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Repetier-Firmware-4-Davinci/src/ArduinoDUE/Repetier/Printer.cpp

2835 wiersze
108 KiB
C++
Czysty Wina Historia

/*
This file is part of Repetier-Firmware.
Repetier-Firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Repetier-Firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Repetier.h"
//Davinci Specific, for fancy effects
extern void playsound(int tone,int duration);
#if USE_ADVANCE
ufast8_t Printer::maxExtruderSpeed; ///< Timer delay for end extruder speed
volatile int Printer::extruderStepsNeeded; ///< This many extruder steps are still needed, <0 = reverse steps needed.
//uint8_t Printer::extruderAccelerateDelay; ///< delay between 2 speec increases
#endif
//Davinci specific, for communication between GCODE command and printer menu
#if FEATURE_Z_PROBE
bool Printer::zprobe_ok=true;
float Printer::Z_probe[3]={-1000,-1000,-1000};
#endif
uint8_t Printer::unitIsInches = 0; ///< 0 = Units are mm, 1 = units are inches.
//Stepper Movement Variables
float Printer::axisStepsPerMM[E_AXIS_ARRAY] = {XAXIS_STEPS_PER_MM, YAXIS_STEPS_PER_MM, ZAXIS_STEPS_PER_MM, 1}; ///< Number of steps per mm needed.
float Printer::invAxisStepsPerMM[E_AXIS_ARRAY]; ///< Inverse of axisStepsPerMM for faster conversion
float Printer::maxFeedrate[E_AXIS_ARRAY] = {MAX_FEEDRATE_X, MAX_FEEDRATE_Y, MAX_FEEDRATE_Z}; ///< Maximum allowed feedrate.
float Printer::homingFeedrate[Z_AXIS_ARRAY] = {HOMING_FEEDRATE_X, HOMING_FEEDRATE_Y, HOMING_FEEDRATE_Z};
#if RAMP_ACCELERATION
// float max_start_speed_units_per_second[E_AXIS_ARRAY] = MAX_START_SPEED_UNITS_PER_SECOND; ///< Speed we can use, without acceleration.
float Printer::maxAccelerationMMPerSquareSecond[E_AXIS_ARRAY] = {MAX_ACCELERATION_UNITS_PER_SQ_SECOND_X,MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Y,MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Z}; ///< X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
float Printer::maxTravelAccelerationMMPerSquareSecond[E_AXIS_ARRAY] = {MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_X,MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Y,MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Z}; ///< X, Y, Z max acceleration in mm/s^2 for travel moves
/** Acceleration in steps/s^3 in printing mode.*/
unsigned long Printer::maxPrintAccelerationStepsPerSquareSecond[E_AXIS_ARRAY];
/** Acceleration in steps/s^2 in movement mode.*/
unsigned long Printer::maxTravelAccelerationStepsPerSquareSecond[E_AXIS_ARRAY];
uint32_t Printer::maxInterval;
#endif
#if NONLINEAR_SYSTEM
long Printer::currentNonlinearPositionSteps[E_TOWER_ARRAY];
uint8_t lastMoveID = 0; // Last move ID
#endif
#if DRIVE_SYSTEM != DELTA
int32_t Printer::zCorrectionStepsIncluded = 0;
#endif
int16_t Printer::zBabystepsMissing = 0;
uint8_t Printer::relativeCoordinateMode = false; ///< Determines absolute (false) or relative Coordinates (true).
uint8_t Printer::relativeExtruderCoordinateMode = false; ///< Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
long Printer::currentPositionSteps[E_AXIS_ARRAY];
float Printer::currentPosition[Z_AXIS_ARRAY];
float Printer::lastCmdPos[Z_AXIS_ARRAY];
long Printer::destinationSteps[E_AXIS_ARRAY];
float Printer::coordinateOffset[Z_AXIS_ARRAY] = {0,0,0};
uint8_t Printer::flag0 = 0;
uint8_t Printer::flag1 = 0;
uint8_t Printer::flag2 = 0;
uint8_t Printer::flag3 = 0;
//Davinci Specific
bool Printer::btop_Cover_open=false;
//Davinci Specific, extra modes
uint8_t Printer::menuModeEx = 0;
//Davinci Specific, memorize used extruder for Duo
#if NUM_EXTRUDER>1
uint Printer::lastextruderID;
#endif
uint8_t Printer::debugLevel = 6; ///< Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication, 32 = No moves
fast8_t Printer::stepsPerTimerCall = 1;
uint8_t Printer::menuMode = 0;
uint8_t Printer::mode = DEFAULT_PRINTER_MODE;
uint8_t Printer::fanSpeed = 0; // Last fan speed set with M106/M107
float Printer::extrudeMultiplyError = 0;
float Printer::extrusionFactor = 1.0;
uint8_t Printer::interruptEvent = 0;
#if EEPROM_MODE != 0
float Printer::zBedOffset = HAL::eprGetFloat(EPR_Z_PROBE_Z_OFFSET);
#else
float Printer::zBedOffset = Z_PROBE_Z_OFFSET;
#endif
#if FEATURE_AUTOLEVEL
float Printer::autolevelTransformation[9]; ///< Transformation matrix
#endif
uint32_t Printer::interval = 30000; ///< Last step duration in ticks.
uint32_t Printer::timer; ///< used for acceleration/deceleration timing
uint32_t Printer::stepNumber; ///< Step number in current move.
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
int32_t Printer::advanceExecuted; ///< Executed advance steps
#endif
int Printer::advanceStepsSet;
#endif
#if NONLINEAR_SYSTEM
int32_t Printer::maxDeltaPositionSteps;
floatLong Printer::deltaDiagonalStepsSquaredA;
floatLong Printer::deltaDiagonalStepsSquaredB;
floatLong Printer::deltaDiagonalStepsSquaredC;
float Printer::deltaMaxRadiusSquared;
float Printer::radius0;
int32_t Printer::deltaFloorSafetyMarginSteps = 0;
int32_t Printer::deltaAPosXSteps;
int32_t Printer::deltaAPosYSteps;
int32_t Printer::deltaBPosXSteps;
int32_t Printer::deltaBPosYSteps;
int32_t Printer::deltaCPosXSteps;
int32_t Printer::deltaCPosYSteps;
int32_t Printer::realDeltaPositionSteps[TOWER_ARRAY];
int16_t Printer::travelMovesPerSecond;
int16_t Printer::printMovesPerSecond;
#else
int32_t Printer::xMinStepsAdj,Printer::yMinStepsAdj,Printer::zMinStepsAdj; // adjusted to cover extruder/probe offsets
int32_t Printer::xMaxStepsAdj,Printer::yMaxStepsAdj,Printer::zMaxStepsAdj;
#endif
#if FEATURE_Z_PROBE || MAX_HARDWARE_ENDSTOP_Z || NONLINEAR_SYSTEM
int32_t Printer::stepsRemainingAtZHit;
#endif
#if DRIVE_SYSTEM == DELTA
int32_t Printer::stepsRemainingAtXHit;
int32_t Printer::stepsRemainingAtYHit;
#endif
#if SOFTWARE_LEVELING
int32_t Printer::levelingP1[3];
int32_t Printer::levelingP2[3];
int32_t Printer::levelingP3[3];
#endif
//float Printer::minimumSpeed; ///< lowest allowed speed to keep integration error small
//float Printer::minimumZSpeed;
int32_t Printer::xMaxSteps; ///< For software endstops, limit of move in positive direction.
int32_t Printer::yMaxSteps; ///< For software endstops, limit of move in positive direction.
int32_t Printer::zMaxSteps; ///< For software endstops, limit of move in positive direction.
int32_t Printer::xMinSteps; ///< For software endstops, limit of move in negative direction.
int32_t Printer::yMinSteps; ///< For software endstops, limit of move in negative direction.
int32_t Printer::zMinSteps; ///< For software endstops, limit of move in negative direction.
float Printer::xLength;
float Printer::xMin;
float Printer::yLength;
float Printer::yMin;
float Printer::zLength;
float Printer::zMin;
float Printer::feedrate; ///< Last requested feedrate.
int Printer::feedrateMultiply; ///< Multiplier for feedrate in percent (factor 1 = 100)
unsigned int Printer::extrudeMultiply; ///< Flow multiplier in percent (factor 1 = 100)
float Printer::maxJerk; ///< Maximum allowed jerk in mm/s
#if DRIVE_SYSTEM != DELTA
float Printer::maxZJerk; ///< Maximum allowed jerk in z direction in mm/s
#endif
float Printer::offsetX; ///< X-offset for different extruder positions.
float Printer::offsetY; ///< Y-offset for different extruder positions.
float Printer::offsetZ; ///< Z-offset for different extruder positions.
speed_t Printer::vMaxReached; ///< Maximum reached speed
uint32_t Printer::msecondsPrinting; ///< Milliseconds of printing time (means time with heated extruder)
float Printer::filamentPrinted; ///< mm of filament printed since counting started
#if ENABLE_BACKLASH_COMPENSATION
float Printer::backlashX;
float Printer::backlashY;
float Printer::backlashZ;
uint8_t Printer::backlashDir;
#endif
float Printer::memoryX = IGNORE_COORDINATE;
float Printer::memoryY = IGNORE_COORDINATE;
float Printer::memoryZ = IGNORE_COORDINATE;
float Printer::memoryE = IGNORE_COORDINATE;
float Printer::memoryF = -1;
#if GANTRY && !defined(FAST_COREXYZ)
int8_t Printer::motorX;
int8_t Printer::motorYorZ;
#endif
#if FAN_THERMO_PIN > -1
float Printer::thermoMinTemp = FAN_THERMO_MIN_TEMP;
float Printer::thermoMaxTemp = FAN_THERMO_MAX_TEMP;
#endif
#ifdef DEBUG_SEGMENT_LENGTH
float Printer::maxRealSegmentLength = 0;
#endif
#ifdef DEBUG_REAL_JERK
float Printer::maxRealJerk = 0;
#endif
#if MULTI_ZENDSTOP_HOMING
fast8_t Printer::multiZHomeFlags; // 1 = move Z0, 2 = move Z1
#endif
#ifdef DEBUG_PRINT
int debugWaitLoop = 0;
#endif
fast8_t Printer::wizardStackPos;
wizardVar Printer::wizardStack[WIZARD_STACK_SIZE];
flag8_t Endstops::lastState = 0;
flag8_t Endstops::lastRead = 0;
flag8_t Endstops::accumulator = 0;
#ifdef EXTENDED_ENDSTOPS
flag8_t Endstops::lastState2 = 0;
flag8_t Endstops::lastRead2 = 0;
flag8_t Endstops::accumulator2 = 0;
#endif
//Davinci Specific, clean nozzle feature
#if ENABLE_CLEAN_NOZZLE
void Printer::cleanNozzle(bool restoreposition, int8_t extT)
{
//we save current configuration and position
uint8_t tmp_extruderid=Extruder::current->id;
float tmp_x = currentPosition[X_AXIS];
float tmp_y = currentPosition[Y_AXIS];
float tmp_z = currentPosition[Z_AXIS];
//ensure homing is done and select E0
if(!Printer::isHomedAll()) Printer::homeAxis(true,true,true);
else
{//put proper position in case position has been manualy changed no need to home Z as cannot be manualy changed and in case of something on plate it could be catastrophic
Printer::homeAxis(true,true,false);
}
// move Z to zMin + 15 if under this position to be sure nozzle do not touch metal holder
if (currentPosition[Z_AXIS] < zMin+15) moveToReal(IGNORE_COORDINATE,IGNORE_COORDINATE,zMin+15,IGNORE_COORDINATE,homingFeedrate[0]);
Commands::waitUntilEndOfAllMoves();
UI_STATUS_F(Com::translatedF(UI_TEXT_CLEANING_NOZZLE_ID));
#if DAVINCI ==1
//first step noze
moveToReal(xMin+CLEAN_X-ENDSTOP_X_BACK_ON_HOME,yMin,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//second step noze
moveToReal(xMin-ENDSTOP_X_BACK_ON_HOME,yMin,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//third step noze
moveToReal(xMin+CLEAN_X-ENDSTOP_X_BACK_ON_HOME,yMin,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fourth step noze
moveToReal(xMin-ENDSTOP_X_BACK_ON_HOME,yMin,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fifth step noze
moveToReal(xMin+CLEAN_X-ENDSTOP_X_BACK_ON_HOME,yMin,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//sixth step noze
moveToReal(xMin-ENDSTOP_X_BACK_ON_HOME,yMin,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//first step Z probe
moveToReal(xMin,yMin + CLEAN_Y-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//second step Z probe
moveToReal(xMin,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//third step Z probe
moveToReal(xMin,yMin+CLEAN_Y-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fourth step Z probe
moveToReal(xMin,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fifth step Z probe
moveToReal(xMin,yMin+CLEAN_Y-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//sixth step Z probe
moveToReal(xMin,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
#endif
#if DAVINCI ==4 || DAVINCI ==0
moveToReal(IGNORE_COORDINATE,IGNORE_COORDINATE,zMin+3,IGNORE_COORDINATE,homingFeedrate[Z_AXIS]);
Commands::waitUntilEndOfAllMoves();
//first step noze
moveToReal(xMin,yMin+CLEAN_Y-1,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//second step
moveToReal(xMin+CLEAN_X,IGNORE_COORDINATE,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//third step
moveToReal(xMin,yMin+CLEAN_Y,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fourth step
moveToReal(xMin+CLEAN_X,yMin+CLEAN_Y+1,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fifth step
moveToReal(xMin,yMin+CLEAN_Y+2,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
#endif
#if DAVINCI ==2 || DAVINCI ==3
if(extT == 1 || extT == -1)
{
//first step
moveToReal(xMin + CLEAN_X-ENDSTOP_X_BACK_ON_HOME,yMin + CLEAN_Y-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//second step
moveToReal(xMin-ENDSTOP_X_BACK_ON_HOME,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//third step
moveToReal(xMin+CLEAN_X-ENDSTOP_X_BACK_ON_HOME,yMin+CLEAN_Y-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fourth step
moveToReal(xMin-ENDSTOP_X_BACK_ON_HOME,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//move out to be sure first drop go to purge box
Commands::waitUntilEndOfAllMoves();
}
if(extT == 0 || extT == -1)
{
moveToReal(xLength,yMin+10,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
moveToReal(IGNORE_COORDINATE,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//first step
moveToReal(xLength-15,IGNORE_COORDINATE,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//second step
moveToReal(xLength-3,yMin+10,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//third step
moveToReal(xLength,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fourth step
moveToReal(xLength-15,IGNORE_COORDINATE,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//fifth step
moveToReal(xLength-3,yMin+10,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//sixth step
moveToReal(xLength,yMin-ENDSTOP_Y_BACK_ON_HOME,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
//seventh step
moveToReal(xLength-15,IGNORE_COORDINATE,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
}
Commands::waitUntilEndOfAllMoves();
//back to original position and original extruder
//X,Y first then Z
if (restoreposition)
{
moveToReal(tmp_x,tmp_y,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[0]);
moveToReal(IGNORE_COORDINATE,IGNORE_COORDINATE,tmp_z,IGNORE_COORDINATE,homingFeedrate[0]);
Commands::waitUntilEndOfAllMoves();
Extruder::selectExtruderById(tmp_extruderid);
}
#endif
Commands::waitUntilEndOfAllMoves();
UI_STATUS_F(Com::translatedF(UI_TEXT_IDLE_ID));
}
#endif
void Endstops::update() {
flag8_t newRead = 0;
#ifdef EXTENDED_ENDSTOPS
flag8_t newRead2 = 0;
#endif
#if (X_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_X
if(READ(X_MIN_PIN) != ENDSTOP_X_MIN_INVERTING)
newRead |= ENDSTOP_X_MIN_ID;
#endif
#if (X_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_X
if(READ(X_MAX_PIN) != ENDSTOP_X_MAX_INVERTING)
newRead |= ENDSTOP_X_MAX_ID;
#endif
#if (Y_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Y
if(READ(Y_MIN_PIN) != ENDSTOP_Y_MIN_INVERTING)
newRead |= ENDSTOP_Y_MIN_ID;
#endif
#if (Y_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Y
if(READ(Y_MAX_PIN) != ENDSTOP_Y_MAX_INVERTING)
newRead |= ENDSTOP_Y_MAX_ID;
#endif
#if (Z_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Z
if(READ(Z_MIN_PIN) != ENDSTOP_Z_MIN_INVERTING)
newRead |= ENDSTOP_Z_MIN_ID;
#endif
#if (Z_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Z
