void Space::load_info() { // {{{
loaddebug("loading space %d", id);
int t = type;
if (t < 0 || t >= NUM_SPACE_TYPES) {
debug("invalid current type?! using default type instead");
t = DEFAULT_TYPE;
}
type = shmem->ints[1];
loaddebug("requested type %d, current is %d", type, t);
if (type < 0 || type >= NUM_SPACE_TYPES || (id == 1 && type != TYPE_EXTRUDER) || (id == 2 && type != TYPE_FOLLOWER)) {
debug("request for type %d ignored", type);
type = t;
return; // The rest of the info is not meant for this type, so ignore it.
}
if (t != type) {
loaddebug("setting type to %d", type);
space_types[t].free(this);
if (!space_types[type].init(this)) {
type = DEFAULT_TYPE;
reset_pos(this);
for (int a = 0; a < num_axes; ++a)
axis[a]->settings.current = axis[a]->settings.source;
return; // The rest of the info is not meant for DEFAULT_TYPE, so ignore it.
}
}
space_types[type].load(this);
reset_pos(this);
loaddebug("done loading space");
} // }}}
void Space::load_axis(int a) { // {{{
loaddebug("loading axis %d", a);
axis[a]->park_order = shmem->ints[2];
axis[a]->park = shmem->floats[0];
axis[a]->min_pos = shmem->floats[1];
axis[a]->max_pos = shmem->floats[2];
} // }}}
void Space::load_axis(uint8_t a, int32_t &addr) { // {{{
loaddebug("loading axis %d", a);
axis[a]->park = read_float(addr);
axis[a]->park_order = read_8(addr);
axis[a]->min_pos = read_float(addr);
axis[a]->max_pos = read_float(addr);
} // }}}
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 Space::load_motor(int m) { // {{{
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;
bool old_dir_invert = motor[m]->dir_pin.inverted();
motor[m]->step_pin.read(shmem->ints[2]);
motor[m]->dir_pin.read(shmem->ints[3]);
motor[m]->enable_pin.read(shmem->ints[4]);
motor[m]->limit_min_pin.read(shmem->ints[5]);
motor[m]->limit_max_pin.read(shmem->ints[6]);
motor[m]->home_order = shmem->ints[7];
motor[m]->steps_per_unit = shmem->floats[0];
if (std::isnan(motor[m]->steps_per_unit)) {
debug("Trying to set NaN steps per unit for motor %d %d", id, m);
motor[m]->steps_per_unit = old_steps_per_unit;
}
motor[m]->home_pos = shmem->floats[1];
motor[m]->limit_v = shmem->floats[2];
motor[m]->limit_a = shmem->floats[3];
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);
RESET(motor[m]->dir_pin);
SET_INPUT(motor[m]->limit_min_pin);
SET_INPUT(motor[m]->limit_max_pin);
if (motor[m]->dir_pin.inverted() != old_dir_invert)
arch_invertpos(id, m);
if (!std::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) && !std::isnan(old_home_pos)) {
double diff = motor[m]->home_pos - old_home_pos * old_steps_per_unit / motor[m]->steps_per_unit;
motor[m]->settings.current_pos += diff;
//debug("load motor %d %d new home %f add %f", id, m, motor[m]->home_pos, diff);
// adjusting the arch pos is not affected by steps/unit.
arch_addpos(id, m, motor[m]->home_pos - old_home_pos);
}
reset_pos(this);
}
else if (!std::isnan(motor[m]->settings.current_pos)) {
// Motors without a limit switch: adjust motor position to match axes.
for (int a = 0; a < num_axes; ++a)
axis[a]->settings.target = axis[a]->settings.current;
space_types[type].xyz2motors(this);
double diff = motor[m]->settings.target_pos - motor[m]->settings.current_pos;
motor[m]->settings.current_pos += diff;
arch_addpos(id, m, diff);
}
} // }}}
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");
} // }}}
bool Space::setup_nums(int na, int nm) { // {{{
if (na == num_axes && nm == num_motors)
return true;
loaddebug("new space %d %d %d %d", na, nm, num_axes, num_motors);
int old_nm = num_motors;
int old_na = num_axes;
num_motors = nm;
num_axes = na;
if (na != old_na) {
Axis **new_axes = new Axis *[na];
loaddebug("new axes: %d", na);
for (int a = 0; a < min(old_na, na); ++a)
new_axes[a] = axis[a];
for (int a = old_na; a < na; ++a) {
new_axes[a] = new Axis;
new_axes[a]->park = NAN;
new_axes[a]->park_order = 0;
new_axes[a]->min_pos = -INFINITY;
new_axes[a]->max_pos = INFINITY;
new_axes[a]->type_data = NULL;
new_axes[a]->settings.dist[0] = NAN;
new_axes[a]->settings.dist[1] = NAN;
new_axes[a]->settings.main_dist = NAN;
new_axes[a]->settings.target = NAN;
new_axes[a]->settings.source = NAN;
new_axes[a]->settings.current = NAN;
new_axes[a]->history = setup_axis_history();
}
for (int a = na; a < old_na; ++a) {
space_types[type].afree(this, a);
delete[] axis[a]->history;
delete axis[a];
}
delete[] axis;
axis = new_axes;
}
if (nm != old_nm) {
Motor **new_motors = new Motor *[nm];
loaddebug("new motors: %d", nm);
for (int m = 0; m < min(old_nm, nm); ++m)
new_motors[m] = motor[m];
for (int m = old_nm; m < nm; ++m) {
new_motors[m] = new Motor;
new_motors[m]->step_pin.init();
new_motors[m]->dir_pin.init();
new_motors[m]->enable_pin.init();
new_motors[m]->limit_min_pin.init();
new_motors[m]->limit_max_pin.init();
new_motors[m]->steps_per_unit = 100;
new_motors[m]->limit_v = INFINITY;
new_motors[m]->limit_a = INFINITY;
new_motors[m]->home_pos = NAN;
new_motors[m]->home_order = 0;
new_motors[m]->limit_v = INFINITY;
new_motors[m]->limit_a = INFINITY;
new_motors[m]->active = false;
new_motors[m]->settings.last_v = 0;
new_motors[m]->settings.current_pos = 0;
new_motors[m]->settings.target_v = NAN;
new_motors[m]->settings.target_pos = NAN;
new_motors[m]->history = setup_motor_history();
ARCH_NEW_MOTOR(id, m, new_motors);
}
for (int m = nm; m < old_nm; ++m) {
DATA_DELETE(id, m);
delete[] motor[m]->history;
delete motor[m];
}
delete[] motor;
motor = new_motors;
arch_motors_change();
}
return true;
} // }}}
