271 lines
10 KiB
C++
271 lines
10 KiB
C++
//! @file
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//! @date Jun 10, 2019
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//! @author Marek Bel
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//! @brief First layer (Z offset) calibration
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#include "first_lay_cal.h"
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#include "Configuration_var.h"
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#include "Marlin.h"
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#include "messages.h"
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#include "cmdqueue.h"
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#include "mmu2.h"
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#include <avr/pgmspace.h>
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#include <math.h>
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//! @brief Count extrude length
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//!
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//! @param layer_height layer height in mm
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//! @param extrusion_width extrusion width in mm
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//! @param extrusion_length extrusion length in mm
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//! @return filament length in mm which needs to be extruded to form line
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static constexpr float __attribute__((noinline)) count_e(float layer_height, float extrusion_width, float extrusion_length, float filament_diameter=1.75f)
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{
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return (extrusion_length * ((M_PI * pow(layer_height, 2)) / 4 + layer_height * (extrusion_width - layer_height))) / ((M_PI * pow(filament_diameter, 2)) / 4);
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}
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//! @brief Extrusion spacing
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//!
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//! @param layer_height layer height in mm
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//! @param extrusion_width extrusion width in mm
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//! @return filament length in mm which needs to be extruded to form line
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static constexpr float spacing(float layer_height, float extrusion_width, float overlap_factor=1.f)
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{
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return extrusion_width - layer_height * (overlap_factor - M_PI/4);
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}
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// Common code extracted into one function to reduce code size
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static void lay1cal_common_enqueue_loop(const char * const * cmd_sequence, const uint8_t steps) {
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for (uint8_t i = 0; i < steps; ++i)
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{
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void * pgm_ptr = pgm_read_ptr(cmd_sequence + i);
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// M702 is currently only used with MMU enabled
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if (pgm_ptr == MSG_M702 && !MMU2::mmu2.Enabled()) {
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continue;
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}
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enquecommand_P(static_cast<char*>(pgm_ptr));
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}
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}
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static const char extrude_fmt_X[] PROGMEM = "G1X%gE%g";
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static const char extrude_fmt_Y[] PROGMEM = "G1Y%gE%g";
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static const char zero_extrusion[] PROGMEM = "G92E0";
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static const char feedrate_F1080[] PROGMEM = "G1F1080";
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#ifndef NEW_FIRST_LAYER_CAL
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int8_t invert = 1;
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const float short_length = 20;
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#else
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int8_t invert = -1;
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const float short_length = 13;
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#endif //NEW_FIRST_LAYER_CAL
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const float square_width = 20;
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const float long_length = 150;
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//! @brief Wait for preheat
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void lay1cal_wait_preheat()
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{
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static const char preheat_cmd_2[] PROGMEM = "M190";
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static const char preheat_cmd_3[] PROGMEM = "M109";
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static const char preheat_cmd_4[] PROGMEM = "G28";
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static const char * const preheat_cmd[] PROGMEM =
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{
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MSG_M107,
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preheat_cmd_2,
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preheat_cmd_3,
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preheat_cmd_4,
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zero_extrusion
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};
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lay1cal_common_enqueue_loop(preheat_cmd, sizeof(preheat_cmd)/sizeof(preheat_cmd[0]));
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}
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//! @brief Load filament
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//! @param cmd_buffer character buffer needed to format gcodes
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//! @param filament filament to use (applies for MMU only)
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//! @returns true if extra purge distance is needed in case of MMU prints (after a toolchange), otherwise false
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bool lay1cal_load_filament(uint8_t filament)
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{
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if (MMU2::mmu2.Enabled())
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{
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enquecommand_P(MSG_M83);
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enquecommand_P(PSTR("G1Y-3F1000"));
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enquecommand_P(PSTR("G1Z0.4"));
