Beim Versuch zu kompilieren wird ein Fehler gem. Fehlerprotokoll angezeigt. Mir ist nicht klar, was hier zu ändern ist.
#include <EEPROM.h>
#include <EEPROM.h>
/*
This file is part of Repetier-Firmware.
Repetier-Firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Repetier-Firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
This firmware is a nearly complete rewrite of the sprinter firmware
by kliment (https://github.com/kliment/Sprinter)
which based on Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
#
Functions in this file are used to communicate using ascii or repetier protocol.
*/
#ifndef MOTION_H_INCLUDED
#define MOTION_H_INCLUDED
/** Marks the first step of a new move */
#define FLAG_WARMUP 1
#define FLAG_NOMINAL 2
#define FLAG_DECELERATING 4
#define FLAG_ACCELERATION_ENABLED 8
#define FLAG_CHECK_ENDSTOPS 16
#define FLAG_SKIP_ACCELERATING 32
#define FLAG_SKIP_DEACCELERATING 64
#define FLAG_BLOCKED 128
/** Are the step parameter computed */
#define FLAG_JOIN_STEPPARAMS_COMPUTED 1
/** The right speed is fixed. Don't check this block or any block to the left. */
#define FLAG_JOIN_END_FIXED 2
/** The left speed is fixed. Don't check left block. */
#define FLAG_JOIN_START_FIXED 4
/** Start filament retraction at move start */
#define FLAG_JOIN_START_RETRACT 8
/** Wait for filament pushback, before ending move */
#define FLAG_JOIN_END_RETRACT 16
/** Disable retract for this line */
#define FLAG_JOIN_NO_RETRACT 32
/** Wait for the extruder to finish it's up movement */
#define FLAG_JOIN_WAIT_EXTRUDER_UP 64
/** Wait for the extruder to finish it's down movement */
#define FLAG_JOIN_WAIT_EXTRUDER_DOWN 128
// Printing related data
#if NONLINEAR_SYSTEM
// Allow the delta cache to store segments for every line in line cache. Beware this gets big ... fast.
// DELTASEGMENTS_PER_PRINTLINE *
#define DELTA_CACHE_SIZE (DELTASEGMENTS_PER_PRINTLINE * PRINTLINE_CACHE_SIZE)
class PrintLine;
typedef struct
{
flag8_t dir; ///< Direction of delta movement.
uint16_t deltaSteps[TOWER_ARRAY]; ///< Number of steps in move.
inline void checkEndstops(PrintLine *cur,bool checkall);
inline void setXMoveFinished()
{
dir &= ~XSTEP;
}
inline void setYMoveFinished()
{
dir &= ~YSTEP;
}
inline void setZMoveFinished()
{
dir &= ~ZSTEP;
}
inline void setXYMoveFinished()
{
dir &= ~XY_STEP;
}
inline bool isXPositiveMove()
{
return (dir & X_STEP_DIRPOS) == X_STEP_DIRPOS;
}
inline bool isXNegativeMove()
{
return (dir & X_STEP_DIRPOS) == XSTEP;
}
inline bool isYPositiveMove()
{
return (dir & Y_STEP_DIRPOS) == Y_STEP_DIRPOS;
}
inline bool isYNegativeMove()
{
return (dir & Y_STEP_DIRPOS) == YSTEP;
}
inline bool isZPositiveMove()
{
return (dir & Z_STEP_DIRPOS) == Z_STEP_DIRPOS;
}
inline bool isZNegativeMove()
{
return (dir & Z_STEP_DIRPOS) == ZSTEP;
}
inline bool isEPositiveMove()
{
return (dir & E_STEP_DIRPOS) == E_STEP_DIRPOS;
}
inline bool isENegativeMove()
{
return (dir & E_STEP_DIRPOS) == ESTEP;
}
inline bool isXMove()
{
return (dir & XSTEP);
}
inline bool isYMove()
{
return (dir & YSTEP);
}
inline bool isXOrYMove()
{
return dir & XY_STEP;
}
inline bool isZMove()
{
return (dir & ZSTEP);
}
inline bool isEMove()
{
return (dir & ESTEP);
}
inline bool isEOnlyMove()
{
return (dir & XYZE_STEP)==ESTEP;
}
inline bool isNoMove()
{
return (dir & XYZE_STEP)==0;
}
inline bool isXYZMove()
{
return dir & XYZ_STEP;
}
inline bool isMoveOfAxis(uint8_t axis)
{
return (dir & (XSTEP<<axis));
}
inline void setMoveOfAxis(uint8_t axis)
{
dir |= XSTEP<<axis;
}
inline void setPositiveMoveOfAxis(uint8_t axis)
{
dir |= X_STEP_DIRPOS<<axis;
}
inline void setPositiveDirectionForAxis(uint8_t axis)
{
dir |= X_DIRPOS<<axis;
}
} DeltaSegment;
extern uint8_t lastMoveID;
#endif
class UIDisplay;
class PrintLine // RAM usage: 24*4+15 = 113 Byte
{
friend class UIDisplay;
#if CPU_ARCH==ARCH_ARM
static volatile bool nlFlag;
#endif
public:
static uint8_t linesPos; // Position for executing line movement
static PrintLine lines[];
static uint8_t linesWritePos; // Position where we write the next cached line move
flag8_t joinFlags;
volatile flag8_t flags;
private:
flag8_t primaryAxis;
int32_t timeInTicks;
flag8_t halfStep; ///< 4 = disabled, 1 = halfstep, 2 = fulstep
flag8_t dir; ///< Direction of movement. 1 = X+, 2 = Y+, 4= Z+, values can be combined.
