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path: root/src/Movement/Move.cpp
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-rw-r--r--src/Movement/Move.cpp114
1 files changed, 57 insertions, 57 deletions
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index 567d3702..1928a26d 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -57,11 +57,12 @@ constexpr uint32_t AbsoluteMinimumPreparedTime = StepTimer::StepClockRate/20; /
const ObjectModelTableEntry Move::objectModelTable[] =
{
+ // These entries must be in alphabetical order
+ { "drcEnabled", OBJECT_MODEL_FUNC(&(self->drcEnabled)), TYPE_OF(bool), ObjectModelTableEntry::none },
+ { "drcMinimumAcceleration", OBJECT_MODEL_FUNC(&(self->drcMinimumAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none },
+ { "drcPeriod", OBJECT_MODEL_FUNC(&(self->drcPeriod)), TYPE_OF(float), ObjectModelTableEntry::none },
{ "maxPrintingAcceleration", OBJECT_MODEL_FUNC(&(self->maxPrintingAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none },
{ "maxTravelAcceleration", OBJECT_MODEL_FUNC(&(self->maxTravelAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none },
- { "drcPeriod", OBJECT_MODEL_FUNC(&(self->drcPeriod)), TYPE_OF(float), ObjectModelTableEntry::none },
- { "drcMinimumAcceleration", OBJECT_MODEL_FUNC(&(self->drcMinimumAcceleration)), TYPE_OF(float), ObjectModelTableEntry::none },
- { "drcEnabled", OBJECT_MODEL_FUNC(&(self->drcEnabled)), TYPE_OF(bool), ObjectModelTableEntry::none },
};
DEFINE_GET_OBJECT_MODEL_TABLE(Move)
@@ -126,9 +127,9 @@ void Move::Init()
for (size_t i = 0; i < MaxExtruders; ++i)
{
extrusionAccumulators[i] = 0;
- extruderNonPrinting[i] = false;
extrusionPending[i] = 0.0;
}
+ extrudersPrinting = false;
usingMesh = false;
useTaper = false;
@@ -210,7 +211,6 @@ void Move::Spin()
#endif
ddaRingAddPointer->GetState() == DDA::empty
&& ddaRingAddPointer->GetNext()->GetState() != DDA::provisional // function Prepare needs to access the endpoints in the previous move, so don't change them
- && DriveMovement::NumFree() >= (int)MaxTotalDrivers // check that we won't run out of DMs
);
if (canAddMove)
{
@@ -243,6 +243,7 @@ void Move::Spin()
if (ddaRingAddPointer->Init(specialMoveCoords))
{
ddaRingAddPointer = ddaRingAddPointer->GetNext();
+ scheduledMoves++;
if (moveState == MoveState::idle || moveState == MoveState::timing)
{
// We were previously idle, so we have a state change
@@ -267,14 +268,6 @@ void Move::Spin()
{
if (simulationMode < 2) // in simulation mode 2 and higher, we don't process incoming moves beyond this point
{
-#if 0 // disabled this because it causes jerky movements on the SCARA printer
- // Add on the extrusion left over from last time.
- const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
- for (size_t drive = numAxes; drive < DRIVES; ++drive)
- {
- nextMove.coords[drive] += extrusionPending[drive - numAxes];
- }
-#endif
if (nextMove.moveType == 0)
{
AxisAndBedTransform(nextMove.coords, nextMove.xAxes, nextMove.yAxes, true);
@@ -283,8 +276,8 @@ void Move::Spin()
if (ddaRingAddPointer->Init(nextMove, !IsRawMotorMove(nextMove.moveType)))
{
ddaRingAddPointer = ddaRingAddPointer->GetNext();
- idleCount = 0;
scheduledMoves++;
+ idleCount = 0;
if (moveState == MoveState::idle || moveState == MoveState::timing)
{
moveState = MoveState::collecting;
@@ -297,14 +290,6 @@ void Move::Spin()
lastStateChangeTime = now;
}
}
-
-#if 0 // see above
