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|
/*
* Move.cpp
*
* Created on: 7 Dec 2014
* Author: David
*/
#include "Move.h"
#include "Platform.h"
#include "RepRap.h"
Move::Move(Platform* p, GCodes* g) : currentDda(NULL), grid(zBedProbePoints)
{
active = false;
// Build the DDA ring
DDA *dda = new DDA(NULL);
ddaRingGetPointer = ddaRingAddPointer = dda;
for (size_t i = 1; i < DdaRingLength; i++)
{
DDA *oldDda = dda;
dda = new DDA(dda);
oldDda->SetPrevious(dda);
}
ddaRingAddPointer->SetNext(dda);
dda->SetPrevious(ddaRingAddPointer);
}
void Move::Init()
{
// Reset Cartesian mode
deltaParams.Init();
coreXYMode = 0;
for (size_t axis = 0; axis < MAX_AXES; ++axis)
{
axisFactors[axis] = 1.0;
}
deltaProbing = false;
// Empty the ring
ddaRingGetPointer = ddaRingCheckPointer = ddaRingAddPointer;
DDA *dda = ddaRingAddPointer;
do
{
dda->Init();
dda = dda->GetNext();
} while (dda != ddaRingAddPointer);
currentDda = nullptr;
addNoMoreMoves = false;
babysteppingLeft = 0.0;
stepErrors = 0;
numLookaheadUnderruns = numPrepareUnderruns = 0;
// Clear the transforms
SetIdentityTransform();
tanXY = tanYZ = tanXZ = 0.0;
// Put the origin on the lookahead ring with default velocity in the previous position to the first one that will be used.
// Do this by calling SetLiveCoordinates and SetPositions, so that the motor coordinates will be correct too even on a delta.
float move[DRIVES];
for (size_t i = 0; i < DRIVES; i++)
{
move[i] = 0.0;
liveEndPoints[i] = 0; // not actually right for a delta, but better than printing random values in response to M114
reprap.GetPlatform()->SetDirection(i, FORWARDS); // DC: I don't see any reason why we do this
}
SetLiveCoordinates(move);
SetPositions(move);
// Set up default bed probe points. This is only a guess, because we don't know the bed size yet.
for (size_t point = 0; point < ARRAY_SIZE(zBedProbePoints); point++)
{
if (point < 4)
{
xBedProbePoints[point] = (0.1 + 0.8 * (float)(point%2)) * reprap.GetPlatform()->AxisMaximum(X_AXIS);
yBedProbePoints[point] = (0.1 + 0.8 * (float)(point/2)) * reprap.GetPlatform()->AxisMaximum(Y_AXIS);
}
else if (point == 4)
{
xBedProbePoints[point] = 0.5 * reprap.GetPlatform()->AxisMaximum(X_AXIS);
yBedProbePoints[point] = 0.5 * reprap.GetPlatform()->AxisMaximum(Y_AXIS);
}
zBedProbePoints[point] = 0.0;
if (point < ARRAY_SIZE(probePointSet))
{
probePointSet[point] = unset;
}
}
xRectangle = 1.0/(0.8 * reprap.GetPlatform()->AxisMaximum(X_AXIS));
yRectangle = xRectangle;
useTaper = false;
longWait = reprap.GetPlatform()->Time();
idleTimeout = DEFAULT_IDLE_TIMEOUT;
iState = IdleState::idle;
idleCount = 0;
simulationMode = 0;
simulationTime = 0.0;
longestGcodeWaitInterval = 0;
waitingForMove = false;
active = true;
}
void Move::Exit()
{
reprap.GetPlatform()->Message(HOST_MESSAGE, "Move class exited.\n");
active = false;
}
void Move::Spin()
{
if (!active)
{
return;
}
if (idleCount < 1000)
{
++idleCount;
}
// Check for DDA errors to print if Move debug is enabled
while (ddaRingCheckPointer->GetState() == DDA::completed)
{
if (ddaRingCheckPointer->HasStepError())
{
if (reprap.Debug(moduleMove))
{
ddaRingCheckPointer->DebugPrint();
}
++stepErrors;
reprap.GetPlatform()->LogError(ErrorCode::BadMove);
}
if (ddaRingCheckPointer->Free())
{
++numLookaheadUnderruns;
}
ddaRingCheckPointer = ddaRingCheckPointer->GetNext();
}
// See if we can add another move to the ring
if (
#if SUPPORT_ROLAND
!reprap.GetRoland()->Active() &&
#endif
!addNoMoreMoves && ddaRingAddPointer->GetState() == DDA::empty)
{
// In order to react faster to speed and extrusion rate changes, only add more moves if the total duration of
// all un-frozen moves is less than 2 seconds, or the total duration of all but the first un-frozen move is
// less than 0.5 seconds.
const DDA *dda = ddaRingAddPointer;
float unPreparedTime = 0.0;
float prevMoveTime = 0.0;
for(;;)
{
dda = dda->GetPrevious();
if (dda->GetState() != DDA::provisional)
{
break;
}
unPreparedTime += prevMoveTime;
prevMoveTime = dda->CalcTime();
}
if (unPreparedTime < 0.5 || unPreparedTime + prevMoveTime < 2.0)
{
// If there's a G Code move available, add it to the DDA ring for processing.