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uint8_t currentTool = MMU2::mmu2.get_current_tool();
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if(currentTool == filament ){
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// already have the correct tool loaded - do nothing
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return false;
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} else if( currentTool != (uint8_t)MMU2::FILAMENT_UNKNOWN){
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// some other slot is loaded, perform an unload first
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enquecommand_P(MSG_M702);
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}
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// perform a toolchange
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enquecommandf_P(PSTR("T%d"), filament);
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return true;
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}
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return false;
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}
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//! @brief Print intro line
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//! @param extraPurgeNeeded false if the first MMU-related "G1 E29" have to be skipped because the nozzle is already full of filament
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//! @param layer_height the height of the calibration layer
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//! @param extrusion_width the width of the extrusion layer
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void lay1cal_intro_line(bool extraPurgeNeeded, float layer_height, float extrusion_width)
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{
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static const char cmd_intro_mmu_3[] PROGMEM = "G1X55E29F1073";
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static const char cmd_intro_mmu_4[] PROGMEM = "G1X5E29F1800";
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static const char cmd_intro_mmu_5[] PROGMEM = "G1X55E8F2000";
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static const char cmd_intro_mmu_6[] PROGMEM = "G1Z0.3F1000";
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static const char cmd_intro_mmu_8[] PROGMEM = "G1X240E25F2200";
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static const char cmd_intro_mmu_9[] PROGMEM = "G1Y-2F1000";
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static const char cmd_intro_mmu_10[] PROGMEM = "G1X200E8F1400";
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static const char cmd_intro_mmu_11[] PROGMEM = "G1Z0.2";
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static const char * const cmd_intro_mmu[] PROGMEM =
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{
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// first 2 items are only relevant if filament was not loaded - i.e. extraPurgeNeeded == true
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cmd_intro_mmu_3,
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cmd_intro_mmu_4,
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cmd_intro_mmu_5,
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cmd_intro_mmu_6,
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zero_extrusion,
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cmd_intro_mmu_8,
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cmd_intro_mmu_9,
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cmd_intro_mmu_10,
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cmd_intro_mmu_11,
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};
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if (MMU2::mmu2.Enabled())
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{
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for (uint8_t i = (extraPurgeNeeded ? 0 : 2); i < (sizeof(cmd_intro_mmu)/sizeof(cmd_intro_mmu[0])); ++i)
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{
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enquecommand_P(static_cast<char*>(pgm_read_ptr(&cmd_intro_mmu[i])));
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}
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}
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else
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{
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enquecommand_P(feedrate_F1080); //fixed velocity for the intro line
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enquecommandf_P(extrude_fmt_X, 60.f, count_e(layer_height, extrusion_width * 4.f, 60));
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enquecommandf_P(extrude_fmt_X, 202.5f, count_e(layer_height, extrusion_width * 8.f, 142.5));
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}
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}
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//! @brief Setup for printing meander
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void lay1cal_before_meander()
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{
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#ifndef NEW_FIRST_LAYER_CAL
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static const char cmd_pre_meander_4[] PROGMEM = "G1E-1.5F2100";
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static const char cmd_pre_meander_5[] PROGMEM = "G1Z5F7200";
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#endif //NEW_FIRST_LAYER_CAL
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static const char cmd_pre_meander_6[] PROGMEM = "M204S1000"; //set acceleration
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static const char * const cmd_pre_meander[] PROGMEM =
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{
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zero_extrusion,
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MSG_G90,
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MSG_M83, // use relative distances for extrusion
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#ifndef NEW_FIRST_LAYER_CAL
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cmd_pre_meander_4,
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cmd_pre_meander_5,
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#endif //NEW_FIRST_LAYER_CAL
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cmd_pre_meander_6,
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};
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lay1cal_common_enqueue_loop(cmd_pre_meander, (sizeof(cmd_pre_meander)/sizeof(cmd_pre_meander[0])));
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}
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//! @brief Print meander start
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void lay1cal_meander_start(float layer_height, float extrusion_width)
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{
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#ifndef NEW_FIRST_LAYER_CAL
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enquecommand_P(PSTR("G1X50Y155"));
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#endif //_NEW_FIRST_LAYER_CAL
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static const char fmt1[] PROGMEM = "G1Z%g";