- // Save the amount of extrusion not done
- for (size_t drive = numAxes; drive < DRIVES; ++drive)
- {
- extrusionPending[drive - numAxes] = nextMove.coords[drive];
- }
-#endif
}
}
}
@@ -335,9 +320,10 @@ void Move::Spin()
#if SUPPORT_CAN_EXPANSION
&& CanInterface::CanPrepareMove()
#endif
+ && DriveMovement::NumFree() >= (int)MaxTotalDrivers // check that we won't run out of DMs
)
{
- dda->Prepare(simulationMode);
+ dda->Prepare(simulationMode, extrusionPending);
}
if (dda->GetState() == DDA::frozen)
{
@@ -401,7 +387,7 @@ void Move::Spin()
#endif
)
{
- cdda->Prepare(simulationMode);
+ cdda->Prepare(simulationMode, extrusionPending);
}
preparedTime += cdda->GetTimeLeft();
++preparedCount;
@@ -451,7 +437,7 @@ bool Move::SetKinematics(KinematicsType k)
// Return true if this is a raw motor move
bool Move::IsRawMotorMove(uint8_t moveType) const
{
- return moveType == 2 || ((moveType == 1 || moveType == 3) && kinematics->GetHomingMode() != Kinematics::HomingMode::homeCartesianAxes);
+ return moveType == 2 || ((moveType == 1 || moveType == 3) && kinematics->GetHomingMode() != HomingMode::homeCartesianAxes);
}
// Return true if the specified point is accessible to the Z probe
@@ -574,9 +560,16 @@ bool Move::LowPowerOrStallPause(RestorePoint& rp)
{
// We are executing a move that has a file address, so we can interrupt it
StepTimer::DisableStepInterrupt();
+#if SUPPORT_LASER
+ if (reprap.GetGCodes().GetMachineType() == MachineType::laser)
+ {
+ reprap.GetPlatform().SetLaserPwm(0);
+ }
+#endif
dda->MoveAborted();
CurrentMoveCompleted(); // updates live endpoints, extrusion, ddaRingGetPointer, currentDda etc.
--completedMoves; // this move wasn't really completed
+ --scheduledMoves; // ...but it is no longer scheduled either
abortedMove = true;
}
else
@@ -718,6 +711,7 @@ void Move::SetPositions(const float move[MaxTotalDrivers])
}
}
+// This may be called from an ISR, e.g. via Kinematics::OnHomingSwitchTriggered and DDA::SetPositions
void Move::EndPointToMachine(const float coords[], int32_t ep[], size_t numDrives) const
{
if (CartesianToMotorSteps(coords, ep, true))
@@ -725,13 +719,13 @@ void Move::EndPointToMachine(const float coords[], int32_t ep[], size_t numDrive
const size_t numAxes = reprap.GetGCodes().GetTotalAxes();
for (size_t drive = numAxes; drive < numDrives; ++drive)
{
- ep[drive] = MotorEndPointToMachine(drive, coords[drive]);
+ ep[drive] = MotorMovementToSteps(drive, coords[drive]);
}
}
}
// Convert distance to steps for a particular drive
-int32_t Move::MotorEndPointToMachine(size_t drive, float coord)
+int32_t Move::MotorMovementToSteps(size_t drive, float coord)
{
return lrintf(coord * reprap.GetPlatform().DriveStepsPerUnit(drive));
}
@@ -741,23 +735,44 @@ int32_t Move::MotorEndPointToMachine(size_t drive, float coord)
void Move::MotorStepsToCartesian(const int32_t motorPos[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const
{
kinematics->MotorStepsToCartesian(motorPos, reprap.GetPlatform().GetDriveStepsPerUnit(), numVisibleAxes, numTotalAxes, machinePos);
+ if (reprap.Debug(moduleMove) && !inInterrupt())
+ {
+ debugPrintf("Forward transformed %" PRIi32 " %" PRIi32 " %" PRIi32 " to %.2f %.2f %.2f\n",
+ motorPos[0], motorPos[1], motorPos[2], (double)machinePos[0], (double)machinePos[1], (double)machinePos[2]);
+ }
}
// Convert Cartesian coordinates to motor steps, axes only, returning true if successful.
// Used to perform movement and G92 commands.
