136 lines
4.0 KiB
C++
136 lines
4.0 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "../inc/MarlinConfig.h"
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#if ENABLED(BABYSTEPPING)
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#include "babystep.h"
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#include "../Marlin.h"
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#include "../module/planner.h"
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#include "../module/stepper.h"
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
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#include "../gcode/gcode.h"
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#endif
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Babystep babystep;
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volatile int16_t Babystep::todo[BS_TODO_AXIS(Z_AXIS) + 1];
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#if HAS_LCD_MENU
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int16_t Babystep::accum;
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
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int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
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#endif
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#endif
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void Babystep::step_axis(const AxisEnum axis) {
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const int16_t curTodo = todo[BS_TODO_AXIS(axis)]; // get rid of volatile for performance
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if (curTodo) {
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stepper.babystep((AxisEnum)axis, curTodo > 0);
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if (curTodo > 0) todo[BS_TODO_AXIS(axis)]--; else todo[BS_TODO_AXIS(axis)]++;
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}
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}
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void Babystep::task() {
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#if EITHER(BABYSTEP_XY, I2C_POSITION_ENCODERS)
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LOOP_XYZ(axis) step_axis((AxisEnum)axis);
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#else
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step_axis(Z_AXIS);
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#endif
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}
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void Babystep::add_mm(const AxisEnum axis, const float &mm) {
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add_steps(axis, mm * planner.settings.axis_steps_per_mm[axis]);
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}
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void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
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#if ENABLED(BABYSTEP_WITHOUT_HOMING)
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#define CAN_BABYSTEP(AXIS) true
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#else
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extern uint8_t axis_known_position;
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#define CAN_BABYSTEP(AXIS) TEST(axis_known_position, AXIS)
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#endif
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if (!CAN_BABYSTEP(axis)) return;
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#if HAS_LCD_MENU
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accum += distance; // Count up babysteps for the UI
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#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
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axis_total[BS_TOTAL_AXIS(axis)] += distance;
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#endif
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#endif
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
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#define BSA_ENABLE(AXIS) do{ switch (AXIS) { case X_AXIS: enable_X(); break; case Y_AXIS: enable_Y(); break; case Z_AXIS: enable_Z(); break; default: break; } }while(0)
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#else
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#define BSA_ENABLE(AXIS) NOOP
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#endif
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#if IS_CORE
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#if ENABLED(BABYSTEP_XY)
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switch (axis) {
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case CORE_AXIS_1: // X on CoreXY and CoreXZ, Y on CoreYZ
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BSA_ENABLE(CORE_AXIS_1);
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BSA_ENABLE(CORE_AXIS_2);
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todo[CORE_AXIS_1] += distance * 2;
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todo[CORE_AXIS_2] += distance * 2;
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break;
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case CORE_AXIS_2: // Y on CoreXY, Z on CoreXZ and CoreYZ
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BSA_ENABLE(CORE_AXIS_1);
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BSA_ENABLE(CORE_AXIS_2);
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todo[CORE_AXIS_1] += CORESIGN(distance * 2);
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todo[CORE_AXIS_2] -= CORESIGN(distance * 2);
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break;
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case NORMAL_AXIS: // Z on CoreXY, Y on CoreXZ, X on CoreYZ
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default:
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BSA_ENABLE(NORMAL_AXIS);
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todo[NORMAL_AXIS] += distance;
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break;
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}
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#elif CORE_IS_XZ || CORE_IS_YZ
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// Only Z stepping needs to be handled here
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BSA_ENABLE(CORE_AXIS_1);
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BSA_ENABLE(CORE_AXIS_2);
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todo[CORE_AXIS_1] += CORESIGN(distance * 2);
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todo[CORE_AXIS_2] -= CORESIGN(distance * 2);
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#else
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BSA_ENABLE(Z_AXIS);
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todo[Z_AXIS] += distance;
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#endif
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#else
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#if ENABLED(BABYSTEP_XY)
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BSA_ENABLE(axis);
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#else
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BSA_ENABLE(Z_AXIS);
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#endif
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todo[BS_TODO_AXIS(axis)] += distance;
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#endif
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#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
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gcode.reset_stepper_timeout();
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#endif
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}
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#endif // BABYSTEPPING
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