int32_t delta[E_AXIS_ARRAY]; ///< Steps we want to move.
int32_t error[E_AXIS_ARRAY]; ///< Error calculation for Bresenham algorithm
float speedX; ///< Speed in x direction at fullInterval in mm/s
float speedY; ///< Speed in y direction at fullInterval in mm/s
float speedZ; ///< Speed in z direction at fullInterval in mm/s
float speedE; ///< Speed in E direction at fullInterval in mm/s
float fullSpeed; ///< Desired speed mm/s
float invFullSpeed; ///< 1.0/fullSpeed for fatser computation
float accelerationDistance2; ///< Real 2.0*distanceÜacceleration mm²/s²
float maxJunctionSpeed; ///< Max. junction speed between this and next segment
float startSpeed; ///< Staring speed in mm/s
float endSpeed; ///< Exit speed in mm/s
float minSpeed;
float distance;
#if NONLINEAR_SYSTEM
uint8_t numDeltaSegments; ///< Number of delta segments left in line. Decremented by stepper timer.
uint8_t moveID; ///< ID used to identify moves which are all part of the same line
int32_t numPrimaryStepPerSegment; ///< Number of primary bresenham axis steps in each delta segment
DeltaSegment segments[DELTASEGMENTS_PER_PRINTLINE];
#endif
ticks_t fullInterval; ///< interval at full speed in ticks/step.
uint16_t accelSteps; ///< How much steps does it take, to reach the plateau.
uint16_t decelSteps; ///< How much steps does it take, to reach the end speed.
uint32_t accelerationPrim; ///< Acceleration along primary axis
uint32_t fAcceleration; ///< accelerationPrim*262144/F_CPU
speed_t vMax; ///< Maximum reached speed in steps/s.
speed_t vStart; ///< Starting speed in steps/s.
speed_t vEnd; ///< End speed in steps/s
#if USE_ADVANCE
#if ENABLE_QUADRATIC_ADVANCE
int32_t advanceRate; ///< Advance steps at full speed
int32_t advanceFull; ///< Maximum advance at fullInterval [steps*65536]
int32_t advanceStart;
int32_t advanceEnd;
#endif
uint16_t advanceL; ///< Recomputated L value
#endif
#ifdef DEBUG_STEPCOUNT
int32_t totalStepsRemaining;
#endif
public:
int32_t stepsRemaining; ///< Remaining steps, until move is finished
static PrintLine *cur;
static volatile uint8_t linesCount; // Number of lines cached 0 = nothing to do
inline bool areParameterUpToDate()
{
return joinFlags & FLAG_JOIN_STEPPARAMS_COMPUTED;
}
inline void invalidateParameter()
{
joinFlags &= ~FLAG_JOIN_STEPPARAMS_COMPUTED;
}
inline void setParameterUpToDate()
{
joinFlags |= FLAG_JOIN_STEPPARAMS_COMPUTED;
}
inline bool isStartSpeedFixed()
{
return joinFlags & FLAG_JOIN_START_FIXED;
}
inline void setStartSpeedFixed(bool newState)
{
joinFlags = (newState ? joinFlags | FLAG_JOIN_START_FIXED : joinFlags & ~FLAG_JOIN_START_FIXED);
}
inline void fixStartAndEndSpeed()
{
joinFlags |= FLAG_JOIN_END_FIXED | FLAG_JOIN_START_FIXED;
}
inline bool isEndSpeedFixed()
{
return joinFlags & FLAG_JOIN_END_FIXED;
}
inline void setEndSpeedFixed(bool newState)
{
joinFlags = (newState ? joinFlags | FLAG_JOIN_END_FIXED : joinFlags & ~FLAG_JOIN_END_FIXED);
}
inline bool isWarmUp()
{
return flags & FLAG_WARMUP;
}
inline uint8_t getWaitForXLinesFilled()
{
return primaryAxis;
}
inline void setWaitForXLinesFilled(uint8_t b)
{
primaryAxis = b;
}
inline bool isExtruderForwardMove()
{
return (dir & E_STEP_DIRPOS)==E_STEP_DIRPOS;