GCodes::RawMove nextMove;
if (reprap.GetGCodes()->ReadMove(nextMove))
{
if (waitingForMove)
{
waitingForMove = false;
const uint32_t timeWaiting = millis() - gcodeWaitStartTime;
if (timeWaiting > longestGcodeWaitInterval)
{
longestGcodeWaitInterval = timeWaiting;
}
}
// We have a new move
if (simulationMode < 2) // in simulation mode 2 and higher, we don't process incoming moves beyond this point
{
const bool doMotorMapping = (nextMove.moveType == 0) || (nextMove.moveType == 1 && !IsDeltaMode());
if (doMotorMapping)
{
Transform(nextMove.coords, nextMove.xAxes, true);
}
if (ddaRingAddPointer->Init(nextMove, doMotorMapping))
{
ddaRingAddPointer = ddaRingAddPointer->GetNext();
idleCount = 0;
}
}
}
else
{
// We wanted another move, but none was available
if (currentDda != nullptr && !waitingForMove)
{
gcodeWaitStartTime = millis();
waitingForMove = true;
}
}
}
}
if (!deltaProbing)
{
// See whether we need to kick off a move
if (currentDda == nullptr)
{
// No DDA is executing, so start executing a new one if possible
if (idleCount > 10) // better to have a few moves in the queue so that we can do lookahead
{
DDA *dda = ddaRingGetPointer;
if (dda->GetState() == DDA::provisional)
{
dda->Prepare();
}
if (dda->GetState() == DDA::frozen)
{
if (simulationMode != 0)
{
currentDda = dda; // pretend we are executing this move
}
else
{
Platform::DisableStepInterrupt(); // should be disabled already because we weren't executing a move, but make sure
if (StartNextMove(Platform::GetInterruptClocks())) // start the next move
{
Interrupt();
}
}
iState = IdleState::busy;
}
else if (!simulationMode != 0 && iState == IdleState::busy && !reprap.GetGCodes()->IsPaused() && idleTimeout > 0.0)
{
lastMoveTime = reprap.GetPlatform()->Time(); // record when we first noticed that the machine was idle
iState = IdleState::timing;
}
else if (!simulationMode != 0 && iState == IdleState::timing && reprap.GetPlatform()->Time() - lastMoveTime >= idleTimeout)
{
reprap.GetPlatform()->SetDriversIdle(); // put all drives in idle hold
iState = IdleState::idle;
}
}
}
DDA *cdda = currentDda; // currentDda is volatile, so copy it
if (cdda != nullptr)
{
// See whether we need to prepare any moves
int32_t preparedTime = 0;
uint32_t preparedCount = 0;
DDA::DDAState st;
while ((st = cdda->GetState()) == DDA::completed || st == DDA::executing || st == DDA::frozen)
{
preparedTime += cdda->GetTimeLeft();
++preparedCount;
cdda = cdda->GetNext();
if (cdda == ddaRingAddPointer)
{
break;
}
}
// If the number of prepared moves will execute in less than the minimum time, prepare another move
while (st == DDA::provisional
&& preparedTime < (int32_t)(DDA::stepClockRate/8) // prepare moves one eighth of a second ahead of when they will be needed
&& preparedCount < DdaRingLength/2 // but don't prepare more than half the ring
)
{
cdda->Prepare();
preparedTime += cdda->GetTimeLeft();
++preparedCount;
cdda = cdda->GetNext();
st = cdda->GetState();
}
// If we are simulating and the move pipeline is reasonably full, simulate completion of the current move
if (simulationMode != 0 && idleCount >= 10)
{
// Simulate completion of the current move
//DEBUG
//currentDda->DebugPrint();
simulationTime += currentDda->CalcTime();
CurrentMoveCompleted();
}
}
}
reprap.GetPlatform()->ClassReport(longWait);
}
// Pause the print as soon as we can.
// Returns the file position of the first queue move we are going to skip, or noFilePosition we we are not skipping any moves.
// We update 'positions' to the positions and feed rate expected for the next move, and the amount of extrusion in the moves we skipped.
// If we are not skipping any moves then the feed rate is left alone, therefore the caller should set this up first.
FilePosition Move::PausePrint(float positions[DRIVES], float& pausedFeedRate, uint32_t xAxes)
{
// Find a move we can pause after.
// Ideally, we would adjust a move if necessary and possible so that we can pause after it, but for now we don't do that.
// There are a few possibilities:
// 1. There are no moves in the queue.
// 2. There is a currently-executing move, and possibly some more in the queue.
// 3. There are moves in the queue, but we haven't started executing them yet. Unlikely, but possible.
// First, see if there is a currently-executing move, and if so, whether we can safely pause at the end of it
const DDA *savedDdaRingAddPointer = ddaRingAddPointer;
cpu_irq_disable();
DDA *dda = currentDda;
FilePosition fPos = noFilePosition;
if (dda != nullptr)
{
// A move is being executed. See if we can safely pause at the end of it.
if (dda->CanPauseAfter())
{
fPos = dda->GetFilePosition();
ddaRingAddPointer = dda->GetNext();
}
else
{
// We can't safely pause after the currently-executing move because its end speed is too high so we may miss steps.
// Search for the next move that we can safely stop after.
dda = ddaRingGetPointer;
while (dda != ddaRingAddPointer)
{
if (dda->CanPauseAfter())
{
fPos = dda->GetFilePosition();
ddaRingAddPointer = dda->GetNext();
if (ddaRingAddPointer->GetState() == DDA::frozen)
{
// Change the state so that the ISR won't start executing this move
(void)ddaRingAddPointer->Free();
}
break;
}
dda = dda->GetNext();
}
}
}
else
{
// No move being executed
ddaRingAddPointer = ddaRingGetPointer;
}
cpu_irq_enable();
if (ddaRingAddPointer != savedDdaRingAddPointer)
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
// We are going to skip some moves. dda points to the last move we are going to print.
for (size_t axis = 0; axis < numAxes; ++axis)
{
positions[axis] = dda->GetEndCoordinate(axis, false);
}
for (size_t drive = numAxes; drive < DRIVES; ++drive)
{
positions[drive] = 0.0; // clear out extruder movement
}
pausedFeedRate = dda->GetRequestedSpeed();
// Free the DDAs for the moves we are going to skip, and work out how much extrusion they would have performed
dda = ddaRingAddPointer;
do
{
for (size_t drive = numAxes; drive < DRIVES; ++drive)
{
positions[drive] += dda->GetEndCoordinate(drive, true); // update the amount of extrusion we are going to skip
}
(void)dda->Free();
dda = dda->GetNext();
}
while (dda != savedDdaRingAddPointer);
}
else
{
GetCurrentUserPosition(positions, 0, xAxes); // gets positions and clears out extrusion values
}
return fPos;
}
// Request babystepping
void Move::Babystep(float zMovement)
{
babysteppingLeft += zMovement;
// TODO use this value somewhere
}
uint32_t maxReps = 0;
#if 0
// For debugging
extern uint32_t sqSum1, sqSum2, sqCount, sqErrors, lastRes1, lastRes2;
extern uint64_t lastNum;
#endif
void Move::Diagnostics(MessageType mtype)
{
Platform * const p = reprap.GetPlatform();
p->Message(mtype, "=== Move ===\n");
p->MessageF(mtype, "MaxReps: %u, StepErrors: %u, MaxWait: %ums, Underruns: %u, %u\n",
maxReps, stepErrors, longestGcodeWaitInterval, numLookaheadUnderruns, numPrepareUnderruns);
maxReps = 0;
numLookaheadUnderruns = numPrepareUnderruns = 0;
longestGcodeWaitInterval = 0;
// Show the current probe position heights and type of bed compensation in use
p->Message(mtype, "Bed compensation in use: ");
if (numBedCompensationPoints == 0)
{
p->MessageF(mtype, "%s\n", (grid.UsingHeightMap()) ? "mesh" : "none");
}
else
{
p->MessageF(mtype, "%d point\n", numBedCompensationPoints);
}
p->Message(mtype, "Bed probe heights:");
for (size_t i = 0; i < MaxProbePoints; ++i)
{
p->MessageF(mtype, " %.3f", ZBedProbePoint(i));
}
p->Message(mtype, "\n");
#if DDA_LOG_PROBE_CHANGES
// Temporary code to print Z probe trigger positions
p->Message(mtype, "Probe change coordinates:");
char ch = ' ';
for (size_t i = 0; i < DDA::numLoggedProbePositions; ++i)
{
float xyzPos[MIN_AXES];
MachineToEndPoint(DDA::loggedProbePositions + (MIN_AXES * i), xyzPos, MIN_AXES);
p->MessageF(mtype, "%c%.2f,%.2f", ch, xyzPos[X_AXIS], xyzPos[Y_AXIS]);
ch = ',';
}
p->Message(mtype, "\n");
#endif
#if 0
// For debugging
if (sqCount != 0)
{
reprap.GetPlatform()->AppendMessage(GENERIC_MESSAGE, "Average sqrt times %.2f, %.2f, count %u, errors %u, last %" PRIu64 " %u %u\n",
(float)sqSum1/sqCount, (float)sqSum2/sqCount, sqCount, sqErrors, lastNum, lastRes1, lastRes2);
sqSum1 = sqSum2 = sqCount = sqErrors = 0;
}
#endif
}
// These are the actual numbers we want in the positions, so don't transform them.