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enquecommandf_P(fmt1, layer_height);
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enquecommand_P(feedrate_F1080);
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#ifdef NEW_FIRST_LAYER_CAL
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enquecommandf_P(extrude_fmt_Y, short_length, count_e(layer_height, extrusion_width, short_length));
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#endif //_NEW_FIRST_LAYER_CAL
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enquecommand_P(MSG_G91); //enable relative XYZ
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#ifndef NEW_FIRST_LAYER_CAL
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enquecommandf_P(extrude_fmt_X, 25.f*invert, count_e(layer_height, extrusion_width * 4.f, 25));
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enquecommandf_P(extrude_fmt_X, 25.f*invert, count_e(layer_height, extrusion_width * 2.f, 25));
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enquecommandf_P(extrude_fmt_X, 100.f*invert, count_e(layer_height, extrusion_width, 100));
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enquecommandf_P(extrude_fmt_Y, -20.f*invert, count_e(layer_height, extrusion_width, 20));
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#else
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enquecommandf_P(extrude_fmt_X, long_length*invert, count_e(layer_height, extrusion_width, long_length));
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enquecommandf_P(extrude_fmt_Y, -short_length*invert, count_e(layer_height, extrusion_width, short_length));
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#endif //_NEW_FIRST_LAYER_CAL
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}
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//! @brief Print meander
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//! @param cmd_buffer character buffer needed to format gcodes
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void lay1cal_meander(float layer_height, float extrusion_width)
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{
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const float long_extrusion = count_e(layer_height, extrusion_width, long_length);
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const float short_extrusion = count_e(layer_height, extrusion_width, short_length);
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float x_pos = long_length;
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for(uint8_t i = 0; i <= 4; ++i)
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{
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enquecommandf_P(extrude_fmt_X, -x_pos*invert, long_extrusion);
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x_pos = -x_pos;
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enquecommandf_P(extrude_fmt_Y, -short_length*invert, short_extrusion);
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}
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#ifdef NEW_FIRST_LAYER_CAL
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enquecommandf_P(extrude_fmt_X, -(long_length/2-square_width/2), long_extrusion); //~Middle of bed X125
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enquecommandf_P(extrude_fmt_Y, short_length, short_extrusion); //~Middle of bed Y105
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#endif //NEW_FIRST_LAYER_CAL
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}
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//! @brief Print square
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//!
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//! This function enqueues 4 lines of the square, so it needs to be called multiple times
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//!
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//! @param cmd_buffer character buffer needed to format gcodes
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void lay1cal_square(float layer_height, float extrusion_width)
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{
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const float Y_spacing = spacing(layer_height, extrusion_width);
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const float long_extrusion = count_e(layer_height, extrusion_width, square_width);
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const float short_extrusion = count_e(layer_height, extrusion_width, Y_spacing);
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for (uint8_t i = 0; i < 4; i++)
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{
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enquecommandf_P(extrude_fmt_X, square_width*invert, long_extrusion);
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enquecommandf_P(extrude_fmt_Y, -Y_spacing*invert, short_extrusion);
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enquecommandf_P(extrude_fmt_X, -square_width*invert, long_extrusion);
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enquecommandf_P(extrude_fmt_Y, -Y_spacing*invert, short_extrusion);
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}
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}
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void lay1cal_finish()
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{
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static const char cmd_cal_finish_1[] PROGMEM = "G1E-0.075F2100"; // Retract
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static const char cmd_cal_finish_2[] PROGMEM = "M140S0"; // Turn off bed heater
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static const char cmd_cal_finish_3[] PROGMEM = "M104S0"; // Turn off hotend heater
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static const char cmd_cal_finish_4[] PROGMEM = "G1Z10F1300"; // Lift Z
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static const char cmd_cal_finish_5[] PROGMEM = "G1X10Y180F4000"; // Go to parking position
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static const char * const cmd_cal_finish[] PROGMEM =
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{
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MSG_G90, // Set to Absolute Positioning
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MSG_M107, // Turn off printer fan
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cmd_cal_finish_1, // Retract
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cmd_cal_finish_2, // Turn off bed heater
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cmd_cal_finish_4, // Lift Z
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cmd_cal_finish_5, // Go to parking position
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MSG_M702, // Unload filament (MMU only)
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cmd_cal_finish_3, // Turn off hotend heater
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MSG_M84 // Disable stepper motors
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};
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lay1cal_common_enqueue_loop(cmd_cal_finish, (sizeof(cmd_cal_finish)/sizeof(cmd_cal_finish[0])));
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}
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