144 lines
3.2 KiB
C++
144 lines
3.2 KiB
C++
/// @file
|
|
/// MK3 / Marlin1 implementation of support routines for the MMU2
|
|
#include "mmu2_marlin.h"
|
|
#include "Marlin.h"
|
|
#include "stepper.h"
|
|
#include "planner.h"
|
|
#include "mmu2_config.h"
|
|
#include "temperature.h"
|
|
|
|
namespace MMU2 {
|
|
|
|
static void planner_line_to_current_position(float feedRate_mm_s){
|
|
plan_buffer_line_curposXYZE(feedRate_mm_s);
|
|
}
|
|
|
|
static void planner_line_to_current_position_sync(float feedRate_mm_s){
|
|
planner_line_to_current_position(feedRate_mm_s);
|
|
planner_synchronize();
|
|
}
|
|
|
|
void extruder_move(float delta, float feedRate) {
|
|
current_position[E_AXIS] += delta;
|
|
planner_line_to_current_position(feedRate);
|
|
}
|
|
|
|
float move_raise_z(float delta) {
|
|
return raise_z(delta);
|
|
}
|
|
|
|
void planner_abort_queued_moves() {
|
|
planner_abort_hard();
|
|
|
|
// Unblock the planner. This should be safe in the
|
|
// toolchange context. Currently we are mainly aborting
|
|
// excess E-moves after detecting filament during toolchange.
|
|
// If a MMU error is reported, the planner must be unblocked
|
|
// as well so the extruder can be parked safely.
|
|
planner_aborted = false;
|
|
}
|
|
|
|
void planner_synchronize() {
|
|
st_synchronize();
|
|
}
|
|
|
|
bool planner_any_moves() {
|
|
return blocks_queued();
|
|
}
|
|
|
|
float planner_get_machine_position_E_mm(){
|
|
return current_position[E_AXIS];
|
|
}
|
|
|
|
float stepper_get_machine_position_E_mm(){
|
|
return st_get_position_mm(E_AXIS);
|
|
}
|
|
|
|
float planner_get_current_position_E(){
|
|
return current_position[E_AXIS];
|
|
}
|
|
|
|
void planner_set_current_position_E(float e){
|
|
current_position[E_AXIS] = e;
|
|
}
|
|
|
|
pos3d planner_current_position(){
|
|
return pos3d(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
|
|
}
|
|
|
|
void motion_do_blocking_move_to_xy(float rx, float ry, float feedRate_mm_s){
|
|
current_position[X_AXIS] = rx;
|
|
current_position[Y_AXIS] = ry;
|
|
planner_line_to_current_position_sync(feedRate_mm_s);
|
|
}
|
|
|
|
void motion_do_blocking_move_to_z(float z, float feedRate_mm_s){
|
|
current_position[Z_AXIS] = z;
|
|
planner_line_to_current_position_sync(feedRate_mm_s);
|
|
}
|
|
|
|
void nozzle_park() {
|
|
current_position[X_AXIS] = MMU_ERR_X_PAUSE_POS;
|
|
current_position[Y_AXIS] = MMU_ERR_Y_PAUSE_POS;
|
|
planner_line_to_current_position_sync(NOZZLE_PARK_XY_FEEDRATE);
|
|
}
|
|
|
|
bool marlin_printingIsActive() {
|
|
// return IS_SD_PRINTING || usb_timer_running();
|
|
return printer_active();
|
|
}
|
|
|
|
void marlin_manage_heater(){
|
|
manage_heater();
|
|
}
|
|
|
|
void marlin_manage_inactivity(bool b){
|
|
manage_inactivity(b);
|
|
}
|
|
|
|
void marlin_idle(bool b){
|
|
manage_heater();
|
|
manage_inactivity(b);
|
|
}
|
|
|
|
void marlin_refresh_print_state_in_ram(){
|
|
refresh_print_state_in_ram();
|
|
}
|
|
|
|
void marlin_clear_print_state_in_ram(){
|
|
clear_print_state_in_ram();
|
|
}
|
|
|
|
void marlin_stop_and_save_print_to_ram(){
|
|
stop_and_save_print_to_ram(0,0);
|
|
}
|
|
|
|
int16_t thermal_degTargetHotend() {
|
|
return degTargetHotend(0);
|
|
}
|
|
|
|
int16_t thermal_degHotend() {
|
|
return degHotend(0);
|
|
}
|
|
|
|
void thermal_setExtrudeMintemp(int16_t t) {
|
|
set_extrude_min_temp(t);
|
|
}
|
|
|
|
void thermal_setTargetHotend(int16_t t) {
|
|
setTargetHotend(t);
|
|
}
|
|
|
|
void safe_delay_keep_alive(uint16_t t) {
|
|
delay_keep_alive(t);
|
|
}
|
|
|
|
void Enable_E0(){ enable_e0(); }
|
|
void Disable_E0(){ disable_e0(); }
|
|
|
|
bool all_axes_homed(){
|
|
return axis_known_position[X_AXIS] && axis_known_position[Y_AXIS];
|
|
}
|
|
|
|
} // namespace MMU2
|