void Move::SetPositions(const float move[DRIVES])
{
if (DDARingEmpty())
{
ddaRingAddPointer->GetPrevious()->SetPositions(move, DRIVES);
}
else
{
reprap.GetPlatform()->Message(GENERIC_MESSAGE, "SetPositions called when DDA ring not empty\n");
}
}
void Move::EndPointToMachine(const float coords[], int32_t ep[], size_t numDrives) const
{
MotorTransform(coords, ep);
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
for (size_t drive = numAxes; drive < numDrives; ++drive)
{
ep[drive] = MotorEndPointToMachine(drive, coords[drive]);
}
}
// Returns steps from units (mm) for a particular drive
int32_t Move::MotorEndPointToMachine(size_t drive, float coord)
{
return (int32_t)roundf(coord * reprap.GetPlatform()->DriveStepsPerUnit(drive));
}
// Convert motor coordinates to machine coordinates
// Used after homing and after individual motor moves.
// This is computationally expensive on a delta, so only call it when necessary, and never from the step ISR.
void Move::MachineToEndPoint(const int32_t motorPos[], float machinePos[], size_t numDrives) const
{
const float * const stepsPerUnit = reprap.GetPlatform()->GetDriveStepsPerUnit();
// Convert the axes
if (IsDeltaMode())
{
deltaParams.InverseTransform(motorPos[A_AXIS]/stepsPerUnit[A_AXIS], motorPos[B_AXIS]/stepsPerUnit[B_AXIS], motorPos[C_AXIS]/stepsPerUnit[C_AXIS], machinePos);
#if 0
// We don't do inverse transforms very often, so if debugging is enabled, print them
if (reprap.Debug(moduleMove))
{
debugPrintf("Inverse transformed %d %d %d to %f %f %f\n", motorPos[0], motorPos[1], motorPos[2], machinePos[0], machinePos[1], machinePos[2]);
}
#endif
}
else
{
switch (coreXYMode)
{
case 1: // CoreXY
machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Y_AXIS]) - (motorPos[Y_AXIS] * stepsPerUnit[X_AXIS]))
/(2 * axisFactors[X_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Y_AXIS]);
machinePos[Y_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Y_AXIS]) + (motorPos[Y_AXIS] * stepsPerUnit[X_AXIS]))
/(2 * axisFactors[Y_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Y_AXIS]);
machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerUnit[Z_AXIS];
break;
case 2: // CoreXZ
machinePos[X_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Z_AXIS]) - (motorPos[Z_AXIS] * stepsPerUnit[X_AXIS]))
/(2 * axisFactors[X_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Z_AXIS]);
machinePos[Y_AXIS] = motorPos[Y_AXIS]/stepsPerUnit[Y_AXIS];
machinePos[Z_AXIS] = ((motorPos[X_AXIS] * stepsPerUnit[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerUnit[X_AXIS]))
/(2 * axisFactors[Z_AXIS] * stepsPerUnit[X_AXIS] * stepsPerUnit[Z_AXIS]);
break;
case 3: // CoreYZ
machinePos[X_AXIS] = motorPos[X_AXIS]/stepsPerUnit[X_AXIS];
machinePos[Y_AXIS] = ((motorPos[Y_AXIS] * stepsPerUnit[Z_AXIS]) - (motorPos[Z_AXIS] * stepsPerUnit[Y_AXIS]))
/(2 * axisFactors[Y_AXIS] * stepsPerUnit[Y_AXIS] * stepsPerUnit[Z_AXIS]);
machinePos[Z_AXIS] = ((motorPos[Y_AXIS] * stepsPerUnit[Z_AXIS]) + (motorPos[Z_AXIS] * stepsPerUnit[Y_AXIS]))
/(2 * axisFactors[Z_AXIS] * stepsPerUnit[Y_AXIS] * stepsPerUnit[Z_AXIS]);
break;
default:
machinePos[X_AXIS] = motorPos[X_AXIS]/stepsPerUnit[X_AXIS];
machinePos[Y_AXIS] = motorPos[Y_AXIS]/stepsPerUnit[Y_AXIS];
machinePos[Z_AXIS] = motorPos[Z_AXIS]/stepsPerUnit[Z_AXIS];
break;
}
}
// Convert any additional axes and the extruders
for (size_t drive = MIN_AXES; drive < numDrives; ++drive)
{
machinePos[drive] = motorPos[drive]/stepsPerUnit[drive];
}
}
// Convert Cartesian coordinates to motor steps
void Move::MotorTransform(const float machinePos[MAX_AXES], int32_t motorPos[MAX_AXES]) const
{
if (IsDeltaMode())
{
for (size_t axis = 0; axis < DELTA_AXES; ++axis)
{
motorPos[axis] = MotorEndPointToMachine(axis, deltaParams.Transform(machinePos, axis));
}
if (reprap.Debug(moduleMove) && reprap.Debug(moduleDda))
{
debugPrintf("Transformed %f %f %f to %d %d %d\n", machinePos[0], machinePos[1], machinePos[2], motorPos[0], motorPos[1], motorPos[2]);
}
}
else
{
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
for (size_t axis = 0; axis < numAxes; ++axis)
{
motorPos[axis] = MotorEndPointToMachine(axis, MotorFactor(axis, machinePos));
}
}
}
// Calculate the movement fraction for a single axis motor of a Cartesian or CoreXY printer
float Move::MotorFactor(size_t drive, const float directionVector[]) const
{
// NB we could simplify this code by building a matrix and using matrix multiply
switch(drive)
{
case X_AXIS:
switch(coreXYMode)
{
case 1: // CoreXY
return (directionVector[X_AXIS] * axisFactors[X_AXIS]) + (directionVector[Y_AXIS] * axisFactors[Y_AXIS]);
case 2: // CoreXZ
return (directionVector[X_AXIS] * axisFactors[X_AXIS]) + (directionVector[Z_AXIS] * axisFactors[Z_AXIS]);
default:
break;
}
break;
case Y_AXIS:
switch(coreXYMode)
{
case 1: // CoreXY
return (directionVector[Y_AXIS] * axisFactors[Y_AXIS]) - (directionVector[X_AXIS] * axisFactors[X_AXIS]);
case 3: // CoreYZ
return (directionVector[Y_AXIS] * axisFactors[Y_AXIS]) + (directionVector[Z_AXIS] * axisFactors[Z_AXIS]);
default:
break;
}
break;
case Z_AXIS:
switch(coreXYMode)
{
case 2: // CoreXZ
return (directionVector[Z_AXIS] * axisFactors[Z_AXIS]) - (directionVector[X_AXIS] * axisFactors[X_AXIS]);
case 3: // CoreYZ
return (directionVector[Z_AXIS] * axisFactors[Z_AXIS]) - (directionVector[Y_AXIS] * axisFactors[Y_AXIS]);
default:
break;
}
break;
default:
break;
}
return directionVector[drive];
}
// Do the Axis transform BEFORE the bed transform
void Move::AxisTransform(float xyzPoint[MAX_AXES]) const
{
//TODO should we transform U axis instead of/as well as X if we are in dual carriage mode?