if(READ(Z_MAX_PIN) != ENDSTOP_Z_MAX_INVERTING)
newRead |= ENDSTOP_Z_MAX_ID;
#endif
#if (Z2_MINMAX_PIN > -1) && MINMAX_HARDWARE_ENDSTOP_Z2
if(READ(Z2_MINMAX_PIN) != ENDSTOP_Z2_MINMAX_INVERTING)
newRead |= ENDSTOP_Z2_MINMAX_ID;
#endif
#if FEATURE_Z_PROBE
#if Z_PROBE_PIN == Z_MIN_PIN && MIN_HARDWARE_ENDSTOP_Z
if(newRead & ENDSTOP_Z_MIN_ID) // prevent different results causing confusion
newRead |= ENDSTOP_Z_PROBE_ID;
if(!Printer::isHoming())
newRead &= ~ENDSTOP_Z_MIN_ID; // could cause wrong signals depending on probe position
#else
if(Z_PROBE_ON_HIGH ? READ(Z_PROBE_PIN) : !READ(Z_PROBE_PIN))
newRead |= ENDSTOP_Z_PROBE_ID;
#endif
#endif
lastRead &= newRead;
#ifdef EXTENDED_ENDSTOPS
lastRead2 &= newRead2;
#endif // EXTENDED_ENDSTOPS
if(lastRead != lastState
#ifdef EXTENDED_ENDSTOPS
|| (lastState2 != lastRead2)
#endif
) { // Report endstop hit changes
lastState = lastRead;
accumulator |= lastState;
#ifdef EXTENDED_ENDSTOPS
lastState2 = lastRead2;
accumulator2 |= lastState2;
#endif
if (Printer::debugEndStop()) Endstops::report();
} else {
lastState = lastRead;
#ifdef EXTENDED_ENDSTOPS
lastState2 = lastRead2;
#endif
}
lastRead = newRead;
#ifdef EXTENDED_ENDSTOPS
lastRead2 = newRead2;
#endif
}
void Endstops::report() {
Com::printF(PSTR("endstops hit: "));
#if (X_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_X
Com::printF(Com::tXMinColon);
Com::printF(xMin() ? Com::tHSpace : Com::tLSpace);
#endif
#if (X_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_X
Com::printF(Com::tXMaxColon);
Com::printF(xMax() ? Com::tHSpace : Com::tLSpace);
#endif
#if (Y_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Y
Com::printF(Com::tYMinColon);
Com::printF(yMin() ? Com::tHSpace : Com::tLSpace);
#endif
#if (Y_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Y
Com::printF(Com::tYMaxColon);
Com::printF(yMax() ? Com::tHSpace : Com::tLSpace);
#endif
#if (Z_MIN_PIN > -1) && MIN_HARDWARE_ENDSTOP_Z
Com::printF(Com::tZMinColon);
Com::printF(zMin() ? Com::tHSpace : Com::tLSpace);
#endif
#if (Z_MAX_PIN > -1) && MAX_HARDWARE_ENDSTOP_Z
Com::printF(Com::tZMaxColon);
Com::printF(zMax() ? Com::tHSpace : Com::tLSpace);
#endif
#if (Z2_MINMAX_PIN > -1) && MINMAX_HARDWARE_ENDSTOP_Z2
Com::printF(PSTR("z2_minmax:"));
Com::printF(z2MinMax() ? Com::tHSpace : Com::tLSpace);
#endif
#if FEATURE_Z_PROBE
Com::printF(Com::tZProbeState);
Com::printF(zProbe() ? Com::tHSpace : Com::tLSpace);
#endif
Com::println();
}
#if !NONLINEAR_SYSTEM
void Printer::constrainDestinationCoords()
{
if(isNoDestinationCheck() || isHoming()) return;
#if min_software_endstop_x
if (Printer::destinationSteps[X_AXIS] < xMinStepsAdj) Printer::destinationSteps[X_AXIS] = Printer::xMinStepsAdj;
#endif
#if min_software_endstop_y
if (Printer::destinationSteps[Y_AXIS] < yMinStepsAdj) Printer::destinationSteps[Y_AXIS] = Printer::yMinStepsAdj;
#endif
#if min_software_endstop_z
if (isAutolevelActive() == false && Printer::destinationSteps[Z_AXIS] < zMinStepsAdj && !isZProbingActive()) Printer::destinationSteps[Z_AXIS] = Printer::zMinStepsAdj;
#endif
#if max_software_endstop_x
if (Printer::destinationSteps[X_AXIS] > Printer::xMaxStepsAdj) Printer::destinationSteps[X_AXIS] = Printer::xMaxStepsAdj;
#endif
#if max_software_endstop_y
if (Printer::destinationSteps[Y_AXIS] > Printer::yMaxStepsAdj) Printer::destinationSteps[Y_AXIS] = Printer::yMaxStepsAdj;
#endif
#if max_software_endstop_z
if (isAutolevelActive() == false && Printer::destinationSteps[Z_AXIS] > Printer::zMaxStepsAdj && !isZProbingActive()) Printer::destinationSteps[Z_AXIS] = Printer::zMaxStepsAdj;
#endif
EVENT_CONTRAIN_DESTINATION_COORDINATES
}
#endif
void Printer::setDebugLevel(uint8_t newLevel) {
if(newLevel != debugLevel) {
debugLevel = newLevel;
if(debugDryrun()) {
// Disable all heaters in case they were on
Extruder::disableAllHeater();
}
}
Com::printFLN(PSTR("DebugLevel:"),(int)newLevel);
}
void Printer::toggleEcho() {
setDebugLevel(debugLevel ^ 1);
}
void Printer::toggleInfo() {
setDebugLevel(debugLevel ^ 2);
}
void Printer::toggleErrors() {
setDebugLevel(debugLevel ^ 4);
}
void Printer::toggleDryRun() {
setDebugLevel(debugLevel ^ 8);
}
void Printer::toggleCommunication() {
setDebugLevel(debugLevel ^ 16);
}
void Printer::toggleNoMoves() {
setDebugLevel(debugLevel ^ 32);
}
void Printer::toggleEndStop() {
setDebugLevel(debugLevel ^ 64);
}
bool Printer::isPositionAllowed(float x,float y,float z)
{
if(isNoDestinationCheck()) return true;
bool allowed = true;
#if DRIVE_SYSTEM == DELTA
if(!isHoming()) {
allowed = allowed && (z >= 0) && (z <= zLength + 0.05 + ENDSTOP_Z_BACK_ON_HOME);
allowed = allowed && (x * x + y * y <= deltaMaxRadiusSquared);
}
#else // DRIVE_SYSTEM
if(!isHoming()) {
allowed = allowed && x >= xMin;
allowed = allowed && x <= xMin + xLength;
allowed = allowed && y >= yMin;
allowed = allowed && y <= yMin + yLength;
allowed = allowed && z >= zMin;
allowed = allowed && z <= zMin + zLength + ENDSTOP_Z_BACK_ON_HOME;
}
#endif
#if DUAL_X_AXIS
// Prevent carriage hit by disallowing moves inside other parking direction.
if(Extruder::current->id == 0) {
if(x > xMin + xLength)
allowed = false;
} else {
if(x < xMin)
allowed = false;
}
#endif
if(!allowed)
{
Com::printFLN(PSTR("x3"));
Printer::updateCurrentPosition(true);
Commands::printCurrentPosition(PSTR("isPositionAllowed "));
}
return allowed;
}
void Printer::setFanSpeedDirectly(uint8_t speed) {
#if FAN_PIN > -1 && FEATURE_FAN_CONTROL
if(pwm_pos[PWM_FAN1] == speed)
return;
#if FAN_KICKSTART_TIME
if(fanKickstart == 0 && speed > pwm_pos[PWM_FAN1] && speed < 85)
{
if(pwm_pos[PWM_FAN1]) fanKickstart = FAN_KICKSTART_TIME / 100;
else fanKickstart = FAN_KICKSTART_TIME / 25;
}
#endif
pwm_pos[PWM_FAN1] = speed;
#endif
}
void Printer::setFan2SpeedDirectly(uint8_t speed) {
#if FAN2_PIN > -1 && FEATURE_FAN2_CONTROL
if(pwm_pos[PWM_FAN2] == speed)
return;
#if FAN_KICKSTART_TIME
if(fan2Kickstart == 0 && speed > pwm_pos[PWM_FAN2] && speed < 85)
{
if(pwm_pos[PWM_FAN2]) fan2Kickstart = FAN_KICKSTART_TIME / 100;
else fan2Kickstart = FAN_KICKSTART_TIME / 25;
}
#endif
pwm_pos[PWM_FAN2] = speed;
#endif
}
void Printer::reportPrinterMode() {
switch(Printer::mode) {
case PRINTER_MODE_FFF:
Com::printFLN(Com::tPrinterModeFFF);
break;
case PRINTER_MODE_LASER:
Com::printFLN(Com::tPrinterModeLaser);
break;
case PRINTER_MODE_CNC:
Com::printFLN(Com::tPrinterModeCNC);
break;
}
}
void Printer::updateDerivedParameter()
{
#if NONLINEAR_SYSTEM
travelMovesPerSecond = EEPROM::deltaSegmentsPerSecondMove();
printMovesPerSecond = EEPROM::deltaSegmentsPerSecondPrint();
if(travelMovesPerSecond < 15) travelMovesPerSecond = 15; // lower values make no sense and can cause serious problems
if(printMovesPerSecond < 15) printMovesPerSecond = 15;
#endif
#if DRIVE_SYSTEM == DELTA
axisStepsPerMM[X_AXIS] = axisStepsPerMM[Y_AXIS] = axisStepsPerMM[Z_AXIS];
maxAccelerationMMPerSquareSecond[X_AXIS] = maxAccelerationMMPerSquareSecond[Y_AXIS] = maxAccelerationMMPerSquareSecond[Z_AXIS];
homingFeedrate[X_AXIS] = homingFeedrate[Y_AXIS] = homingFeedrate[Z_AXIS];
maxFeedrate[X_AXIS] = maxFeedrate[Y_AXIS] = maxFeedrate[Z_AXIS];
maxTravelAccelerationMMPerSquareSecond[X_AXIS] = maxTravelAccelerationMMPerSquareSecond[Y_AXIS] = maxTravelAccelerationMMPerSquareSecond[Z_AXIS];
zMaxSteps = axisStepsPerMM[Z_AXIS] * (zLength);
towerAMinSteps = axisStepsPerMM[A_TOWER] * xMin;
towerBMinSteps = axisStepsPerMM[B_TOWER] * yMin;
towerCMinSteps = axisStepsPerMM[C_TOWER] * zMin;
//radius0 = EEPROM::deltaHorizontalRadius();
float radiusA = radius0 + EEPROM::deltaRadiusCorrectionA();
float radiusB = radius0 + EEPROM::deltaRadiusCorrectionB();
float radiusC = radius0 + EEPROM::deltaRadiusCorrectionC();
deltaAPosXSteps = floor(radiusA * cos(EEPROM::deltaAlphaA() * M_PI / 180.0f) * axisStepsPerMM[Z_AXIS] + 0.5f);
deltaAPosYSteps = floor(radiusA * sin(EEPROM::deltaAlphaA() * M_PI / 180.0f) * axisStepsPerMM[Z_AXIS] + 0.5f);
deltaBPosXSteps = floor(radiusB * cos(EEPROM::deltaAlphaB() * M_PI / 180.0f) * axisStepsPerMM[Z_AXIS] + 0.5f);
deltaBPosYSteps = floor(radiusB * sin(EEPROM::deltaAlphaB() * M_PI / 180.0f) * axisStepsPerMM[Z_AXIS] + 0.5f);
deltaCPosXSteps = floor(radiusC * cos(EEPROM::deltaAlphaC() * M_PI / 180.0f) * axisStepsPerMM[Z_AXIS] + 0.5f);
deltaCPosYSteps = floor(radiusC * sin(EEPROM::deltaAlphaC() * M_PI / 180.0f) * axisStepsPerMM[Z_AXIS] + 0.5f);
deltaDiagonalStepsSquaredA.l = static_cast<uint32_t>((EEPROM::deltaDiagonalCorrectionA() + EEPROM::deltaDiagonalRodLength())*axisStepsPerMM[Z_AXIS]);
deltaDiagonalStepsSquaredB.l = static_cast<uint32_t>((EEPROM::deltaDiagonalCorrectionB() + EEPROM::deltaDiagonalRodLength())*axisStepsPerMM[Z_AXIS]);
deltaDiagonalStepsSquaredC.l = static_cast<uint32_t>((EEPROM::deltaDiagonalCorrectionC() + EEPROM::deltaDiagonalRodLength())*axisStepsPerMM[Z_AXIS]);
if(deltaDiagonalStepsSquaredA.l > 65534 || 2 * radius0*axisStepsPerMM[Z_AXIS] > 65534)
{
setLargeMachine(true);
#ifdef SUPPORT_64_BIT_MATH
deltaDiagonalStepsSquaredA.L = RMath::sqr(static_cast<uint64_t>(deltaDiagonalStepsSquaredA.l));
deltaDiagonalStepsSquaredB.L = RMath::sqr(static_cast<uint64_t>(deltaDiagonalStepsSquaredB.l));
deltaDiagonalStepsSquaredC.L = RMath::sqr(static_cast<uint64_t>(deltaDiagonalStepsSquaredC.l));
#else
deltaDiagonalStepsSquaredA.f = RMath::sqr(static_cast<float>(deltaDiagonalStepsSquaredA.l));
deltaDiagonalStepsSquaredB.f = RMath::sqr(static_cast<float>(deltaDiagonalStepsSquaredB.l));
deltaDiagonalStepsSquaredC.f = RMath::sqr(static_cast<float>(deltaDiagonalStepsSquaredC.l));
#endif
}
else
{
setLargeMachine(false);
deltaDiagonalStepsSquaredA.l = RMath::sqr(deltaDiagonalStepsSquaredA.l);
deltaDiagonalStepsSquaredB.l = RMath::sqr(deltaDiagonalStepsSquaredB.l);
deltaDiagonalStepsSquaredC.l = RMath::sqr(deltaDiagonalStepsSquaredC.l);
}
deltaMaxRadiusSquared = RMath::sqr(EEPROM::deltaMaxRadius());
long cart[Z_AXIS_ARRAY], delta[TOWER_ARRAY];
cart[X_AXIS] = cart[Y_AXIS] = 0;
cart[Z_AXIS] = zMaxSteps;
transformCartesianStepsToDeltaSteps(cart, delta);
maxDeltaPositionSteps = delta[0];
xMaxSteps = yMaxSteps = zMaxSteps;
xMinSteps = yMinSteps = zMinSteps = 0;
deltaFloorSafetyMarginSteps = DELTA_FLOOR_SAFETY_MARGIN_MM * axisStepsPerMM[Z_AXIS];
#elif DRIVE_SYSTEM == TUGA
deltaDiagonalStepsSquared.l = uint32_t(EEPROM::deltaDiagonalRodLength() * axisStepsPerMM[X_AXIS]);
if(deltaDiagonalStepsSquared.l > 65534)
{
setLargeMachine(true);
deltaDiagonalStepsSquared.f = float(deltaDiagonalStepsSquared.l) * float(deltaDiagonalStepsSquared.l);
}
else
deltaDiagonalStepsSquared.l = deltaDiagonalStepsSquared.l * deltaDiagonalStepsSquared.l;
deltaBPosXSteps = static_cast<int32_t>(EEPROM::deltaDiagonalRodLength() * axisStepsPerMM[X_AXIS]);
xMaxSteps = static_cast<int32_t>(axisStepsPerMM[X_AXIS] * (xMin + xLength));
yMaxSteps = static_cast<int32_t>(axisStepsPerMM[Y_AXIS] * yLength);
zMaxSteps = static_cast<int32_t>(axisStepsPerMM[Z_AXIS] * (zMin + zLength));
xMinSteps = static_cast<int32_t>(axisStepsPerMM[X_AXIS] * xMin);
yMinSteps = 0;
zMinSteps = static_cast<int32_t>(axisStepsPerMM[Z_AXIS] * zMin);
#else
xMaxStepsAdj = xMaxSteps = static_cast<int32_t>(axisStepsPerMM[X_AXIS] * (xMin + xLength));
yMaxStepsAdj = yMaxSteps = static_cast<int32_t>(axisStepsPerMM[Y_AXIS] * (yMin + yLength));
zMaxStepsAdj = zMaxSteps = static_cast<int32_t>(axisStepsPerMM[Z_AXIS] * (zMin + zLength));
xMinStepsAdj = xMinSteps = static_cast<int32_t>(axisStepsPerMM[X_AXIS] * xMin);
yMinStepsAdj = yMinSteps = static_cast<int32_t>(axisStepsPerMM[Y_AXIS] * yMin);
zMinStepsAdj = zMinSteps = static_cast<int32_t>(axisStepsPerMM[Z_AXIS] * zMin);
for(fast8_t i = 0; i < NUM_EXTRUDER;i++) {
Extruder &e = extruder[i];
xMaxStepsAdj = RMath::max(xMaxStepsAdj,xMaxSteps + e.xOffset);
xMinStepsAdj = RMath::max(xMinStepsAdj,xMinSteps + e.xOffset);
yMaxStepsAdj = RMath::max(yMaxStepsAdj,yMaxSteps + e.yOffset);
yMinStepsAdj = RMath::max(yMinStepsAdj,yMinSteps + e.yOffset);
zMaxStepsAdj = RMath::max(zMaxStepsAdj,zMaxSteps + e.zOffset);
zMinStepsAdj = RMath::max(zMinStepsAdj,zMinSteps + e.zOffset);
}
#if FEATURE_Z_PROBE
xMaxStepsAdj = RMath::max(xMaxStepsAdj,xMaxSteps + static_cast<int32_t>(EEPROM::zProbeXOffset() * axisStepsPerMM[X_AXIS]));
xMinStepsAdj = RMath::max(xMinStepsAdj,xMinSteps + static_cast<int32_t>(EEPROM::zProbeXOffset() * axisStepsPerMM[X_AXIS]));
yMaxStepsAdj = RMath::max(yMaxStepsAdj,yMaxSteps + static_cast<int32_t>(EEPROM::zProbeYOffset() * axisStepsPerMM[Y_AXIS]));
yMinStepsAdj = RMath::max(yMinStepsAdj,yMinSteps + static_cast<int32_t>(EEPROM::zProbeYOffset() * axisStepsPerMM[Y_AXIS]));
#endif
// For which directions do we need backlash compensation
#if ENABLE_BACKLASH_COMPENSATION
backlashDir &= XYZ_DIRPOS;
if(backlashX != 0) backlashDir |= 8;
if(backlashY != 0) backlashDir |= 16;
if(backlashZ != 0) backlashDir |= 32;
#endif
#endif
for(uint8_t i = 0; i < E_AXIS_ARRAY; i++)
{
invAxisStepsPerMM[i] = 1.0f/axisStepsPerMM[i];
#ifdef RAMP_ACCELERATION
/** Acceleration in steps/s^3 in printing mode.*/
maxPrintAccelerationStepsPerSquareSecond[i] = maxAccelerationMMPerSquareSecond[i] * axisStepsPerMM[i];
/** Acceleration in steps/s^2 in movement mode.*/
maxTravelAccelerationStepsPerSquareSecond[i] = maxTravelAccelerationMMPerSquareSecond[i] * axisStepsPerMM[i];
#endif
}
float accel = RMath::max(maxAccelerationMMPerSquareSecond[X_AXIS], maxTravelAccelerationMMPerSquareSecond[X_AXIS]);
float minimumSpeed = accel * sqrt(2.0f / (axisStepsPerMM[X_AXIS]*accel));
if(maxJerk < 2 * minimumSpeed) {// Enforce minimum start speed if target is faster and jerk too low
maxJerk = 2 * minimumSpeed;
Com::printFLN(PSTR("XY jerk was too low, setting to "),maxJerk);
}
accel = RMath::max(maxAccelerationMMPerSquareSecond[Z_AXIS], maxTravelAccelerationMMPerSquareSecond[Z_AXIS]);
#if DRIVE_SYSTEM != DELTA
float minimumZSpeed = 0.5 * accel * sqrt(2.0f / (axisStepsPerMM[Z_AXIS] * accel));
if(maxZJerk < 2 * minimumZSpeed) {
maxZJerk = 2 * minimumZSpeed;
Com::printFLN(PSTR("Z jerk was too low, setting to "),maxZJerk);
}
#endif
maxInterval = F_CPU/(minimumSpeed*axisStepsPerMM[X_AXIS]);
uint32_t tmp = F_CPU/(minimumSpeed*axisStepsPerMM[Y_AXIS]);
if(tmp < maxInterval)
maxInterval = tmp;
#if DRIVE_SYSTEM != DELTA
tmp = F_CPU/(minimumZSpeed*axisStepsPerMM[Z_AXIS]);
if(tmp < maxInterval)
maxInterval = tmp;
#endif
//Com::printFLN(PSTR("Minimum Speed:"),minimumSpeed);
//Com::printFLN(PSTR("Minimum Speed Z:"),minimumZSpeed);
#if DISTORTION_CORRECTION
distortion.updateDerived();
#endif // DISTORTION_CORRECTION
Printer::updateAdvanceFlags();
EVENT_UPDATE_DERIVED;
}
/**
\brief Stop heater and stepper motors. Disable power,if possible.
