1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
|
/*
* Move.h
*
* Created on: 7 Dec 2014
* Author: David
*/
#ifndef MOVE_H_
#define MOVE_H_
#include "RepRapFirmware.h"
#include "MessageType.h"
#include "DDA.h" // needed because of our inline functions
#include "BedProbing/RandomProbePointSet.h"
#include "BedProbing/Grid.h"
#include "Kinematics/Kinematics.h"
#include "GCodes/RestorePoint.h"
#ifdef DUET_NG
const unsigned int DdaRingLength = 30;
#else
// We are more memory-constrained on the SAM3X
const unsigned int DdaRingLength = 20;
#endif
/**
* This is the master movement class. It controls all movement in the machine.
*/
class Move
{
public:
Move();
void Init(); // Start me up
void Spin(); // Called in a tight loop to keep the class going
void Exit(); // Shut down
void GetCurrentMachinePosition(float m[DRIVES], bool disableMotorMapping) const; // Get the current position in untransformed coords
void GetCurrentUserPosition(float m[DRIVES], uint8_t moveType, uint32_t xAxes) const; // Return the position (after all queued moves have been executed) in transformed coords
int32_t GetEndPoint(size_t drive) const { return liveEndPoints[drive]; } // Get the current position of a motor
void LiveCoordinates(float m[DRIVES], uint32_t xAxes); // Gives the last point at the end of the last complete DDA transformed to user coords
void Interrupt(); // The hardware's (i.e. platform's) interrupt should call this.
void InterruptTime(); // Test function - not used
bool AllMovesAreFinished(); // Is the look-ahead ring empty? Stops more moves being added as well.
void DoLookAhead(); // Run the look-ahead procedure
void HitLowStop(size_t axis, DDA* hitDDA); // What to do when a low endstop is hit
void HitHighStop(size_t axis, DDA* hitDDA); // What to do when a high endstop is hit
void ZProbeTriggered(DDA* hitDDA); // What to do when a the Z probe is triggered
void SetNewPosition(const float positionNow[DRIVES], bool doBedCompensation); // Set the current position to be this
void SetLiveCoordinates(const float coords[DRIVES]); // Force the live coordinates (see above) to be these
void ResetExtruderPositions(); // Resets the extrusion amounts of the live coordinates
void SetXYBedProbePoint(size_t index, float x, float y); // Record the X and Y coordinates of a probe point
void SetZBedProbePoint(size_t index, float z, bool wasXyCorrected, bool wasError); // Record the Z coordinate of a probe point
float GetProbeCoordinates(int count, float& x, float& y, bool wantNozzlePosition) const; // Get pre-recorded probe coordinates
void FinishedBedProbing(int sParam, StringRef& reply); // Calibrate or set the bed equation after probing
void SetAxisCompensation(int8_t axis, float tangent); // Set an axis-pair compensation angle
float AxisCompensation(int8_t axis) const; // The tangent value
void SetIdentityTransform(); // Cancel the bed equation; does not reset axis angle compensation
void AxisAndBedTransform(float move[], uint32_t xAxes, bool useBedCompensation) const; // Take a position and apply the bed and the axis-angle compensations
void InverseAxisAndBedTransform(float move[], uint32_t xAxes) const; // Go from a transformed point back to user coordinates
float GetTaperHeight() const { return (useTaper) ? taperHeight : 0.0; }
void SetTaperHeight(float h);
bool UseMesh(bool b); // Try to enable mesh bed compensation and report the final state
bool IsUsingMesh() const { return usingMesh; } // Return true if we are using mesh compensation
float PushBabyStepping(float amount); // Try to push some babystepping through the lookahead queue
void Diagnostics(MessageType mtype); // Report useful stuff
// Kinematics and related functions
Kinematics& GetKinematics() const { return *kinematics; }
bool SetKinematics(KinematicsType k); // Set kinematics, return true if successful
bool CartesianToMotorSteps(const float machinePos[MaxAxes], int32_t motorPos[MaxAxes]) const;
// Convert Cartesian coordinates to delta motor coordinates, return true if successful
void MotorStepsToCartesian(const int32_t motorPos[], size_t numVisibleAxes, size_t numTotalAxes, float machinePos[]) const;
// Convert motor coordinates to machine coordinates
void EndPointToMachine(const float coords[], int32_t ep[], size_t numDrives) const;
void AdjustMotorPositions(const float_t adjustment[], size_t numMotors); // Perform motor endpoint adjustment
const char* GetGeometryString() const { return kinematics->GetName(true); }
bool IsAccessibleProbePoint(float x, float y) const;
// Temporary kinematics functions
bool IsDeltaMode() const { return kinematics->GetKinematicsType() == KinematicsType::linearDelta; }
// End temporary functions
void CurrentMoveCompleted(); // Signal that the current move has just been completed
bool TryStartNextMove(uint32_t startTime); // Try to start another move, returning true if Step() needs to be called immediately
float IdleTimeout() const { return idleTimeout; } // Returns the idle timeout in seconds
void SetIdleTimeout(float timeout) { idleTimeout = timeout; } // Set the idle timeout in seconds
void Simulate(uint8_t simMode); // Enter or leave simulation mode
float GetSimulationTime() const { return simulationTime; } // Get the accumulated simulation time
void PrintCurrentDda() const; // For debugging
bool PausePrint(RestorePoint& rp); // Pause the print as soon as we can, returning true if we were able to
bool NoLiveMovement() const; // Is a move running, or are there any queued?