}
inline void block()
{
flags |= FLAG_BLOCKED;
}
inline void unblock()
{
flags &= ~FLAG_BLOCKED;
}
inline bool isBlocked()
{
return flags & FLAG_BLOCKED;
}
inline bool isCheckEndstops()
{
return flags & FLAG_CHECK_ENDSTOPS;
}
inline bool isNominalMove()
{
return flags & FLAG_NOMINAL;
}
inline void setNominalMove()
{
flags |= FLAG_NOMINAL;
}
inline void checkEndstops()
{
if(isCheckEndstops())
{
if(isXNegativeMove() && Printer::isXMinEndstopHit())
setXMoveFinished();
if(isYNegativeMove() && Printer::isYMinEndstopHit())
setYMoveFinished();
if(isXPositiveMove() && Printer::isXMaxEndstopHit())
setXMoveFinished();
if(isYPositiveMove() && Printer::isYMaxEndstopHit())
setYMoveFinished();
}
#if FEATURE_Z_PROBE
if(Printer::isZProbingActive() && isZNegativeMove() && Printer::isZProbeHit())
{
setZMoveFinished();
Printer::stepsRemainingAtZHit = stepsRemaining;
}
else
#endif
// Test Z-Axis every step if necessary, otherwise it could easyly ruin your printer!
if(isZNegativeMove() && Printer::isZMinEndstopHit())
setZMoveFinished();
if(isZPositiveMove() && Printer::isZMaxEndstopHit())
{
#if MAX_HARDWARE_ENDSTOP_Z
Printer::stepsRemainingAtZHit = stepsRemaining;
#endif
setZMoveFinished();
}
if(isZPositiveMove() && Printer::isZMaxEndstopHit())
setZMoveFinished();
}
inline void setXMoveFinished()
{
#if DRIVE_SYSTEM==CARTESIAN || NONLINEAR_SYSTEM
dir&=~16;
#else
dir&=~48;
#endif
}
inline void setYMoveFinished()
{
#if DRIVE_SYSTEM==CARTESIAN || NONLINEAR_SYSTEM
dir&=~32;
#else
dir&=~48;
#endif
}
inline void setZMoveFinished()
{
dir&=~64;
}
inline void setXYMoveFinished()
{
dir&=~48;
}
inline bool isXPositiveMove()
{
return (dir & X_STEP_DIRPOS)==X_STEP_DIRPOS;
}
inline bool isXNegativeMove()
{
return (dir & X_STEP_DIRPOS)==XSTEP;
}
inline bool isYPositiveMove()
{
return (dir & Y_STEP_DIRPOS)==Y_STEP_DIRPOS;
}
inline bool isYNegativeMove()
{
return (dir & Y_STEP_DIRPOS)==YSTEP;
}
inline bool isZPositiveMove()
{
return (dir & Z_STEP_DIRPOS)==Z_STEP_DIRPOS;
}
inline bool isZNegativeMove()
{
return (dir & Z_STEP_DIRPOS)==ZSTEP;
}
inline bool isEPositiveMove()
{
return (dir & E_STEP_DIRPOS)==E_STEP_DIRPOS;
}
inline bool isENegativeMove()
{
return (dir & E_STEP_DIRPOS)==ESTEP;
}
inline bool isXMove()
{
return (dir & XSTEP);
}
inline bool isYMove()
{
return (dir & YSTEP);
}
inline bool isXOrYMove()
{
return dir & XY_STEP;
}
inline bool isXOrZMove()
{
return dir & (XSTEP | YSTEP);
}
inline bool isZMove()
{
return (dir & ZSTEP);
}
inline bool isEMove()
{
return (dir & ESTEP);
}
inline bool isEOnlyMove()
{
return (dir & XYZE_STEP)==ESTEP;
}
inline bool isNoMove()
{
return (dir & XYZE_STEP)==0;
}
inline bool isXYZMove()
{
return dir & XYZ_STEP;
}
inline bool isMoveOfAxis(uint8_t axis)
{
return (dir & (XSTEP<<axis));
}
inline void setMoveOfAxis(uint8_t axis)
{
dir |= XSTEP<<axis;
}
inline void setPositiveDirectionForAxis(uint8_t axis)
{
dir |= X_DIRPOS<<axis;
}
inline static void resetPathPlanner()
{
linesCount = 0;
linesPos = linesWritePos;
Printer::setMenuMode(MENU_MODE_PRINTING,false);
}
// Only called from bresenham -> inside interrupt handle
inline void updateAdvanceSteps(speed_t v,uint8_t max_loops,bool accelerate)
