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);
}
} // }}}