*/
void Printer::kill(uint8_t only_steppers)
{
EVENT_KILL(only_steppers);
if(areAllSteppersDisabled() && only_steppers) return;
if(Printer::isAllKilled()) return;
setAllSteppersDiabled();
#if defined(NUM_MOTOR_DRIVERS) && NUM_MOTOR_DRIVERS > 0
disableAllMotorDrivers();
#endif // defined
disableXStepper();
disableYStepper();
#if !defined(PREVENT_Z_DISABLE_ON_STEPPER_TIMEOUT)
disableZStepper();
#else
if(!only_steppers)
disableZStepper();
#endif
//Davinci Specific, every axis has a home flag
setXHomed(false);
setYHomed(false);
setZHomed(false);
updateHomedAll(); // Clear the homed flag(false);
Extruder::disableAllExtruderMotors();
if(!only_steppers)
{
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
Extruder::setTemperatureForExtruder(0, i);
Extruder::setHeatedBedTemperature(0);
UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_STANDBY_ID));
#if defined(PS_ON_PIN) && PS_ON_PIN>-1
//pinMode(PS_ON_PIN,INPUT);
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, (POWER_INVERTING ? LOW : HIGH));
Printer::setPowerOn(false);
#endif
Printer::setAllKilled(true);
}
else UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_STEPPER_DISABLED_ID));
#if FAN_BOARD_PIN > -1
#if HAVE_HEATED_BED
if(heatedBedController.targetTemperatureC < 15) // turn off FAN_BOARD only if bed heater is off
#endif
pwm_pos[PWM_BOARD_FAN] = 0;
#endif // FAN_BOARD_PIN
Commands::printTemperatures(false);
}
void Printer::updateAdvanceFlags()
{
Printer::setAdvanceActivated(false);
#if USE_ADVANCE
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
{
if(extruder[i].advanceL != 0)
{
Printer::setAdvanceActivated(true);
}
#if ENABLE_QUADRATIC_ADVANCE
if(extruder[i].advanceK != 0) Printer::setAdvanceActivated(true);
#endif
}
#endif
}
// This is for untransformed move to coordinates in printers absolute cartesian space
uint8_t Printer::moveTo(float x,float y,float z,float e,float f)
{
if(x != IGNORE_COORDINATE)
destinationSteps[X_AXIS] = (x + Printer::offsetX) * axisStepsPerMM[X_AXIS];
if(y != IGNORE_COORDINATE)
destinationSteps[Y_AXIS] = (y + Printer::offsetY) * axisStepsPerMM[Y_AXIS];
if(z != IGNORE_COORDINATE)
destinationSteps[Z_AXIS] = (z + Printer::offsetZ) * axisStepsPerMM[Z_AXIS];
if(e != IGNORE_COORDINATE)
destinationSteps[E_AXIS] = e * axisStepsPerMM[E_AXIS];
if(f != IGNORE_COORDINATE)
feedrate = f;
#if NONLINEAR_SYSTEM
// Disable software endstop or we get wrong distances when length < real length
if (!PrintLine::queueNonlinearMove(ALWAYS_CHECK_ENDSTOPS, true, false))
{
Com::printWarningFLN(PSTR("moveTo / queueDeltaMove returns error"));
return 0;
}
#else
PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS, true);
#endif
updateCurrentPosition(false);
return 1;
}
/** Move to transformed Cartesian coordinates, mapping real (model) space to printer space.
*/
uint8_t Printer::moveToReal(float x, float y, float z, float e, float f,bool pathOptimize)
{
if(x == IGNORE_COORDINATE)
x = currentPosition[X_AXIS];
else
currentPosition[X_AXIS] = x;
if(y == IGNORE_COORDINATE)
y = currentPosition[Y_AXIS];
else
currentPosition[Y_AXIS] = y;
if(z == IGNORE_COORDINATE)
z = currentPosition[Z_AXIS];
else
currentPosition[Z_AXIS] = z;
transformToPrinter(x + Printer::offsetX, y + Printer::offsetY, z + Printer::offsetZ, x, y, z);
// There was conflicting use of IGNOR_COORDINATE
destinationSteps[X_AXIS] = static_cast<int32_t>(floor(x * axisStepsPerMM[X_AXIS] + 0.5f));
destinationSteps[Y_AXIS] = static_cast<int32_t>(floor(y * axisStepsPerMM[Y_AXIS] + 0.5f));
destinationSteps[Z_AXIS] = static_cast<int32_t>(floor(z * axisStepsPerMM[Z_AXIS] + 0.5f));
if(e != IGNORE_COORDINATE && !Printer::debugDryrun()
#if MIN_EXTRUDER_TEMP > 30
&& (Extruder::current->tempControl.currentTemperatureC > MIN_EXTRUDER_TEMP || Printer::isColdExtrusionAllowed())
#endif
)
destinationSteps[E_AXIS] = e * axisStepsPerMM[E_AXIS];
if(f != IGNORE_COORDINATE)
feedrate = f;
#if NONLINEAR_SYSTEM
if (!PrintLine::queueNonlinearMove(ALWAYS_CHECK_ENDSTOPS, pathOptimize, true))
{
Com::printWarningFLN(PSTR("moveToReal / queueDeltaMove returns error"));
SHOWM(x);
SHOWM(y);
SHOWM(z);
return 0;
}
#else
PrintLine::queueCartesianMove(ALWAYS_CHECK_ENDSTOPS, pathOptimize);
#endif
return 1;
}
void Printer::setOrigin(float xOff, float yOff, float zOff)
{
coordinateOffset[X_AXIS] = xOff;
coordinateOffset[Y_AXIS] = yOff;
coordinateOffset[Z_AXIS] = zOff;
}
/** Computes currentPosition from currentPositionSteps including correction for offset. */
void Printer::updateCurrentPosition(bool copyLastCmd)
{
currentPosition[X_AXIS] = static_cast<float>(currentPositionSteps[X_AXIS]) * invAxisStepsPerMM[X_AXIS];
currentPosition[Y_AXIS] = static_cast<float>(currentPositionSteps[Y_AXIS]) * invAxisStepsPerMM[Y_AXIS];
#if NONLINEAR_SYSTEM
currentPosition[Z_AXIS] = static_cast<float>(currentPositionSteps[Z_AXIS]) * invAxisStepsPerMM[Z_AXIS];
#else
currentPosition[Z_AXIS] = static_cast<float>(currentPositionSteps[Z_AXIS] - zCorrectionStepsIncluded) * invAxisStepsPerMM[Z_AXIS];
#endif
transformFromPrinter(currentPosition[X_AXIS], currentPosition[Y_AXIS], currentPosition[Z_AXIS],
currentPosition[X_AXIS], currentPosition[Y_AXIS], currentPosition[Z_AXIS]);
currentPosition[X_AXIS] -= Printer::offsetX;
currentPosition[Y_AXIS] -= Printer::offsetY;
currentPosition[Z_AXIS] -= Printer::offsetZ;
if(copyLastCmd)
{
lastCmdPos[X_AXIS] = currentPosition[X_AXIS];
lastCmdPos[Y_AXIS] = currentPosition[Y_AXIS];
lastCmdPos[Z_AXIS] = currentPosition[Z_AXIS];
}
}
/**
\brief Sets the destination coordinates to values stored in com.
For the computation of the destination, the following facts are considered:
- Are units inches or mm.
- Relative or absolute positioning with special case only extruder relative.
- Offset in x and y direction for multiple extruder support.
*/
uint8_t Printer::setDestinationStepsFromGCode(GCode *com)
{
register int32_t p;
float x, y, z;
#if FEATURE_RETRACTION
if(com->hasNoXYZ() && com->hasE() && isAutoretract()) { // convert into auto retract
if(relativeCoordinateMode || relativeExtruderCoordinateMode) {
Extruder::current->retract(com->E < 0,false);
} else {
p = convertToMM(com->E * axisStepsPerMM[E_AXIS]); // current position
Extruder::current->retract(com->E < p,false);
}
return 0; // Fake no move so nothing gets added
}
#endif
#if MOVE_X_WHEN_HOMED == 1 || MOVE_Y_WHEN_HOMED == 1 || MOVE_Z_WHEN_HOMED == 1
if(!isNoDestinationCheck()) {
#if MOVE_X_WHEN_HOMED
if(!isXHomed())
com->unsetX();
#endif
#if MOVE_Y_WHEN_HOMED
if(!isYHomed())
com->unsetY();
#endif
#if MOVE_Z_WHEN_HOMED
if(!isZHomed())
com->unsetZ();
#endif
}
#endif
if(!com->hasNoXYZ()) {
if(!relativeCoordinateMode)
{
if(com->hasX()) lastCmdPos[X_AXIS] = currentPosition[X_AXIS] = convertToMM(com->X) - coordinateOffset[X_AXIS];
if(com->hasY()) lastCmdPos[Y_AXIS] = currentPosition[Y_AXIS] = convertToMM(com->Y) - coordinateOffset[Y_AXIS];
if(com->hasZ()) lastCmdPos[Z_AXIS] = currentPosition[Z_AXIS] = convertToMM(com->Z) - coordinateOffset[Z_AXIS];
}
else
{
if(com->hasX()) currentPosition[X_AXIS] = (lastCmdPos[X_AXIS] += convertToMM(com->X));
if(com->hasY()) currentPosition[Y_AXIS] = (lastCmdPos[Y_AXIS] += convertToMM(com->Y));
if(com->hasZ()) currentPosition[Z_AXIS] = (lastCmdPos[Z_AXIS] += convertToMM(com->Z));
}
transformToPrinter(lastCmdPos[X_AXIS] + Printer::offsetX, lastCmdPos[Y_AXIS] + Printer::offsetY, lastCmdPos[Z_AXIS] + Printer::offsetZ, x, y, z);
destinationSteps[X_AXIS] = static_cast<int32_t>(floor(x * axisStepsPerMM[X_AXIS] + 0.5f));
destinationSteps[Y_AXIS] = static_cast<int32_t>(floor(y * axisStepsPerMM[Y_AXIS] + 0.5f));
destinationSteps[Z_AXIS] = static_cast<int32_t>(floor(z * axisStepsPerMM[Z_AXIS] + 0.5f));
}
if(com->hasE() && !Printer::debugDryrun())
{
p = convertToMM(com->E * axisStepsPerMM[E_AXIS]);
if(relativeCoordinateMode || relativeExtruderCoordinateMode)
{
if(
#if MIN_EXTRUDER_TEMP > 20
(Extruder::current->tempControl.currentTemperatureC < MIN_EXTRUDER_TEMP && !Printer::isColdExtrusionAllowed()) ||
#endif
fabs(com->E) * extrusionFactor > EXTRUDE_MAXLENGTH)
p = 0;
destinationSteps[E_AXIS] = currentPositionSteps[E_AXIS] + p;
}
else
{
if(
#if MIN_EXTRUDER_TEMP > 20
(Extruder::current->tempControl.currentTemperatureC < MIN_EXTRUDER_TEMP && !Printer::isColdExtrusionAllowed()) ||
#endif
fabs(p - currentPositionSteps[E_AXIS]) * extrusionFactor > EXTRUDE_MAXLENGTH * axisStepsPerMM[E_AXIS])
currentPositionSteps[E_AXIS] = p;
destinationSteps[E_AXIS] = p;
}
}
else Printer::destinationSteps[E_AXIS] = Printer::currentPositionSteps[E_AXIS];
if(com->hasF() && com->F > 0.1)
{
if(unitIsInches)
feedrate = com->F * 0.0042333f * (float)feedrateMultiply; // Factor is 25.5/60/100
else
feedrate = com->F * (float)feedrateMultiply * 0.00016666666f;
}
if(!Printer::isPositionAllowed(lastCmdPos[X_AXIS], lastCmdPos[Y_AXIS], lastCmdPos[Z_AXIS]))
{
currentPositionSteps[E_AXIS] = destinationSteps[E_AXIS];
return false; // ignore move
}
return !com->hasNoXYZ() || (com->hasE() && destinationSteps[E_AXIS] != currentPositionSteps[E_AXIS]); // ignore unproductive moves
}
void Printer::setup()
{
//Davinci Specific, we start watch dog from begining
#if FEATURE_WATCHDOG
HAL::startWatchdog();
HAL::pingWatchdog();
#else
HAL::stopWatchdog();
#endif // FEATURE_WATCHDOG
#if FEATURE_CONTROLLER == CONTROLLER_VIKI
HAL::delayMilliseconds(100);
#endif // FEATURE_CONTROLLER
#if UI_DISPLAY_TYPE != NO_DISPLAY
Com::selectLanguage(0); // just make sure we have a language in case someone uses it early
#endif
//HAL::delayMilliseconds(500); // add a delay at startup to give hardware time for initalization
#if defined(EEPROM_AVAILABLE) && defined(EEPROM_SPI_ALLIGATOR) && EEPROM_AVAILABLE == EEPROM_SPI_ALLIGATOR
HAL::spiBegin();
#endif
HAL::hwSetup();
#ifdef ANALYZER
// Channel->pin assignments
#if ANALYZER_CH0>=0
SET_OUTPUT(ANALYZER_CH0);
#endif
#if ANALYZER_CH1>=0
SET_OUTPUT(ANALYZER_CH1);
#endif
#if ANALYZER_CH2>=0
SET_OUTPUT(ANALYZER_CH2);
#endif
#if ANALYZER_CH3>=0
SET_OUTPUT(ANALYZER_CH3);
#endif
#if ANALYZER_CH4>=0
SET_OUTPUT(ANALYZER_CH4);
#endif
#if ANALYZER_CH5>=0
SET_OUTPUT(ANALYZER_CH5);
#endif
#if ANALYZER_CH6>=0
SET_OUTPUT(ANALYZER_CH6);
#endif
#if ANALYZER_CH7>=0
SET_OUTPUT(ANALYZER_CH7);
#endif
#endif
#if defined(ENABLE_POWER_ON_STARTUP) && ENABLE_POWER_ON_STARTUP && (PS_ON_PIN>-1)
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, (POWER_INVERTING ? HIGH : LOW));
Printer::setPowerOn(true);
#else
#if PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN); //GND
Printer::setPowerOn(false);
#else
Printer::setPowerOn(true);
#endif
#endif
#if SDSUPPORT
//power to SD reader
#if SDPOWER > -1
SET_OUTPUT(SDPOWER);
WRITE(SDPOWER, HIGH);
#endif
#if defined(SDCARDDETECT) && SDCARDDETECT > -1
SET_INPUT(SDCARDDETECT);
PULLUP(SDCARDDETECT, HIGH);
#endif
#endif
//Initialize Step Pins
SET_OUTPUT(X_STEP_PIN);
SET_OUTPUT(Y_STEP_PIN);
SET_OUTPUT(Z_STEP_PIN);
endXYZSteps();
//Initialize Dir Pins
#if X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN);
#endif
#if Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
#endif
#if Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
#endif
//Steppers default to disabled.
