void Space::load_motor(int m, int32_t &addr) { // {{{
loaddebug("loading motor %d", m);
uint16_t enable = motor[m]->enable_pin.write();
double old_home_pos = motor[m]->home_pos;
double old_steps_per_unit = motor[m]->steps_per_unit;
motor[m]->step_pin.read(read_16(addr));
motor[m]->dir_pin.read(read_16(addr));
motor[m]->enable_pin.read(read_16(addr));
motor[m]->limit_min_pin.read(read_16(addr));
motor[m]->limit_max_pin.read(read_16(addr));
motor[m]->steps_per_unit = read_float(addr);
motor[m]->home_pos = read_float(addr);
motor[m]->limit_v = read_float(addr);
motor[m]->limit_a = read_float(addr);
motor[m]->home_order = read_8(addr);
arch_motors_change();
SET_OUTPUT(motor[m]->enable_pin);
if (enable != motor[m]->enable_pin.write()) {
if (motors_busy)
SET(motor[m]->enable_pin);
else {
RESET(motor[m]->enable_pin);
}
}
RESET(motor[m]->step_pin);
SET_INPUT(motor[m]->limit_min_pin);
SET_INPUT(motor[m]->limit_max_pin);
bool must_move = false;
if (!isnan(motor[m]->home_pos)) {
// Axes with a limit switch.
if (motors_busy && (old_home_pos != motor[m]->home_pos || old_steps_per_unit != motor[m]->steps_per_unit) && !isnan(old_home_pos)) {
double ohp = old_home_pos * old_steps_per_unit;
double hp = motor[m]->home_pos * motor[m]->steps_per_unit;
double diff = hp - ohp;
motor[m]->settings.current_pos += diff;
//debug("load motor %d %d new home %f add %f", id, m, motor[m]->home_pos, diff);
arch_addpos(id, m, diff);
must_move = true;
}
}
else {
// Axes without a limit switch, including extruders.
if (motors_busy && old_steps_per_unit != motor[m]->steps_per_unit) {
debug("load motor %d %d new steps no home", id, m);
double oldpos = motor[m]->settings.current_pos;
double pos = oldpos / old_steps_per_unit;
motor[m]->settings.current_pos = pos * motor[m]->steps_per_unit;
arch_addpos(id, m, motor[m]->settings.current_pos - oldpos);
// Adjust current_pos in all history.
for (int h = 0; h < FRAGMENTS_PER_BUFFER; ++h) {
oldpos = motor[m]->history[h].current_pos;
pos = oldpos / old_steps_per_unit;
motor[m]->history[h].current_pos = pos * motor[m]->steps_per_unit;
}
}
}
if (must_move)
move_to_current();
} // }}}
void Space::load_motor(uint8_t m, int32_t &addr) { // {{{
loaddebug("loading motor %d", m);
uint16_t enable = motor[m]->enable_pin.write();
double old_home_pos = motor[m]->home_pos;
double old_steps_per_unit = motor[m]->steps_per_unit;
motor[m]->step_pin.read(read_16(addr));
motor[m]->dir_pin.read(read_16(addr));
motor[m]->enable_pin.read(read_16(addr));
motor[m]->limit_min_pin.read(read_16(addr));
motor[m]->limit_max_pin.read(read_16(addr));
motor[m]->sense_pin.read(read_16(addr));
motor[m]->steps_per_unit = read_float(addr);
motor[m]->max_steps = read_8(addr);
motor[m]->home_pos = read_float(addr);
motor[m]->limit_v = read_float(addr);
motor[m]->limit_a = read_float(addr);
motor[m]->home_order = read_8(addr);
arch_motors_change();
SET_OUTPUT(motor[m]->enable_pin);
if (enable != motor[m]->enable_pin.write()) {
if (motors_busy)
SET(motor[m]->enable_pin);
else {
RESET(motor[m]->enable_pin);
}
}
RESET(motor[m]->step_pin);
SET_INPUT(motor[m]->limit_min_pin);
SET_INPUT(motor[m]->limit_max_pin);
SET_INPUT(motor[m]->sense_pin);
bool must_move = false;
if (!isnan(motor[m]->home_pos)) {
// Axes with a limit switch.
