver_count = 1; - float position_max; - float position_min; - float final_feedrate; - uint8_t kval_hold; - uint8_t OCD_TH_val = 0; - uint8_t STALL_TH_val = 0; - uint16_t over_current_threshold; - constexpr uint8_t over_current_flag = false; // M916 doesn't play with the overcurrent thresholds - - #define DRIVER_TYPE_L6474(Q) AXIS_DRIVER_TYPE_##Q(L6474) - - uint8_t j; // general purpose counter - - if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold)) - return; // quit if invalid user input - - DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate); - - planner.synchronize(); // wait for all current movement commands to complete - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - for (j = 0; j < driver_count; j++) - L64xxManager.get_status(axis_index[j]); // clear out any pre-existing error flags - - char temp_axis_string[] = " "; - temp_axis_string[0] = axis_mon[0][0]; // need to have a string for use within sprintf format section - char gcode_string[80]; - uint16_t status_composite = 0; - - uint16_t M91x_counter = kval_hold; - uint16_t M91x_counter_max; - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { - M91x_counter_max = 128; // TVAL is 7 bits - LIMIT(M91x_counter, 0U, 127U); - } - else - M91x_counter_max = 256; // KVAL_HOLD is 8 bits - - uint8_t M91x_delay_s = parser.byteval('D'); // get delay in seconds - millis_t M91x_delay_ms = SEC_TO_MS(M91x_delay_s * 60); - millis_t M91x_delay_end; - - DEBUG_ECHOLNPGM(".\n."); - - do { - - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) - DEBUG_ECHOLNPAIR("TVAL current (mA) = ", (M91x_counter + 1) * sh.AXIS_STALL_CURRENT_CONSTANT_INV); // report TVAL current for this run - else - DEBUG_ECHOLNPAIR("kval_hold = ", M91x_counter); // report KVAL_HOLD for this run - - for (j = 0; j < driver_count; j++) - L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, M91x_counter); //set KVAL_HOLD or TVAL (same register address) - - M91x_delay_end = millis() + M91x_delay_ms; - do { - // turn the motor(s) both directions - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate)); - gcode.process_subcommands_now_P(gcode_string); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate)); - gcode.process_subcommands_now_P(gcode_string); - - // get the status after the motors have stopped - planner.synchronize(); - - status_composite = 0; // clear out the old bits - - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low - status_composite |= axis_status[j] ; - } - - if (status_composite) break; - } while (millis() < M91x_delay_end); - - if (status_composite) break; - - M91x_counter++; - - } while (!(status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) && (M91x_counter < M91x_counter_max)); - - DEBUG_ECHOLNPGM("."); - - #if ENABLED(L6470_CHITCHAT) - if (status_composite) { - L64xxManager.error_status_decode(status_composite, axis_index[0], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - DEBUG_ECHOLNPGM("."); - } - #endif - - if ((status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD))) - DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Thermal warning/shutdown has occurred"); - else if (status_composite) - DEBUG_ECHOLNPGM(".\n.\nTest completed abnormally - non-thermal error has occured"); - else - DEBUG_ECHOLNPGM(".\n.