#if X_ENABLE_PIN > -1
SET_OUTPUT(X_ENABLE_PIN);
WRITE(X_ENABLE_PIN, !X_ENABLE_ON);
#endif
#if Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN);
WRITE(Y_ENABLE_PIN, !Y_ENABLE_ON);
#endif
#if Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN);
WRITE(Z_ENABLE_PIN, !Z_ENABLE_ON);
#endif
#if FEATURE_TWO_XSTEPPER || DUAL_X_AXIS
SET_OUTPUT(X2_STEP_PIN);
SET_OUTPUT(X2_DIR_PIN);
#if X2_ENABLE_PIN > -1
SET_OUTPUT(X2_ENABLE_PIN);
WRITE(X2_ENABLE_PIN, !X_ENABLE_ON);
#endif
#endif
#if FEATURE_TWO_YSTEPPER
SET_OUTPUT(Y2_STEP_PIN);
SET_OUTPUT(Y2_DIR_PIN);
#if Y2_ENABLE_PIN > -1
SET_OUTPUT(Y2_ENABLE_PIN);
WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON);
#endif
#endif
#if FEATURE_TWO_ZSTEPPER
SET_OUTPUT(Z2_STEP_PIN);
SET_OUTPUT(Z2_DIR_PIN);
#if Z2_ENABLE_PIN > -1
SET_OUTPUT(Z2_ENABLE_PIN);
WRITE(Z2_ENABLE_PIN, !Z_ENABLE_ON);
#endif
#endif
#if FEATURE_THREE_ZSTEPPER
SET_OUTPUT(Z3_STEP_PIN);
SET_OUTPUT(Z3_DIR_PIN);
#if Z3_ENABLE_PIN > -1
SET_OUTPUT(Z3_ENABLE_PIN);
WRITE(Z3_ENABLE_PIN, !Z_ENABLE_ON);
#endif
#endif
//Davinci Specific, filament sensors
#if defined(FIL_SENSOR1_PIN)
SET_INPUT(FIL_SENSOR1_PIN);
#endif
#if defined(FIL_SENSOR2_PIN)
SET_INPUT(FIL_SENSOR2_PIN);
#endif
#if DAVINCI == 4
//laser 1
SET_OUTPUT(LASER1_PIN);
WRITE(LASER1_PIN, LOW);
SET_OUTPUT(LED_LASER1_PIN);
WRITE(LED_LASER1_PIN, LOW);
//laser 2
SET_OUTPUT(LASER2_PIN);
WRITE(LASER2_PIN, LOW);
SET_OUTPUT(LED_LASER2_PIN);
WRITE(LED_LASER2_PIN, LOW);
#endif
//end stop pull ups
#if MIN_HARDWARE_ENDSTOP_X
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
#if ENDSTOP_PULLUP_X_MIN
PULLUP(X_MIN_PIN, HIGH);
#endif
#else
#error You have defined hardware x min endstop without pin assignment. Set pin number for X_MIN_PIN
#endif
#endif
#if MIN_HARDWARE_ENDSTOP_Y
#if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN);
#if ENDSTOP_PULLUP_Y_MIN
PULLUP(Y_MIN_PIN, HIGH);
#endif
#else
#error You have defined hardware y min endstop without pin assignment. Set pin number for Y_MIN_PIN
#endif
#endif
#if MIN_HARDWARE_ENDSTOP_Z
#if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN);
#if ENDSTOP_PULLUP_Z_MIN
PULLUP(Z_MIN_PIN, HIGH);
#endif
#else
#error You have defined hardware z min endstop without pin assignment. Set pin number for Z_MIN_PIN
#endif
#endif
#if MINMAX_HARDWARE_ENDSTOP_Z2
#if Z2_MINMAX_PIN > -1
SET_INPUT(Z2_MINMAX_PIN);
#if ENDSTOP_PULLUP_Z2_MINMAX
PULLUP(Z2_MINMAX_PIN, HIGH);
#endif
#else
#error You have defined hardware z2 minmax endstop without pin assignment. Set pin number for Z2_MINMAX_PIN
#endif
#endif
#if MAX_HARDWARE_ENDSTOP_X
#if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);
#if ENDSTOP_PULLUP_X_MAX
PULLUP(X_MAX_PIN, HIGH);
#endif
#else
#error You have defined hardware x max endstop without pin assignment. Set pin number for X_MAX_PIN
#endif
#endif
#if MAX_HARDWARE_ENDSTOP_Y
#if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN);
#if ENDSTOP_PULLUP_Y_MAX
PULLUP(Y_MAX_PIN, HIGH);
#endif
#else
#error You have defined hardware y max endstop without pin assignment. Set pin number for Y_MAX_PIN
#endif
#endif
#if MAX_HARDWARE_ENDSTOP_Z
#if Z_MAX_PIN>-1
SET_INPUT(Z_MAX_PIN);
#if ENDSTOP_PULLUP_Z_MAX
PULLUP(Z_MAX_PIN, HIGH);
#endif
#else
#error You have defined hardware z max endstop without pin assignment. Set pin number for Z_MAX_PIN
#endif
#endif
#if FEATURE_Z_PROBE && Z_PROBE_PIN>-1
SET_INPUT(Z_PROBE_PIN);
#if Z_PROBE_PULLUP
PULLUP(Z_PROBE_PIN, HIGH);
#endif
#endif // FEATURE_FEATURE_Z_PROBE
#if FAN_PIN > -1 && FEATURE_FAN_CONTROL
SET_OUTPUT(FAN_PIN);
WRITE(FAN_PIN, LOW);
#endif
#if FAN2_PIN > -1 && FEATURE_FAN2_CONTROL
SET_OUTPUT(FAN2_PIN);
WRITE(FAN2_PIN, LOW);
#endif
#if FAN_THERMO_PIN > -1
SET_OUTPUT(FAN_THERMO_PIN);
WRITE(FAN_THERMO_PIN, LOW);
#endif
#if FAN_BOARD_PIN>-1
SET_OUTPUT(FAN_BOARD_PIN);
WRITE(FAN_BOARD_PIN, LOW);
#endif
#if defined(EXT0_HEATER_PIN) && EXT0_HEATER_PIN>-1
SET_OUTPUT(EXT0_HEATER_PIN);
WRITE(EXT0_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
SET_OUTPUT(EXT1_HEATER_PIN);
WRITE(EXT1_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN>-1 && NUM_EXTRUDER>2
SET_OUTPUT(EXT2_HEATER_PIN);
WRITE(EXT2_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT3_HEATER_PIN) && EXT3_HEATER_PIN>-1 && NUM_EXTRUDER>3
SET_OUTPUT(EXT3_HEATER_PIN);
WRITE(EXT3_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT4_HEATER_PIN) && EXT4_HEATER_PIN>-1 && NUM_EXTRUDER>4
SET_OUTPUT(EXT4_HEATER_PIN);
WRITE(EXT4_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT5_HEATER_PIN) && EXT5_HEATER_PIN>-1 && NUM_EXTRUDER>5
SET_OUTPUT(EXT5_HEATER_PIN);
WRITE(EXT5_HEATER_PIN, HEATER_PINS_INVERTED);
#endif
#if defined(EXT0_EXTRUDER_COOLER_PIN) && EXT0_EXTRUDER_COOLER_PIN>-1
SET_OUTPUT(EXT0_EXTRUDER_COOLER_PIN);
WRITE(EXT0_EXTRUDER_COOLER_PIN, LOW);
#endif
#if defined(EXT1_EXTRUDER_COOLER_PIN) && EXT1_EXTRUDER_COOLER_PIN > -1 && NUM_EXTRUDER > 1
SET_OUTPUT(EXT1_EXTRUDER_COOLER_PIN);
WRITE(EXT1_EXTRUDER_COOLER_PIN, LOW);
#endif
#if defined(EXT2_EXTRUDER_COOLER_PIN) && EXT2_EXTRUDER_COOLER_PIN > -1 && NUM_EXTRUDER > 2
SET_OUTPUT(EXT2_EXTRUDER_COOLER_PIN);
WRITE(EXT2_EXTRUDER_COOLER_PIN, LOW);
#endif
#if defined(EXT3_EXTRUDER_COOLER_PIN) && EXT3_EXTRUDER_COOLER_PIN > -1 && NUM_EXTRUDER > 3
SET_OUTPUT(EXT3_EXTRUDER_COOLER_PIN);
WRITE(EXT3_EXTRUDER_COOLER_PIN, LOW);
#endif
#if defined(EXT4_EXTRUDER_COOLER_PIN) && EXT4_EXTRUDER_COOLER_PIN > -1 && NUM_EXTRUDER > 4
SET_OUTPUT(EXT4_EXTRUDER_COOLER_PIN);
WRITE(EXT4_EXTRUDER_COOLER_PIN, LOW);
#endif
#if defined(EXT5_EXTRUDER_COOLER_PIN) && EXT5_EXTRUDER_COOLER_PIN > -1 && NUM_EXTRUDER > 5
SET_OUTPUT(EXT5_EXTRUDER_COOLER_PIN);
WRITE(EXT5_EXTRUDER_COOLER_PIN, LOW);
#endif
// Initialize jam sensors
#if defined(EXT0_JAM_PIN) && EXT0_JAM_PIN > -1
SET_INPUT(EXT0_JAM_PIN);
PULLUP(EXT0_JAM_PIN, EXT0_JAM_PULLUP);
#endif // defined
#if defined(EXT1_JAM_PIN) && EXT1_JAM_PIN > -1
SET_INPUT(EXT1_JAM_PIN);
PULLUP(EXT1_JAM_PIN, EXT1_JAM_PULLUP);
#endif // defined
#if defined(EXT2_JAM_PIN) && EXT2_JAM_PIN > -1
SET_INPUT(EXT2_JAM_PIN);
PULLUP(EXT2_JAM_PIN, EXT2_JAM_PULLUP);
#endif // defined
#if defined(EXT3_JAM_PIN) && EXT3_JAM_PIN > -1
SET_INPUT(EXT3_JAM_PIN);
PULLUP(EXT3_JAM_PIN, EXT3_JAM_PULLUP);
#endif // defined
#if defined(EXT4_JAM_PIN) && EXT4_JAM_PIN > -1
SET_INPUT(EXT4_JAM_PIN);
PULLUP(EXT4_JAM_PIN, EXT4_JAM_PULLUP);
#endif // defined
#if defined(EXT5_JAM_PIN) && EXT5_JAM_PIN > -1
SET_INPUT(EXT5_JAM_PIN);
PULLUP(EXT5_JAM_PIN, EXT5_JAM_PULLUP);
#endif // defined
#if CASE_LIGHTS_PIN >= 0
SET_OUTPUT(CASE_LIGHTS_PIN);
//Davinci Specific, we power on lights based on state set in EEPROM
WRITE(CASE_LIGHTS_PIN, EEPROM::buselight);
#endif // CASE_LIGHTS_PIN
//Davinci Specific (AiO)
#if BADGE_LIGHT_PIN >= 0
SET_OUTPUT(BADGE_LIGHT_PIN);
//Davinci Specific, we power on lights based on state set in EEPROM
WRITE(BADGE_LIGHT_PIN, EEPROM::buselight & EEPROM::busebadgelight);
#endif // EEPROM::buselight
#if defined(UI_VOLTAGE_LEVEL) && defined(EXP_VOLTAGE_LEVEL_PIN) && EXP_VOLTAGE_LEVEL_PIN >-1
SET_OUTPUT(EXP_VOLTAGE_LEVEL_PIN);
WRITE(EXP_VOLTAGE_LEVEL_PIN,UI_VOLTAGE_LEVEL);
#endif // UI_VOLTAGE_LEVEL
#if defined(SUPPORT_LASER) && SUPPORT_LASER
LaserDriver::initialize();
#endif // defined
#if defined(SUPPORT_CNC) && SUPPORT_CNC
CNCDriver::initialize();
#endif // defined
#if GANTRY && !defined(FAST_COREXYZ)
Printer::motorX = 0;
Printer::motorYorZ = 0;
#endif
#ifdef RED_BLUE_STATUS_LEDS
SET_OUTPUT(RED_STATUS_LED);
SET_OUTPUT(BLUE_STATUS_LED);
WRITE(BLUE_STATUS_LED,HIGH);
WRITE(RED_STATUS_LED,LOW);
#endif // RED_BLUE_STATUS_LEDS
#if STEPPER_CURRENT_CONTROL != CURRENT_CONTROL_MANUAL
motorCurrentControlInit(); // Set current if it is firmware controlled
#endif
#if defined(NUM_MOTOR_DRIVERS) && NUM_MOTOR_DRIVERS > 0
initializeAllMotorDrivers();
#endif // defined
microstepInit();
#if FEATURE_AUTOLEVEL
resetTransformationMatrix(true);
#endif // FEATURE_AUTOLEVEL
feedrate = 50; ///< Current feedrate in mm/s.