xyzPoint[X_AXIS] += tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS];
xyzPoint[Y_AXIS] += tanYZ*xyzPoint[Z_AXIS];
}
// Invert the Axis transform AFTER the bed transform
void Move::InverseAxisTransform(float xyzPoint[MAX_AXES]) const
{
//TODO should we transform U axis instead of/as well as X if we are in dual carriage mode?
xyzPoint[Y_AXIS] -= tanYZ*xyzPoint[Z_AXIS];
xyzPoint[X_AXIS] -= (tanXY*xyzPoint[Y_AXIS] + tanXZ*xyzPoint[Z_AXIS]);
}
void Move::Transform(float xyzPoint[MAX_AXES], uint32_t xAxes, bool useBedCompensation) const
{
AxisTransform(xyzPoint);
if (useBedCompensation)
{
BedTransform(xyzPoint, xAxes);
}
}
void Move::InverseTransform(float xyzPoint[MAX_AXES], uint32_t xAxes) const
{
InverseBedTransform(xyzPoint, xAxes);
InverseAxisTransform(xyzPoint);
}
// Do the bed transform AFTER the axis transform
void Move::BedTransform(float xyzPoint[MAX_AXES], uint32_t xAxes) const
{
if (!useTaper || xyzPoint[Z_AXIS] < taperHeight)
{
float zCorrection = 0.0;
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
unsigned int numXAxes = 0;
// Transform the Z coordinate based on the average correction for each axis used as an X axis.
// We are assuming that the tool Y offsets are small enough to be ignored.
for (uint32_t axis = 0; axis < numAxes; ++axis)
{
if ((xAxes & (1u << axis)) != 0)
{
const float xCoord = xyzPoint[axis];
switch(numBedCompensationPoints)
{
case 0:
zCorrection += grid.GetInterpolatedHeightError(xCoord, xyzPoint[Y_AXIS]);
break;
case 3:
zCorrection += aX * xCoord + aY * xyzPoint[Y_AXIS] + aC;
break;
case 4:
zCorrection += SecondDegreeTransformZ(xCoord, xyzPoint[Y_AXIS]);
break;
case 5:
zCorrection += TriangleZ(xCoord, xyzPoint[Y_AXIS]);
break;
default:
break;
}
++numXAxes;
}
}
if (numXAxes > 1)
{
zCorrection /= numXAxes; // take an average
}
xyzPoint[Z_AXIS] += (useTaper) ? (taperHeight - xyzPoint[Z_AXIS]) * recipTaperHeight * zCorrection : zCorrection;
}
}
// Invert the bed transform BEFORE the axis transform
void Move::InverseBedTransform(float xyzPoint[MAX_AXES], uint32_t xAxes) const
{
float zCorrection = 0.0;
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
unsigned int numXAxes = 0;
// Transform the Z coordinate based on the average correction for each axis used as an X axis.
// We are assuming that the tool Y offsets are small enough to be ignored.
for (uint32_t axis = 0; axis < numAxes; ++axis)
{
if ((xAxes & (1u << axis)) != 0)
{
const float xCoord = xyzPoint[axis];
switch(numBedCompensationPoints)
{
case 0:
zCorrection += grid.GetInterpolatedHeightError(xCoord, xyzPoint[Y_AXIS]);
break;
case 3:
zCorrection += aX * xCoord + aY * xyzPoint[Y_AXIS] + aC;
break;
case 4:
zCorrection += SecondDegreeTransformZ(xCoord, xyzPoint[Y_AXIS]);
break;
case 5:
zCorrection += TriangleZ(xCoord, xyzPoint[Y_AXIS]);
break;
default:
break;
}
++numXAxes;
}
}
if (numXAxes > 1)
{
zCorrection /= numXAxes; // take an average
}
if (!useTaper || zCorrection >= taperHeight) // need check on zCorrection to avoid possible divide by zero
{
xyzPoint[Z_AXIS] -= zCorrection;
}
else
{
const float zreq = (xyzPoint[Z_AXIS] - zCorrection)/(1.0 - (zCorrection * recipTaperHeight));
if (zreq < taperHeight)
{
xyzPoint[Z_AXIS] = zreq;
}
}
}
void Move::SetIdentityTransform()
{
numBedCompensationPoints = 0;
grid.ClearGridHeights();
}
void Move::SetTaperHeight(float h)
{
useTaper = (h > 1.0);
if (useTaper)
{
taperHeight = h;
recipTaperHeight = 1.0/h;
}
}
float Move::AxisCompensation(int8_t axis) const
{
switch(axis)
{
case X_AXIS:
return tanXY;
case Y_AXIS:
return tanYZ;
case Z_AXIS:
return tanXZ;
default:
reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Axis compensation requested for non-existent axis.\n");
}
return 0.0;
}
void Move::SetAxisCompensation(int8_t axis, float tangent)
{
switch(axis)
{
case X_AXIS:
tanXY = tangent;
break;
case Y_AXIS:
tanYZ = tangent;
break;
case Z_AXIS:
tanXZ = tangent;
break;
default:
reprap.GetPlatform()->Message(GENERIC_MESSAGE, "SetAxisCompensation: dud axis.\n");
}
}
void Move::BarycentricCoordinates(size_t p1, size_t p2, size_t p3, float x, float y, float& l1, float& l2, float& l3) const
{
const float y23 = baryYBedProbePoints[p2] - baryYBedProbePoints[p3];
const float x3 = x - baryXBedProbePoints[p3];
const float x32 = baryXBedProbePoints[p3] - baryXBedProbePoints[p2];
const float y3 = y - baryYBedProbePoints[p3];
const float x13 = baryXBedProbePoints[p1] - baryXBedProbePoints[p3];
const float y13 = baryYBedProbePoints[p1] - baryYBedProbePoints[p3];
const float iDet = 1.0 / (y23 * x13 + x32 * y13);
l1 = (y23 * x3 + x32 * y3) * iDet;
l2 = (-y13 * x3 + x13 * y3) * iDet;
l3 = 1.0 - l1 - l2;
}
/*
* Interpolate on a triangular grid. The triangle corners are indexed:
*
* ^ [1] [2]
* |
* Y [4]
* |
* | [0] [3]
* -----X---->
*
*/
float Move::TriangleZ(float x, float y) const
{
for (size_t i = 0; i < 4; i++)
{
const size_t j = (i + 1) % 4;
float l1, l2, l3;
BarycentricCoordinates(i, j, 4, x, y, l1, l2, l3);
if (l1 > TRIANGLE_ZERO && l2 > TRIANGLE_ZERO && l3 > TRIANGLE_ZERO)
{
return l1 * baryZBedProbePoints[i] + l2 * baryZBedProbePoints[j] + l3 * baryZBedProbePoints[4];
}
}
reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Triangle interpolation: point outside all triangles!\n");
return 0.0;
}
// Calibrate or set the bed equation after probing.