\nTest completed normally - Unable to get to thermal warning/shutdown"); - - L64xxManager.pause_monitor(false); -} - -/** - * M917: Find minimum current thresholds - * - * Decrease OCD current until overcurrent error - * Increase OCD until overcurrent error goes away - * Decrease stall threshold until stall (not done on L6474) - * Increase stall until stall error goes away (not done on L6474) - * - * J - select which driver(s) to monitor on multi-driver axis - * 0 - (default) monitor all drivers on the axis or E0 - * 1 - monitor only X, Y, Z, E1 - * 2 - monitor only X2, Y2, Z2, E2 - * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement - * xxx (1-255) is distance moved on either side of current position - * - * F - feedrate - * optional - will use default max feedrate from Configuration.h if not specified - * - * I - starting over-current threshold - * optional - will report current value from driver if not specified - * if there are multiple drivers on the axis then all will be set the same - * - * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only - * optional - will report current value from driver if not specified - * - * K - value for KVAL_HOLD (0 - 255) (ignored for L6474) - * optional - will report current value from driver if not specified - */ -void GcodeSuite::M917() { - - DEBUG_ECHOLNPGM("M917"); - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored - L64XX_axis_t axis_index[3]; - uint16_t axis_status[3]; - uint8_t driver_count = 1; - float position_max; - float position_min; - float final_feedrate; - uint8_t kval_hold; - uint8_t OCD_TH_val = 0; - uint8_t STALL_TH_val = 0; - uint16_t over_current_threshold; - constexpr uint8_t over_current_flag = true; - - uint8_t j; // general purpose counter - - if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold)) - return; // quit if invalid user input - - DEBUG_ECHOLNPAIR("feedrate = ", final_feedrate); - - planner.synchronize(); // wait for all current movement commands to complete - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - for (j = 0; j < driver_count; j++) - L64xxManager.get_status(axis_index[j]); // clear error flags - char temp_axis_string[] = " "; - temp_axis_string[0] = axis_mon[0][0]; // need a sprintf format string - char gcode_string[80]; - uint16_t status_composite = 0; - uint8_t test_phase = 0; // 0 - decreasing OCD - exit when OCD warning occurs (ignore STALL) - // 1 - increasing OCD - exit when OCD warning stops (ignore STALL) - // 2 - OCD finalized - decreasing STALL - exit when STALL warning happens - // 3 - OCD finalized - increasing STALL - exit when STALL warning stop - // 4 - all testing completed - DEBUG_ECHOPAIR(".\n.\n.\nover_current threshold : ", (OCD_TH_val + 1) * 375); // first status display - DEBUG_ECHOPAIR(" (OCD_TH: : ", OCD_TH_val); - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) { - DEBUG_ECHOPAIR(") Stall threshold: ", (STALL_TH_val + 1) * 31.25); - DEBUG_ECHOPAIR(" (STALL_TH: ", STALL_TH_val); - } - DEBUG_ECHOLNPGM(")"); - - do { - - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) DEBUG_ECHOPAIR("STALL threshold : ", (STALL_TH_val + 1) * 31.25); - DEBUG_ECHOLNPAIR(" OCD threshold : ", (OCD_TH_val + 1) * 375); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(final_feedrate)); - gcode.process_subcommands_now_P(gcode_string); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(final_feedrate)); - gcode.process_subcommands_now_P(gcode_string); - - planner.synchronize(); - - status_composite = 0; // clear out the old bits - - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low - status_composite |= axis_status[j]; - } - - if (status_composite && (status_composite & sh.STATUS_AXIS_UVLO)) { - DEBUG_ECHOLNPGM("Test aborted (Undervoltage lockout active)"); - #if ENABLED(L6470_CHITCHAT) - for (j = 0; j < driver_count; j++) { - if (j) DEBUG_ECHOPGM("..."); - L64xxManager.error_status_decode(axis_status[j], axis_index[j], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - } - #endif - return; - } - - if (status_composite & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)) { - DEBUG_ECHOLNPGM("thermal problem - waiting for chip(s) to cool down "); - uint16_t status_composite_temp = 0; - uint8_t k = 0; - do { - k++; - if (!