+// This may be called from an ISR, e.g. via Kinematics::OnHomingSwitchTriggered, DDA::SetPositions and Move::EndPointToMachine
bool Move::CartesianToMotorSteps(const float machinePos[MaxAxes], int32_t motorPos[MaxAxes], bool isCoordinated) const
{
const bool b = kinematics->CartesianToMotorSteps(machinePos, reprap.GetPlatform().GetDriveStepsPerUnit(),
reprap.GetGCodes().GetVisibleAxes(), reprap.GetGCodes().GetTotalAxes(), motorPos, isCoordinated);
- if (reprap.Debug(moduleMove) && reprap.Debug(moduleDda))
+ if (reprap.Debug(moduleMove) && !inInterrupt())
{
- if (b)
+ if (!b)
{
- debugPrintf("Transformed %.2f %.2f %.2f to %" PRIu32 " %" PRIu32 " %" PRIu32 "\n", (double)machinePos[0], (double)machinePos[1], (double)machinePos[2], motorPos[0], motorPos[1], motorPos[2]);
+ debugPrintf("Unable to transform");
+ for (size_t i = 0; i < reprap.GetGCodes().GetVisibleAxes(); ++i)
+ {
+ debugPrintf(" %.2f", (double)machinePos[i]);
+ }
+ debugPrintf("\n");
}
- else
+ else if (reprap.Debug(moduleDda))
{
- debugPrintf("Unable to transform %.2f %.2f %.2f\n", (double)machinePos[0], (double)machinePos[1], (double)machinePos[2]);
+ debugPrintf("Transformed");
+ for (size_t i = 0; i < reprap.GetGCodes().GetVisibleAxes(); ++i)
+ {
+ debugPrintf(" %.2f", (double)machinePos[i]);
+ }
+ debugPrintf(" to");
+ for (size_t i = 0; i < reprap.GetGCodes().GetTotalAxes(); ++i)
+ {
+ debugPrintf(" %" PRIi32, motorPos[i]);
+ }
+ debugPrintf("\n");
}
}
return b;
@@ -1079,10 +1094,6 @@ void Move::CurrentMoveCompleted()
for (size_t drive = numAxes; drive < MaxTotalDrivers; ++drive)
{
extrusionAccumulators[drive - numAxes] += currentDda->GetStepsTaken(drive);
- if (currentDda->IsNonPrintingExtruderMove(drive))
- {
- extruderNonPrinting[drive - numAxes] = true;
- }
}
currentDda = nullptr;
@@ -1134,7 +1145,7 @@ void Move::GetCurrentMachinePosition(float m[MaxAxes], bool disableMotorMapping)
}
}
-/*static*/ float Move::MotorEndpointToPosition(int32_t endpoint, size_t drive)
+/*static*/ float Move::MotorStepsToMovement(size_t drive, int32_t endpoint)
{
return ((float)(endpoint))/reprap.GetPlatform().DriveStepsPerUnit(drive);
}
@@ -1218,9 +1229,8 @@ void Move::ResetExtruderPositions()
}
// Get the accumulated extruder motor steps taken by an extruder since the last call. Used by the filament monitoring code.
-// Returns the number of motor steps moves since the last call, and nonPrinting is true if we are currently executing an extruding but non-printing move
-// or we completed one since the last call.
-int32_t Move::GetAccumulatedExtrusion(size_t extruder, bool& nonPrinting)
+// Returns the number of motor steps moves since the last call, and isPrinting is true unless we are currently executing an extruding but non-printing move
+int32_t Move::GetAccumulatedExtrusion(size_t extruder, bool& isPrinting)
{
const size_t drive = extruder + reprap.GetGCodes().GetTotalAxes();
if (drive < MaxTotalDrivers)
@@ -1229,27 +1239,14 @@ int32_t Move::GetAccumulatedExtrusion(size_t extruder, bool& nonPrinting)
const int32_t ret = extrusionAccumulators[extruder];
const DDA * const cdda = currentDda; // capture volatile variable
const int32_t adjustment = (cdda == nullptr) ? 0 : cdda->GetStepsTaken(drive);
- if (adjustment == 0)
- {
- // Either there is no current move, or we are at the very start of this move, or it doesn't involve this extruder e.g. a travel move
- nonPrinting = extruderNonPrinting[extruder];
- }
- else if (cdda->IsPrintingMove())
- {
- nonPrinting = extruderNonPrinting[extruder];
- extruderNonPrinting[extruder] = false;
- }
- else
- {
- nonPrinting = true;
- }
extrusionAccumulators[extruder] = -adjustment;
+ isPrinting = extrudersPrinting;
cpu_irq_restore(flags);
return ret + adjustment;
}
- nonPrinting = true;
- return 0.0;
+ isPrinting = false;
+ return 0;
}
void Move::SetXYBedProbePoint(size_t index, float x, float y)
@@ -1313,7 +1310,10 @@ void Move::AdjustLeadscrews(const floatc_t corrections[])
const AxisDriversConfig& config = reprap.GetPlatform().GetAxisDriversConfig(Z_AXIS);
for (size_t i = 0; i < config.numDrivers; ++i)
{
- specialMoveCoords[config.driverNumbers[i]] = corrections[i];
+ if (config.driverNumbers[i] < MaxTotalDrivers)
+ {
+ specialMoveCoords[config.driverNumbers[i]] = corrections[i];
+ }
}
specialMoveAvailable = true;
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-09-07 20:40:44 +0300