Colin Godsey
4 years ago
committed by
GitHub
GitHub
17 changed files with 859 additions and 64 deletions
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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#include "../inc/MarlinConfigPre.h" |
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#if ENABLED(DIRECT_STEPPING) |
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#include "direct_stepping.h" |
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#include "../MarlinCore.h" |
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#define CHECK_PAGE(I, R) do{ \ |
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if (I >= sizeof(page_states) / sizeof(page_states[0])) { \ |
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fatal_error = true; \ |
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return R; \ |
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} \ |
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}while(0) |
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#define CHECK_PAGE_STATE(I, R, S) do { \ |
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CHECK_PAGE(I, R); \ |
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if (page_states[I] != S) { \ |
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fatal_error = true; \ |
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return R; \ |
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} \ |
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}while(0) |
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namespace DirectStepping { |
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template<typename Cfg> |
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State SerialPageManager<Cfg>::state; |
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template<typename Cfg> |
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volatile bool SerialPageManager<Cfg>::fatal_error; |
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template<typename Cfg> |
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volatile PageState SerialPageManager<Cfg>::page_states[Cfg::NUM_PAGES]; |
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template<typename Cfg> |
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volatile bool SerialPageManager<Cfg>::page_states_dirty; |
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template<typename Cfg> |
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millis_t SerialPageManager<Cfg>::next_response; |
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template<typename Cfg> |
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uint8_t SerialPageManager<Cfg>::pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE]; |
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template<typename Cfg> |
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uint8_t SerialPageManager<Cfg>::checksum; |
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template<typename Cfg> |
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typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_byte_idx; |
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template<typename Cfg> |
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typename Cfg::page_idx_t SerialPageManager<Cfg>::write_page_idx; |
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template<typename Cfg> |
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typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_page_size; |
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template <typename Cfg> |
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void SerialPageManager<Cfg>::init() { |
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for (int i = 0 ; i < Cfg::NUM_PAGES ; i++) |
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page_states[i] = PageState::FREE; |
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fatal_error = false; |
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next_response = 0; |
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state = State::NEWLINE; |
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page_states_dirty = false; |
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SERIAL_ECHOLNPGM("pages_ready"); |
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} |
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template<typename Cfg> |
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FORCE_INLINE bool SerialPageManager<Cfg>::maybe_store_rxd_char(uint8_t c) { |
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switch (state) { |
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default: |
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case State::MONITOR: |
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switch (c) { |
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case '\n': |
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case '\r': |
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state = State::NEWLINE; |
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default: |
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return false; |
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} |
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case State::NEWLINE: |
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switch (c) { |
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case Cfg::CONTROL_CHAR: |
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state = State::ADDRESS; |
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return true; |
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case '\n': |
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case '\r': |
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state = State::NEWLINE; |
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return false; |
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default: |
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state = State::MONITOR; |
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return false; |
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} |
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case State::ADDRESS: |
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//TODO: 16 bit address, State::ADDRESS2
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write_page_idx = c; |
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write_byte_idx = 0; |
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checksum = 0; |
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CHECK_PAGE(write_page_idx, true); |
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if (page_states[write_page_idx] == PageState::FAIL) { |
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// Special case for fail
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state = State::UNFAIL; |
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return true; |
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} |
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set_page_state(write_page_idx, PageState::WRITING); |
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state = Cfg::DIRECTIONAL ? State::COLLECT : State::SIZE; |
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return true; |
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case State::SIZE: |
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// Zero means full page size
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write_page_size = c; |
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state = State::COLLECT; |
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return true; |
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case State::COLLECT: |
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pages[write_page_idx][write_byte_idx++] = c; |
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checksum ^= c; |
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// check if still collecting
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if (Cfg::PAGE_SIZE == 256) { |
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// special case for 8-bit, check if rolled back to 0
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if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes
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if (write_byte_idx) return true; |
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} else { |
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if (write_byte_idx < write_page_size) return true; |
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} |
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} else if (Cfg::DIRECTIONAL) { |
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if (write_byte_idx != Cfg::PAGE_SIZE) return true; |
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} else { |
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if (write_byte_idx < write_page_size) return true; |
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} |
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state = State::CHECKSUM; |
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return true; |
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case State::CHECKSUM: { |
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const PageState page_state = (checksum == c) ? PageState::OK : PageState::FAIL; |
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set_page_state(write_page_idx, page_state); |
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state = State::MONITOR; |
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return true; |
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} |
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case State::UNFAIL: |
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if (c == 0) { |
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set_page_state(write_page_idx, PageState::FREE); |
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} else { |
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fatal_error = true; |
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} |
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state = State::MONITOR; |
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return true; |
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} |
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} |
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template <typename Cfg> |
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void SerialPageManager<Cfg>::write_responses() { |
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if (fatal_error) { |
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kill(GET_TEXT(MSG_BAD_PAGE)); |
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return; |
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} |
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// Runs on a set interval also, as responses may get lost.