(k % 4)) { - kval_hold *= 0.95; - DEBUG_EOL(); - DEBUG_ECHOLNPAIR("Lowering KVAL_HOLD by about 5% to ", kval_hold); - for (j = 0; j < driver_count; j++) - L64xxManager.set_param(axis_index[j], L6470_KVAL_HOLD, kval_hold); - } - DEBUG_ECHOLNPGM("."); - gcode.reset_stepper_timeout(); // keep steppers powered - watchdog_refresh(); - safe_delay(5000); - status_composite_temp = 0; - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & sh.L6470_ERROR_MASK; // bits of interest are all active low - status_composite_temp |= axis_status[j]; - } - } - while (status_composite_temp & (sh.STATUS_AXIS_TH_WRN | sh.STATUS_AXIS_TH_SD)); - DEBUG_EOL(); - } - if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B | sh.STATUS_AXIS_OCD)) { - switch (test_phase) { - - case 0: { - if (status_composite & sh.STATUS_AXIS_OCD) { - // phase 0 with OCD warning - time to go to next phase - if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) { - OCD_TH_val = sh.AXIS_OCD_TH_MAX; // limit to max - test_phase = 2; // at highest value so skip phase 1 - //DEBUG_ECHOLNPGM("LOGIC E0A OCD at highest - skip to 2"); - DEBUG_ECHOLNPGM("OCD at highest - OCD finalized"); - } - else { - OCD_TH_val++; // normal exit to next phase - test_phase = 1; // setup for first pass of phase 1 - //DEBUG_ECHOLNPGM("LOGIC E0B - inc OCD & go to 1"); - DEBUG_ECHOLNPGM("inc OCD"); - } - } - else { // phase 0 without OCD warning - keep on decrementing if can - if (OCD_TH_val) { - OCD_TH_val--; // try lower value - //DEBUG_ECHOLNPGM("LOGIC E0C - dec OCD"); - DEBUG_ECHOLNPGM("dec OCD"); - } - else { - test_phase = 2; // at lowest value without warning so skip phase 1 - //DEBUG_ECHOLNPGM("LOGIC E0D - OCD at latest - go to 2"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - } - } break; - - case 1: { - if (status_composite & sh.STATUS_AXIS_OCD) { - // phase 1 with OCD warning - increment if can - if (OCD_TH_val >= sh.AXIS_OCD_TH_MAX) { - OCD_TH_val = sh.AXIS_OCD_TH_MAX; // limit to max - test_phase = 2; // at highest value so go to next phase - //DEBUG_ECHOLNPGM("LOGIC E1A - OCD at max - go to 2"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - else { - OCD_TH_val++; // try a higher value - //DEBUG_ECHOLNPGM("LOGIC E1B - inc OCD"); - DEBUG_ECHOLNPGM("inc OCD"); - } - } - else { // phase 1 without OCD warning - normal exit to phase 2 - test_phase = 2; - //DEBUG_ECHOLNPGM("LOGIC E1C - no OCD warning - go to 1"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - } break; - - case 2: { - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) { - // phase 2 with stall warning - time to go to next phase - if (STALL_TH_val >= 127) { - STALL_TH_val = 127; // limit to max - //DEBUG_ECHOLNPGM("LOGIC E2A - STALL warning, STALL at max, quit"); - DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning"); - test_phase = 4; - } - else { - test_phase = 3; // normal exit to next phase (found failing value of STALL) - STALL_TH_val++; // setup for first pass of phase 3 - //DEBUG_ECHOLNPGM("LOGIC E2B - INC - STALL warning, inc Stall, go to 3"); - DEBUG_ECHOLNPGM("inc Stall"); - } - } - else { // phase 2 without stall warning - decrement if can - if (STALL_TH_val) { - STALL_TH_val--; // try a lower value - //DEBUG_ECHOLNPGM("LOGIC E2C - no STALL, dec STALL"); - DEBUG_ECHOLNPGM("dec STALL"); - } - else { - DEBUG_ECHOLNPGM("finished - STALL at lowest value but still do NOT have stall warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC E2D - no STALL, at lowest so quit"); - } - } - } break; - - case 3: { - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - if (status_composite & (sh.STATUS_AXIS_STEP_LOSS_A | sh.STATUS_AXIS_STEP_LOSS_B)) { - // phase 3 with stall warning - increment if can - if (STALL_TH_val >= 