From 09350841416fdf32c3486258242c35d703db0861 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 3 Apr 2015 23:42:50 -0700 Subject: [PATCH] Fix manage_inactivity - Document `manage_inactivity` function - Allow `EXTRUDER_RUNOUT_PREVENT` to work with all extruders - Use faster `memcpy` for copying coordinates --- Marlin/Marlin_main.cpp | 193 +++++++++++++++++++++++++---------------- 1 file changed, 116 insertions(+), 77 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index d0b959cd7..29ac686ef 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1009,6 +1009,8 @@ inline void sync_plan_position() { plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); } #endif +inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); } +inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); } #ifdef ENABLE_AUTO_BED_LEVELING @@ -1020,7 +1022,7 @@ inline void sync_plan_position() { refresh_cmd_timeout(); calculate_delta(destination); plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder); - for (int i = 0; i < NUM_AXIS; i++) current_position[i] = destination[i]; + set_current_to_destination(); } #endif @@ -1564,7 +1566,7 @@ static void homeaxis(int axis) { float oldFeedrate = feedrate; - for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i]; + set_destination_to_current(); if (retracting) { @@ -1769,7 +1771,7 @@ inline void gcode_G28() { enable_endstops(true); - for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i]; // includes E_AXIS + set_destination_to_current(); feedrate = 0.0; @@ -1997,7 +1999,7 @@ inline void gcode_G28() { if (mbl_was_active) { current_position[X_AXIS] = mbl.get_x(0); current_position[Y_AXIS] = mbl.get_y(0); - for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i]; + set_destination_to_current(); feedrate = homing_feedrate[X_AXIS]; line_to_destination(); st_synchronize(); @@ -4613,7 +4615,7 @@ inline void gcode_T() { #if EXTRUDERS > 1 if (tmp_extruder != active_extruder) { // Save current position to return to after applying extruder offset - memcpy(destination, current_position, sizeof(destination)); + set_destination_to_current(); #ifdef DUAL_X_CARRIAGE if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false && (delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) { @@ -5338,9 +5340,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_ { if (!mbl.active) { plan_buffer_line(x, y, z, e, feed_rate, extruder); - for(int8_t i=0; i < NUM_AXIS; i++) { - current_position[i] = destination[i]; - } + set_current_to_destination(); return; } int pix = mbl.select_x_index(current_position[X_AXIS]); @@ -5354,9 +5354,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_ if (pix == ix && piy == iy) { // Start and end on same mesh square plan_buffer_line(x, y, z, e, feed_rate, extruder); - for(int8_t i=0; i < NUM_AXIS; i++) { - current_position[i] = destination[i]; - } + set_current_to_destination(); return; } float nx, ny, ne, normalized_dist; @@ -5387,9 +5385,7 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_ } else { // Already split on a border plan_buffer_line(x, y, z, e, feed_rate, extruder); - for(int8_t i=0; i < NUM_AXIS; i++) { - current_position[i] = destination[i]; - } + set_current_to_destination(); return; } // Do the split and look for more borders @@ -5477,64 +5473,58 @@ void prepare_move() { #endif // DELTA -#ifdef DUAL_X_CARRIAGE - if (active_extruder_parked) - { - if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) - { - // move duplicate extruder into correct duplication position. - plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS], - current_position[E_AXIS], max_feedrate[X_AXIS], 1); - sync_plan_position(); - st_synchronize(); - extruder_duplication_enabled = true; - active_extruder_parked = false; - } - else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) // handle unparking of head - { - if (current_position[E_AXIS] == destination[E_AXIS]) - { - // this is a travel move - skit it but keep track of current position (so that it can later - // be used as start of first non-travel move) - if (delayed_move_time != 0xFFFFFFFFUL) - { - memcpy(current_position, destination, sizeof(current_position)); - if (destination[Z_AXIS] > raised_parked_position[Z_AXIS]) - raised_parked_position[Z_AXIS] = destination[Z_AXIS]; - delayed_move_time = millis(); - return; + #ifdef DUAL_X_CARRIAGE + if (active_extruder_parked) { + if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) { + // move duplicate extruder into correct duplication position. + plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS], + current_position[E_AXIS], max_feedrate[X_AXIS], 1); + sync_plan_position(); + st_synchronize(); + extruder_duplication_enabled = true; + active_extruder_parked = false; + } + else if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE) { // handle unparking of head + if (current_position[E_AXIS] == destination[E_AXIS]) { + // this is a travel move - skit it but keep track of current position (so that it can later + // be used as start of first non-travel move) + if (delayed_move_time != 0xFFFFFFFFUL) { + set_current_to_destination(); + if (destination[Z_AXIS] > raised_parked_position[Z_AXIS]) + raised_parked_position[Z_AXIS] = destination[Z_AXIS]; + delayed_move_time = millis(); + return; + } } + delayed_move_time = 0; + // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower + plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], + current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder); + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], + current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); + active_extruder_parked = false; } - delayed_move_time = 0; - // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower - plan_buffer_line(raised_parked_position[X_AXIS], raised_parked_position[Y_AXIS], raised_parked_position[Z_AXIS], current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], raised_parked_position[Z_AXIS], - current_position[E_AXIS], min(max_feedrate[X_AXIS],max_feedrate[Y_AXIS]), active_extruder); - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], - current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder); - active_extruder_parked = false; } - } -#endif //DUAL_X_CARRIAGE + #endif // DUAL_X_CARRIAGE -#if !defined(DELTA) && !defined(SCARA) - // Do not use feedmultiply for E or Z only moves - if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { - line_to_destination(); - } else { -#ifdef MESH_BED_LEVELING - mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder); - return; -#else - plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder); -#endif // MESH_BED_LEVELING - } -#endif // !(DELTA || SCARA) + #if !defined(DELTA) && !defined(SCARA) + // Do not use feedmultiply for E or Z only moves + if ( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { + line_to_destination(); + } + else { + #ifdef MESH_BED_LEVELING + mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder); + return; + #else + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedmultiply/100.0), active_extruder); + #endif // MESH_BED_LEVELING + } + #endif // !(DELTA || SCARA) - for(int8_t i=0; i < NUM_AXIS; i++) { - current_position[i] = destination[i]; - } + set_current_to_destination(); } void prepare_arc_move(char isclockwise) { @@ -5546,9 +5536,7 @@ void prepare_arc_move(char isclockwise) { // As far as the parser is concerned, the position is now == target. In reality the // motion control system might still be processing the action and the real tool position // in any intermediate location. - for(int8_t i=0; i < NUM_AXIS; i++) { - current_position[i] = destination[i]; - } + set_current_to_destination(); refresh_cmd_timeout(); } @@ -5718,7 +5706,16 @@ void disable_all_steppers() { } /** - * + * Manage several activities: + * - Check for Filament Runout + * - Keep the command buffer full + * - Check for maximum inactive time between commands + * - Check for maximum inactive time between stepper commands + * - Check if pin CHDK needs to go LOW + * - Check for KILL button held down + * - Check for HOME button held down + * - Check if cooling fan needs to be switched on + * - Check if an idle but hot extruder needs filament extruded (EXTRUDER_RUNOUT_PREVENT) */ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { @@ -5737,7 +5734,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { && !ignore_stepper_queue && !blocks_queued()) disable_all_steppers(); - #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH + #ifdef CHDK // Check if pin should be set to LOW after M240 set it to HIGH if (chdkActive && ms > chdkHigh + CHDK_DELAY) { chdkActive = false; WRITE(CHDK, LOW); @@ -5780,14 +5777,37 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { #endif #if HAS_CONTROLLERFAN - controllerFan(); //Check if fan should be turned on to cool stepper drivers down + controllerFan(); // Check if fan should be turned on to cool stepper drivers down #endif #ifdef EXTRUDER_RUNOUT_PREVENT if (ms > previous_millis_cmd + EXTRUDER_RUNOUT_SECONDS * 1000) if (degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) { - bool oldstatus = E0_ENABLE_READ; - enable_e0(); + bool oldstatus; + switch(active_extruder) { + case 0: + oldstatus = E0_ENABLE_READ; + enable_e0(); + break; + #if EXTRUDERS > 1 + case 1: + oldstatus = E1_ENABLE_READ; + enable_e1(); + break; + #if EXTRUDERS > 2 + case 2: + oldstatus = E2_ENABLE_READ; + enable_e2(); + break; + #if EXTRUDERS > 3 + case 3: + oldstatus = E3_ENABLE_READ; + enable_e3(); + break; + #endif + #endif + #endif + } float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE * EXTRUDER_RUNOUT_ESTEPS / axis_steps_per_unit[E_AXIS], @@ -5797,7 +5817,26 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { plan_set_e_position(oldepos); previous_millis_cmd = ms; // refresh_cmd_timeout() st_synchronize(); - E0_ENABLE_WRITE(oldstatus); + switch(active_extruder) { + case 0: + E0_ENABLE_WRITE(oldstatus); + break; + #if EXTRUDERS > 1 + case 1: + E1_ENABLE_WRITE(oldstatus); + break; + #if EXTRUDERS > 2 + case 2: + E2_ENABLE_WRITE(oldstatus); + break; + #if EXTRUDERS > 3 + case 3: + E3_ENABLE_WRITE(oldstatus); + break; + #endif + #endif + #endif + } } #endif @@ -5806,7 +5845,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { if (delayed_move_time && ms > delayed_move_time + 1000 && !Stopped) { // travel moves have been received so enact them delayed_move_time = 0xFFFFFFFFUL; // force moves to be done - memcpy(destination, current_position, sizeof(destination)); + set_destination_to_current(); prepare_move(); } #endif