feedrateMultiply = 100;
extrudeMultiply = 100;
lastCmdPos[X_AXIS] = lastCmdPos[Y_AXIS] = lastCmdPos[Z_AXIS] = 0;
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
advanceExecuted = 0;
#endif
advanceStepsSet = 0;
#endif
for(uint8_t i = 0; i < NUM_EXTRUDER + 3; i++) pwm_pos[i] = 0;
maxJerk = MAX_JERK;
#if DRIVE_SYSTEM != DELTA
maxZJerk = MAX_ZJERK;
#endif
offsetX = offsetY = offsetZ = 0;
interval = 5000;
stepsPerTimerCall = 1;
msecondsPrinting = 0;
filamentPrinted = 0;
flag0 = PRINTER_FLAG0_STEPPER_DISABLED;
xLength = X_MAX_LENGTH;
yLength = Y_MAX_LENGTH;
zLength = Z_MAX_LENGTH;
xMin = X_MIN_POS;
yMin = Y_MIN_POS;
zMin = Z_MIN_POS;
#if DRIVE_SYSTEM == DELTA
radius0 = ROD_RADIUS;
#endif
#if ENABLE_BACKLASH_COMPENSATION
backlashX = X_BACKLASH;
backlashY = Y_BACKLASH;
backlashZ = Z_BACKLASH;
backlashDir = 0;
#endif
#if USE_ADVANCE
extruderStepsNeeded = 0;
#endif
EEPROM::initBaudrate();
HAL::serialSetBaudrate(baudrate);
Com::printFLN(Com::tStart);
HAL::showStartReason();
Extruder::initExtruder();
// sets auto leveling in eeprom init
EEPROM::init(); // Read settings from eeprom if wanted
//Davinci Specific, too early
//UI_INITIALIZE;
for(uint8_t i = 0; i < E_AXIS_ARRAY; i++)
{
currentPositionSteps[i] = 0;
}
currentPosition[X_AXIS] = currentPosition[Y_AXIS]= currentPosition[Z_AXIS] = 0.0;
//Commands::printCurrentPosition(PSTR("Printer::setup 0 "));
#if DISTORTION_CORRECTION
distortion.init();
#endif // DISTORTION_CORRECTION
updateDerivedParameter();
Commands::checkFreeMemory();
Commands::writeLowestFreeRAM();
HAL::setupTimer();
#if SDSUPPORT
sd.mount();
#endif
//Davinci Specific, need read SD EEPROM first
UI_INITIALIZE;
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(Printer::currentPositionSteps, Printer::currentNonlinearPositionSteps);
#if DELTA_HOME_ON_POWER
homeAxis(true,true,true);
#endif
setAutoretract(EEPROM_BYTE(AUTORETRACT_ENABLED));
Commands::printCurrentPosition(PSTR("Printer::setup "));
#endif // DRIVE_SYSTEM
Extruder::selectExtruderById(0);
#if FEATURE_SERVO // set servos to neutral positions at power_up
#if defined(SERVO0_NEUTRAL_POS) && SERVO0_NEUTRAL_POS >= 500
HAL::servoMicroseconds(0,SERVO0_NEUTRAL_POS, 1000);
#endif
#if defined(SERVO1_NEUTRAL_POS) && SERVO1_NEUTRAL_POS >= 500
HAL::servoMicroseconds(1,SERVO1_NEUTRAL_POS, 1000);
#endif
#if defined(SERVO2_NEUTRAL_POS) && SERVO2_NEUTRAL_POS >= 500
HAL::servoMicroseconds(2,SERVO2_NEUTRAL_POS, 1000);
#endif
#if defined(SERVO3_NEUTRAL_POS) && SERVO3_NEUTRAL_POS >= 500
HAL::servoMicroseconds(3,SERVO3_NEUTRAL_POS, 1000);
#endif
#endif
EVENT_INITIALIZE;
#ifdef STARTUP_GCODE
GCode::executeFString(Com::tStartupGCode);
#endif
#if EEPROM_MODE != 0 && UI_DISPLAY_TYPE != NO_DISPLAY
if(EEPROM::getStoredLanguage() == 254) {
Com::printFLN(PSTR("Needs language selection"));
uid.showLanguageSelectionWizard();
}
#endif // EEPROM_MODE
//Davinci Specific
playsound(880,100);
playsound(1479,150);
playsound(1174,100);
playsound(2349,150);
}
void Printer::defaultLoopActions()
{
Commands::checkForPeriodicalActions(true); //check heater every n milliseconds
UI_MEDIUM; // do check encoder
millis_t curtime = HAL::timeInMilliseconds();
//Davinci Specific
if(PrintLine::hasLines() || isMenuMode(MENU_MODE_SD_PAUSED) || Printer::isMenuMode(MENU_MODE_PRINTING))
previousMillisCmd = curtime;
else
{
curtime -= previousMillisCmd;
if(maxInactiveTime != 0 && curtime > maxInactiveTime )
Printer::kill(false);
else
Printer::setAllKilled(false); // prevent repeated kills
if(stepperInactiveTime != 0 && curtime > stepperInactiveTime )
Printer::kill(true);
}
#if SDCARDDETECT > -1 && SDSUPPORT
sd.automount();
#endif
#if defined(EEPROM_AVAILABLE) && EEPROM_AVAILABLE == EEPROM_SDCARD
HAL::syncEEPROM();
#endif
DEBUG_MEMORY;
}
void Printer::MemoryPosition()
{
Commands::waitUntilEndOfAllMoves();
updateCurrentPosition(false);
realPosition(memoryX, memoryY, memoryZ);
memoryE = currentPositionSteps[E_AXIS] * invAxisStepsPerMM[E_AXIS];
memoryF = feedrate;
}
void Printer::GoToMemoryPosition(bool x, bool y, bool z, bool e, float feed)
{
if(memoryF < 0) return; // Not stored before call, so we ignore it
bool all = !(x || y || z);
moveToReal((all || x ? (lastCmdPos[X_AXIS] = memoryX) : IGNORE_COORDINATE)
,(all || y ?(lastCmdPos[Y_AXIS] = memoryY) : IGNORE_COORDINATE)
,(all || z ? (lastCmdPos[Z_AXIS] = memoryZ) : IGNORE_COORDINATE)
,(e ? memoryE : IGNORE_COORDINATE),
feed);
feedrate = memoryF;
updateCurrentPosition(false);
}
#if DRIVE_SYSTEM == DELTA
void Printer::deltaMoveToTopEndstops(float feedrate)
{
for (fast8_t i = 0; i < 3; i++)
Printer::currentPositionSteps[i] = 0;
Printer::stepsRemainingAtXHit = -1;
Printer::stepsRemainingAtYHit = -1;
Printer::stepsRemainingAtZHit = -1;
setHoming(true);
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
PrintLine::moveRelativeDistanceInSteps(0, 0, (zMaxSteps + EEPROM::deltaDiagonalRodLength()*axisStepsPerMM[Z_AXIS]) * 1.5, 0, feedrate, true, true);
offsetX = offsetY = offsetZ = 0;
setHoming(false);
}
void Printer::homeXAxis()
{
destinationSteps[X_AXIS] = 0;
if (!PrintLine::queueNonlinearMove(true,false,false))
{
Com::printWarningFLN(PSTR("homeXAxis / queueDeltaMove returns error"));
}
}
void Printer::homeYAxis()
{
Printer::destinationSteps[Y_AXIS] = 0;
if (!PrintLine::queueNonlinearMove(true,false,false))
{
Com::printWarningFLN(PSTR("homeYAxis / queueDeltaMove returns error"));
}
}
void Printer::homeZAxis() // Delta z homing
{
bool homingSuccess = false;
Endstops::resetAccumulator();
deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS]);
// New safe homing routine by Kyrre Aalerud
// This method will safeguard against sticky endstops such as may be gotten cheaply from china.
// This can lead to head crashes and even fire, thus a safer algorithm to ensure the endstops actually respond as expected.
//Endstops::report();
// Check that all endstops (XYZ) were hit
Endstops::fillFromAccumulator();
if (Endstops::xMax() && Endstops::yMax() && Endstops::zMax()) {
// Back off for retest
PrintLine::moveRelativeDistanceInSteps(0, 0, axisStepsPerMM[Z_AXIS] * -ENDSTOP_Z_BACK_MOVE, 0, Printer::homingFeedrate[Z_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, true);
//Endstops::report();
// Check for proper release of all (XYZ) endstops
if (!(Endstops::xMax() || Endstops::yMax() || Endstops::zMax())) {
// Rehome with reduced speed
Endstops::resetAccumulator();
deltaMoveToTopEndstops(Printer::homingFeedrate[Z_AXIS] / ENDSTOP_Z_RETEST_REDUCTION_FACTOR);
Endstops::fillFromAccumulator();
//Endstops::report();
// Check that all endstops (XYZ) were hit again
if (Endstops::xMax() && Endstops::yMax() && Endstops::zMax()) {
homingSuccess = true; // Assume success in case there is no back move
#if defined(ENDSTOP_Z_BACK_ON_HOME)
if(ENDSTOP_Z_BACK_ON_HOME > 0) {
PrintLine::moveRelativeDistanceInSteps(0, 0, axisStepsPerMM[Z_AXIS] * -ENDSTOP_Z_BACK_ON_HOME,0,homingFeedrate[Z_AXIS], true, true);
//Endstops::report();
// Check for missing release of any (XYZ) endstop
if (Endstops::xMax() || Endstops::yMax() || Endstops::zMax()) {
homingSuccess = false; // Reset success flag
}
}
#endif
}
}
}
// Check if homing failed. If so, request pause!
if (!homingSuccess) {
setXHomed(false);
setYHomed(false);
setZHomed(false);
updateHomedAll(); // Clear the homed flag
Com::printFLN(PSTR("RequestPause:Homing failed!"));
} else {
setXHomed(true);
setYHomed(true);
setZHomed(true);
updateHomedAll(); // Set the homed flag
}
// Correct different endstop heights
// These can be adjusted by two methods. You can use offsets stored by determining the center
// or you can use the xyzMinSteps from G100 calibration. Both have the same effect but only one
// should be measuredas both have the same effect.
long dx = -xMinSteps - EEPROM::deltaTowerXOffsetSteps();
long dy = -yMinSteps - EEPROM::deltaTowerYOffsetSteps();
long dz = -zMinSteps - EEPROM::deltaTowerZOffsetSteps();
long dm = RMath::min(dx, dy, dz);
//Com::printFLN(Com::tTower1,dx);
//Com::printFLN(Com::tTower2,dy);
//Com::printFLN(Com::tTower3,dz);
dx -= dm; // now all dxyz are positive
dy -= dm;
dz -= dm;
currentPositionSteps[X_AXIS] = 0; // here we should be
currentPositionSteps[Y_AXIS] = 0;
currentPositionSteps[Z_AXIS] = zMaxSteps;
transformCartesianStepsToDeltaSteps(currentPositionSteps,currentNonlinearPositionSteps);
currentNonlinearPositionSteps[A_TOWER] -= dx;
currentNonlinearPositionSteps[B_TOWER] -= dy;
currentNonlinearPositionSteps[C_TOWER] -= dz;
PrintLine::moveRelativeDistanceInSteps(0, 0, dm, 0, homingFeedrate[Z_AXIS], true, false);
currentPositionSteps[X_AXIS] = 0; // now we are really here
currentPositionSteps[Y_AXIS] = 0;
currentPositionSteps[Z_AXIS] = zMaxSteps - zBedOffset * axisStepsPerMM[Z_AXIS]; // Extruder is now exactly in the delta center
coordinateOffset[X_AXIS] = 0;
coordinateOffset[Y_AXIS] = 0;
coordinateOffset[Z_AXIS] = 0;
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
realDeltaPositionSteps[A_TOWER] = currentNonlinearPositionSteps[A_TOWER];
realDeltaPositionSteps[B_TOWER] = currentNonlinearPositionSteps[B_TOWER];
realDeltaPositionSteps[C_TOWER] = currentNonlinearPositionSteps[C_TOWER];
//maxDeltaPositionSteps = currentDeltaPositionSteps[X_AXIS];
#if defined(ENDSTOP_Z_BACK_ON_HOME)
if(ENDSTOP_Z_BACK_ON_HOME > 0)
maxDeltaPositionSteps += axisStepsPerMM[Z_AXIS] * ENDSTOP_Z_BACK_ON_HOME;
#endif
Extruder::selectExtruderById(Extruder::current->id);
}
// This home axis is for delta
void Printer::homeAxis(bool xaxis,bool yaxis,bool zaxis) // Delta homing code
{
bool nocheck = isNoDestinationCheck();
setNoDestinationCheck(true);
#if defined(SUPPORT_LASER) && SUPPORT_LASER
bool oldLaser = LaserDriver::laserOn;
LaserDriver::laserOn = false;
#endif
bool autoLevel = isAutolevelActive();
setAutolevelActive(false);
if (!(X_MAX_PIN > -1 && Y_MAX_PIN > -1 && Z_MAX_PIN > -1
&& MAX_HARDWARE_ENDSTOP_X && MAX_HARDWARE_ENDSTOP_Y && MAX_HARDWARE_ENDSTOP_Z))
{
Com::printErrorFLN(PSTR("Hardware setup inconsistent. Delta cannot home without max endstops."));
}
// The delta has to have home capability to zero and set position,
// so the redundant check is only an opportunity to
// gratuitously fail due to incorrect settings.
// The following movements would be meaningless unless it was zeroed for example.
UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_HOME_DELTA_ID));
// Homing Z axis means that you must home X and Y
homeZAxis();
moveToReal(0,0,Printer::zLength - zBedOffset,IGNORE_COORDINATE,homingFeedrate[Z_AXIS]); // Move to designed coordinates including translation
updateCurrentPosition(true);
updateHomedAll();
UI_CLEAR_STATUS
Commands::printCurrentPosition(PSTR("homeAxis "));
setAutolevelActive(autoLevel);
#if defined(SUPPORT_LASER) && SUPPORT_LASER
LaserDriver::laserOn = oldLaser;
#endif
Printer::updateCurrentPosition();
setNoDestinationCheck(nocheck);
}
#else
#if DRIVE_SYSTEM == TUGA // Tuga printer homing
void Printer::homeXAxis()
{
long steps;
if ((MIN_HARDWARE_ENDSTOP_X && X_MIN_PIN > -1 && X_HOME_DIR == -1 && MIN_HARDWARE_ENDSTOP_Y && Y_MIN_PIN > -1 && Y_HOME_DIR == -1) ||
(MAX_HARDWARE_ENDSTOP_X && X_MAX_PIN > -1 && X_HOME_DIR == 1 && MAX_HARDWARE_ENDSTOP_Y && Y_MAX_PIN > -1 && Y_HOME_DIR == 1))
{
long offX = 0,offY = 0;
#if NUM_EXTRUDER>1
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
{
#if X_HOME_DIR < 0
offX = RMath::max(offX,extruder[i].xOffset);
offY = RMath::max(offY,extruder[i].yOffset);
#else
offX = RMath::min(offX,extruder[i].xOffset);
offY = RMath::min(offY,extruder[i].yOffset);
#endif
}
// Reposition extruder that way, that all extruders can be selected at home pos.
#endif
UI_STATUS_UPD(UI_TEXT_HOME_X);
steps = (Printer::xMaxSteps-Printer::xMinSteps) * X_HOME_DIR;
currentPositionSteps[X_AXIS] = -steps;
currentPositionSteps[Y_AXIS] = 0;
setHoming(true);
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
PrintLine::moveRelativeDistanceInSteps(2*steps,0,0,0,homingFeedrate[X_AXIS],true,true);
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps-offX : xMaxSteps+offX;
currentPositionSteps[Y_AXIS] = 0; //(Y_HOME_DIR == -1) ? yMinSteps-offY : yMaxSteps+offY;
//PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*-ENDSTOP_X_BACK_MOVE * X_HOME_DIR,axisStepsPerMM[Y_AXIS]*-ENDSTOP_X_BACK_MOVE * Y_HOME_DIR,0,0,homingFeedrate[X_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,false);
// PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*2*ENDSTOP_X_BACK_MOVE * X_HOME_DIR,axisStepsPerMM[Y_AXIS]*2*ENDSTOP_X_BACK_MOVE * Y_HOME_DIR,0,0,homingFeedrate[X_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,true);
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*-ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,false);
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*2*ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS]/ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,true);
setHoming(false);
#if defined(ENDSTOP_X_BACK_ON_HOME)
if(ENDSTOP_X_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*-ENDSTOP_X_BACK_ON_HOME * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS],true,false);
// PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS]*-ENDSTOP_X_BACK_ON_HOME * X_HOME_DIR,axisStepsPerMM[Y_AXIS]*-ENDSTOP_Y_BACK_ON_HOME * Y_HOME_DIR,0,0,homingFeedrate[X_AXIS],true,false);
#endif
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps-offX : xMaxSteps+offX;
currentPositionSteps[Y_AXIS] = 0; //(Y_HOME_DIR == -1) ? yMinSteps-offY : yMaxSteps+offY;
coordinateOffset[X_AXIS] = 0;
coordinateOffset[Y_AXIS] = 0;
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#if NUM_EXTRUDER>1
PrintLine::moveRelativeDistanceInSteps((Extruder::current->xOffset-offX) * X_HOME_DIR,(Extruder::current->yOffset-offY) * Y_HOME_DIR,0,0,homingFeedrate[X_AXIS],true,false);
#endif
setXHomed(true);
setYHomed(true);
}
}
void Printer::homeYAxis()
{
// Dummy function x and y homing must occur together
}
#else // Cartesian printer
void Printer::homeXAxis()
{
bool nocheck = isNoDestinationCheck();
setNoDestinationCheck(true);
long steps;
UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_HOME_X_ID));
//Davinci Specific
Extruder::selectExtruderById(0,false);
Commands::waitUntilEndOfAllMoves();
setHoming(true);
#if DUAL_X_AXIS && NUM_EXTRUDER == 2
Extruder *curExtruder = Extruder::current;
Extruder::current = &extruder[0];
steps = (Printer::xMaxSteps - Printer::xMinSteps);
currentPositionSteps[X_AXIS] = steps;
PrintLine::moveRelativeDistanceInSteps(-2 * steps, 0, 0, 0, homingFeedrate[X_AXIS], true, true); // first contact
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * ENDSTOP_X_BACK_MOVE,0,0,0,homingFeedrate[X_AXIS], true, false); // back move
PrintLine::moveRelativeDistanceInSteps(-axisStepsPerMM[X_AXIS] * 2 * ENDSTOP_X_BACK_MOVE,0,0,0,homingFeedrate[X_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, true); // final contact
#if defined(ENDSTOP_X_BACK_ON_HOME)
if(ENDSTOP_X_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * ENDSTOP_X_BACK_ON_HOME,0,0,0,homingFeedrate[X_AXIS], true, false);
#endif
Extruder::current = &extruder[1];
currentPositionSteps[X_AXIS] = -steps;
PrintLine::moveRelativeDistanceInSteps(2 * steps, 0, 0, 0, homingFeedrate[X_AXIS], true, true);
PrintLine::moveRelativeDistanceInSteps(-axisStepsPerMM[X_AXIS] * ENDSTOP_X_BACK_MOVE,0,0,0,homingFeedrate[X_AXIS], true, false); // back move
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * 2 * ENDSTOP_X_BACK_MOVE,0,0,0,homingFeedrate[X_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, true);
#if defined(ENDSTOP_X_BACK_ON_HOME)
if(ENDSTOP_X_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(-axisStepsPerMM[X_AXIS] * ENDSTOP_X_BACK_ON_HOME,0,0,0,homingFeedrate[X_AXIS], true, false);
#endif
Extruder::current = curExtruder;
#if LAZY_DUAL_X_AXIS
currentPositionSteps[X_AXIS] = xMinSteps + Extruder::current->xOffset;
#else
// Now position current extrude on x = 0
PrintLine::moveRelativeDistanceInSteps(-Extruder::current->xOffset, 0, 0, 0, homingFeedrate[X_AXIS], true, true);
currentPositionSteps[X_AXIS] = xMinSteps;
#endif
updateCurrentPosition(false);
offsetX = 0;
setXHomed(true);
#else // DUAL_AXIS
if ((MIN_HARDWARE_ENDSTOP_X && X_MIN_PIN > -1 && X_HOME_DIR == -1) || (MAX_HARDWARE_ENDSTOP_X && X_MAX_PIN > -1 && X_HOME_DIR == 1))
{
coordinateOffset[X_AXIS] = 0;
long offX = 0;
#if NUM_EXTRUDER > 1
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
#if X_HOME_DIR < 0
offX = RMath::max(offX,extruder[i].xOffset);
#else
offX = RMath::min(offX,extruder[i].xOffset);
#endif
// Reposition extruder that way, that all extruders can be selected at home position.
