87980e2966
Fixed print quality problems that mostly affected delta printers e.g. on spiral vase cylinder When reconnecting a browser, cancel any file upload from the same IP address M111 now prints the number of each module with debugging enabled or disabled In special moves on delta printers, the F parameter is now interpreted as the speed of the tower that moves the most M114 now reports stepper positions as well as head position Default to output in Marlin mode M104 command defaults to the only tool if there is only one tool and it is not selected Trying different code for M999PERASE command to see if we can get it to unlock flash and reset more reliably When step errors are logged, report them immediately if Move debugging is enabled. Also reports the total number of step errors in M122. Changed interrupt priority to make tick interrupt higher priority than step interrupt, because we rely on the tick interrupt to check for over temperature conditions and kick the watchdog
97 lines
4.5 KiB
C++
97 lines
4.5 KiB
C++
/*
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* DriveMovement.h
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*
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* Created on: 17 Jan 2015
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* Author: David
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*/
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#ifndef DRIVEMOVEMENT_H_
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#define DRIVEMOVEMENT_H_
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class DDA;
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// Struct for passing parameters to the DriveMovement Prepare methods
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struct PrepParams
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{
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float decelStartDistance;
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uint32_t startSpeedTimesCdivA;
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uint32_t topSpeedTimesCdivA;
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uint32_t decelStartClocks;
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uint32_t topSpeedTimesCdivAPlusDecelStartClocks;
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uint32_t accelClocksMinusAccelDistanceTimesCdivTopSpeed;
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float compFactor;
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};
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// This class describes a single movement of one drive
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class DriveMovement
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{
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public:
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uint32_t CalcNextStepTimeCartesian(const DDA &dda, size_t drive);
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uint32_t CalcNextStepTimeDelta(const DDA &dda, size_t drive);
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void PrepareCartesianAxis(const DDA& dda, const PrepParams& params, size_t drive);
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void PrepareDeltaAxis(const DDA& dda, const PrepParams& params, size_t drive);
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void PrepareExtruder(const DDA& dda, const PrepParams& params, size_t drive);
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void ReduceSpeed(const DDA& dda, float inverseSpeedFactor);
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void DebugPrint(char c, bool withDelta) const;
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// Parameters common to Cartesian, delta and extruder moves
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// The following only need to be stored per-drive if we are supporting elasticity compensation
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uint64_t twoDistanceToStopTimesCsquaredDivA;
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uint32_t startSpeedTimesCdivA;
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int32_t accelClocksMinusAccelDistanceTimesCdivTopSpeed; // this one can be negative
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uint32_t topSpeedTimesCdivAPlusDecelStartClocks;
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// These values don't depend on how the move is executed, so are set by Init()
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uint32_t totalSteps; // total number of steps for this move
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bool moving; // true if this drive moves in this move, if false then all other values are don't cares
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bool direction; // true=forwards, false=backwards
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bool stepError; // for debugging
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uint8_t stepsTillRecalc; // how soon we need to recalculate
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// These values change as the step is executed
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uint32_t nextStep; // number of steps already done
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uint32_t nextStepTime; // how many clocks after the start of this move the next step is due
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uint32_t stepInterval; // how many clocks between steps
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// Parameters unique to a style of move (Cartesian, delta or extruder). Currently, extruders and Cartesian moves use the same parameters.
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union MoveParams
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{
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struct CartesianParameters // Parameters for Cartesian and extruder movement, including extruder pre-compensation
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{
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// The following don't depend on how the move is executed, so they could be set up in Init()
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uint64_t twoCsquaredTimesMmPerStepDivA; // 2 * clock^2 * mmPerStepInHyperCuboidSpace / acceleration
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// The following depend on how the move is executed, so they must be set up in Prepare()
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uint32_t accelStopStep; // the first step number at which we are no longer accelerating
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uint32_t decelStartStep; // the first step number at which we are decelerating
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uint32_t reverseStartStep; // the first step number for which we need to reverse direction to to elastic compensation
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uint32_t mmPerStepTimesCdivtopSpeed; // mmPerStepInHyperCuboidSpace * clock / topSpeed
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// The following only need to be stored per-drive if we are supporting elasticity compensation
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int64_t fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivA; // this one can be negative
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} cart;
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struct DeltaParameters // Parameters for delta movement
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{
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// The following don't depend on how the move is executed, so they can be set up in Init
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int64_t dSquaredMinusAsquaredMinusBsquaredTimesKsquaredSsquared;
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uint32_t reverseStartStep;
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int32_t hmz0sK; // the starting step position less the starting Z height, multiplied by the Z movement fraction and K (can go negative)
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int32_t minusAaPlusBbTimesKs;
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uint32_t twoCsquaredTimesMmPerStepDivAK; // this could be stored in the DDA if all towers use the same steps/mm
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// The following depend on how the move is executed, so they must be set up in Prepare()
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uint32_t accelStopDsK;
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uint32_t decelStartDsK;
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uint32_t mmPerStepTimesCdivtopSpeedK;
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} delta;
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} mp;
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static const uint32_t NoStepTime = 0xFFFFFFFF; // value to indicate that no further steps are needed when calculating the next step time
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static const uint32_t K1 = 1024; // a power of 2 used to multiply the value mmPerStepTimesCdivtopSpeed to reduce rounding errors
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static const uint32_t K2 = 512; // a power of 2 used in delta calculations to reduce rounding errors (but too large makes things worse)
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static const int32_t Kc = 1024 * 1024; // a power of 2 for scaling the Z movement fraction
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};
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#endif /* DRIVEMOVEMENT_H_ */
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