// sParam is the value of the S parameter in the G30 command that provoked this call.
void Move::FinishedBedProbing(int sParam, StringRef& reply)
{
const int numPoints = NumberOfProbePoints();
if (sParam < 0)
{
// A negative sParam just prints the probe heights
reply.copy("Bed probe heights:");
float sum = 0.0;
float sumOfSquares = 0.0;
for (size_t i = 0; (int)i < numPoints; ++i)
{
if ((probePointSet[i] & (xSet | ySet | zSet | probeError)) != (xSet | ySet | zSet))
{
reply.cat(" failed");
}
else
{
reply.catf(" %.3f", zBedProbePoints[i]);
sum += zBedProbePoints[i];
sumOfSquares += fsquare(zBedProbePoints[i]);
}
}
const float mean = sum/numPoints;
reply.catf(", mean %.3f, deviation from mean %.3f", mean, sqrt(sumOfSquares/numPoints - fsquare(mean)));
}
else if (numPoints < sParam)
{
reprap.GetPlatform()->MessageF(GENERIC_MESSAGE,
"Bed calibration error: %d factor calibration requested but only %d points provided\n", sParam, numPoints);
}
else
{
if (reprap.Debug(moduleMove))
{
debugPrintf("Z probe offsets:");
float sum = 0.0;
float sumOfSquares = 0.0;
for (size_t i = 0; (int)i < numPoints; ++i)
{
debugPrintf(" %.3f", zBedProbePoints[i]);
sum += zBedProbePoints[i];
sumOfSquares += fsquare(zBedProbePoints[i]);
}
const float mean = sum/numPoints;
debugPrintf(", mean %.3f, deviation from mean %.3f\n", mean, sqrt(sumOfSquares/numPoints - fsquare(mean)));
}
if (sParam == 0)
{
sParam = numPoints;
}
// Check that all probe points are set and there were no errors
bool hadError = false;
for (size_t i = 0; (int)i < numPoints; ++i)
{
if ((probePointSet[i] & (xSet | ySet | zSet | probeError)) != (xSet | ySet | zSet))
{
hadError = true;
break;
}
}
if (hadError)
{
reply.cat("Compensation or calibration cancelled due to probing errors");
}
else if (IsDeltaMode())
{
DoDeltaCalibration(sParam, reply);
}
else
{
SetProbedBedEquation(sParam, reply);
}
}
// Clear out the Z heights so that we don't re-use old points.
// This allows us to use different numbers of probe point on different occasions.
for (size_t i = 0; i < MaxProbePoints; ++i)
{
probePointSet[i] &= ~zSet;
}
}
void Move::SetProbedBedEquation(size_t numPoints, StringRef& reply)
{
switch(numPoints)
{
case 3:
/*
* Transform to a plane
*/
{
float x10 = xBedProbePoints[1] - xBedProbePoints[0];
float y10 = yBedProbePoints[1] - yBedProbePoints[0];
float z10 = zBedProbePoints[1] - zBedProbePoints[0];
float x20 = xBedProbePoints[2] - xBedProbePoints[0];
float y20 = yBedProbePoints[2] - yBedProbePoints[0];
float z20 = zBedProbePoints[2] - zBedProbePoints[0];
float a = y10 * z20 - z10 * y20;
float b = z10 * x20 - x10 * z20;
float c = x10 * y20 - y10 * x20;
float d = -(xBedProbePoints[1] * a + yBedProbePoints[1] * b + zBedProbePoints[1] * c);
aX = -a / c;
aY = -b / c;
aC = -d / c;
}
break;
case 4:
/*
* Transform to a ruled-surface quadratic. The corner points for interpolation are indexed:
*
* ^ [1] [2]
* |
* Y
* |
* | [0] [3]
* -----X---->
*
* These are the scaling factors to apply to x and y coordinates to get them into the
* unit interval [0, 1].
*/
xRectangle = 1.0 / (xBedProbePoints[3] - xBedProbePoints[0]);
yRectangle = 1.0 / (yBedProbePoints[1] - yBedProbePoints[0]);
break;
case 5:
for (size_t i = 0; i < 4; i++)
{
float x10 = xBedProbePoints[i] - xBedProbePoints[4];
float y10 = yBedProbePoints[i] - yBedProbePoints[4];
float z10 = zBedProbePoints[i] - zBedProbePoints[4];
baryXBedProbePoints[i] = xBedProbePoints[4] + 2.0 * x10;
baryYBedProbePoints[i] = yBedProbePoints[4] + 2.0 * y10;
baryZBedProbePoints[i] = zBedProbePoints[4] + 2.0 * z10;
}
baryXBedProbePoints[4] = xBedProbePoints[4];
baryYBedProbePoints[4] = yBedProbePoints[4];
baryZBedProbePoints[4] = zBedProbePoints[4];
break;
default:
reprap.GetPlatform()->MessageF(GENERIC_MESSAGE, "Bed calibration error: %d points provided but only 3, 4 and 5 supported\n", numPoints);
return;
}
numBedCompensationPoints = numPoints;
reply.copy("Bed equation fits points");
for (size_t point = 0; point < numPoints; point++)
{
reply.catf(" [%.1f, %.1f, %.3f]", xBedProbePoints[point], yBedProbePoints[point], zBedProbePoints[point]);
}
reply.cat("\n");
}
// Perform 3-, 4-, 6- or 7-factor delta adjustment
void Move::AdjustDeltaParameters(const floatc_t v[], size_t numFactors)
{
// Save the old home carriage heights
float homedCarriageHeights[DELTA_AXES];
for (size_t drive = 0; drive < DELTA_AXES; ++drive)
{
homedCarriageHeights[drive] = deltaParams.GetHomedCarriageHeight(drive);
}
deltaParams.Adjust(numFactors, v); // adjust the delta parameters
// Adjust the motor endpoints to allow for the change in endstop adjustments
DDA *lastQueuedMove = ddaRingAddPointer->GetPrevious();
const int32_t *endCoordinates = lastQueuedMove->DriveCoordinates();
const float *driveStepsPerUnit = reprap.GetPlatform()->GetDriveStepsPerUnit();
for (size_t drive = 0; drive < DELTA_AXES; ++drive)
{
const float heightAdjust = deltaParams.GetHomedCarriageHeight(drive) - homedCarriageHeights[drive];
int32_t ep = endCoordinates[drive] + (int32_t)(heightAdjust * driveStepsPerUnit[drive]);
lastQueuedMove->SetDriveCoordinate(ep, drive);
liveEndPoints[drive] = ep;
}
liveCoordinatesValid = false; // force the live XYZ position to be recalculated
}
// Do delta calibration. We adjust the three endstop corrections, and either the delta radius,
// or the X positions of the front two towers, the Y position of the rear tower, and the diagonal rod length.
