ad8aa69794
Restructured the header file inclusion so that the .cpp files are dependent on fewer header files, resulting in less recompilation when most header files are changed
392 lines
8.9 KiB
C++
392 lines
8.9 KiB
C++
/****************************************************************************************************
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RepRapFirmware - Tool
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This class implements a tool in the RepRap machine, usually (though not necessarily) an extruder.
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Tools may have zero or more drives associated with them and zero or more heaters. There are a fixed number
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of tools in a given RepRap, with fixed heaters and drives. All this is specified on reboot, and cannot
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be altered dynamically. This restriction may be lifted in the future. Tool descriptions are stored in
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GCode macros that are loaded on reboot.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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Created on: Apr 11, 2014
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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#include "Tool.h"
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#include "GCodes/GCodes.h"
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#include "Heating/Heat.h"
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#include "Platform.h"
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#include "RepRap.h"
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Tool * Tool::freelist = nullptr;
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/*static*/Tool * Tool::Create(int toolNumber, long d[], size_t dCount, long h[], size_t hCount, uint32_t xMap, uint32_t fanMap)
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{
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const size_t numExtruders = reprap.GetGCodes()->GetNumExtruders();
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if (dCount > ARRAY_SIZE(Tool::drives))
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{
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reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Error: Tool creation: too many drives");
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return nullptr;
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}
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if (hCount > ARRAY_SIZE(Tool::heaters))
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{
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reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Error: Tool creation: too many heaters");
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return nullptr;
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}
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// Validate the heater and extruder numbers
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for (size_t i = 0; i < dCount; ++i)
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{
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if (d[i] < 0 || d[i] >= (int)numExtruders)
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{
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reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Error: Tool creation: bad drive number");
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return nullptr;
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}
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}
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for (size_t i = 0; i < hCount; ++i)
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{
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if (h[i] < 0 || h[i] >= HEATERS)
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{
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reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Error: Tool creation: bad heater number");
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return nullptr;
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}
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}
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Tool *t;
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if (freelist != nullptr)
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{
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t = freelist;
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freelist = t->next;
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}
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else
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{
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t = new Tool;
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}
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t->myNumber = toolNumber;
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t->next = nullptr;
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t->active = false;
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t->driveCount = dCount;
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t->heaterCount = hCount;
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t->xMapping = xMap;
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t->fanMapping = fanMap;
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t->heaterFault = false;
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t->mixing = false;
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t->displayColdExtrudeWarning = false;
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t->virtualExtruderPosition = 0.0;
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for (size_t axis = 0; axis < MAX_AXES; axis++)
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{
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t->offset[axis] = 0.0;
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}
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if (t->driveCount > 0)
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{
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const float r = 1.0 / (float) (t->driveCount);
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for (size_t drive = 0; drive < t->driveCount; drive++)
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{
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t->drives[drive] = d[drive];
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t->mix[drive] = r;
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}
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}
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for (size_t heater = 0; heater < t->heaterCount; heater++)
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{
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t->heaters[heater] = h[heater];
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t->activeTemperatures[heater] = ABS_ZERO;
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t->standbyTemperatures[heater] = ABS_ZERO;
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}
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return t;
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}
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/*static*/void Tool::Delete(Tool *t)
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{
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if (t != nullptr)
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{
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t->next = freelist;
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freelist = t;
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}
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}
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void Tool::Print(StringRef& reply)
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{
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reply.printf("Tool %d - drives:", myNumber);
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char sep = ' ';
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for (size_t drive = 0; drive < driveCount; drive++)
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{
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reply.catf("%c%d", sep, drives[drive]);
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sep = ',';
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}
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reply.cat("; heaters (active/standby temps):");
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sep = ' ';
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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reply.catf("%c%d (%.1f/%.1f)", sep, heaters[heater], activeTemperatures[heater], standbyTemperatures[heater]);
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sep = ',';
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}
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reply.cat("; xmap:");
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sep = ' ';
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for (size_t xi = 0; xi < MAX_AXES; ++xi)
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{
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if ((xMapping & (1u << xi)) != 0)
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{
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reply.catf("%c%c", sep, GCodes::axisLetters[xi]);
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sep = ',';
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}
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}
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reply.cat("; fans:");
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sep = ' ';
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for (size_t fi = 0; fi < NUM_FANS; ++fi)
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{
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if ((fanMapping & (1u << fi)) != 0)
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{
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reply.catf("%c%u", sep, fi);
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sep = ',';
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}
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}
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reply.catf("; status: %s", active ? "selected" : "standby");
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}
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float Tool::MaxFeedrate() const
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{
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if (driveCount <= 0)
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{
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reprap.GetPlatform()->Message(GENERIC_MESSAGE,
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"Error: Attempt to get maximum feedrate for a tool with no drives.\n");
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return 1.0;
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}
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float result = 0.0;
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const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
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for (size_t d = 0; d < driveCount; d++)
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{
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const float mf = reprap.GetPlatform()->MaxFeedrate(drives[d] + numAxes);
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if (mf > result)
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{
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result = mf;
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}
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}
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return result;
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}
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float Tool::InstantDv() const
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{
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if (driveCount <= 0)
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{
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reprap.GetPlatform()->Message(GENERIC_MESSAGE, "Error: Attempt to get InstantDv for a tool with no drives.\n");
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return 1.0;
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}
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float result = FLT_MAX;
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const size_t numAxes = reprap.GetGCodes()->GetNumAxes();
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for (size_t d = 0; d < driveCount; d++)
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{
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const float idv = reprap.GetPlatform()->ActualInstantDv(drives[d] + numAxes);
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if (idv < result)
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{
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result = idv;
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}
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}
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return result;
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}
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// There is a temperature fault on a heater.