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if (next_response && next_response < millis()) { |
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page_states_dirty = true; |
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} |
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if (!page_states_dirty) return; |
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page_states_dirty = false; |
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next_response = millis() + Cfg::RESPONSE_INTERVAL_MS; |
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SERIAL_ECHO(Cfg::CONTROL_CHAR); |
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constexpr int state_bits = 2; |
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constexpr int n_bytes = Cfg::NUM_PAGES >> state_bits; |
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volatile uint8_t bits_b[n_bytes] = { 0 }; |
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for (page_idx_t i = 0 ; i < Cfg::NUM_PAGES ; i++) { |
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bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7); |
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} |
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uint8_t crc = 0; |
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for (uint8_t i = 0 ; i < n_bytes ; i++) { |
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crc ^= bits_b[i]; |
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SERIAL_ECHO(bits_b[i]); |
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} |
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SERIAL_ECHO(crc); |
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SERIAL_EOL(); |
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} |
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template <typename Cfg> |
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FORCE_INLINE void SerialPageManager<Cfg>::set_page_state(const page_idx_t page_idx, const PageState page_state) { |
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CHECK_PAGE(page_idx,); |
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page_states[page_idx] = page_state; |
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page_states_dirty = true; |
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} |
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template <> |
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FORCE_INLINE uint8_t *PageManager::get_page(const page_idx_t page_idx) { |
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CHECK_PAGE(page_idx, nullptr); |
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return pages[page_idx]; |
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} |
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template <> |
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FORCE_INLINE void PageManager::free_page(const page_idx_t page_idx) { |
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set_page_state(page_idx, PageState::FREE); |
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} |
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}; |
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DirectStepping::PageManager page_manager; |
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const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS] PROGMEM = { |
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#if STEPPER_PAGE_FORMAT == SP_4x4D_128 |
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{ 1, 1, 1, 1, 1, 1, 1, 0 }, // 0 = -7
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{ 1, 1, 1, 0, 1, 1, 1, 0 }, // 1 = -6
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{ 0, 1, 1, 0, 1, 0, 1, 1 }, // 2 = -5
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{ 0, 1, 0, 1, 0, 1, 0, 1 }, // 3 = -4
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{ 0, 1, 0, 0, 1, 0, 0, 1 }, // 4 = -3
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{ 0, 0, 1, 0, 0, 0, 1, 0 }, // 5 = -2
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{ 0, 0, 0, 0, 1, 0, 0, 0 }, // 6 = -1
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{ 0, 0, 0, 0, 0, 0, 0, 0 }, // 7 = 0
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{ 0, 0, 0, 0, 1, 0, 0, 0 }, // 8 = 1
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{ 0, 0, 1, 0, 0, 0, 1, 0 }, // 9 = 2
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{ 0, 1, 0, 0, 1, 0, 0, 1 }, // 10 = 3
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{ 0, 1, 0, 1, 0, 1, 0, 1 }, // 11 = 4
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{ 0, 1, 1, 0, 1, 0, 1, 1 }, // 12 = 5
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{ 1, 1, 1, 0, 1, 1, 1, 0 }, // 13 = 6
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{ 1, 1, 1, 1, 1, 1, 1, 0 }, // 14 = 7
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{ 0 } |
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#elif STEPPER_PAGE_FORMAT == SP_4x2_256 |
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{ 0, 0, 0, 0 }, // 0
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{ 0, 1, 0, 0 }, // 1
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{ 1, 0, 1, 0 }, // 2
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{ 1, 1, 1, 0 }, // 3
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#elif STEPPER_PAGE_FORMAT == SP_4x1_512 |
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{0} // Uncompressed format, table not used
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#endif |
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}; |
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#endif // DIRECT_STEPPING
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@ -0,0 +1,137 @@ |
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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#pragma once |
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#include "../inc/MarlinConfig.h" |
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namespace DirectStepping { |
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enum State : char { |
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MONITOR, NEWLINE, ADDRESS, SIZE, COLLECT, CHECKSUM, UNFAIL |
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}; |
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enum PageState : uint8_t { |
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FREE, WRITING, OK, FAIL |
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}; |
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// Static state used for stepping through direct stepping pages
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struct page_step_state_t { |
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// Current page
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uint8_t *page; |
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// Current segment
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uint16_t segment_idx; |
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// Current steps within segment
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uint8_t segment_steps; |
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// Segment delta
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xyze_uint8_t sd; |
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// Block delta
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xyze_int_t bd; |
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}; |
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template<typename Cfg> |
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class SerialPageManager { |
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public: |
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typedef typename Cfg::page_idx_t page_idx_t; |
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static bool maybe_store_rxd_char(uint8_t c); |
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static void write_responses(); |
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// common methods for page managers
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static void init(); |
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static uint8_t *get_page(const page_idx_t page_idx); |
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static void free_page(const page_idx_t page_idx); |
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protected: |
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typedef typename Cfg::write_byte_idx_t write_byte_idx_t; |