void Move::DoDeltaCalibration(size_t numFactors, StringRef& reply)
{
const size_t NumDeltaFactors = 9; // maximum number of delta machine factors we can adjust
const size_t numPoints = NumberOfProbePoints();
if (numFactors < 3 || numFactors > NumDeltaFactors || numFactors == 5)
{
reprap.GetPlatform()->MessageF(GENERIC_MESSAGE, "Delta calibration error: %d factors requested but only 3, 4, 6, 7, 8 and 9 supported\n", numFactors);
return;
}
if (reprap.Debug(moduleMove))
{
deltaParams.PrintParameters(scratchString);
debugPrintf("%s\n", scratchString.Pointer());
}
// The following is for printing out the calculation time, see later
//uint32_t startTime = reprap.GetPlatform()->GetInterruptClocks();
// Transform the probing points to motor endpoints and store them in a matrix, so that we can do multiple iterations using the same data
FixedMatrix<floatc_t, MaxDeltaCalibrationPoints, DELTA_AXES> probeMotorPositions;
floatc_t corrections[MaxDeltaCalibrationPoints];
float_t initialSumOfSquares = 0.0;
for (size_t i = 0; i < numPoints; ++i)
{
corrections[i] = 0.0;
float machinePos[DELTA_AXES];
float zp = GetProbeCoordinates(i, machinePos[X_AXIS], machinePos[Y_AXIS], (probePointSet[i] & xyCorrected) != 0);
machinePos[Z_AXIS] = 0.0;
probeMotorPositions(i, A_AXIS) = deltaParams.Transform(machinePos, A_AXIS);
probeMotorPositions(i, B_AXIS) = deltaParams.Transform(machinePos, B_AXIS);
probeMotorPositions(i, C_AXIS) = deltaParams.Transform(machinePos, C_AXIS);
initialSumOfSquares += fsquare(zp);
}
// Do 1 or more Newton-Raphson iterations
unsigned int iteration = 0;
float expectedRmsError;
for (;;)
{
// Build a Nx9 matrix of derivatives with respect to xa, xb, yc, za, zb, zc, diagonal.
FixedMatrix<floatc_t, MaxDeltaCalibrationPoints, NumDeltaFactors> derivativeMatrix;
for (size_t i = 0; i < numPoints; ++i)
{
for (size_t j = 0; j < numFactors; ++j)
{
const size_t adjustedJ = (numFactors == 8 && j >= 6) ? j + 1 : j; // skip diagonal rod length if doing 8-factor calibration
derivativeMatrix(i, j) =
deltaParams.ComputeDerivative(adjustedJ, probeMotorPositions(i, A_AXIS), probeMotorPositions(i, B_AXIS), probeMotorPositions(i, C_AXIS));
}
}
if (reprap.Debug(moduleMove))
{
PrintMatrix("Derivative matrix", derivativeMatrix, numPoints, numFactors);
}
// Now build the normal equations for least squares fitting
FixedMatrix<floatc_t, NumDeltaFactors, NumDeltaFactors + 1> normalMatrix;
for (size_t i = 0; i < numFactors; ++i)
{
for (size_t j = 0; j < numFactors; ++j)
{
floatc_t temp = derivativeMatrix(0, i) * derivativeMatrix(0, j);
for (size_t k = 1; k < numPoints; ++k)
{
temp += derivativeMatrix(k, i) * derivativeMatrix(k, j);
}
normalMatrix(i, j) = temp;
}
floatc_t temp = derivativeMatrix(0, i) * -(zBedProbePoints[0] + corrections[0]);
for (size_t k = 1; k < numPoints; ++k)
{
temp += derivativeMatrix(k, i) * -(zBedProbePoints[k] + corrections[k]);
}
normalMatrix(i, numFactors) = temp;
}
if (reprap.Debug(moduleMove))
{
PrintMatrix("Normal matrix", normalMatrix, numFactors, numFactors + 1);
}
floatc_t solution[NumDeltaFactors];
normalMatrix.GaussJordan(solution, numFactors);
if (reprap.Debug(moduleMove))
{
PrintMatrix("Solved matrix", normalMatrix, numFactors, numFactors + 1);
PrintVector("Solution", solution, numFactors);
// Calculate and display the residuals
floatc_t residuals[MaxDeltaCalibrationPoints];
for (size_t i = 0; i < numPoints; ++i)
{
residuals[i] = zBedProbePoints[i];
for (size_t j = 0; j < numFactors; ++j)
{
residuals[i] += solution[j] * derivativeMatrix(i, j);
}
}
PrintVector("Residuals", residuals, numPoints);
}
AdjustDeltaParameters(solution, numFactors);
// Calculate the expected probe heights using the new parameters
{
floatc_t expectedResiduals[MaxDeltaCalibrationPoints];
floatc_t sumOfSquares = 0.0;
for (size_t i = 0; i < numPoints; ++i)
{
for (size_t axis = 0; axis < DELTA_AXES; ++axis)
{
probeMotorPositions(i, axis) += solution[axis];
}
float newPosition[DELTA_AXES];
deltaParams.InverseTransform(probeMotorPositions(i, A_AXIS), probeMotorPositions(i, B_AXIS), probeMotorPositions(i, C_AXIS), newPosition);
corrections[i] = newPosition[Z_AXIS];
expectedResiduals[i] = zBedProbePoints[i] + newPosition[Z_AXIS];
sumOfSquares += fsquare(expectedResiduals[i]);
}
expectedRmsError = sqrt(sumOfSquares/numPoints);
if (reprap.Debug(moduleMove))
{
PrintVector("Expected probe error", expectedResiduals, numPoints);
}
}
// Decide whether to do another iteration. Two is slightly better than one, but three doesn't improve things.
// Alternatively, we could stop when the expected RMS error is only slightly worse than the RMS of the residuals.
++iteration;
if (iteration == 2)
{
break;
}
}
// Print out the calculation time
//debugPrintf("Time taken %dms\n", (reprap.GetPlatform()->GetInterruptClocks() - startTime) * 1000 / DDA::stepClockRate);
if (reprap.Debug(moduleMove))
{
deltaParams.PrintParameters(scratchString);
debugPrintf("%s\n", scratchString.Pointer());
}
reply.printf("Calibrated %d factors using %d points, deviation before %.3f after %.3f\n",
numFactors, numPoints, sqrt(initialSumOfSquares/numPoints), expectedRmsError);
}
/*
* Transform to a ruled-surface quadratic. The corner points for interpolation are indexed:
*
* ^ [1] [2]
* |
* Y
* |
* | [0] [3]
* -----X---->
*
* The values of x and y are transformed to put them in the interval [0, 1].