#endif // NUM_EXTRUDER > 1
steps = (Printer::xMaxSteps - Printer::xMinSteps) * X_HOME_DIR;
currentPositionSteps[X_AXIS] = -steps;
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
PrintLine::moveRelativeDistanceInSteps(2 * steps, 0, 0, 0, homingFeedrate[X_AXIS], true, true);
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps - offX : xMaxSteps + offX;
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * -ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, false);
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * 2 * ENDSTOP_X_BACK_MOVE * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR, true, true);
#if defined(ENDSTOP_X_BACK_ON_HOME)
if(ENDSTOP_X_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(axisStepsPerMM[X_AXIS] * -ENDSTOP_X_BACK_ON_HOME * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS], true, true);
#endif
currentPositionSteps[X_AXIS] = (X_HOME_DIR == -1) ? xMinSteps - offX : xMaxSteps + offX;
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
#if NUM_EXTRUDER > 1
#if X_HOME_DIR < 0
PrintLine::moveRelativeDistanceInSteps((Extruder::current->xOffset - offX) * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS], true, true);
#else
PrintLine::moveRelativeDistanceInSteps(-(Extruder::current->xOffset - offX) * X_HOME_DIR,0,0,0,homingFeedrate[X_AXIS], true, true);
#endif
#endif
setXHomed(true);
}
#endif // ELSE dual x axis
setNoDestinationCheck(nocheck);
setHoming(false);
}
void Printer::homeYAxis()
{
long steps;
if ((MIN_HARDWARE_ENDSTOP_Y && Y_MIN_PIN > -1 && Y_HOME_DIR == -1) || (MAX_HARDWARE_ENDSTOP_Y && Y_MAX_PIN > -1 && Y_HOME_DIR == 1))
{
coordinateOffset[Y_AXIS] = 0;
long offY = 0;
#if NUM_EXTRUDER > 1
for(uint8_t i = 0; i < NUM_EXTRUDER; i++)
#if Y_HOME_DIR < 0
offY = RMath::max(offY,extruder[i].yOffset);
#else
offY = RMath::min(offY,extruder[i].yOffset);
#endif
// Reposition extruder that way, that all extruders can be selected at home pos.
#endif
UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_HOME_Y_ID));
steps = (yMaxSteps-Printer::yMinSteps) * Y_HOME_DIR;
currentPositionSteps[Y_AXIS] = -steps;
setHoming(true);
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
PrintLine::moveRelativeDistanceInSteps(0,2 * steps,0,0,homingFeedrate[Y_AXIS],true,true);
currentPositionSteps[Y_AXIS] = (Y_HOME_DIR == -1) ? yMinSteps-offY : yMaxSteps+offY;
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
PrintLine::moveRelativeDistanceInSteps(0,axisStepsPerMM[Y_AXIS] * -ENDSTOP_Y_BACK_MOVE * Y_HOME_DIR,0,0,homingFeedrate[Y_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,false);
PrintLine::moveRelativeDistanceInSteps(0,axisStepsPerMM[Y_AXIS] * 2 * ENDSTOP_Y_BACK_MOVE * Y_HOME_DIR,0,0,homingFeedrate[Y_AXIS] / ENDSTOP_X_RETEST_REDUCTION_FACTOR,true,true);
setHoming(false);
#if defined(ENDSTOP_Y_BACK_ON_HOME)
if(ENDSTOP_Y_BACK_ON_HOME > 0)
PrintLine::moveRelativeDistanceInSteps(0,axisStepsPerMM[Y_AXIS] * -ENDSTOP_Y_BACK_ON_HOME * Y_HOME_DIR,0,0,homingFeedrate[Y_AXIS],true,false);
#endif
currentPositionSteps[Y_AXIS] = (Y_HOME_DIR == -1) ? yMinSteps - offY : yMaxSteps + offY;
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
#if NUM_EXTRUDER > 1
#if Y_HOME_DIR < 0
PrintLine::moveRelativeDistanceInSteps(0,(Extruder::current->yOffset - offY) * Y_HOME_DIR,0,0,homingFeedrate[Y_AXIS],true,false);
#else
PrintLine::moveRelativeDistanceInSteps(0,-(Extruder::current->yOffset - offY) * Y_HOME_DIR,0,0,homingFeedrate[Y_AXIS],true,false);
#endif
#endif
setYHomed(true);
}
}
#endif
void Printer::homeZAxis() // Cartesian homing
{
long steps;
if ((MIN_HARDWARE_ENDSTOP_Z && Z_MIN_PIN > -1 && Z_HOME_DIR == -1) || (MAX_HARDWARE_ENDSTOP_Z && Z_MAX_PIN > -1 && Z_HOME_DIR == 1))
{
#if Z_HOME_DIR < 0 && Z_PROBE_PIN == Z_MIN_PIN
Printer::startProbing(true);
#endif
coordinateOffset[Z_AXIS] = 0;
UI_STATUS_UPD_F(Com::translatedF(UI_TEXT_HOME_Z_ID));
steps = (zMaxSteps - zMinSteps) * Z_HOME_DIR;
currentPositionSteps[Z_AXIS] = -steps;
setHoming(true);
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
PrintLine::moveRelativeDistanceInSteps(0, 0, 2 * steps,0,homingFeedrate[Z_AXIS],true,true);
currentPositionSteps[Z_AXIS] = (Z_HOME_DIR == -1) ? zMinSteps : zMaxSteps;
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
PrintLine::moveRelativeDistanceInSteps(0, 0, axisStepsPerMM[Z_AXIS] * -ENDSTOP_Z_BACK_MOVE * Z_HOME_DIR, 0, homingFeedrate[Z_AXIS] / ENDSTOP_Z_RETEST_REDUCTION_FACTOR,true,false);
#if defined(ZHOME_WAIT_UNSWING) && ZHOME_WAIT_UNSWING > 0
HAL::delayMilliseconds(ZHOME_WAIT_UNSWING);
#endif
PrintLine::moveRelativeDistanceInSteps(0,0,axisStepsPerMM[Z_AXIS] * 2 * ENDSTOP_Z_BACK_MOVE * Z_HOME_DIR, 0, homingFeedrate[Z_AXIS] / ENDSTOP_Z_RETEST_REDUCTION_FACTOR,true,true);
#if Z_HOME_DIR < 0 && Z_PROBE_PIN == Z_MIN_PIN
Printer::finishProbing();
#endif
setHoming(false);
int32_t zCorrection = 0;
#if Z_HOME_DIR < 0 && MIN_HARDWARE_ENDSTOP_Z && FEATURE_Z_PROBE && Z_PROBE_PIN == Z_MIN_PIN
// Fix error from z probe testing
zCorrection -= axisStepsPerMM[Z_AXIS]*EEPROM::zProbeHeight();
// Correct from bed rotation
updateCurrentPosition(true);
//float xt,yt,zt;
//transformToPrinter(currentPosition[X_AXIS],currentPosition[Y_AXIS],0,xt,yt,zt);
//zCorrection -= zt;
#endif
#if defined(ENDSTOP_Z_BACK_ON_HOME)
// If we want to go up a bit more for some reason
if(ENDSTOP_Z_BACK_ON_HOME > 0)
zCorrection -= axisStepsPerMM[Z_AXIS] * ENDSTOP_Z_BACK_ON_HOME * Z_HOME_DIR;
#endif
#if Z_HOME_DIR < 0
// Fix bed coating
zCorrection += axisStepsPerMM[Z_AXIS] * Printer::zBedOffset;
#else
currentPositionSteps[Z_AXIS] -= zBedOffset * axisStepsPerMM[Z_AXIS]; // Correct bed coating
#endif
//Com::printFLN(PSTR("Z-Correction-Steps:"),zCorrection);
PrintLine::moveRelativeDistanceInSteps(0,0,zCorrection,0,homingFeedrate[Z_AXIS],true,false);
currentPositionSteps[Z_AXIS] = ((Z_HOME_DIR == -1) ? zMinSteps : zMaxSteps - Printer::zBedOffset * axisStepsPerMM[Z_AXIS]);
#if NUM_EXTRUDER > 0
currentPositionSteps[Z_AXIS] -= Extruder::current->zOffset;
#endif
#if DISTORTION_CORRECTION && Z_HOME_DIR < 0 && Z_PROBE_PIN == Z_MIN_PIN
// Special case where z probe is z min endstop and distortion correction is enabled
if(Printer::distortion.isEnabled()) {
Printer::zCorrectionStepsIncluded = Printer::distortion.correct(Printer::currentPositionSteps[X_AXIS],currentPositionSteps[Y_AXIS],currentPositionSteps[Z_AXIS]);
currentPositionSteps[Z_AXIS] += Printer::zCorrectionStepsIncluded;
}
#endif
#if NONLINEAR_SYSTEM
transformCartesianStepsToDeltaSteps(currentPositionSteps, currentNonlinearPositionSteps);
#endif
setZHomed(true);
}
}
void Printer::homeAxis(bool xaxis,bool yaxis,bool zaxis) // home non-delta printer
{
bool nocheck = isNoDestinationCheck();
setNoDestinationCheck(true);
#if defined(SUPPORT_LASER) && SUPPORT_LASER
bool oldLaser = LaserDriver::laserOn;
LaserDriver::laserOn = false;
#endif
float startX,startY,startZ;
realPosition(startX, startY, startZ);
#if !defined(HOMING_ORDER)
#define HOMING_ORDER HOME_ORDER_XYZ
#endif
#if Z_HOME_DIR < 0 && Z_PROBE_PIN == Z_MIN_PIN
#if HOMING_ORDER != HOME_ORDER_XYZ && HOMING_ORDER != HOME_ORDER_XZY && HOMING_ORDER != HOME_ORDER_ZXYTZ && HOMING_ORDER != HOME_ORDER_XYTZ
#error Illegal homing order for z probe based homing!
#endif
if(zaxis) { // we need to know xy position for z probe to work properly
if(!xaxis && !isXHomed())
xaxis = true;
if(!yaxis && !isYHomed())
yaxis = true;
}
#endif
#if HOMING_ORDER == HOME_ORDER_XYZ
if(xaxis) homeXAxis();
if(yaxis) homeYAxis();
if(zaxis) homeZAxis();
#elif HOMING_ORDER == HOME_ORDER_XZY
if(xaxis) homeXAxis();
if(zaxis) homeZAxis();
if(yaxis) homeYAxis();
#elif HOMING_ORDER == HOME_ORDER_YXZ
if(yaxis) homeYAxis();
if(xaxis) homeXAxis();
if(zaxis) homeZAxis();
#elif HOMING_ORDER == HOME_ORDER_YZX
if(yaxis) homeYAxis();
if(zaxis) homeZAxis();
if(xaxis) homeXAxis();
#elif HOMING_ORDER == HOME_ORDER_ZXY
if(zaxis) homeZAxis();
if(xaxis) homeXAxis();
if(yaxis) homeYAxis();
#elif HOMING_ORDER == HOME_ORDER_ZYX
if(zaxis) homeZAxis();
if(yaxis) homeYAxis();
if(xaxis) homeXAxis();
#elif HOMING_ORDER == HOME_ORDER_ZXYTZ || HOMING_ORDER == HOME_ORDER_XYTZ
{
float actTemp[NUM_EXTRUDER];
for(int i = 0;i < NUM_EXTRUDER; i++)
actTemp[i] = extruder[i].tempControl.targetTemperatureC;
if(zaxis) {
#if HOMING_ORDER == HOME_ORDER_ZXYTZ
homeZAxis();
Printer::moveToReal(IGNORE_COORDINATE,IGNORE_COORDINATE,ZHOME_HEAT_HEIGHT,IGNORE_COORDINATE,homingFeedrate[Z_AXIS]);
#endif
Commands::waitUntilEndOfAllMoves();
#if ZHOME_HEAT_ALL
for(int i = 0; i < NUM_EXTRUDER; i++) {
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i],static_cast<float>(ZHOME_MIN_TEMPERATURE)),i,false,false);
}
for(int i = 0; i < NUM_EXTRUDER; i++) {
if(extruder[i].tempControl.currentTemperatureC < ZHOME_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[i],static_cast<float>(ZHOME_MIN_TEMPERATURE)),i,false,true);
}
#else
if(extruder[Extruder::current->id].tempControl.currentTemperatureC < ZHOME_MIN_TEMPERATURE)
Extruder::setTemperatureForExtruder(RMath::max(actTemp[Extruder::current->id],static_cast<float>(ZHOME_MIN_TEMPERATURE)),Extruder::current->id,false,true);
#endif
}
#if ZHOME_X_POS == IGNORE_COORDINATE
if(xaxis)
#else
if(xaxis || zaxis)
#endif
{
homeXAxis();
//#if ZHOME_X_POS == IGNORE_COORDINATE
if(X_HOME_DIR < 0) startX = Printer::xMin;
else startX = Printer::xMin + Printer::xLength;
//#else
// startX = ZHOME_X_POS;
//#endif
}
#if ZHOME_Y_POS == IGNORE_COORDINATE
if(yaxis)
#else
if(yaxis || zaxis)
#endif
{
homeYAxis();
//#if ZHOME_Y_POS == IGNORE_COORDINATE
if(Y_HOME_DIR < 0) startY = Printer::yMin;
else startY = Printer::yMin + Printer::yLength;
//#else
// startY = ZHOME_Y_POS;
//#endif
}
if(zaxis) {
#if ZHOME_X_POS != IGNORE_COORDINATE || ZHOME_Y_POS != IGNORE_COORDINATE
moveToReal(ZHOME_X_POS,ZHOME_Y_POS,IGNORE_COORDINATE,IGNORE_COORDINATE,homingFeedrate[Y_AXIS]); // correct rotation!
Commands::waitUntilEndOfAllMoves();
#endif
homeZAxis(); // real z distance at that point to zero
if(Z_HOME_DIR < 0) startZ = Printer::zMin;
else startZ = Printer::zMin + Printer::zLength - zBedOffset;
moveToReal(IGNORE_COORDINATE, IGNORE_COORDINATE, ZHOME_HEAT_HEIGHT, IGNORE_COORDINATE, homingFeedrate[X_AXIS]); // correct rotation!
