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247 lines
8.5 KiB
247 lines
8.5 KiB
/**
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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 <https://www.gnu.org/licenses/>.
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*
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*/
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#include "../gcode.h"
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#include "../../MarlinCore.h" // for stepper_inactive_time, disable_e_steppers
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#include "../../lcd/marlinui.h"
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#include "../../module/stepper.h"
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#if ENABLED(AUTO_BED_LEVELING_UBL)
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#include "../../feature/bedlevel/bedlevel.h"
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#endif
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#define DEBUG_OUT ENABLED(MARLIN_DEV_MODE)
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#include "../../core/debug_out.h"
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#include "../../libs/hex_print.h"
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inline axis_flags_t selected_axis_bits() {
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axis_flags_t selected{0};
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#if HAS_EXTRUDERS
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if (parser.seen('E')) {
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if (E_TERN0(parser.has_value())) {
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const uint8_t e = parser.value_int();
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if (e < EXTRUDERS)
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selected.bits = _BV(INDEX_OF_AXIS(E_AXIS, e));
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}
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else
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selected.bits = selected.e_bits();
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}
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#endif
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selected.bits |= LINEAR_AXIS_GANG(
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(parser.seen_test('X') << X_AXIS),
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| (parser.seen_test('Y') << Y_AXIS),
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| (parser.seen_test('Z') << Z_AXIS),
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| (parser.seen_test(AXIS4_NAME) << I_AXIS),
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| (parser.seen_test(AXIS5_NAME) << J_AXIS),
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| (parser.seen_test(AXIS6_NAME) << K_AXIS)
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);
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return selected;
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}
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// Enable specified axes and warn about other affected axes
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void do_enable(const axis_flags_t to_enable) {
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const ena_mask_t was_enabled = stepper.axis_enabled.bits,
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shall_enable = to_enable.bits & ~was_enabled;
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DEBUG_ECHOLNPGM("Now Enabled: ", hex_word(stepper.axis_enabled.bits), " Enabling: ", hex_word(to_enable.bits), " | ", shall_enable);
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if (!shall_enable) return; // All specified axes already enabled?
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ena_mask_t also_enabled = 0; // Track steppers enabled due to overlap
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// Enable all flagged axes
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LOOP_LINEAR_AXES(a) {
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if (TEST(shall_enable, a)) {
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stepper.enable_axis(AxisEnum(a)); // Mark and enable the requested axis
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DEBUG_ECHOLNPGM("Enabled ", axis_codes[a], " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... Enabled: ", hex_word(stepper.axis_enabled.bits));
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also_enabled |= enable_overlap[a];
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}
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}
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#if HAS_EXTRUDERS
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LOOP_L_N(e, EXTRUDERS) {
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const uint8_t a = INDEX_OF_AXIS(E_AXIS, e);
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if (TEST(shall_enable, a)) {
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stepper.ENABLE_EXTRUDER(e);
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DEBUG_ECHOLNPGM("Enabled E", AS_DIGIT(e), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... ", hex_word(stepper.axis_enabled.bits));
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also_enabled |= enable_overlap[a];
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}
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}
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#endif
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if ((also_enabled &= ~(shall_enable | was_enabled))) {
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SERIAL_CHAR('(');
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LOOP_LINEAR_AXES(a) if (TEST(also_enabled, a)) SERIAL_CHAR(axis_codes[a], ' ');
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#if HAS_EXTRUDERS
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#define _EN_ALSO(N) if (TEST(also_enabled, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR('E', '0' + N, ' ');
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REPEAT(EXTRUDERS, _EN_ALSO)
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#endif
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SERIAL_ECHOLNPGM("also enabled)");
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}
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DEBUG_ECHOLNPGM("Enabled Now: ", hex_word(stepper.axis_enabled.bits));
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}
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/**
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* M17: Enable stepper motor power for one or more axes.
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* Print warnings for axes that share an ENABLE_PIN.