*/
float Move::SecondDegreeTransformZ(float x, float y) const
{
x = (x - xBedProbePoints[0])*xRectangle;
y = (y - yBedProbePoints[0])*yRectangle;
return (1.0 - x)*(1.0 - y)*zBedProbePoints[0] + x*(1.0 - y)*zBedProbePoints[3] + (1.0 - x)*y*zBedProbePoints[1] + x*y*zBedProbePoints[2];
}
static void ShortDelay()
{
for (unsigned int i = 0; i < 10; ++i)
{
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
asm volatile("nop");
}
}
// This is the function that is called by the timer interrupt to step the motors when we are using the experimental delta probe.
// The movements are quite slow so it is not time-critical.
void Move::DeltaProbeInterrupt()
{
bool again;
do
{
if (reprap.GetPlatform()->GetZProbeResult() == EndStopHit::lowHit)
{
deltaProbe.Trigger();
}
const bool dir = deltaProbe.GetDirection();
Platform * const platform = reprap.GetPlatform();
platform->SetDirection(X_AXIS, dir);
platform->SetDirection(Y_AXIS, dir);
platform->SetDirection(Z_AXIS, dir);
ShortDelay();
const uint32_t steppersMoving = platform->GetDriversBitmap(X_AXIS) | platform->GetDriversBitmap(Y_AXIS) | platform->GetDriversBitmap(Z_AXIS);
Platform::StepDriversHigh(steppersMoving);
ShortDelay();
Platform::StepDriversLow();
const uint32_t tim = deltaProbe.CalcNextStepTime();
again = (tim != 0xFFFFFFFF && platform->ScheduleInterrupt(tim + deltaProbingStartTime));
} while (again);
}
// This is called from the step ISR when the current move has been completed
void Move::CurrentMoveCompleted()
{
// Save the current motor coordinates, and the machine Cartesian coordinates if known
liveCoordinatesValid = currentDda->FetchEndPosition(const_cast<int32_t*>(liveEndPoints), const_cast<float *>(liveCoordinates));
currentDda->Complete();
currentDda = nullptr;
ddaRingGetPointer = ddaRingGetPointer->GetNext();
}
// Try to start another move. Must be called with interrupts disabled, to avoid a race condition.
bool Move::TryStartNextMove(uint32_t startTime)
{
const DDA::DDAState st = ddaRingGetPointer->GetState();
if (st == DDA::frozen)
{
return StartNextMove(startTime);
}
else
{
if (st == DDA::provisional)
{
// There are more moves available, but they are not prepared yet. Signal an underrun.
++numPrepareUnderruns;
}
reprap.GetPlatform()->ExtrudeOff(); // turn off ancilliary PWM
return false;
}
}
// This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'.
void Move::HitLowStop(size_t axis, DDA* hitDDA)
{
if (axis < reprap.GetGCodes()->GetNumAxes() && !IsDeltaMode()) // should always be true
{
JustHomed(axis, reprap.GetPlatform()->AxisMinimum(axis), hitDDA);
}
}
// This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'.
void Move::HitHighStop(size_t axis, DDA* hitDDA)
{
if (axis < reprap.GetGCodes()->GetNumAxes()) // should always be true
{
const float hitPoint = (IsDeltaMode())
? deltaParams.GetHomedCarriageHeight(axis) // this is a delta printer, so the motor is at the homed carriage height for this drive
: reprap.GetPlatform()->AxisMaximum(axis); // this is a Cartesian printer, so we're at the maximum for this axis
JustHomed(axis, hitPoint, hitDDA);
}
}
// This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR must be declared 'volatile'.
void Move::JustHomed(size_t axisHomed, float hitPoint, DDA* hitDDA)
{
if (IsCoreXYAxis(axisHomed))
{
float tempCoordinates[CART_AXES];
for (size_t axis = 0; axis < CART_AXES; ++axis)
{
tempCoordinates[axis] = hitDDA->GetEndCoordinate(axis, false);
}
tempCoordinates[axisHomed] = hitPoint;
hitDDA->SetPositions(tempCoordinates, CART_AXES);
}
else
{
hitDDA->SetDriveCoordinate(MotorEndPointToMachine(axisHomed, hitPoint), axisHomed);
}
reprap.GetGCodes()->SetAxisIsHomed(axisHomed);
}
// This is called from the step ISR. Any variables it modifies that are also read by code outside the ISR should be declared 'volatile'.
// The move has already been aborted when this is called, so the endpoints in the DDA are the current motor positions.
void Move::ZProbeTriggered(DDA* hitDDA)
{
reprap.GetGCodes()->MoveStoppedByZProbe();
}
// Return the untransformed machine coordinates
void Move::GetCurrentMachinePosition(float m[DRIVES], bool disableMotorMapping) const
{
DDA * const lastQueuedMove = ddaRingAddPointer->GetPrevious();
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
for (size_t i = 0; i < DRIVES; i++)
{
if (i < numAxes)
{
m[i] = lastQueuedMove->GetEndCoordinate(i, disableMotorMapping);
}
else
{
m[i] = 0.0;
}
}
}
/*static*/ float Move::MotorEndpointToPosition(int32_t endpoint, size_t drive)
{
return ((float)(endpoint))/reprap.GetPlatform()->DriveStepsPerUnit(drive);
}
// Is filament being extruded?
bool Move::IsExtruding() const
{
cpu_irq_disable();
const bool rslt = currentDda != nullptr && currentDda->IsPrintingMove();
cpu_irq_enable();
return rslt;
}
// Return the transformed machine coordinates
void Move::GetCurrentUserPosition(float m[DRIVES], uint8_t moveType, uint32_t xAxes) const
{
GetCurrentMachinePosition(m, moveType == 2 || (moveType == 1 && IsDeltaMode()));
if (moveType == 0)
{
InverseTransform(m, xAxes);
}
}
// Return the current live XYZ and extruder coordinates
// Interrupts are assumed enabled on entry, so do not call this from an ISR
void Move::LiveCoordinates(float m[DRIVES], uint32_t xAxes)
{
// The live coordinates and live endpoints are modified by the ISR, so be careful to get a self-consistent set of them
cpu_irq_disable();
if (liveCoordinatesValid)
{
// All coordinates are valid, so copy them across
memcpy(m, const_cast<const float *>(liveCoordinates), sizeof(m[0]) * DRIVES);
cpu_irq_enable();
}
else
{
// Only the extruder coordinates are valid, so we need to convert the motor endpoints to coordinates
const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
memcpy(m + numAxes, const_cast<const float *>(liveCoordinates + numAxes), sizeof(m[0]) * (DRIVES - numAxes));
int32_t tempEndPoints[MAX_AXES];
memcpy(tempEndPoints, const_cast<const int32_t*>(liveEndPoints), sizeof(tempEndPoints));
cpu_irq_enable();
MachineToEndPoint(tempEndPoints, m, numAxes); // this is slow, so do it with interrupts enabled
// If the ISR has not updated the endpoints, store the live coordinates back so that we don't need to do it again
cpu_irq_disable();
if (memcmp(tempEndPoints, const_cast<const int32_t*>(liveEndPoints), sizeof(tempEndPoints)) == 0)
{
memcpy(const_cast<float *>(liveCoordinates), m, sizeof(m[0]) * numAxes);
liveCoordinatesValid = true;
}
cpu_irq_enable();
}
InverseTransform(m, xAxes);
}
// These are the actual numbers that we want to be the coordinates, so don't transform them.