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// Disable all tools using that heater.
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// This function must be called for the first
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// entry in the linked list.
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void Tool::FlagTemperatureFault(int8_t heater)
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{
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Tool* n = this;
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while (n != nullptr)
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{
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n->SetTemperatureFault(heater);
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n = n->Next();
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}
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}
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void Tool::ClearTemperatureFault(int8_t heater)
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{
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Tool* n = this;
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while (n != nullptr)
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{
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n->ResetTemperatureFault(heater);
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n = n->Next();
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}
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}
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void Tool::SetTemperatureFault(int8_t dudHeater)
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{
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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if (dudHeater == heaters[heater])
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{
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heaterFault = true;
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return;
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}
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}
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}
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void Tool::ResetTemperatureFault(int8_t wasDudHeater)
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{
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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if (wasDudHeater == heaters[heater])
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{
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heaterFault = false;
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return;
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}
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}
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}
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bool Tool::AllHeatersAtHighTemperature(bool forExtrusion) const
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{
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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const float temperature = reprap.GetHeat()->GetTemperature(heaters[heater]);
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if (temperature < HOT_ENOUGH_TO_RETRACT || (temperature < HOT_ENOUGH_TO_EXTRUDE && forExtrusion))
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{
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return false;
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}
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}
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return true;
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}
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void Tool::Activate(Tool* currentlyActive)
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{
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if (!active)
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{
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if (currentlyActive != nullptr && currentlyActive != this)
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{
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currentlyActive->Standby();
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}
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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reprap.GetHeat()->SetActiveTemperature(heaters[heater], activeTemperatures[heater]);
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reprap.GetHeat()->SetStandbyTemperature(heaters[heater], standbyTemperatures[heater]);
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reprap.GetHeat()->Activate(heaters[heater]);
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}
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active = true;
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}
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}
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void Tool::Standby()
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{
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if (active)
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{
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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reprap.GetHeat()->SetStandbyTemperature(heaters[heater], standbyTemperatures[heater]);
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reprap.GetHeat()->Standby(heaters[heater]);
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}
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active = false;
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}
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}
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void Tool::SetVariables(const float* standby, const float* active)
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{
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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if (active[heater] < NEARLY_ABS_ZERO && standby[heater] < NEARLY_ABS_ZERO)
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{
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// Temperatures close to ABS_ZERO turn off all associated heaters
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reprap.GetHeat()->SwitchOff(heaters[heater]);
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}
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else
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{
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const float temperatureLimit = reprap.GetHeat()->GetTemperatureLimit(heaters[heater]);
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const Tool * const currentTool = reprap.GetCurrentTool();
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if (active[heater] < temperatureLimit)
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{
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activeTemperatures[heater] = active[heater];
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if (currentTool == nullptr || currentTool == this)
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{
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reprap.GetHeat()->SetActiveTemperature(heaters[heater], activeTemperatures[heater]);
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}
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}
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if (standby[heater] < temperatureLimit)
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{
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standbyTemperatures[heater] = standby[heater];
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if (currentTool == nullptr || currentTool == this)
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{
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reprap.GetHeat()->SetStandbyTemperature(heaters[heater], standbyTemperatures[heater]);
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}
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}
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}
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}
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}
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void Tool::GetVariables(float* standby, float* active) const
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{
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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active[heater] = activeTemperatures[heater];
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standby[heater] = standbyTemperatures[heater];
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}
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}
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// May be called from ISR
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bool Tool::ToolCanDrive(bool extrude)
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{
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if (!heaterFault && AllHeatersAtHighTemperature(extrude))
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{
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return true;
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}
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displayColdExtrudeWarning = true;
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return false;
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}
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// Update the number of active drives and extruders in use to reflect what this tool uses
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void Tool::UpdateExtruderAndHeaterCount(uint16_t &numExtruders, uint16_t &numHeaters) const
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{
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for (size_t drive = 0; drive < driveCount; drive++)
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{
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if (drives[drive] >= numExtruders)
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{
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numExtruders = drives[drive] + 1;
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}
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}
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const int8_t bedHeater = reprap.GetHeat()->GetBedHeater();
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for (size_t heater = 0; heater < heaterCount; heater++)
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{
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if (heaters[heater] != bedHeater && heaters[heater] >= numHeaters)
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{
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numHeaters = heaters[heater] + 1;
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}
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}
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}
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bool Tool::DisplayColdExtrudeWarning()
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{
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bool result = displayColdExtrudeWarning;
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displayColdExtrudeWarning = false;
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return result;
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}
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void Tool::DefineMix(const float m[])
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{
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for(size_t drive = 0; drive < driveCount; drive++)
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{
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mix[drive] = m[drive];
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}
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}
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// End
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