bool IsExtruding() const; // Is filament being extruded?
uint32_t GetScheduledMoves() const { return scheduledMoves; } // How many moves have been scheduled?
uint32_t GetCompletedMoves() const { return completedMoves; } // How many moves have been completed?
void ResetMoveCounters() { scheduledMoves = completedMoves = 0; }
HeightMap& AccessBedProbeGrid() { return grid; } // Access the bed probing grid
const DDA *GetCurrentDDA() const { return currentDda; } // Return the DDA of the currently-executing move
static int32_t MotorEndPointToMachine(size_t drive, float coord); // Convert a single motor position to number of steps
static float MotorEndpointToPosition(int32_t endpoint, size_t drive); // Convert number of motor steps to motor position
private:
enum class IdleState : uint8_t { idle, busy, timing };
bool StartNextMove(uint32_t startTime); // start the next move, returning true if Step() needs to be called immediately
void BedTransform(float move[MaxAxes], uint32_t xAxes) const; // Take a position and apply the bed compensations
void InverseBedTransform(float move[MaxAxes], uint32_t xAxes) const; // Go from a bed-transformed point back to user coordinates
void AxisTransform(float move[MaxAxes]) const; // Take a position and apply the axis-angle compensations
void InverseAxisTransform(float move[MaxAxes]) const; // Go from an axis transformed point back to user coordinates
void JustHomed(size_t axis, float hitPoint, DDA* hitDDA); // Deal with setting positions after a drive has been homed
void SetPositions(const float move[DRIVES]); // Force the machine coordinates to be these
bool DDARingAdd(); // Add a processed look-ahead entry to the DDA ring
DDA* DDARingGet(); // Get the next DDA ring entry to be run
bool DDARingEmpty() const; // Anything there?
DDA* volatile currentDda;
DDA* ddaRingAddPointer;
DDA* volatile ddaRingGetPointer;
DDA* ddaRingCheckPointer;
bool active; // Are we live and running?
uint8_t simulationMode; // Are we simulating, or really printing?
bool waitingForMove; // True if we are waiting for a new move
unsigned int numLookaheadUnderruns; // How many times we have run out of moves to adjust during lookahead
unsigned int numPrepareUnderruns; // How many times we wanted a new move but there were only un-prepared moves in the queue
unsigned int idleCount; // The number of times Spin was called and had no new moves to process
uint32_t longestGcodeWaitInterval; // the longest we had to wait for a new gcode
uint32_t gcodeWaitStartTime; // When we last asked for a gcode and didn't get one
float simulationTime; // Print time since we started simulating
volatile float liveCoordinates[DRIVES]; // The endpoint that the machine moved to in the last completed move
volatile bool liveCoordinatesValid; // True if the XYZ live coordinates are reliable (the extruder ones always are)
volatile int32_t liveEndPoints[DRIVES]; // The XYZ endpoints of the last completed move in motor coordinates
float tanXY, tanYZ, tanXZ; // Axis compensation - 90 degrees + angle gives angle between axes
float recipTaperHeight; // Reciprocal of the taper height
bool useTaper; // True to taper off the compensation
HeightMap grid; // Grid definition and height map for G29 bed probing. The probe heights are stored in zBedProbePoints, see above.
RandomProbePointSet probePoints; // G30 bed probe points
bool usingMesh; // true if we are using the height map, false if we are using the random probe point set
float taperHeight; // Height over which we taper
float idleTimeout; // How long we wait with no activity before we reduce motor currents to idle
float lastMoveTime; // The approximate time at which the last move was completed, or 0
float longWait; // A long time for things that need to be done occasionally
IdleState iState; // whether the idle timer is active
Kinematics *kinematics; // What kinematics we are using
unsigned int stepErrors; // count of step errors, for diagnostics
uint32_t scheduledMoves; // Move counters for the code queue
volatile uint32_t completedMoves; // This one is modified by an ISR, hence volatile
};
//******************************************************************************************************
inline bool Move::DDARingEmpty() const
{
return ddaRingGetPointer == ddaRingAddPointer;
}
inline bool Move::NoLiveMovement() const
{
return DDARingEmpty() && currentDda == nullptr; // must test currentDda and DDARingEmpty *in this order* !
}
// To wait until all the current moves in the buffers are complete, call this function repeatedly and wait for it to return true.
// Then do whatever you wanted to do after all current moves have finished.
// Then call ResumeMoving() otherwise nothing more will ever happen.
inline bool Move::AllMovesAreFinished()
{
return NoLiveMovement();
}
// Start the next move. Must be called with interrupts disabled, to avoid a race with the step ISR.
inline bool Move::StartNextMove(uint32_t startTime)
pre(ddaRingGetPointer->GetState() == DDA::frozen)
{
currentDda = ddaRingGetPointer;
return currentDda->Start(startTime);
}
// This is the function that is called by the timer interrupt to step the motors.
inline void Move::Interrupt()
{
if (currentDda != nullptr)
{
do
{
} while (currentDda->Step());
}
}
#endif /* MOVE_H_ */
|