{
#if USE_ADVANCE
if(!Printer::isAdvanceActivated()) return;
#if ENABLE_QUADRATIC_ADVANCE
long advanceTarget = Printer::advanceExecuted;
if(accelerate)
{
for(uint8_t loop = 0; loop<max_loops; loop++) advanceTarget += advanceRate;
if(advanceTarget>advanceFull)
advanceTarget = advanceFull;
}
else
{
for(uint8_t loop = 0; loop<max_loops; loop++) advanceTarget -= advanceRate;
if(advanceTarget<advanceEnd)
advanceTarget = advanceEnd;
}
long h = HAL::mulu16xu16to32(v, advanceL);
int tred = ((advanceTarget + h) >> 16);
HAL::forbidInterrupts();
Printer::extruderStepsNeeded += tred-Printer::advanceStepsSet;
if(tred > 0 && Printer::advanceStepsSet <= 0)
Printer::extruderStepsNeeded += Extruder::current->advanceBacklash;
else if(tred < 0 && Printer::advanceStepsSet >= 0)
Printer::extruderStepsNeeded -= Extruder::current->advanceBacklash;
Printer::advanceStepsSet = tred;
HAL::allowInterrupts();
Printer::advanceExecuted = advanceTarget;
#else
int tred = HAL::mulu6xu16shift16(v, advanceL);
HAL::forbidInterrupts();
Printer::extruderStepsNeeded += tred - Printer::advanceStepsSet;
if(tred > 0 && Printer::advanceStepsSet <= 0)
Printer::extruderStepsNeeded += (Extruder::current->advanceBacklash << 1);
else if(tred < 0 && Printer::advanceStepsSet >= 0)
Printer::extruderStepsNeeded -= (Extruder::current->advanceBacklash << 1);
Printer::advanceStepsSet = tred;
HAL::allowInterrupts();
#endif
#endif
}
inline bool moveDecelerating()
{
if(stepsRemaining <= decelSteps)
{
if (!(flags & FLAG_DECELERATING))
{
Printer::timer = 0;
flags |= FLAG_DECELERATING;
}
return true;
}
else return false;
}
inline bool moveAccelerating()
{
return Printer::stepNumber <= accelSteps;
}
inline bool isFullstepping()
{
return halfStep == 4;
}
inline void startXStep()
{
#if !(GANTRY)
WRITE(X_STEP_PIN,HIGH);
#if FEATURE_TWO_XSTEPPER
WRITE(X2_STEP_PIN,HIGH);
#endif
#else
#if DRIVE_SYSTEM == XY_GANTRY || DRIVE_SYSTEM == XZ_GANTRY
if(isXPositiveMove())
{
Printer::motorX++;
Printer::motorYorZ++;
}
else
{
Printer::motorX--;
Printer::motorYorZ--;
}
#endif
#if DRIVE_SYSTEM == YX_GANTRY || DRIVE_SYSTEM == ZX_GANTRY
if(isXPositiveMove())
{
Printer::motorX++;
Printer::motorYorZ--;
}
else
{
Printer::motorX--;
Printer::motorYorZ++;
}
#endif
#endif
#ifdef DEBUG_STEPCOUNT
totalStepsRemaining--;
#endif
}
inline void startYStep()
{
#if !(GANTRY) || DRIVE_SYSTEM == ZX_GANTRY || DRIVE_SYSTEM == XZ_GANTRY
WRITE(Y_STEP_PIN,HIGH);
#if FEATURE_TWO_YSTEPPER
WRITE(Y2_STEP_PIN,HIGH);
#endif
#else
#if DRIVE_SYSTEM==XY_GANTRY
if(isYPositiveMove())
{
Printer::motorX++;
Printer::motorYorZ--;
}
else
{
Printer::motorX--;
Printer::motorYorZ++;
}
#endif
#if DRIVE_SYSTEM==YX_GANTRY
if(isYPositiveMove())
{
Printer::motorX++;
Printer::motorYorZ++;
}
else
{
Printer::motorX--;
Printer::motorYorZ--;
}
#endif
#endif // GANTRY
#ifdef DEBUG_STEPCOUNT
totalStepsRemaining--;
#endif
}
inline void startZStep()
{
#if !(GANTRY) || DRIVE_SYSTEM == YX_GANTRY || DRIVE_SYSTEM == XY_GANTRY
WRITE(Z_STEP_PIN,HIGH);
#if FEATURE_TWO_ZSTEPPER
WRITE(Z2_STEP_PIN,HIGH);
#endif
#else
#if DRIVE_SYSTEM==XZ_GANTRY
if(isYPositiveMove())
{
Printer::motorX++;
Printer::motorYorZ--;
}
else
{
Printer::motorX--;