#if ZHOME_HEAT_ALL
for(int i = 0; i < NUM_EXTRUDER; i++)
Extruder::setTemperatureForExtruder(actTemp[i],i,false,false);
for(int i = 0; i < NUM_EXTRUDER; i++)
Extruder::setTemperatureForExtruder(actTemp[i],i,false, actTemp[i] > MAX_ROOM_TEMPERATURE);
#else
Extruder::setTemperatureForExtruder(actTemp[Extruder::current->id], Extruder::current->id, false, actTemp[Extruder::current->id] > MAX_ROOM_TEMPERATURE);
#endif
}
}
#endif
#if HOMING_ORDER != HOME_ORDER_ZXYTZ
if(xaxis)
{
#if DUAL_X_AXIS
startX = currentPosition[X_AXIS];
#else
if(X_HOME_DIR < 0) startX = Printer::xMin;
else startX = Printer::xMin + Printer::xLength;
#endif
}
if(yaxis)
{
if(Y_HOME_DIR < 0) startY = Printer::yMin;
else startY = Printer::yMin + Printer::yLength;
}
if(zaxis)
{
if(Z_HOME_DIR < 0) startZ = Printer::zMin;
else startZ = Printer::zMin + Printer::zLength - Printer::zBedOffset;
}
#endif
updateCurrentPosition(true);
#if defined(Z_UP_AFTER_HOME) && Z_HOME_DIR < 0
//PrintLine::moveRelativeDistanceInSteps(0,0,axisStepsPerMM[Z_AXIS]*Z_UP_AFTER_HOME * Z_HOME_DIR,0,homingFeedrate[Z_AXIS],true,false);
if(zaxis)
startZ = Z_UP_AFTER_HOME;
#endif
moveToReal(startX, startY, startZ, IGNORE_COORDINATE, homingFeedrate[X_AXIS]);
updateCurrentPosition(true);
#if DUAL_X_AXIS && LAZY_DUAL_X_AXIS == 1
lastCmdPos[X_AXIS] = xMin;
#endif
updateHomedAll();
//Davinci Specific
//UI_CLEAR_STATUS
Commands::printCurrentPosition(PSTR("homeAxis "));
#if defined(SUPPORT_LASER) && SUPPORT_LASER
LaserDriver::laserOn = oldLaser;
#endif
setNoDestinationCheck(nocheck);
Printer::updateCurrentPosition();
}
#endif // Not delta printer
void Printer::zBabystep()
{
bool dir = zBabystepsMissing > 0;
if(dir) zBabystepsMissing--;
else zBabystepsMissing++;
#if DRIVE_SYSTEM == DELTA
Printer::enableXStepper();
Printer::enableYStepper();
#endif
Printer::enableZStepper();
Printer::unsetAllSteppersDisabled();
#if DRIVE_SYSTEM == DELTA
bool xDir = Printer::getXDirection();
bool yDir = Printer::getYDirection();
#endif
bool zDir = Printer::getZDirection();
#if DRIVE_SYSTEM == DELTA
Printer::setXDirection(dir);
Printer::setYDirection(dir);
#endif
Printer::setZDirection(dir);
#if defined(DIRECTION_DELAY) && DIRECTION_DELAY > 0
HAL::delayMicroseconds(DIRECTION_DELAY);
#else
HAL::delayMicroseconds(10);
#endif
#if DRIVE_SYSTEM == DELTA
startXStep();
startYStep();
#endif // Drive system 3
startZStep();
HAL::delayMicroseconds(STEPPER_HIGH_DELAY + 2);
Printer::endXYZSteps();
HAL::delayMicroseconds(10);
#if DRIVE_SYSTEM == 3
Printer::setXDirection(xDir);
Printer::setYDirection(yDir);
#endif
Printer::setZDirection(zDir);
#if defined(DIRECTION_DELAY) && DIRECTION_DELAY > 0
HAL::delayMicroseconds(DIRECTION_DELAY);
#endif
//HAL::delayMicroseconds(STEPPER_HIGH_DELAY + 1);
}
void Printer::setCaseLight(bool on) {
#if CASE_LIGHTS_PIN > -1
WRITE(CASE_LIGHTS_PIN,on);
//Davinci Specific, powersave function
#if UI_AUTOLIGHTOFF_AFTER!=0
if (on)UIDisplay::ui_autolightoff_time=HAL::timeInMilliseconds()+EEPROM::timepowersaving;
#endif
reportCaseLightStatus();
#endif
}
void Printer::reportCaseLightStatus() {
#if CASE_LIGHTS_PIN > -1
if(READ(CASE_LIGHTS_PIN))
Com::printInfoFLN(PSTR("Case lights on"));
else
Com::printInfoFLN(PSTR("Case lights off"));
#else
Com::printInfoFLN(PSTR("No case lights"));
#endif
}
void Printer::handleInterruptEvent() {
if(interruptEvent == 0) return;
int event = interruptEvent;
interruptEvent = 0;
switch(event) {
#if EXTRUDER_JAM_CONTROL
case PRINTER_INTERRUPT_EVENT_JAM_DETECTED:
EVENT_JAM_DETECTED;
Com::printFLN(PSTR("important:Extruder jam detected"));
UI_ERROR_P(Com::translatedF(UI_TEXT_EXTRUDER_JAM_ID));
#if JAM_ACTION == 1 // start dialog
Printer::setUIErrorMessage(false);
#if UI_DISPLAY_TYPE != NO_DISPLAY
uid.executeAction(UI_ACTION_WIZARD_JAM_EOF, true);
#endif
#elif JAM_ACTION == 2 // pause host/print
#if SDSUPPORT
if(sd.sdmode == 2) {
sd.pausePrint(true);
break;
}
#endif // SDSUPPORT
Com::printFLN(PSTR("RequestPause:Extruder Jam Detected!"));
#endif // JAM_ACTION
break;
case PRINTER_INTERRUPT_EVENT_JAM_SIGNAL0:
case PRINTER_INTERRUPT_EVENT_JAM_SIGNAL1:
case PRINTER_INTERRUPT_EVENT_JAM_SIGNAL2:
case PRINTER_INTERRUPT_EVENT_JAM_SIGNAL3:
case PRINTER_INTERRUPT_EVENT_JAM_SIGNAL4:
case PRINTER_INTERRUPT_EVENT_JAM_SIGNAL5:
{
if(isJamcontrolDisabled()) break;
fast8_t extruderIndex = event - PRINTER_INTERRUPT_EVENT_JAM_SIGNAL0;
Extruder &ext = extruder[extruderIndex];
int32_t steps = abs(extruder[extruderIndex].jamStepsOnSignal);
EVENT_JAM_SIGNAL_CHANGED(extruderIndex,steps);
if(steps > ext.jamSlowdownSteps && !ext.tempControl.isSlowedDown()) {
extruder[extruderIndex].tempControl.setSlowedDown(true);
Commands::changeFeedrateMultiply(ext.jamSlowdownTo);
UI_ERROR_P(Com::tFilamentSlipping);
}
if(isDebugJam()) {
Com::printF(PSTR("Jam signal steps:"),steps);
int32_t percent = static_cast<int32_t>(steps) * 100 / JAM_STEPS;
Com::printF(PSTR(" / "),percent);
Com::printFLN(PSTR("% on "),(int)extruderIndex);
}
}
break;
#endif // EXTRUDER_JAM_CONTROL case PRINTER_INTERRUPT_EVENT_JAM_DETECTED:
}
}
#define START_EXTRUDER_CONFIG(i) Com::printF(Com::tConfig);Com::printF(Com::tExtrDot,i+1);Com::print(':');
void Printer::showConfiguration() {
Com::config(PSTR("Baudrate:"),baudrate);
#ifndef EXTERNALSERIAL
Com::config(PSTR("InputBuffer:"),SERIAL_BUFFER_SIZE - 1);
#endif
Com::config(PSTR("NumExtruder:"),NUM_EXTRUDER);
Com::config(PSTR("MixingExtruder:"),MIXING_EXTRUDER);
Com::config(PSTR("HeatedBed:"),HAVE_HEATED_BED);
Com::config(PSTR("SDCard:"),SDSUPPORT);
Com::config(PSTR("Fan:"),FAN_PIN > -1 && FEATURE_FAN_CONTROL);
#if FEATURE_FAN2_CONTROL && defined(FAN2_PIN) && FAN2_PIN > -1
Com::config(PSTR("Fan2:1"));
#else
Com::config(PSTR("Fan2:0"));
#endif
Com::config(PSTR("LCD:"),FEATURE_CONTROLLER != NO_CONTROLLER);
Com::config(PSTR("SoftwarePowerSwitch:"),PS_ON_PIN > -1);
Com::config(PSTR("XHomeDir:"),X_HOME_DIR);
Com::config(PSTR("YHomeDir:"),Y_HOME_DIR);
Com::config(PSTR("ZHomeDir:"),Z_HOME_DIR);
Com::config(PSTR("SupportG10G11:"),FEATURE_RETRACTION);
Com::config(PSTR("SupportLocalFilamentchange:"),FEATURE_RETRACTION);
Com::config(PSTR("CaseLights:"),CASE_LIGHTS_PIN > -1);
Com::config(PSTR("ZProbe:"),FEATURE_Z_PROBE);
Com::config(PSTR("Autolevel:"),FEATURE_AUTOLEVEL);
Com::config(PSTR("EEPROM:"),EEPROM_MODE != 0);
Com::config(PSTR("PrintlineCache:"), PRINTLINE_CACHE_SIZE);
Com::config(PSTR("JerkXY:"),maxJerk);
Com::config(PSTR("KeepAliveInterval:"), KEEP_ALIVE_INTERVAL);
#if DRIVE_SYSTEM != DELTA
Com::config(PSTR("JerkZ:"),maxZJerk);
#endif
#if FEATURE_RETRACTION
Com::config(PSTR("RetractionLength:"),EEPROM_FLOAT(RETRACTION_LENGTH));
Com::config(PSTR("RetractionLongLength:"),EEPROM_FLOAT(RETRACTION_LONG_LENGTH));
Com::config(PSTR("RetractionSpeed:"),EEPROM_FLOAT(RETRACTION_SPEED));
Com::config(PSTR("RetractionZLift:"),EEPROM_FLOAT(RETRACTION_Z_LIFT));
Com::config(PSTR("RetractionUndoExtraLength:"),EEPROM_FLOAT(RETRACTION_UNDO_EXTRA_LENGTH));
Com::config(PSTR("RetractionUndoExtraLongLength:"),EEPROM_FLOAT(RETRACTION_UNDO_EXTRA_LONG_LENGTH));
Com::config(PSTR("RetractionUndoSpeed:"),EEPROM_FLOAT(RETRACTION_UNDO_SPEED));
#endif // FEATURE_RETRACTION
Com::config(PSTR("XMin:"),xMin);
Com::config(PSTR("YMin:"),yMin);
Com::config(PSTR("ZMin:"),zMin);
Com::config(PSTR("XMax:"),xMin + xLength);
Com::config(PSTR("YMax:"),yMin + yLength);
Com::config(PSTR("ZMax:"),zMin + zLength);
Com::config(PSTR("XSize:"), xLength);
Com::config(PSTR("YSize:"), yLength);
Com::config(PSTR("ZSize:"), zLength);
Com::config(PSTR("XPrintAccel:"), maxAccelerationMMPerSquareSecond[X_AXIS]);
Com::config(PSTR("YPrintAccel:"), maxAccelerationMMPerSquareSecond[Y_AXIS]);
Com::config(PSTR("ZPrintAccel:"), maxAccelerationMMPerSquareSecond[Z_AXIS]);
Com::config(PSTR("XTravelAccel:"), maxTravelAccelerationMMPerSquareSecond[X_AXIS]);
Com::config(PSTR("YTravelAccel:"), maxTravelAccelerationMMPerSquareSecond[Y_AXIS]);
Com::config(PSTR("ZTravelAccel:"), maxTravelAccelerationMMPerSquareSecond[Z_AXIS]);
#if DRIVE_SYSTEM == DELTA
Com::config(PSTR("PrinterType:Delta"));
#else
Com::config(PSTR("PrinterType:Cartesian"));
#endif // DRIVE_SYSTEM
Com::config(PSTR("MaxBedTemp:"), HEATED_BED_MAX_TEMP);
for(fast8_t i = 0; i < NUM_EXTRUDER; i++) {
START_EXTRUDER_CONFIG(i)
Com::printFLN(PSTR("Jerk:"),extruder[i].maxStartFeedrate);
START_EXTRUDER_CONFIG(i)
Com::printFLN(PSTR("MaxSpeed:"),extruder[i].maxFeedrate);
START_EXTRUDER_CONFIG(i)
Com::printFLN(PSTR("Acceleration:"),extruder[i].maxAcceleration);
START_EXTRUDER_CONFIG(i)
Com::printFLN(PSTR("Diameter:"),extruder[i].diameter);
START_EXTRUDER_CONFIG(i)
Com::printFLN(PSTR("MaxTemp:"),MAXTEMP);
}
}
#if DISTORTION_CORRECTION
Distortion Printer::distortion;
bool Printer::measureDistortion(void)
{
return distortion.measure();
}
Distortion::Distortion()
{
}
void Distortion::init() {
updateDerived();
#if !DISTORTION_PERMANENT
resetCorrection();
#endif
#if EEPROM_MODE != 0
enabled = EEPROM::isZCorrectionEnabled();
Com::printFLN(PSTR("zDistortionCorrection:"),(int)enabled);
#else
enabled = false;
#endif
}
void Distortion::updateDerived()
{
#if DRIVE_SYSTEM == DELTA
step = (2 * Printer::axisStepsPerMM[Z_AXIS] * DISTORTION_CORRECTION_R) / (DISTORTION_CORRECTION_POINTS - 1.0f);
radiusCorrectionSteps = DISTORTION_CORRECTION_R * Printer::axisStepsPerMM[Z_AXIS];
#else
xCorrectionSteps = (DISTORTION_XMAX - DISTORTION_XMIN) * Printer::axisStepsPerMM[X_AXIS] / (DISTORTION_CORRECTION_POINTS - 1);
xOffsetSteps = DISTORTION_XMIN * Printer::axisStepsPerMM[X_AXIS];
yCorrectionSteps = (DISTORTION_YMAX - DISTORTION_YMIN) * Printer::axisStepsPerMM[Y_AXIS] / (DISTORTION_CORRECTION_POINTS - 1);
yOffsetSteps = DISTORTION_YMIN * Printer::axisStepsPerMM[Y_AXIS];
#endif
zStart = DISTORTION_START_DEGRADE * Printer::axisStepsPerMM[Z_AXIS];
zEnd = DISTORTION_END_HEIGHT * Printer::axisStepsPerMM[Z_AXIS];
}
void Distortion::enable(bool permanent)
{
enabled = true;
#if DISTORTION_PERMANENT && EEPROM_MODE != 0
if(permanent)
EEPROM::setZCorrectionEnabled(enabled);
#endif
Com::printFLN(Com::tZCorrectionEnabled);
}
void Distortion::disable(bool permanent)
{
enabled = false;
#if DISTORTION_PERMANENT && EEPROM_MODE != 0
if(permanent)
EEPROM::setZCorrectionEnabled(enabled);
#endif
#if DRIVE_SYSTEM != DELTA
Printer::zCorrectionStepsIncluded = 0;
#endif
Printer::updateCurrentPosition(false);
Com::printFLN(Com::tZCorrectionDisabled);
}
void Distortion::reportStatus() {
Com::printFLN(enabled ? Com::tZCorrectionEnabled : Com::tZCorrectionDisabled);
}
void Distortion::resetCorrection(void)
{
Com::printInfoFLN(PSTR("Resetting Z correction"));
for(int i = 0; i < DISTORTION_CORRECTION_POINTS * DISTORTION_CORRECTION_POINTS; i++)
setMatrix(0, i);
}
int Distortion::matrixIndex(fast8_t x, fast8_t y) const
{
return static_cast<int>(y) * DISTORTION_CORRECTION_POINTS + x;
}
int32_t Distortion::getMatrix(int index) const
{
#if DISTORTION_PERMANENT
return EEPROM::getZCorrection(index);
#else
return matrix[index];
#endif
}
void Distortion::setMatrix(int32_t val, int index)
{
#if DISTORTION_PERMANENT
#if EEPROM_MODE != 0
EEPROM::setZCorrection(val, index);
#endif
#else
matrix[index] = val;
#endif
}
bool Distortion::isCorner(fast8_t i, fast8_t j) const
{
return (i == 0 || i == DISTORTION_CORRECTION_POINTS - 1)
&& (j == 0 || j == DISTORTION_CORRECTION_POINTS - 1);
}
/**
Extrapolates the changes from p1 to p2 to p3 which has the same distance as p1-p2.
*/
inline int32_t Distortion::extrapolatePoint(fast8_t x1, fast8_t y1, fast8_t x2, fast8_t y2) const
{
return 2 * getMatrix(matrixIndex(x2,y2)) - getMatrix(matrixIndex(x1,y1));
}
void Distortion::extrapolateCorner(fast8_t x, fast8_t y, fast8_t dx, fast8_t dy)
{
setMatrix((extrapolatePoint(x + 2 * dx, y, x + dx, y) + extrapolatePoint(x, y + 2 * dy, x, y + dy)) / 2.0,
matrixIndex(x,y));
}
void Distortion::extrapolateCorners()
{
const fast8_t m = DISTORTION_CORRECTION_POINTS - 1;
extrapolateCorner(0, 0, 1, 1);
extrapolateCorner(0, m, 1,-1);
extrapolateCorner(m, 0,-1, 1);
extrapolateCorner(m, m,-1,-1);
}
bool Distortion::measure(void)
{
fast8_t ix, iy;
float z = EEPROM::zProbeBedDistance() + (EEPROM::zProbeHeight() > 0 ? EEPROM::zProbeHeight() : 0);
disable(false);
//Com::printFLN(PSTR("radiusCorr:"), radiusCorrectionSteps);
//Com::printFLN(PSTR("steps:"), step);
int32_t zCorrection = 0;
#if Z_HOME_DIR < 0
zCorrection += Printer::zBedOffset * Printer::axisStepsPerMM[Z_AXIS];
#endif
#if Z_HOME_DIR < 0 && Z_PROBE_Z_OFFSET_MODE == 1
zCorrection += Printer::zBedOffset * Printer::axisStepsPerMM[Z_AXIS];
#endif
Printer::startProbing(true);
for (iy = DISTORTION_CORRECTION_POINTS - 1; iy >= 0; iy--)
for (ix = 0; ix < DISTORTION_CORRECTION_POINTS; ix++)
{
#if (DRIVE_SYSTEM == DELTA) && DISTORTION_EXTRAPOLATE_CORNERS
if (isCorner(ix, iy)) continue;
#endif
#if DRIVE_SYSTEM == DELTA
float mtx = Printer::invAxisStepsPerMM[X_AXIS] * (ix * step - radiusCorrectionSteps);
float mty = Printer::invAxisStepsPerMM[Y_AXIS] * (iy * step - radiusCorrectionSteps);
#else
float mtx = Printer::invAxisStepsPerMM[X_AXIS] * (ix * xCorrectionSteps + xOffsetSteps);
float mty = Printer::invAxisStepsPerMM[Y_AXIS] * (iy * yCorrectionSteps + yOffsetSteps);
#endif
//Com::printF(PSTR("mx "),mtx);
//Com::printF(PSTR("my "),mty);
//Com::printF(PSTR("ix "),(int)ix);
//Com::printFLN(PSTR("iy "),(int)iy);
Printer::moveToReal(mtx, mty, z, IGNORE_COORDINATE, EEPROM::zProbeXYSpeed());
float zp = Printer::runZProbe(false,false, Z_PROBE_REPETITIONS);
if(zp == ILLEGAL_Z_PROBE) {
Com::printErrorFLN(PSTR("Stopping distortion measurement due to errors."));
Printer::finishProbing();
return false;
}
setMatrix(floor(0.5f + Printer::axisStepsPerMM[Z_AXIS] * (z -zp)) + zCorrection,
matrixIndex(ix,iy));
}
Printer::finishProbing();
#if (DRIVE_SYSTEM == DELTA) && DISTORTION_EXTRAPOLATE_CORNERS
extrapolateCorners();
#endif
// make average center
// Disabled since we can use grid measurement to get average plane if that is what we want.
