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Merge pull request #4954 from thinkyhead/rc_more_debug_homing
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Fix buzzer when both i2c and beeper pin are set
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@thinkyhead
thinkyhead authored Oct 5, 2016
2 parents cc02f6e + 46839c2 commit 9dd56e6
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Showing 3 changed files with 111 additions and 68 deletions.
2 changes: 1 addition & 1 deletion Marlin/Marlin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -395,7 +395,7 @@ extern uint8_t active_extruder;
void calculate_volumetric_multipliers();

// Buzzer
#if HAS_BUZZER && PIN_EXISTS(BEEPER)
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
#include "buzzer.h"
#endif

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174 changes: 108 additions & 66 deletions Marlin/Marlin_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -286,23 +286,73 @@ bool Running = true;

uint8_t marlin_debug_flags = DEBUG_NONE;

float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[XYZ] = { false };
bool axis_homed[XYZ] = { false };
/**
* Cartesian Current Position
* Used to track the logical position as moves are queued.
* Used by 'line_to_current_position' to do a move after changing it.
* Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
*/
float current_position[XYZE] = { 0.0 };

/**
* Cartesian Destination
* A temporary position, usually applied to 'current_position'.
* Set with 'gcode_get_destination' or 'set_destination_to_current'.
* 'line_to_destination' sets 'current_position' to 'destination'.
*/
static float destination[XYZE] = { 0.0 };

/**
* axis_homed
* Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
*
* axis_known_position
* Flags that the position is known in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };

/**
* GCode line number handling. Hosts may opt to include line numbers when
* sending commands to Marlin, and lines will be checked for sequentiality.
* M110 S<int> sets the current line number.
*/
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;

/**
* GCode Command Queue
* A simple ring buffer of BUFSIZE command strings.
*
* Commands are copied into this buffer by the command injectors
* (immediate, serial, sd card) and they are processed sequentially by
* the main loop. The process_next_command function parses the next
* command and hands off execution to individual handler functions.
*/
static char command_queue[BUFSIZE][MAX_CMD_SIZE];
static char* current_command, *current_command_args;
static uint8_t cmd_queue_index_r = 0,
cmd_queue_index_w = 0,
commands_in_queue = 0;
static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
cmd_queue_index_w = 0, // Ring buffer write position
commands_in_queue = 0; // Count of commands in the queue

/**
* Current GCode Command
* When a GCode handler is running, these will be set
*/
static char *current_command, // The command currently being executed
*current_command_args, // The address where arguments begin
*seen_pointer; // Set by code_seen(), used by the code_value functions

/**
* Next Injected Command pointer. NULL if no commands are being injected.
* Used by Marlin internally to ensure that commands initiated from within
* are enqueued ahead of any pending serial or sd card commands.
*/
static const char *injected_commands_P = NULL;

#if ENABLED(INCH_MODE_SUPPORT)
float linear_unit_factor = 1.0;
float volumetric_unit_factor = 1.0;
float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
#endif

#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C;
#endif
Expand All @@ -320,13 +370,13 @@ float constexpr homing_feedrate_mm_s[] = {
MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
};
static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
int feedrate_percentage = 100, saved_feedrate_percentage;
int feedrate_percentage = 100, saved_feedrate_percentage,
flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);

bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);

// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 };
Expand Down Expand Up @@ -364,12 +414,6 @@ const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};

static int serial_count = 0;

// GCode parameter pointer used by code_seen(), code_value_float(), etc.
static char* seen_pointer;

// Next Immediate GCode Command pointer. NULL if none.
const char* queued_commands_P = NULL;