Printer::motorYorZ++;
}
#endif
#if DRIVE_SYSTEM==ZX_GANTRY
if(isYPositiveMove())
{
Printer::motorX++;
Printer::motorYorZ++;
}
else
{
Printer::motorX--;
Printer::motorYorZ--;
}
#endif
#endif
}
void updateStepsParameter();
inline float safeSpeed();
void calculateMove(float axis_diff[],uint8_t pathOptimize);
void logLine();
inline long getWaitTicks()
{
return timeInTicks;
}
inline void setWaitTicks(long wait)
{
timeInTicks = wait;
}
static inline bool hasLines()
{
return linesCount;
}
static inline void setCurrentLine()
{
cur = &lines[linesPos];
#if CPU_ARCH==ARCH_ARM
PrintLine::nlFlag = true;
#endif
}
// Only called from within interrupts
static inline void removeCurrentLineForbidInterrupt()
{
linesPos++;
if(linesPos >= PRINTLINE_CACHE_SIZE) linesPos=0;
cur = NULL;
#if CPU_ARCH==ARCH_ARM
nlFlag = false;
#endif
HAL::forbidInterrupts();
--linesCount;
if(!linesCount)
Printer::setMenuMode(MENU_MODE_PRINTING,false);
}
static inline void pushLine()
{
linesWritePos++;
if(linesWritePos >= PRINTLINE_CACHE_SIZE) linesWritePos = 0;
Printer::setMenuMode(MENU_MODE_PRINTING,true);
InterruptProtectedBlock noInts;
linesCount++;
}
static uint8_t getLinesCount() {
InterruptProtectedBlock noInts;
return linesCount;
}
static PrintLine *getNextWriteLine()
{
return &lines[linesWritePos];
}
static inline void computeMaxJunctionSpeed(PrintLine *previous,PrintLine *current);
static int32_t bresenhamStep();
static void waitForXFreeLines(uint8_t b=1, bool allowMoves = false);
static inline void forwardPlanner(uint8_t p);
static inline void backwardPlanner(uint8_t p,uint8_t last);
static void updateTrapezoids();
static uint8_t insertWaitMovesIfNeeded(uint8_t pathOptimize, uint8_t waitExtraLines);
static void queueCartesianMove(uint8_t check_endstops,uint8_t pathOptimize);
static void moveRelativeDistanceInSteps(int32_t x,int32_t y,int32_t z,int32_t e,float feedrate,bool waitEnd,bool check_endstop);
static void moveRelativeDistanceInStepsReal(int32_t x,int32_t y,int32_t z,int32_t e,float feedrate,bool waitEnd);
#if ARC_SUPPORT
static void arc(float *position, float *target, float *offset, float radius, uint8_t isclockwise);
#endif
static inline void previousPlannerIndex(uint8_t &p)
{
p = (p ? p-1 : PRINTLINE_CACHE_SIZE-1);
}
static inline void nextPlannerIndex(uint8_t& p)
{
p = (p == PRINTLINE_CACHE_SIZE - 1 ? 0 : p + 1);
}
#if NONLINEAR_SYSTEM
static uint8_t queueDeltaMove(uint8_t check_endstops,uint8_t pathOptimize, uint8_t softEndstop);
static inline void queueEMove(long e_diff,uint8_t check_endstops,uint8_t pathOptimize);
inline uint16_t calculateDeltaSubSegments(uint8_t softEndstop);
static inline void calculateDirectionAndDelta(long difference[], flag8_t *dir, long delta[]);
static inline uint8_t calculateDistance(float axis_diff[], uint8_t dir, float *distance);
#if SOFTWARE_LEVELING && DRIVE_SYSTEM == DELTA
static void calculatePlane(long factors[], long p1[], long p2[], long p3[]);
static float calcZOffset(long factors[], long pointX, long pointY);
#endif
#endif
};
#endif // MOTION_H_INCLUDED
[EDIT] code Tags sind in der neuen SW des Forum anders codiert. am sichersten man nimmt </> im Editorfenster. Korrigiert. Grüße Uwe [/EDIT]