// Interrupts are assumed enabled on entry, so do not call this from an ISR
void Move::SetLiveCoordinates(const float coords[DRIVES])
{
cpu_irq_disable();
for(size_t drive = 0; drive < DRIVES; drive++)
{
liveCoordinates[drive] = coords[drive];
}
liveCoordinatesValid = true;
EndPointToMachine(coords, const_cast<int32_t *>(liveEndPoints), reprap.GetGCodes()->GetNumAxes());
cpu_irq_enable();
}
void Move::ResetExtruderPositions()
{
cpu_irq_disable();
for(size_t eDrive = reprap.GetGCodes()->GetNumAxes(); eDrive < DRIVES; eDrive++)
{
liveCoordinates[eDrive] = 0.0;
}
cpu_irq_enable();
}
void Move::SetXBedProbePoint(size_t index, float x)
{
if (index >= MaxProbePoints)
{
reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Z probe point X index out of range.\n");
return;
}
xBedProbePoints[index] = x;
probePointSet[index] |= xSet;
}
void Move::SetYBedProbePoint(size_t index, float y)
{
if (index >= MaxProbePoints)
{
reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Z probe point Y index out of range.\n");
return;
}
yBedProbePoints[index] = y;
probePointSet[index] |= ySet;
}
void Move::SetZBedProbePoint(size_t index, float z, bool wasXyCorrected, bool wasError)
{
if (index >= MaxProbePoints)
{
reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Z probe point Z index out of range.\n");
}
else
{
grid.UseHeightMap(false);
zBedProbePoints[index] = z;
probePointSet[index] |= zSet;
if (wasXyCorrected)
{
probePointSet[index] |= xyCorrected;
}
else
{
probePointSet[index] &= ~xyCorrected;
}
if (wasError)
{
probePointSet[index] |= probeError;
}
else
{
probePointSet[index] &= ~probeError;
}
}
}
float Move::XBedProbePoint(size_t index) const
{
return xBedProbePoints[index];
}
float Move::YBedProbePoint(size_t index) const
{
return yBedProbePoints[index];
}
float Move::ZBedProbePoint(size_t index) const
{
return zBedProbePoints[index];
}
bool Move::AllProbeCoordinatesSet(int index) const
{
return (probePointSet[index] & (xSet | ySet | zSet)) == (xSet | ySet | zSet);
}
bool Move::XYProbeCoordinatesSet(int index) const
{
return (probePointSet[index] & xSet) && (probePointSet[index] & ySet);
}
// This returns the (X, Y) points to probe the bed at probe point count. When probing, it returns false.
// If called after probing has ended it returns true, and the Z coordinate probed is also returned.
// If 'wantNozzlePosition is true then we return the nozzle position when the point is probed, else we return the probe point itself
float Move::GetProbeCoordinates(int count, float& x, float& y, bool wantNozzlePosition) const
{
x = xBedProbePoints[count];
y = yBedProbePoints[count];
if (wantNozzlePosition)
{
const ZProbeParameters& rp = reprap.GetPlatform()->GetCurrentZProbeParameters();
x -= rp.xOffset;
y -= rp.yOffset;
}
return zBedProbePoints[count];
}
size_t Move::NumberOfProbePoints() const
{
for(size_t i = 0; i < MaxProbePoints; i++)
{
if(!AllProbeCoordinatesSet(i))
{
return i;
}
}
return MaxProbePoints;
}
size_t Move::NumberOfXYProbePoints() const
{
for(size_t i = 0; i < MaxProbePoints; i++)
{
if(!XYProbeCoordinatesSet(i))
{
return i;
}
}
return MaxProbePoints;
}
// Enter or leave simulation mode
void Move::Simulate(uint8_t simMode)
{
simulationMode = simMode;
if (simMode)
{
simulationTime = 0.0;
}
}
// For debugging
void Move::PrintCurrentDda() const
{
if (currentDda != nullptr)
{
currentDda->DebugPrint();
}
}
const char* Move::GetGeometryString() const
{
return (IsDeltaMode()) ? "delta"
: (coreXYMode == 1) ? "coreXY"
: (coreXYMode == 2) ? "coreXZ"
: (coreXYMode == 3) ? "coreYZ"
: "cartesian";
}
// Return true if the specified axis shares its motors with another. Safe to call for extruders as well as axes.
bool Move::IsCoreXYAxis(size_t axis) const
{
switch(coreXYMode)
{
case 1:
return axis == X_AXIS || axis == Y_AXIS;
case 2:
return axis == X_AXIS || axis == Z_AXIS;
case 3:
return axis == Y_AXIS || axis == Z_AXIS;
default:
return false;
}
}
// Do a delta probe returning -1 if still probing, 0 if failed, 1 if success
int Move::DoDeltaProbe(float frequency, float amplitude, float rate, float distance)
{
if (deltaProbing)
{
if (deltaProbe.Finished())
{
deltaProbing = false;
return (deltaProbe.Overran()) ? 0 : 1;
}
}
else
{
if (currentDda != nullptr || !DDARingEmpty())
{
return 0;
}
if (!deltaProbe.Init(frequency, amplitude, rate, distance))
{
return 0;
}
const uint32_t firstInterruptTime = deltaProbe.Start();
if (firstInterruptTime != 0xFFFFFFFF)
{
Platform * const platform = reprap.GetPlatform();
platform->EnableDrive(X_AXIS);
platform->EnableDrive(Y_AXIS);
platform->EnableDrive(Z_AXIS);
deltaProbing = true;
iState = IdleState::busy;
const irqflags_t flags = cpu_irq_save();
deltaProbingStartTime = platform->GetInterruptClocks();
if (platform->ScheduleInterrupt(firstInterruptTime + deltaProbingStartTime))
{
Interrupt();
}
cpu_irq_restore(flags);
}
}
return -1;
}
/*static*/ void Move::PrintMatrix(const char* s, const MathMatrix<floatc_t>& m, size_t maxRows, size_t maxCols)
{
debugPrintf("%s\n", s);
if (maxRows == 0)
{
maxRows = m.rows();
}
if (maxCols == 0)
{
maxCols = m.cols();
}
for (size_t i = 0; i < maxRows; ++i)
{
for (size_t j = 0; j < maxCols; ++j)
{
debugPrintf("%7.4f%c", m(i, j), (j == maxCols - 1) ? '\n' : ' ');
}
}
}
/*static*/ void Move::PrintVector(const char *s, const floatc_t *v, size_t numElems)
{
debugPrintf("%s:", s);
for (size_t i = 0; i < numElems; ++i)
{
debugPrintf(" %7.4f", v[i]);
}
debugPrintf("\n");
}
// End
|