127) { - STALL_TH_val = 127; // limit to max - DEBUG_ECHOLNPGM("finished - STALL at maximum value but still have stall warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC E3A - STALL, at max so quit"); - } - else { - STALL_TH_val++; // still looking for passing value - //DEBUG_ECHOLNPGM("LOGIC E3B - STALL, inc stall"); - DEBUG_ECHOLNPGM("inc stall"); - } - } - else { //phase 3 without stall warning but have OCD warning - DEBUG_ECHOLNPGM("Hardware problem - OCD warning without STALL warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC E3C - not STALLED, hardware problem (quit)"); - } - } break; - - } - - } - else { - switch (test_phase) { - case 0: { // phase 0 without OCD warning - keep on decrementing if can - if (OCD_TH_val) { - OCD_TH_val--; // try lower value - //DEBUG_ECHOLNPGM("LOGIC N0A - DEC OCD"); - DEBUG_ECHOLNPGM("DEC OCD"); - } - else { - test_phase = 2; // at lowest value without warning so skip phase 1 - //DEBUG_ECHOLNPGM("LOGIC N0B - OCD at lowest (go to phase 2)"); - DEBUG_ECHOLNPGM("OCD finalized"); - } - } break; - - case 1: //DEBUG_ECHOLNPGM("LOGIC N1 (go directly to 2)"); // phase 1 without OCD warning - drop directly to phase 2 - DEBUG_ECHOLNPGM("OCD finalized"); - - case 2: { // phase 2 without stall warning - keep on decrementing if can - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - if (STALL_TH_val) { - STALL_TH_val--; // try a lower value (stay in phase 2) - //DEBUG_ECHOLNPGM("LOGIC N2B - dec STALL"); - DEBUG_ECHOLNPGM("dec STALL"); - } - else { - DEBUG_ECHOLNPGM("finished - STALL at lowest value but still no stall warning"); - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC N2C - STALL at lowest (quit)"); - } - } break; - - case 3: { - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) { // skip all STALL_TH steps if L6474 - test_phase = 4; - break; - } - test_phase = 4; - //DEBUG_ECHOLNPGM("LOGIC N3 - finished!"); - DEBUG_ECHOLNPGM("finished!"); - } break; // phase 3 without any warnings - desired exit - } // - } // end of status checks - - if (test_phase != 4) { - for (j = 0; j < driver_count; j++) { // update threshold(s) - L64xxManager.set_param(axis_index[j], L6470_OCD_TH, OCD_TH_val); - if (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT) L64xxManager.set_param(axis_index[j], L6470_STALL_TH, STALL_TH_val); - if (L64xxManager.get_param(axis_index[j], L6470_OCD_TH) != OCD_TH_val) DEBUG_ECHOLNPGM("OCD mismatch"); - if ((L64xxManager.get_param(axis_index[j], L6470_STALL_TH) != STALL_TH_val) && (sh.STATUS_AXIS_LAYOUT != L6474_STATUS_LAYOUT)) DEBUG_ECHOLNPGM("STALL mismatch"); - } - } - - } while (test_phase != 4); - - DEBUG_ECHOLNPGM("."); - if (status_composite) { - #if ENABLED(L6470_CHITCHAT) - for (j = 0; j < driver_count; j++) { - if (j) DEBUG_ECHOPGM("..."); - L64xxManager.error_status_decode(axis_status[j], axis_index[j], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - } - DEBUG_ECHOLNPGM("."); - #endif - DEBUG_ECHOLNPGM("Completed with errors"); - } - else - DEBUG_ECHOLNPGM("Completed with no errors"); - DEBUG_ECHOLNPGM("."); - - L64xxManager.pause_monitor(false); -} - -/** - * M918: increase speed until error or max feedrate achieved (as shown in configuration.h)) - * - * J - select which driver(s) to monitor on multi-driver axis - * 0 - (default) monitor all drivers on the axis or E0 - * 1 - monitor only X, Y, Z, E1 - * 2 - monitor only X2, Y2, Z2, E2 - * Xxxx, Yxxx, Zxxx, Exxx - axis to be monitored with displacement - * xxx (1-255) is distance moved on either side of current position - * - * I - over current threshold - * optional - will report current value from driver if not specified - * - * T - current (mA) setting for TVAL (0 - 4A in 31.25mA increments, rounds down) - L6474 only - * optional - will