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235 lines
6.9 KiB
235 lines
6.9 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 "../../inc/MarlinConfig.h"
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#include "../gcode.h"
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#include "../../module/motion.h"
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#include "../../module/stepper.h"
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#if ENABLED(M114_DETAIL)
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#if HAS_L64XX
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#include "../../libs/L64XX/L64XX_Marlin.h"
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#define DEBUG_OUT ENABLED(L6470_CHITCHAT)
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#include "../../core/debug_out.h"
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#endif
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void report_all_axis_pos(const xyze_pos_t &pos, const uint8_t n=XYZE, const uint8_t precision=3) {
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char str[12];
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LOOP_L_N(a, n) {
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SERIAL_CHAR(' ', axis_codes[a], ':');
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if (pos[a] >= 0) SERIAL_CHAR(' ');
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SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
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}
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SERIAL_EOL();
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}
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inline void report_linear_axis_pos(const xyze_pos_t &pos) { report_all_axis_pos(pos, XYZ); }
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void report_linear_axis_pos(const xyz_pos_t &pos, const uint8_t precision=3) {
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char str[12];
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LOOP_LINEAR_AXES(a) {
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SERIAL_CHAR(' ', AXIS_CHAR(a), ':');
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SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
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}
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SERIAL_EOL();
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}
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void report_current_position_detail() {
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// Position as sent by G-code
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SERIAL_ECHOPGM("\nLogical:");
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report_linear_axis_pos(current_position.asLogical());
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// Cartesian position in native machine space
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SERIAL_ECHOPGM("Raw: ");
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report_linear_axis_pos(current_position);
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xyze_pos_t leveled = current_position;
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#if HAS_LEVELING
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// Current position with leveling applied
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SERIAL_ECHOPGM("Leveled:");
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planner.apply_leveling(leveled);
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report_linear_axis_pos(leveled);
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// Test planner un-leveling. This should match the Raw result.
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SERIAL_ECHOPGM("UnLevel:");
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xyze_pos_t unleveled = leveled;
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planner.unapply_leveling(unleveled);
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report_linear_axis_pos(unleveled);
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#endif
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#if IS_KINEMATIC
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// Kinematics applied to the leveled position
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SERIAL_ECHOPGM(TERN(IS_SCARA, "ScaraK: ", "DeltaK: "));
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inverse_kinematics(leveled); // writes delta[]
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report_linear_axis_pos(delta);
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#endif
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planner.synchronize();
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#if HAS_L64XX
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char temp_buf[80];
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int32_t temp;
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//#define ABS_POS_SIGN_MASK 0b1111 1111 1110 0000 0000 0000 0000 0000
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#define ABS_POS_SIGN_MASK 0b11111111111000000000000000000000
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#define REPORT_ABSOLUTE_POS(Q) do{ \
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L64xxManager.say_axis(Q, false); \
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temp = L6470_GETPARAM(L6470_ABS_POS,Q); \
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if (temp & ABS_POS_SIGN_MASK) temp |= ABS_POS_SIGN_MASK; \
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sprintf_P(temp_buf, PSTR(":%8ld "), temp); \
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DEBUG_ECHO(temp_buf); \
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}while(0)
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DEBUG_ECHOPGM("\nL6470:");
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#if AXIS_IS_L64XX(X)
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REPORT_ABSOLUTE_POS(X);
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#endif
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#if AXIS_IS_L64XX(X2)
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REPORT_ABSOLUTE_POS(X2);
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#endif
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#if AXIS_IS_L64XX(Y)
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REPORT_ABSOLUTE_POS(Y);
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#endif
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#if AXIS_IS_L64XX(Y2)
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REPORT_ABSOLUTE_POS(Y2);
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#endif
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#if AXIS_IS_L64XX(Z)
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REPORT_ABSOLUTE_POS(Z);
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#endif
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#if AXIS_IS_L64XX(Z2)
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REPORT_ABSOLUTE_POS(Z2);
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#endif
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#if AXIS_IS_L64XX(Z3)
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REPORT_ABSOLUTE_POS(Z3);
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#endif
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#if AXIS_IS_L64XX(Z4)
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REPORT_ABSOLUTE_POS(Z4);
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#endif