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*
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* Examples:
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*
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* M17 XZ ; Enable X and Z axes
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* M17 E ; Enable all E steppers
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* M17 E1 ; Enable just the E1 stepper
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*/
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void GcodeSuite::M17() {
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if (parser.seen_axis()) {
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if (any_enable_overlap())
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do_enable(selected_axis_bits());
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else {
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#if HAS_EXTRUDERS
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if (parser.seen('E')) {
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if (parser.has_value()) {
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const uint8_t e = parser.value_int();
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if (e < EXTRUDERS) stepper.ENABLE_EXTRUDER(e);
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}
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else
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stepper.enable_e_steppers();
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}
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#endif
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LINEAR_AXIS_CODE(
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if (parser.seen_test('X')) stepper.enable_axis(X_AXIS),
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if (parser.seen_test('Y')) stepper.enable_axis(Y_AXIS),
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if (parser.seen_test('Z')) stepper.enable_axis(Z_AXIS),
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if (parser.seen_test(AXIS4_NAME)) stepper.enable_axis(I_AXIS),
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if (parser.seen_test(AXIS5_NAME)) stepper.enable_axis(J_AXIS),
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if (parser.seen_test(AXIS6_NAME)) stepper.enable_axis(K_AXIS)
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);
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}
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}
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else {
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LCD_MESSAGE(MSG_NO_MOVE);
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stepper.enable_all_steppers();
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}
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}
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void try_to_disable(const axis_flags_t to_disable) {
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ena_mask_t still_enabled = to_disable.bits & stepper.axis_enabled.bits;
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DEBUG_ECHOLNPGM("Enabled: ", hex_word(stepper.axis_enabled.bits), " To Disable: ", hex_word(to_disable.bits), " | ", hex_word(still_enabled));
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if (!still_enabled) return;
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// Attempt to disable all flagged axes
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LOOP_LINEAR_AXES(a)
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if (TEST(to_disable.bits, a)) {
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DEBUG_ECHOPGM("Try to disable ", axis_codes[a], " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... ");
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if (stepper.disable_axis(AxisEnum(a))) { // Mark the requested axis and request to disable
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DEBUG_ECHOPGM("OK");
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still_enabled &= ~(_BV(a) | enable_overlap[a]); // If actually disabled, clear one or more tracked bits
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}
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else
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DEBUG_ECHOPGM("OVERLAP");
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DEBUG_ECHOLNPGM(" ... still_enabled=", hex_word(still_enabled));
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}
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#if HAS_EXTRUDERS
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LOOP_L_N(e, EXTRUDERS) {
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const uint8_t a = INDEX_OF_AXIS(E_AXIS, e);
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if (TEST(to_disable.bits, a)) {
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DEBUG_ECHOPGM("Try to disable E", AS_DIGIT(e), " (", a, ") with overlap ", hex_word(enable_overlap[a]), " ... ");
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if (stepper.DISABLE_EXTRUDER(e)) {
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DEBUG_ECHOPGM("OK");
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still_enabled &= ~(_BV(a) | enable_overlap[a]);
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}
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else
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DEBUG_ECHOPGM("OVERLAP");
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DEBUG_ECHOLNPGM(" ... still_enabled=", hex_word(still_enabled));
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}
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}
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#endif
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auto overlap_warning = [](const ena_mask_t axis_bits) {
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SERIAL_ECHOPGM(" not disabled. Shared with");
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LOOP_LINEAR_AXES(a) if (TEST(axis_bits, a)) SERIAL_CHAR(' ', axis_codes[a]);
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#if HAS_EXTRUDERS
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#define _EN_STILLON(N) if (TEST(axis_bits, INDEX_OF_AXIS(E_AXIS, N))) SERIAL_CHAR(' ', 'E', '0' + N);
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REPEAT(EXTRUDERS, _EN_STILLON)
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#endif
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SERIAL_ECHOLNPGM(".");
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};
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// If any of the requested axes are still enabled, give a warning
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LOOP_LINEAR_AXES(a) {
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if (TEST(still_enabled, a)) {
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SERIAL_CHAR(axis_codes[a]);
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overlap_warning(stepper.axis_enabled.bits & enable_overlap[a]);
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}
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}
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#if HAS_EXTRUDERS
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LOOP_L_N(e, EXTRUDERS) {
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const uint8_t a = INDEX_OF_AXIS(E_AXIS, e);
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if (TEST(still_enabled, a)) {
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SERIAL_CHAR('E', '0' + e);
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overlap_warning(stepper.axis_enabled.bits & enable_overlap[a]);
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}
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}
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#endif
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DEBUG_ECHOLNPGM("Enabled Now: ", hex_word(stepper.axis_enabled.bits));
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}
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/**
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* M18, M84: Disable stepper motor power for one or more axes.
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* Print warnings for axes that share an ENABLE_PIN.
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*/
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void GcodeSuite::M18_M84() {
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if (parser.seenval('S')) {
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reset_stepper_timeout();
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stepper_inactive_time = parser.value_millis_from_seconds();
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}
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else {
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if (parser.seen_axis()) {
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planner.synchronize();
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if (any_enable_overlap())
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try_to_disable(selected_axis_bits());
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else {
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#if HAS_EXTRUDERS
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if (parser.seen('E')) {
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if (E_TERN0(parser.has_value()))
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stepper.DISABLE_EXTRUDER(parser.value_int());
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else
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stepper.disable_e_steppers();
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}
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#endif
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LINEAR_AXIS_CODE(
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if (parser.seen_test('X')) stepper.disable_axis(X_AXIS),
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if (parser.seen_test('Y')) stepper.disable_axis(Y_AXIS),
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if (parser.seen_test('Z')) stepper.disable_axis(Z_AXIS),
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if (parser.seen_test(AXIS4_NAME)) stepper.disable_axis(I_AXIS),
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if (parser.seen_test(AXIS5_NAME)) stepper.disable_axis(J_AXIS),
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if (parser.seen_test(AXIS6_NAME)) stepper.disable_axis(K_AXIS)
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);
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}
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}
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else
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planner.finish_and_disable();
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TERN_(AUTO_BED_LEVELING_UBL, ubl.steppers_were_disabled());
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}
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}
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