report current value from driver if not specified - * - * K - value for KVAL_HOLD (0 - 255) (ignored for L6474) - * optional - will report current value from driver if not specified - * - * M - value for microsteps (1 - 128) (optional) - * optional - will report current value from driver if not specified - */ -void GcodeSuite::M918() { - - DEBUG_ECHOLNPGM("M918"); - - L64xxManager.pause_monitor(true); // Keep monitor_driver() from stealing status - - char axis_mon[3][3] = { {" "}, {" "}, {" "} }; // list of Axes to be monitored - L64XX_axis_t axis_index[3]; - uint16_t axis_status[3]; - uint8_t driver_count = 1; - float position_max, position_min; - float final_feedrate; - uint8_t kval_hold; - uint8_t OCD_TH_val = 0; - uint8_t STALL_TH_val = 0; - uint16_t over_current_threshold; - constexpr uint8_t over_current_flag = true; - - const L64XX_Marlin::L64XX_shadow_t &sh = L64xxManager.shadow; - - uint8_t j; // general purpose counter - - if (L64xxManager.get_user_input(driver_count, axis_index, axis_mon, position_max, position_min, final_feedrate, kval_hold, over_current_flag, OCD_TH_val, STALL_TH_val, over_current_threshold)) - return; // quit if invalid user input - - L64xxManager.get_status(axis_index[0]); // populate shadow array - - uint8_t m_steps = parser.byteval('M'); - - if (m_steps != 0) { - LIMIT(m_steps, 1, sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT ? 16 : 128); // L6474 - - uint8_t stepVal; - for (stepVal = 0; stepVal < 8; stepVal++) { // convert to L64xx register value - if (m_steps == 1) break; - m_steps >>= 1; - } - - if (sh.STATUS_AXIS_LAYOUT == L6474_STATUS_LAYOUT) - stepVal |= 0x98; // NO SYNC - else - stepVal |= (!SYNC_EN) | SYNC_SEL_1 | stepVal; - - for (j = 0; j < driver_count; j++) { - L64xxManager.set_param(axis_index[j], dSPIN_HARD_HIZ, 0); // can't write STEP register if stepper being powered - // results in an extra NOOP being sent (data 00) - L64xxManager.set_param(axis_index[j], L6470_STEP_MODE, stepVal); // set microsteps - } - } - m_steps = L64xxManager.get_param(axis_index[0], L6470_STEP_MODE) & 0x07; // get microsteps - - DEBUG_ECHOLNPAIR("Microsteps = ", _BV(m_steps)); - DEBUG_ECHOLNPAIR("target (maximum) feedrate = ", final_feedrate); - - const float feedrate_inc = final_feedrate / 10, // Start at 1/10 of max & go up by 1/10 per step - fr_limit = final_feedrate * 0.99f; // Rounding-safe comparison value - float current_feedrate = 0; - - planner.synchronize(); // Wait for moves to complete - - for (j = 0; j < driver_count; j++) - L64xxManager.get_status(axis_index[j]); // Clear error flags - - char temp_axis_string[2] = " "; - temp_axis_string[0] = axis_mon[0][0]; // Need a sprintf format string - //temp_axis_string[1] = '\n'; - - char gcode_string[80]; - uint16_t status_composite = 0; - DEBUG_ECHOLNPGM(".\n.\n."); // Make feedrate outputs easier to read - - do { - current_feedrate += feedrate_inc; - DEBUG_ECHOLNPAIR("...feedrate = ", current_feedrate); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_min), uint16_t(current_feedrate)); - gcode.process_subcommands_now_P(gcode_string); - - sprintf_P(gcode_string, PSTR("G0 %s%03d F%03d"), temp_axis_string, uint16_t(position_max), uint16_t(current_feedrate)); - gcode.process_subcommands_now_P(gcode_string); - - planner.synchronize(); - - for (j = 0; j < driver_count; j++) { - axis_status[j] = (~L64xxManager.get_status(axis_index[j])) & 0x0800; // Bits of interest are all active LOW - status_composite |= axis_status[j]; - } - if (status_composite) break; // Break on any error - } while (current_feedrate < fr_limit); - - DEBUG_ECHOPGM("Completed with "); - if (status_composite) { - DEBUG_ECHOLNPGM("errors"); - #if ENABLED(L6470_CHITCHAT) - for (j = 0; j < driver_count; j++) { - if (j) DEBUG_ECHOPGM("..."); - L64xxManager.error_status_decode(axis_status[j], axis_index[j], - sh.STATUS_AXIS_TH_SD, sh.STATUS_AXIS_TH_WRN, - sh.STATUS_AXIS_STEP_LOSS_A, sh.STATUS_AXIS_STEP_LOSS_B, - sh.STATUS_AXIS_OCD, sh.STATUS_AXIS_LAYOUT); - } - #endif - } - else - DEBUG_ECHOLNPGM("no errors"); - - L64xxManager.pause_monitor(false); -} - -#endif // HAS_L64XX 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 index 1d76ebf7d5..8c0da41801 100644 --- a/Marlin/src/gcode/feature/advance/M900.cpp +++ b/Marlin/src/gcode/feature/advance/M900.cpp @@ -26,10 +26,9 @@ #include "../../gcode.h" #include "../../../module/planner.h" -#include "../../../module/stepper.h" -#if ENABLED(EXTRA_LIN_ADVANCE_K) - float other_extruder_advance_K[EXTRUDERS]; +#if ENABLED(ADVANCE_K_EXTRA) + float other_extruder_advance_K[DISTINCT_E]; uint8_t lin_adv_slot = 0; #endif @@ -37,8 +36,8 @@ * 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 EXTRA_LIN_ADVANCE_K. - * S<0/1> Activate slot 0 or 1. Requires EXTRA_LIN_ADVANCE_K. + * 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() { @@ -51,6 +50,7 @@ void GcodeSuite::M900() { #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) { @@ -59,12 +59,12 @@ void GcodeSuite::M900() { } #endif - float &kref = planner.extruder_advance_K[tool_index], newK = kref; + float &kref = planner.extruder_advance_K[E_INDEX_N(tool_index)], newK = kref; const float oldK = newK; - #if ENABLED(EXTRA_LIN_ADVANCE_K) + #if ENABLED(ADVANCE_K_EXTRA) - float &lref = other_extruder_advance_K[tool_index]; + 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) @@ -112,15 +112,15 @@ void GcodeSuite::M900() { if (!parser.seen_any()) { - #if ENABLED(EXTRA_LIN_ADVANCE_K) + #if ENABLED(ADVANCE_K_EXTRA) - #if EXTRUDERS < 2 - SERIAL_ECHOLNPAIR("Advance S", new_slot, " K", kref, "(S", !new_slot, " K", lref, ")"); + #if DISTINCT_E < 2 + SERIAL_ECHOLNPGM("Advance S", new_slot, " K", kref, "(S", !new_slot, " K", lref, ")"); #else - LOOP_L_N(i, EXTRUDERS) { - const bool slot = TEST(lin_adv_slot, i); - SERIAL_ECHOLNPAIR("Advance T", i, " S", slot, " K", planner.extruder_advance_K[i], - "(S", !slot, " K", other_extruder_advance_K[i], ")"); + 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 @@ -128,13 +128,13 @@ void GcodeSuite::M900() { #else SERIAL_ECHO_START(); - #if EXTRUDERS < 2 - SERIAL_ECHOLNPAIR("Advance K=", planner.extruder_advance_K[0]); + #if DISTINCT_E < 2 + SERIAL_ECHOLNPGM("Advance K=", planner.extruder_advance_K[0]); #else SERIAL_ECHOPGM("Advance K"); - LOOP_L_N(i, EXTRUDERS) { - SERIAL_CHAR(' ', '0' + i, ':'); - SERIAL_DECIMAL(planner.extruder_advance_K[i]); + EXTRUDER_LOOP() { + SERIAL_CHAR(' ', '0' + e, ':'); + SERIAL_DECIMAL(planner.extruder_advance_K[e]); } SERIAL_EOL(); #endif @@ -144,4 +144,17 @@ void GcodeSuite::M900() { } +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/camera/M240.cpp b/Marlin/src/gcode/feature/camera/M240.cpp index f5c910a9e9..19051ffd42 100644 --- a/Marlin/src/gcode/feature/camera/M240.cpp +++ b/Marlin/src/gcode/feature/camera/M240.cpp @@ -135,17 +135,8 @@ void GcodeSuite::M240() { }; #ifdef PHOTO_RETRACT_MM - const float rval = parser.seenval('R') ? parser.value_linear_units() : _PHOTO_RETRACT_MM; - feedRate_t sval = ( - #if ENABLED(ADVANCED_PAUSE_FEATURE) - PAUSE_PARK_RETRACT_FEEDRATE - #elif ENABLED(FWRETRACT) - RETRACT_FEEDRATE - #else - 45 - #endif - ); - if (parser.seenval('S')) sval = parser.value_feedrate(); + 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 diff --git a/Marlin/src/gcode/feature/cancel/M486.cpp b/Marlin/src/gcode/feature/cancel/M486.cpp index 1f14ae0fd2..c1e90d1b96 100644 --- a/Marlin/src/gcode/feature/cancel/M486.cpp +++ b/Marlin/src/gcode/feature/cancel/M486.cpp @@ -44,14 +44,14 @@ void