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