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static State state; |
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static volatile bool fatal_error; |
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static volatile PageState page_states[Cfg::NUM_PAGES]; |
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static volatile bool page_states_dirty; |
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static millis_t next_response; |
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static uint8_t pages[Cfg::NUM_PAGES][Cfg::PAGE_SIZE]; |
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static uint8_t checksum; |
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static write_byte_idx_t write_byte_idx; |
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static page_idx_t write_page_idx; |
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static write_byte_idx_t write_page_size; |
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static void set_page_state(const page_idx_t page_idx, const PageState page_state); |
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}; |
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template<bool b, typename T, typename F> struct TypeSelector { typedef T type;} ; |
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template<typename T, typename F> struct TypeSelector<false, T, F> { typedef F type; }; |
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template <int num_pages, int num_axes, int bits_segment, bool dir, int segments> |
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struct config_t { |
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static constexpr char CONTROL_CHAR = '!'; |
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static constexpr int NUM_PAGES = num_pages; |
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static constexpr int NUM_AXES = num_axes; |
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static constexpr int BITS_SEGMENT = bits_segment; |
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static constexpr int DIRECTIONAL = dir ? 1 : 0; |
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static constexpr int SEGMENTS = segments; |
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static constexpr int RAW = (BITS_SEGMENT == 1) ? 1 : 0; |
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static constexpr int NUM_SEGMENTS = 1 << BITS_SEGMENT; |
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static constexpr int SEGMENT_STEPS = 1 << (BITS_SEGMENT - DIRECTIONAL - RAW); |
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static constexpr int TOTAL_STEPS = SEGMENT_STEPS * SEGMENTS; |
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static constexpr int PAGE_SIZE = (NUM_AXES * BITS_SEGMENT * SEGMENTS) / 8; |
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static constexpr millis_t RESPONSE_INTERVAL_MS = 50; |
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typedef typename TypeSelector<(PAGE_SIZE>256), uint16_t, uint8_t>::type write_byte_idx_t; |
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typedef typename TypeSelector<(NUM_PAGES>256), uint16_t, uint8_t>::type page_idx_t; |
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}; |
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template <uint8_t num_pages> |
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using SP_4x4D_128 = config_t<num_pages, 4, 4, true, 128>; |
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template <uint8_t num_pages> |
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using SP_4x2_256 = config_t<num_pages, 4, 2, false, 256>; |
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template <uint8_t num_pages> |
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using SP_4x1_512 = config_t<num_pages, 4, 1, false, 512>; |
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// configured types
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typedef STEPPER_PAGE_FORMAT<STEPPER_PAGES> Config; |
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template class PAGE_MANAGER<Config>; |
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typedef PAGE_MANAGER<Config> PageManager; |
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}; |
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#define SP_4x4D_128 1 |
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//#define SP_4x4_128 2
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//#define SP_4x2D_256 3
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#define SP_4x2_256 4 |
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#define SP_4x1_512 5 |
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typedef typename DirectStepping::Config::page_idx_t page_idx_t; |
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// TODO: use config
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typedef DirectStepping::page_step_state_t page_step_state_t; |
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extern const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS]; |
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extern DirectStepping::PageManager page_manager; |
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@ -0,0 +1,61 @@ |
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/**
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* Marlin 3D Printer Firmware |
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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* |
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* Based on Sprinter and grbl. |
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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*/ |
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#include "../../inc/MarlinConfig.h" |
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#if ENABLED(DIRECT_STEPPING) |
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#include "../../feature/direct_stepping.h" |
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#include "../gcode.h" |
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#include "../../module/planner.h" |
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/**
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* G6: Direct Stepper Move |
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*/ |
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void GcodeSuite::G6() { |
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// TODO: feedrate support?
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if (parser.seen('R')) |
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planner.last_page_step_rate = parser.value_ulong(); |
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if (!DirectStepping::Config::DIRECTIONAL) { |
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if (parser.seen('X')) planner.last_page_dir.x = !!parser.value_byte(); |
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if (parser.seen('Y')) planner.last_page_dir.y = !!parser.value_byte(); |
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if (parser.seen('Z')) planner.last_page_dir.z = !!parser.value_byte(); |
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if (parser.seen('E')) planner.last_page_dir.e = !!parser.value_byte(); |
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} |
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// No index means we just set the state
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if (!parser.seen('I')) return; |
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// No speed is set, can't schedule the move
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if (!planner.last_page_step_rate) return; |
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const page_idx_t page_idx = (page_idx_t) parser.value_ulong(); |
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uint16_t num_steps = DirectStepping::Config::TOTAL_STEPS; |
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if (parser.seen('S')) num_steps = parser.value_ushort(); |
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planner.buffer_page(page_idx, 0, num_steps); |
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reset_stepper_timeout(); |
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} |
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#endif // DIRECT_STEPPING
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