GcodeSuite::M486() { cancelable.object_count = parser.intval('T', 1); } - if (parser.seen('S')) + if (parser.seenval('S')) cancelable.set_active_object(parser.value_int()); if (parser.seen('C')) cancelable.cancel_active_object(); - if (parser.seen('P')) cancelable.cancel_object(parser.value_int()); + if (parser.seenval('P')) cancelable.cancel_object(parser.value_int()); - if (parser.seen('U')) cancelable.uncancel_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 index b0d94e7cd8..b3b863f02e 100644 --- a/Marlin/src/gcode/feature/caselight/M355.cpp +++ b/Marlin/src/gcode/feature/caselight/M355.cpp @@ -61,7 +61,7 @@ void GcodeSuite::M355() { SERIAL_ECHOLNPGM(STR_OFF); else { #if CASELIGHT_USES_BRIGHTNESS - if (TERN(CASE_LIGHT_USE_NEOPIXEL, true, PWM_PIN(CASE_LIGHT_PIN))) { + if (TERN(CASE_LIGHT_USE_NEOPIXEL, true, TERN0(NEED_CASE_LIGHT_PIN, PWM_PIN(CASE_LIGHT_PIN)))) { SERIAL_ECHOLN(int(caselight.brightness)); return; } diff --git a/Marlin/src/gcode/feature/clean/G12.cpp b/Marlin/src/gcode/feature/clean/G12.cpp index 216db5bae3..0113170f1d 100644 --- a/Marlin/src/gcode/feature/clean/G12.cpp +++ b/Marlin/src/gcode/feature/clean/G12.cpp @@ -42,14 +42,17 @@ * 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 - if (homing_needed_error()) return; + 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()) { - gcode.process_subcommands_now_P(PSTR(WIPE_SEQUENCE_COMMANDS)); + process_subcommands_now(F(WIPE_SEQUENCE_COMMANDS)); return; } #endif diff --git a/Marlin/src/gcode/feature/controllerfan/M710.cpp b/Marlin/src/gcode/feature/controllerfan/M710.cpp index cc450732ba..b98d88845d 100644 --- a/Marlin/src/gcode/feature/controllerfan/M710.cpp +++ b/Marlin/src/gcode/feature/controllerfan/M710.cpp @@ -27,18 +27,6 @@ #include "../../gcode.h" #include "../../../feature/controllerfan.h" -void M710_report(const bool forReplay) { - if (!forReplay) { SERIAL_ECHOLNPGM("; Controller Fan"); SERIAL_ECHO_START(); } - SERIAL_ECHOLNPAIR(" 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, "%)" - ); -} - /** * M710: Set controller fan settings * @@ -75,7 +63,19 @@ void GcodeSuite::M710() { if (seenD) controllerFan.settings.duration = parser.value_ushort(); if (!(seenR || seenS || seenI || seenA || seenD)) - M710_report(false); + 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 index e463666207..9ebe713cde 100644 --- a/Marlin/src/gcode/feature/digipot/M907-M910.cpp +++ b/Marlin/src/gcode/feature/digipot/M907-M910.cpp @@ -22,7 +22,7 @@ #include "../../../inc/MarlinConfig.h" -#if ANY(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM, HAS_MOTOR_CURRENT_I2C, HAS_MOTOR_CURRENT_DAC) +#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM || HAS_MOTOR_CURRENT_I2C || HAS_MOTOR_CURRENT_DAC #include "../../gcode.h" @@ -34,53 +34,125 @@ #include "../../../feature/digipot/digipot.h" #endif -#if ENABLED(HAS_MOTOR_CURRENT_DAC) +#if HAS_MOTOR_CURRENT_DAC #include "../../../feature/dac/stepper_dac.h" #endif /** - * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S + * 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 - LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper.set_digipot_current(i, parser.value_int()); - if (parser.seenval('B')) stepper.set_digipot_current(4, parser.value_int()); - if (parser.seenval('S')) LOOP_LE_N(i, 4) stepper.set_digipot_current(i, parser.value_int()); + 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) - if (parser.seenval('X') || parser.seenval('Y')) 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()); + #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 - #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 - LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) digipot_i2c.set_current(i, parser.value_float()); - // Additional extruders use B,C,D