const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42

// Inactivity shutdown
Expand All @@ -387,7 +431,7 @@ static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL
// Buzzer - I2C on the LCD or a BEEPER_PIN
#if ENABLED(LCD_USE_I2C_BUZZER)
#define BUZZ(d,f) lcd_buzz(d, f)
#elif HAS_BUZZER
#elif PIN_EXISTS(BEEPER)
Buzzer buzzer;
#define BUZZ(d,f) buzzer.tone(d, f)
#else
Expand Down Expand Up @@ -706,32 +750,32 @@ extern "C" {
* Inject the next "immediate" command, when possible.
* Return true if any immediate commands remain to inject.
*/
static bool drain_queued_commands_P() {
if (queued_commands_P != NULL) {
static bool drain_injected_commands_P() {
if (injected_commands_P != NULL) {
size_t i = 0;
char c, cmd[30];
strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1);
strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
cmd[sizeof(cmd) - 1] = '\0';
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
cmd[i] = '\0';
if (enqueue_and_echo_command(cmd)) { // success?
if (c) // newline char?
queued_commands_P += i + 1; // advance to the next command
injected_commands_P += i + 1; // advance to the next command
else
queued_commands_P = NULL; // nul char? no more commands
injected_commands_P = NULL; // nul char? no more commands
}
}
return (queued_commands_P != NULL); // return whether any more remain
return (injected_commands_P != NULL); // return whether any more remain
}

/**
* Record one or many commands to run from program memory.
* Aborts the current queue, if any.
* Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards
* Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
*/
void enqueue_and_echo_commands_P(const char* pgcode) {
queued_commands_P = pgcode;
drain_queued_commands_P(); // first command executed asap (when possible)
injected_commands_P = pgcode;
drain_injected_commands_P(); // first command executed asap (when possible)
}

void clear_command_queue() {
Expand Down Expand Up @@ -770,7 +814,8 @@ bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
if (_enqueuecommand(cmd, say_ok)) {
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(MSG_Enqueueing, cmd);
SERIAL_ECHOLNPGM("\"");
SERIAL_CHAR('"');
SERIAL_EOL;
return true;
}
return false;
Expand Down Expand Up @@ -1084,14 +1129,14 @@ inline void get_serial_commands() {

/**
* Add to the circular command queue the next command from:
* - The command-injection queue (queued_commands_P)
* - The command-injection queue (injected_commands_P)
* - The active serial input (usually USB)
* - The SD card file being actively printed
*/
void get_available_commands() {

// if any immediate commands remain, don't get other commands yet
if (drain_queued_commands_P()) return;
if (drain_injected_commands_P()) return;

get_serial_commands();

Expand Down Expand Up @@ -1734,8 +1779,8 @@ static void clean_up_after_endstop_or_probe_move() {
#endif
}

#endif // Z_PROBE_SLED
#if ENABLED(Z_PROBE_ALLEN_KEY)
#elif ENABLED(Z_PROBE_ALLEN_KEY)

void run_deploy_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_X) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Y) || defined(Z_PROBE_ALLEN_KEY_DEPLOY_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_X
Expand Down Expand Up @@ -1813,6 +1858,7 @@ static void clean_up_after_endstop_or_probe_move() {
do_blocking_move_to(Z_PROBE_ALLEN_KEY_DEPLOY_5_X, Z_PROBE_ALLEN_KEY_DEPLOY_5_Y, Z_PROBE_ALLEN_KEY_DEPLOY_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE));
#endif
}

void run_stow_moves_script() {
#if defined(Z_PROBE_ALLEN_KEY_STOW_1_X) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Y) || defined(Z_PROBE_ALLEN_KEY_STOW_1_Z)
#ifndef Z_PROBE_ALLEN_KEY_STOW_1_X
Expand Down Expand Up @@ -1890,6 +1936,7 @@ static void clean_up_after_endstop_or_probe_move() {
do_blocking_move_to(Z_PROBE_ALLEN_KEY_STOW_5_X, Z_PROBE_ALLEN_KEY_STOW_5_Y, Z_PROBE_ALLEN_KEY_STOW_5_Z, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE));
#endif
}

#endif

#if HAS_BED_PROBE
Expand Down Expand Up @@ -2094,9 +2141,8 @@ static void clean_up_after_endstop_or_probe_move() {
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", stow ? "stow" : "no stow");
SERIAL_CHAR(')');
SERIAL_EOL;
SERIAL_ECHOPAIR(", ", stow ? "" : "no ");
SERIAL_ECHOLNPGM("stow)");
DEBUG_POS("", current_position);
}
#endif
Expand Down Expand Up @@ -2647,7 +2693,8 @@ void gcode_get_destination() {
void unknown_command_error() {
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
SERIAL_ECHOLNPGM("\"");
SERIAL_CHAR('"');
SERIAL_EOL;
}