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#if AXIS_IS_L64XX(I)
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REPORT_ABSOLUTE_POS(I);
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#endif
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#if AXIS_IS_L64XX(J)
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REPORT_ABSOLUTE_POS(J);
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#endif
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#if AXIS_IS_L64XX(K)
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REPORT_ABSOLUTE_POS(K);
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#endif
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#if AXIS_IS_L64XX(E0)
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REPORT_ABSOLUTE_POS(E0);
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#endif
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#if AXIS_IS_L64XX(E1)
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REPORT_ABSOLUTE_POS(E1);
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#endif
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#if AXIS_IS_L64XX(E2)
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REPORT_ABSOLUTE_POS(E2);
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#endif
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#if AXIS_IS_L64XX(E3)
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REPORT_ABSOLUTE_POS(E3);
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#endif
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#if AXIS_IS_L64XX(E4)
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REPORT_ABSOLUTE_POS(E4);
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#endif
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#if AXIS_IS_L64XX(E5)
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REPORT_ABSOLUTE_POS(E5);
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#endif
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#if AXIS_IS_L64XX(E6)
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REPORT_ABSOLUTE_POS(E6);
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#endif
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#if AXIS_IS_L64XX(E7)
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REPORT_ABSOLUTE_POS(E7);
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#endif
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SERIAL_EOL();
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#endif // HAS_L64XX
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SERIAL_ECHOPGM("Stepper:");
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LOOP_LOGICAL_AXES(i) {
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SERIAL_CHAR(' ', axis_codes[i], ':');
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SERIAL_ECHO(stepper.position((AxisEnum)i));
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}
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SERIAL_EOL();
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#if IS_SCARA
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const xy_float_t deg = {
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planner.get_axis_position_degrees(A_AXIS),
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planner.get_axis_position_degrees(B_AXIS)
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};
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SERIAL_ECHOPGM("Degrees:");
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report_all_axis_pos(deg, 2);
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#endif
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SERIAL_ECHOPGM("FromStp:");
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get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
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xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(
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planner.get_axis_position_mm(E_AXIS),
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cartes.x, cartes.y, cartes.z,
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planner.get_axis_position_mm(I_AXIS),
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planner.get_axis_position_mm(J_AXIS),
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planner.get_axis_position_mm(K_AXIS)
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);
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report_all_axis_pos(from_steppers);
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const xyze_float_t diff = from_steppers - leveled;
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SERIAL_ECHOPGM("Diff: ");
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report_all_axis_pos(diff);
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TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
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}
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#endif // M114_DETAIL
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/**
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* M114: Report the current position to host.
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* Since steppers are moving, the count positions are
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* projected by using planner calculations.
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* D - Report more detail. This syncs the planner. (Requires M114_DETAIL)
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* E - Report E stepper position (Requires M114_DETAIL)
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* R - Report the realtime position instead of projected.
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*/
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void GcodeSuite::M114() {
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#if ENABLED(M114_DETAIL)
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if (parser.seen_test('D')) {
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#if DISABLED(M114_LEGACY)
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planner.synchronize();
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#endif
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report_current_position();
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report_current_position_detail();
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return;
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}
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#if HAS_EXTRUDERS
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if (parser.seen_test('E')) {
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SERIAL_ECHOLNPAIR("Count E:", stepper.position(E_AXIS));
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return;
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}
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#endif
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#endif
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#if ENABLED(M114_REALTIME)
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if (parser.seen_test('R')) { report_real_position(); return; }
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#endif
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TERN_(M114_LEGACY, planner.synchronize());
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report_current_position_projected();
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TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
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}
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