for channels 4,5,6. - // TODO: Change these parameters because 'E' is used. B? - for (uint8_t i = E_AXIS + 1; i < DIGIPOT_I2C_NUM_CHANNELS; i++) - if (parser.seenval('B' + i - (E_AXIS + 1))) digipot_i2c.set_current(i, parser.value_float()); + 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 ENABLED(HAS_MOTOR_CURRENT_DAC) + #if HAS_MOTOR_CURRENT_DAC if (parser.seenval('S')) { const float dac_percent = parser.value_float(); - LOOP_LE_N(i, 4) stepper_dac.set_current_percent(i, dac_percent); + LOOP_LOGICAL_AXES(i) stepper_dac.set_current_percent(i, dac_percent); } - LOOP_XYZE(i) if (parser.seenval(axis_codes[i])) stepper_dac.set_current_percent(i, parser.value_float()); + 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 EITHER(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_DAC) +#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) @@ -90,7 +162,7 @@ void GcodeSuite::M907() { TERN_(HAS_MOTOR_CURRENT_DAC, stepper_dac.set_current_value(parser.byteval('P', -1), parser.ushortval('S', 0))); } - #if ENABLED(HAS_MOTOR_CURRENT_DAC) + #if HAS_MOTOR_CURRENT_DAC void GcodeSuite::M909() { stepper_dac.print_values(); } void GcodeSuite::M910() { stepper_dac.commit_eeprom(); } diff --git a/Marlin/src/gcode/feature/filwidth/M404-M407.cpp b/Marlin/src/gcode/feature/filwidth/M404-M407.cpp index a70f7a61fe..ff174ecf13 100644 --- a/Marlin/src/gcode/feature/filwidth/M404-M407.cpp +++ b/Marlin/src/gcode/feature/filwidth/M404-M407.cpp @@ -38,7 +38,7 @@ void GcodeSuite::M404() { planner.volumetric_area_nominal = CIRCLE_AREA(filwidth.nominal_mm * 0.5); } else - SERIAL_ECHOLNPAIR("Filament dia (nominal mm):", filwidth.nominal_mm); + SERIAL_ECHOLNPGM("Filament dia (nominal mm):", filwidth.nominal_mm); } /** @@ -65,7 +65,7 @@ void GcodeSuite::M406() { * M407: Get measured filament diameter on serial output */ void GcodeSuite::M407() { - SERIAL_ECHOLNPAIR("Filament dia (measured mm):", filwidth.measured_mm); + 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 index 219502f28a..1889f83d62 100644 --- a/Marlin/src/gcode/feature/fwretract/G10_G11.cpp +++ b/Marlin/src/gcode/feature/fwretract/G10_G11.cpp @@ -32,16 +32,7 @@ * G10 - Retract filament according to settings of M207 * TODO: Handle 'G10 P' for tool settings and 'G10 L' for workspace settings */ -void GcodeSuite::G10() { - #if HAS_MULTI_EXTRUDER - const bool rs = parser.boolval('S'); - #endif - fwretract.retract(true - #if HAS_MULTI_EXTRUDER - , rs - #endif - ); -} +void GcodeSuite::G10() { fwretract.retract(true E_OPTARG(parser.boolval('S'))); } /** * G11 - Recover filament according to settings of M208 diff --git a/Marlin/src/gcode/feature/fwretract/M207-M209.cpp b/Marlin/src/gcode/feature/fwretract/M207-M209.cpp index 5793d73f94..173c2894dc 100644 --- a/Marlin/src/gcode/feature/fwretract/M207-M209.cpp +++ b/Marlin/src/gcode/feature/fwretract/M207-M209.cpp @@ -29,14 +29,34 @@ /** * 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) /** @@ -47,6 +67,11 @@ void GcodeSuite::M208() { fwretract.M208(); } */ 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 index 438d1527f5..cf9bb7e583 100644 --- a/Marlin/src/gcode/feature/i2c/M260_M261.cpp +++ b/Marlin/src/gcode/feature/i2c/M260_M261.cpp @@ -45,10 +45,10 @@ */ void GcodeSuite::M260() { // Set the target address - if (parser.seen('A')) i2c.address(parser.value_byte()); + if (parser.seenval('A')) i2c.address(parser.value_byte()); // Add a new byte to the buffer - if (parser.seen('B')) i2c.addbyte(parser.value_byte()); + if (parser.seenval('B')) i2c.addbyte(parser.value_byte()); // Flush the buffer to the bus if (parser.seen('S')) i2c.send(); @@ -60,15 +60,16 @@ void GcodeSuite::M260() { /** * M261: Request X bytes from I2C slave device * - * Usage: M261 A B + * Usage: M261 A B S