// Shifting z with each measuring is a pain and can result in unexpected behavior.
/*
float sum = 0;
for(int k = 0;k < DISTORTION_CORRECTION_POINTS * DISTORTION_CORRECTION_POINTS; k++)
sum += getMatrix(k);
sum /= static_cast<float>(DISTORTION_CORRECTION_POINTS * DISTORTION_CORRECTION_POINTS);
for(int k = 0;k < DISTORTION_CORRECTION_POINTS * DISTORTION_CORRECTION_POINTS; k++)
setMatrix(getMatrix(k) - sum, k);
Printer::zLength -= sum * Printer::invAxisStepsPerMM[Z_AXIS];
*/
#if EEPROM_MODE
EEPROM::storeDataIntoEEPROM();
#endif
// print matrix
Com::printInfoFLN(PSTR("Distortion correction matrix:"));
for (iy = DISTORTION_CORRECTION_POINTS - 1; iy >=0 ; iy--)
{
for(ix = 0; ix < DISTORTION_CORRECTION_POINTS; ix++)
Com::printF(ix ? PSTR(", ") : PSTR(""), getMatrix(matrixIndex(ix,iy)));
Com::println();
}
showMatrix();
enable(true);
return true;
//Printer::homeAxis(false, false, true);
}
int32_t Distortion::correct(int32_t x, int32_t y, int32_t z) const
{
if (!enabled || z > zEnd || Printer::isZProbingActive()) return 0;
if(false && z == 0) {
Com::printF(PSTR("correcting ("), x); Com::printF(PSTR(","), y);
}
#if DRIVE_SYSTEM == DELTA
x += radiusCorrectionSteps;
y += radiusCorrectionSteps;
int32_t fxFloor = (x - (x < 0 ? step - 1 : 0)) / step; // special case floor for negative integers!
int32_t fyFloor = (y - (y < 0 ? step -1 : 0)) / step;
#else
x -= xOffsetSteps;
y -= yOffsetSteps;
int32_t fxFloor = (x - (x < 0 ? xCorrectionSteps - 1 : 0)) / xCorrectionSteps; // special case floor for negative integers!
int32_t fyFloor = (y - (y < 0 ? yCorrectionSteps -1 : 0)) / yCorrectionSteps;
#endif
// indexes to the matrix
if (fxFloor < 0)
fxFloor = 0;
else if (fxFloor > DISTORTION_CORRECTION_POINTS - 2)
fxFloor = DISTORTION_CORRECTION_POINTS - 2;
if (fyFloor < 0)
fyFloor = 0;
else if (fyFloor > DISTORTION_CORRECTION_POINTS - 2)
fyFloor = DISTORTION_CORRECTION_POINTS - 2;
// position between cells of matrix, range=0 to 1 - outside of the matrix the value will be outside this range and the value will be extrapolated
#if DRIVE_SYSTEM == DELTA
int32_t fx = x - fxFloor * step; // Grid normalized coordinates
int32_t fy = y - fyFloor * step;
int32_t idx11 = matrixIndex(fxFloor, fyFloor);
int32_t m11 = getMatrix(idx11), m12 = getMatrix(idx11 + 1);
int32_t m21 = getMatrix(idx11 + DISTORTION_CORRECTION_POINTS);
int32_t m22 = getMatrix(idx11 + DISTORTION_CORRECTION_POINTS + 1);
int32_t zx1 = m11 + ((m12 - m11) * fx) / step;
int32_t zx2 = m21 + ((m22 - m21) * fx) / step;
int32_t correction_z = zx1 + ((zx2 - zx1) * fy) / step;
#else
int32_t fx = x - fxFloor * xCorrectionSteps; // Grid normalized coordinates
int32_t fy = y - fyFloor * yCorrectionSteps;
int32_t idx11 = matrixIndex(fxFloor, fyFloor);
int32_t m11 = getMatrix(idx11), m12 = getMatrix(idx11 + 1);
int32_t m21 = getMatrix(idx11 + DISTORTION_CORRECTION_POINTS);
int32_t m22 = getMatrix(idx11 + DISTORTION_CORRECTION_POINTS + 1);
int32_t zx1 = m11 + ((m12 - m11) * fx) / xCorrectionSteps;
int32_t zx2 = m21 + ((m22 - m21) * fx) / xCorrectionSteps;
int32_t correction_z = zx1 + ((zx2 - zx1) * fy) / yCorrectionSteps;
#endif
if(false && z == 0) {
Com::printF(PSTR(") by "), correction_z);
Com::printF(PSTR(" ix= "), fxFloor); Com::printF(PSTR(" fx= "), fx);
Com::printF(PSTR(" iy= "), fyFloor); Com::printFLN(PSTR(" fy= "), fy);
}
if (z > zStart && z > 0)
//All variables are type int. For calculation we need float values
correction_z = (correction_z * static_cast<float>(zEnd - z) / (zEnd - zStart));
/* if(correction_z > 20 || correction_z < -20) {
Com::printFLN(PSTR("Corr. error too big:"),correction_z);
Com::printF(PSTR("fxf"),(int)fxFloor);
Com::printF(PSTR(" fyf"),(int)fyFloor);
Com::printF(PSTR(" fx"),fx);
Com::printF(PSTR(" fy"),fy);
Com::printF(PSTR(" x"),x);
Com::printFLN(PSTR(" y"),y);
Com::printF(PSTR(" m11:"),m11);
Com::printF(PSTR(" m12:"),m12);
Com::printF(PSTR(" m21:"),m21);
Com::printF(PSTR(" m22:"),m22);
Com::printFLN(PSTR(" step:"),step);
correction_z = 0;
}*/
return correction_z;
}
void Distortion::set(float x,float y,float z) {
#if DRIVE_SYSTEM == DELTA
int ix = (x * Printer::axisStepsPerMM[Z_AXIS] + radiusCorrectionSteps + step / 2) / step;
int iy = (y * Printer::axisStepsPerMM[Z_AXIS] + radiusCorrectionSteps + step / 2) / step;
#else
int ix = (x * Printer::axisStepsPerMM[X_AXIS] - xOffsetSteps + xCorrectionSteps / 2) / xCorrectionSteps;
int iy = (y * Printer::axisStepsPerMM[Y_AXIS] - yOffsetSteps + yCorrectionSteps / 2) / yCorrectionSteps;
#endif
if(ix < 0) ix = 0;
if(iy < 0) iy = 0;
if(ix >= DISTORTION_CORRECTION_POINTS-1) ix = DISTORTION_CORRECTION_POINTS-1;
if(iy >= DISTORTION_CORRECTION_POINTS-1) iy = DISTORTION_CORRECTION_POINTS-1;
int32_t idx = matrixIndex(ix, iy);
setMatrix(z * Printer::axisStepsPerMM[Z_AXIS],idx);
}
void Distortion::showMatrix() {
for(int ix = 0;ix < DISTORTION_CORRECTION_POINTS; ix++) {
for(int iy = 0;iy < DISTORTION_CORRECTION_POINTS; iy++) {
#if DRIVE_SYSTEM == DELTA
float x = (-radiusCorrectionSteps + ix * step) * Printer::invAxisStepsPerMM[Z_AXIS];
float y = (-radiusCorrectionSteps + iy * step) * Printer::invAxisStepsPerMM[Z_AXIS];
#else
float x = (xOffsetSteps + ix * xCorrectionSteps) * Printer::invAxisStepsPerMM[X_AXIS];
float y = (yOffsetSteps + iy * yCorrectionSteps) * Printer::invAxisStepsPerMM[Y_AXIS];
#endif
int32_t idx = matrixIndex(ix, iy);
float z = getMatrix(idx) * Printer::invAxisStepsPerMM[Z_AXIS];
Com::printF(PSTR("G33 X"),x,2);
Com::printF(PSTR(" Y"),y,2);
Com::printFLN(PSTR(" Z"),z,3);
}
}
}
#endif // DISTORTION_CORRECTION
#if JSON_OUTPUT
void Printer::showJSONStatus(int type) {
bool firstOccurrence;
Com::printF(PSTR("{\"status\": \""));
if (PrintLine::linesCount == 0) {
Com::print('I'); // IDLING
#if SDSUPPORT
} else if (sd.sdactive) {
Com::print('P'); // SD PRINTING
#endif
} else {
Com::print('B'); // SOMETHING ELSE, BUT SOMETHIG
}
Com::printF(PSTR("\",\"coords\": {"));
Com::printF(PSTR("\"axesHomed\":["));
Com::printF(isHomedAll() ? PSTR("1, 1, 1") : PSTR("0, 0, 0"));
Com::printF(PSTR("],\"extr\":["));
firstOccurrence = true;
for (int i = 0; i < NUM_EXTRUDER; i++) {
if (!firstOccurrence) Com::print(',');
Com::print(extruder[i].extrudePosition / extruder[i].stepsPerMM);
firstOccurrence = false;
}
Com::printF(PSTR("],\"xyz\":["));
Com::print(currentPosition[X_AXIS]); // X
Com::print(',');
Com::print(currentPosition[Y_AXIS]); // Y
Com::print(',');
Com::print(currentPosition[Z_AXIS]); // Z
Com::printF(PSTR("]},\"currentTool\":"));
Com::print(Extruder::current->id);
Com::printF(PSTR(",\"params\": {\"atxPower\":"));
Com::print(isPowerOn()?'1':'0');
Com::printF(PSTR(",\"fanPercent\":["));
#if FEATURE_FAN_CONTROL
Com::print(getFanSpeed() / 2.55f);
#endif
#if FEATURE_FAN2_CONTROL
Com::printF(Com::tComma,getFan2Speed() / 2.55f);
#endif
Com::printF(PSTR("],\"speedFactor\":"));
Com::print(Printer::feedrateMultiply);
Com::printF(PSTR(",\"extrFactors\":["));
firstOccurrence = true;
for (int i = 0; i < NUM_EXTRUDER; i++) {
if (!firstOccurrence) Com::print(',');
Com::print((int)Printer::extrudeMultiply); // Really *100? 100 is normal
firstOccurrence = false;
}
Com::printF(PSTR("]},"));
// SEQ??
Com::printF(PSTR("\"temps\": {"));
#if HAVE_HEATED_BED
Com::printF(PSTR("\"bed\": {\"current\":"));
Com::print(heatedBedController.currentTemperatureC);
Com::printF(PSTR(",\"active\":"));
Com::print(heatedBedController.targetTemperatureC);
Com::printF(PSTR(",\"state\":"));
Com::print(heatedBedController.targetTemperatureC > 0 ? '2' : '1');
Com::printF(PSTR("},"));
#endif
Com::printF(PSTR("\"heads\": {\"current\": ["));
firstOccurrence = true;
for (int i = 0; i < NUM_EXTRUDER; i++) {
if (!firstOccurrence) Com::print(',');
Com::print(extruder[i].tempControl.currentTemperatureC);
firstOccurrence = false;
}
Com::printF(PSTR("],\"active\": ["));
firstOccurrence = true;
for (int i = 0; i < NUM_EXTRUDER; i++) {
if (!firstOccurrence) Com::print(',');
Com::print(extruder[i].tempControl.targetTemperatureC);
firstOccurrence = false;
}
Com::printF(PSTR("],\"state\": ["));
firstOccurrence = true;
for (int i = 0; i < NUM_EXTRUDER; i++) {
if (!firstOccurrence) Com::print(',');
Com::print(extruder[i].tempControl.targetTemperatureC > EXTRUDER_FAN_COOL_TEMP?'2':'1');
firstOccurrence = false;
}
Com::printF(PSTR("]}},\"time\":"));
Com::print(HAL::timeInMilliseconds());
switch (type) {
default:
case 0:
case 1:
break;
case 2:
// UNTIL PRINT ESTIMATE TIMES ARE IMPLEMENTED
// NO DURATION INFO IS SUPPORTED
Com::printF(PSTR(",\"coldExtrudeTemp\":0,\"coldRetractTemp\":0.0,\"geometry\":\""));
#if (DRIVE_SYSTEM == DELTA)
Com::printF(PSTR("delta"));
#elif (DRIVE_SYSTEM == CARTESIAN || DRIVE_SYSTEM == GANTRY_FAKE)
Com::printF(PSTR("cartesian"));
#elif ((DRIVE_SYSTEM == XY_GANTRY) || (DRIVE_SYSTEM == YX_GANTRY))
Com::printF(PSTR("coreXY"));
#elif (DRIVE_SYSTEM == XZ_GANTRY)
Com::printF(PSTR("coreXZ"));
#endif
Com::printF(PSTR("\",\"name\":\""));
Com::printF(PSTR(UI_PRINTER_NAME));
Com::printF(PSTR("\",\"tools\":["));
firstOccurrence = true;
for (int i = 0; i < NUM_EXTRUDER; i++) {
if (!firstOccurrence) Com::print(',');
Com::printF(PSTR("{\"number\":"));
Com::print(i);
Com::printF(PSTR(",\"heaters\":[1],\"drives\":[1]"));
Com::print('}');
firstOccurrence = false;
}
Com::printF(PSTR("]"));
break;
case 3:
Com::printF(PSTR(",\"currentLayer\":"));
#if SDSUPPORT
if (sd.sdactive && sd.fileInfo.layerHeight > 0) { // ONLY CAN TELL WHEN SD IS PRINTING
Com::print((int) (currentPosition[Z_AXIS] / sd.fileInfo.layerHeight));
} else Com::print('0');
#else
Com::printF(PSTR("-1"));
#endif
Com::printF(PSTR(",\"extrRaw\":["));
firstOccurrence = true;
for (int i = 0; i < NUM_EXTRUDER; i++) {
if (!firstOccurrence) Com::print(',');
Com::print(extruder[i].extrudePosition * Printer::extrudeMultiply);
firstOccurrence = false;
}
Com::printF(PSTR("],"));
#if SDSUPPORT
if (sd.sdactive) {
Com::printF(PSTR("\"fractionPrinted\":"));
float fraction;
if (sd.filesize < 2000000) fraction = sd.sdpos / sd.filesize;
else fraction = (sd.sdpos >> 8) / (sd.filesize >> 8);
Com::print((float) floorf(fraction * 1000) / 1000); // ONE DECIMAL, COULD BE DONE BY SHIFTING, BUT MEH
Com::print(',');
}
#endif
Com::printF(PSTR("\"firstLayerHeight\":"));
#if SDSUPPORT
if (sd.sdactive) {
Com::print(sd.fileInfo.layerHeight);
} else Com::print('0');
#else
Com::print('0');
#endif
break;
case 4:
case 5:
Com::printF(PSTR(",\"axisMins\":["));
Com::print((int) X_MIN_POS);
Com::print(',');
Com::print((int) Y_MIN_POS);
Com::print(',');
Com::print((int) Z_MIN_POS);
Com::printF(PSTR("],\"axisMaxes\":["));
Com::print((int) X_MAX_LENGTH);
Com::print(',');
Com::print((int) Y_MAX_LENGTH);
Com::print(',');
Com::print((int) Z_MAX_LENGTH);
Com::printF(PSTR("],\"accelerations\":["));
Com::print(maxAccelerationMMPerSquareSecond[X_AXIS]);
Com::print(',');
Com::print(maxAccelerationMMPerSquareSecond[Y_AXIS]);
Com::print(',');
Com::print(maxAccelerationMMPerSquareSecond[Z_AXIS]);
for (int i = 0; i < NUM_EXTRUDER; i++) {
Com::print(',');
Com::print(extruder[i].maxAcceleration);
}
Com::printF(PSTR("],\"firmwareElectronics\":\""));
#ifdef RAMPS_V_1_3
Com::printF(PSTR("RAMPS"));
#elif (CPU_ARCH == ARCH_ARM)
Com::printF(PSTR("Arduino Due"));
#else
Com::printF(PSTR("AVR"));
#endif
Com::printF(PSTR("\",\"firmwareName\":\"Repetier\",\"firmwareVersion\":\""));
Com::printF(PSTR(REPETIER_VERSION));
Com::printF(PSTR("\",\"minFeedrates\":[0,0,0"));
for (int i = 0; i < NUM_EXTRUDER; i++) {
Com::printF(PSTR(",0"));
}
Com::printF(PSTR("],\"maxFeedrates\":["));
Com::print(maxFeedrate[X_AXIS]);
Com::print(',');
Com::print(maxFeedrate[Y_AXIS]);
Com::print(',');
Com::print(maxFeedrate[Z_AXIS]);
for (int i = 0; i < NUM_EXTRUDER; i++) {
Com::print(',');
Com::print(extruder[i].maxFeedrate);
}
Com::printF(PSTR("]"));
break;
}
Com::printFLN(PSTR("}"));
}
#endif // JSON_OUTPUT
#if defined(CUSTOM_EVENTS)
#include "CustomEventsImpl.h"
#endif
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