if (motors_busy && (old_home_pos != motor[m]->home_pos || old_steps_per_unit != motor[m]->steps_per_unit) && !isnan(old_home_pos)) {
int32_t hp = motor[m]->home_pos * motor[m]->steps_per_unit + (motor[m]->home_pos > 0 ? .49 : -.49);
int32_t ohp = old_home_pos * old_steps_per_unit + (old_home_pos > 0 ? .49 : -.49);
int32_t diff = hp - ohp;
motor[m]->settings.current_pos += diff;
cpdebug(id, m, "load motor new home add %d", diff);
arch_addpos(id, m, diff);
must_move = true;
}
}
else {
// Axes without a limit switch, including extruders.
if (motors_busy && old_steps_per_unit != motor[m]->steps_per_unit) {
int32_t cp = motor[m]->settings.current_pos;
double pos = cp / old_steps_per_unit;
cpdebug(id, m, "load motor new steps no home");
motor[m]->settings.current_pos = pos * motor[m]->steps_per_unit;
int diff = motor[m]->settings.current_pos - cp;
arch_addpos(id, m, diff);
}
}
if (must_move)
move_to_current();
} // }}}
void buffer_refill() { // {{{
if (preparing) {
//debug("no refill because prepare");
return;
}
if (moving_to_current == 2)
move_to_current();
if (!computing_move || refilling || stopping || discard_pending || discarding) {
//debug("refill block %d %d %d %d %d", computing_move, refilling, stopping, discard_pending, discarding);
return;
}
refilling = true;
// send_fragment in the previous refill may have failed; try it again.
if (current_fragment_pos > 0)
send_fragment();
//debug("refill start %d %d %d", running_fragment, current_fragment, sending_fragment);
// Keep one free fragment, because we want to be able to rewind and use the buffer before the one currently active.
while (computing_move && !stopping && !discard_pending && !discarding && (running_fragment - 1 - current_fragment + FRAGMENTS_PER_BUFFER) % FRAGMENTS_PER_BUFFER > 4 && !sending_fragment) {
//debug("refill %d %d %f", current_fragment, current_fragment_pos, spaces[0].motor[0]->settings.current_pos);
// fill fragment until full.
apply_tick();
//debug("refill2 %d %f", current_fragment, spaces[0].motor[0]->settings.current_pos);
if (current_fragment_pos >= SAMPLES_PER_FRAGMENT) {
//debug("fragment full %d %d %d", computing_move, current_fragment_pos, BYTES_PER_FRAGMENT);
send_fragment();
}
// Check for commands from host; in case of many short buffers, this loop may not end in a reasonable time.
//serial(0);
}
if (stopping || discard_pending) {
//debug("aborting refill for stopping");
refilling = false;
return;
}
if (!computing_move && current_fragment_pos > 0) {
//debug("finalize");
send_fragment();
}
refilling = false;
arch_start_move(0);
} // }}}
void Space::load_info(int32_t &addr) { // {{{
loaddebug("loading space %d", id);
uint8_t t = type;
if (t >= NUM_SPACE_TYPES)
t = DEFAULT_TYPE;
type = read_8(addr);
if (type >= NUM_SPACE_TYPES || (id == 1 && type != EXTRUDER_TYPE)) {
debug("request for type %d ignored", type);
type = t;
}
bool ok;
if (t != type) {
loaddebug("setting type to %d", type);
space_types[t].free(this);
if (!space_types[type].init(this)) {
type = DEFAULT_TYPE;
space_types[type].reset_pos(this);
for (uint8_t a = 0; a < num_axes; ++a)
axis[a]->settings.current = axis[a]->settings.source;
return; // The rest of the package is not meant for DEFAULT_TYPE, so ignore it.
}
ok = false;
}
else {
if (computing_move || !motors_busy)
ok = false;
else
ok = true;
}
space_types[type].load(this, t, addr);
if (t != type) {
space_types[type].reset_pos(this);
loaddebug("resetting current for load space %d", id);
for (uint8_t a = 0; a < num_axes; ++a)
axis[a]->settings.current = axis[a]->settings.source;
}
if (ok)
move_to_current();
loaddebug("done loading space");
} // }}}