#if ENABLED(HOST_KEEPALIVE_FEATURE)
Expand Down Expand Up @@ -6714,7 +6761,7 @@ inline void gcode_M503() {
delay(100);

#if HAS_BUZZER
millis_t next_tick = 0;
millis_t next_buzz = 0;
#endif

// Wait for filament insert by user and press button
Expand All @@ -6723,9 +6770,9 @@ inline void gcode_M503() {
while (!lcd_clicked()) {
#if HAS_BUZZER
millis_t ms = millis();
if (ms >= next_tick) {
if (ms >= next_buzz) {
BUZZ(300, 2000);
next_tick = ms + 2500; // Beep every 2.5s while waiting
next_buzz = ms + 2500; // Beep every 2.5s while waiting
}
#endif
idle(true);
Expand Down Expand Up @@ -8855,18 +8902,15 @@ void prepare_move_to_destination() {

float mm_of_travel = HYPOT(angular_travel * radius, fabs(linear_travel));
if (mm_of_travel < 0.001) return;

uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1;

float theta_per_segment = angular_travel / segments;
float linear_per_segment = linear_travel / segments;
float extruder_per_segment = extruder_travel / segments;

/**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
* r_T = [cos(phi) -sin(phi);
* sin(phi) cos(phi] * r ;
* sin(phi) cos(phi)] * r ;
*
* For arc generation, the center of the circle is the axis of rotation and the radius vector is
* defined from the circle center to the initial position. Each line segment is formed by successive
Expand All @@ -8889,13 +8933,12 @@ void prepare_move_to_destination() {
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
float sin_T = theta_per_segment;

float arc_target[NUM_AXIS];
float sin_Ti, cos_Ti, r_new_Y;
uint16_t i;
int8_t count = 0;
float arc_target[XYZE],
theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
extruder_per_segment = extruder_travel / segments,
sin_T = theta_per_segment,
cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation

// Initialize the linear axis
arc_target[Z_AXIS] = current_position[Z_AXIS];
Expand All @@ -8907,18 +8950,18 @@ void prepare_move_to_destination() {

millis_t next_idle_ms = millis() + 200UL;

for (i = 1; i < segments; i++) { // Iterate (segments-1) times
int8_t count = 0;
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times

thermalManager.manage_heater();
millis_t now = millis();
if (ELAPSED(now, next_idle_ms)) {
next_idle_ms = now + 200UL;
if (ELAPSED(millis(), next_idle_ms)) {
next_idle_ms = millis() + 200UL;
idle();
}

if (++count < N_ARC_CORRECTION) {
// Apply vector rotation matrix to previous r_X / 1
r_new_Y = r_X * sin_T + r_Y * cos_T;
float r_new_Y = r_X * sin_T + r_Y * cos_T;
r_X = r_X * cos_T - r_Y * sin_T;
r_Y = r_new_Y;
}
Expand All @@ -8927,8 +8970,8 @@ void prepare_move_to_destination() {
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
// To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time.
cos_Ti = cos(i * theta_per_segment);
sin_Ti = sin(i * theta_per_segment);
float cos_Ti = cos(i * theta_per_segment),
sin_Ti = sin(i * theta_per_segment);
r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
count = 0;
Expand Down Expand Up @@ -9198,8 +9241,7 @@ void prepare_move_to_destination() {

float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5;
return 1.0 / (M_PI * d2 * d2);
return 1.0 / (M_PI * diameter * 0.5 * diameter * 0.5);
}

void calculate_volumetric_multipliers() {
Expand Down Expand Up @@ -9425,7 +9467,7 @@ void idle(
print_job_timer.tick();
#endif

#if HAS_BUZZER && PIN_EXISTS(BEEPER)
#if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER)
buzzer.tick();
#endif
}
Expand Down
3 changes: 2 additions & 1 deletion Marlin/configuration_store.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -383,7 +383,8 @@ void Config_RetrieveSettings() {

// SERIAL_ECHOPAIR("Version: [", ver);
// SERIAL_ECHOPAIR("] Stored version: [", stored_ver);
// SERIAL_ECHOLNPGM("]");
// SERIAL_CHAR(']');
// SERIAL_EOL;

if (strncmp(version, stored_ver, 3) != 0) {
Config_ResetDefault();
Expand Down

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