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Refactor joystick support in ExtUI (#15318)

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Marcio Teixeira 2019-09-25 17:46:36 -06:00 committed by Scott Lahteine
parent 04e4eb35be
commit 8cbb5350ad
3 changed files with 84 additions and 72 deletions
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28
Marlin/src/feature/joystick.cpp
View file

@ -77,13 +77,15 @@ Joystick joystick;
if (READ(JOY_EN_PIN)) return;
#endif
auto _normalize_joy = [](float &adc, const int16_t raw, const int16_t (&joy_limits)[4]) {
auto _normalize_joy = [](float &norm_jog, const int16_t raw, const int16_t (&joy_limits)[4]) {
if (WITHIN(raw, joy_limits[0], joy_limits[3])) {
// within limits, check deadzone
if (raw > joy_limits[2])
adc = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
norm_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
else if (raw < joy_limits[1])
adc = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
norm_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
// Map normal to jog value via quadratic relationship
norm_jog = SIGN(norm_jog) * sq(norm_jog);
}
};
@ -138,18 +140,22 @@ Joystick joystick;
// with "jogging" encapsulated as a more general class.
#if ENABLED(EXTENSIBLE_UI)
norm_jog[X_AXIS] = ExtUI::norm_jog[X_AXIS];
norm_jog[Y_AXIS] = ExtUI::norm_jog[Y_AXIS];
norm_jog[Z_AXIS] = ExtUI::norm_jog[Z_AXIS];
ExtUI::_joystick_update(norm_jog);
#endif
// Jogging value maps continuously (quadratic relationship) to feedrate
#if EITHER(ULTIPANEL, EXTENSIBLE_UI)
constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
#endif
// norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
float move_dist[XYZ] = { 0 }, hypot2 = 0;
LOOP_XYZ(i) if (norm_jog[i]) {
move_dist[i] = seg_time * sq(norm_jog[i]) * planner.settings.max_feedrate_mm_s[i];
// Very small movements disappear when printed as decimal with 4 digits of precision
NOLESS(move_dist[i], 0.0002f);
if (norm_jog[i] < 0) move_dist[i] *= -1; // preserve sign
move_dist[i] = seg_time * norm_jog[i] *
#if EITHER(ULTIPANEL, EXTENSIBLE_UI)
MMM_TO_MMS(manual_feedrate[i]);
#else
planner.settings.max_feedrate_mm_s[i];
#endif
hypot2 += sq(move_dist[i]);
}

119
Marlin/src/lcd/extensible_ui/ui_api.cpp
View file

@ -104,14 +104,12 @@
namespace ExtUI {
static struct {
uint8_t printer_killed : 1;
uint8_t manual_motion : 1;
uint8_t printer_killed : 1;
#if ENABLED(JOYSTICK)
uint8_t jogging : 1;
#endif
} flags;
#if ENABLED(JOYSTICK)
float norm_jog[XYZ];
#endif
#ifdef __SAM3X8E__
/**
* Implement a special millis() to allow time measurement
@ -197,13 +195,45 @@ namespace ExtUI {
#endif
}
void jog(float dx, float dy, float dz) {
#if ENABLED(JOYSTICK)
norm_jog[X] = dx;
norm_jog[Y] = dy;
norm_jog[Z] = dz;
#endif
}
#if ENABLED(JOYSTICK)
/**
* Jogs in the direction given by the vector (dx, dy, dz).
* The values range from -1 to 1 mapping to the maximum
* feedrate for an axis.
*
* The axis will continue to jog until this function is
* called with all zeros.
*/
void jog(float dx, float dy, float dz) {
// The "destination" variable is used as a scratchpad in
// Marlin by GCODE routines, but should remain untouched
// during manual jogging, allowing us to reuse the space
// for our direction vector.
destination[X] = dx;
destination[Y] = dy;
destination[Z] = dz;
flags.jogging = !NEAR_ZERO(dx) || !NEAR_ZERO(dy) || !NEAR_ZERO(dz);
}
// Called by the polling routine in "joystick.cpp"
void _joystick_update(float (&norm_jog)[XYZ]) {
if (flags.jogging) {
#define OUT_OF_RANGE(VALUE) (VALUE < -1.0f || VALUE > 1.0f)
if (OUT_OF_RANGE(destination[X_AXIS]) || OUT_OF_RANGE(destination[Y_AXIS]) || OUT_OF_RANGE(destination[Z_AXIS])) {
// If destination[] on any axis is out of range, it
// probably means the UI forgot to stop jogging and
// ran GCODE that wrote a position to destination[].
// To prevent a disaster, stop jogging.
flags.jogging = false;
return;
}
norm_jog[X_AXIS] = destination[X_AXIS];
norm_jog[Y_AXIS] = destination[Y_AXIS];
norm_jog[Z_AXIS] = destination[Z_AXIS];
}
}
#endif
bool isHeaterIdle(const extruder_t extruder) {
return false
@ -288,13 +318,22 @@ namespace ExtUI {
}
float getAxisPosition_mm(const axis_t axis) {
return flags.manual_motion ? destination[axis] : current_position[axis];
return
#if ENABLED(JOYSTICK)
flags.jogging ? destination[axis] :
#endif
current_position[axis];
}
float getAxisPosition_mm(const extruder_t extruder) {
const extruder_t old_tool = getActiveTool();
setActiveTool(extruder, true);
const float pos = flags.manual_motion ? destination[E_AXIS] : current_position[E_AXIS];
const float pos = (
#if ENABLED(JOYSTICK)
flags.jogging ? destination[E_AXIS] :
#endif
current_position[E_AXIS]
);
setActiveTool(old_tool, true);
return pos;
}
@ -343,54 +382,23 @@ namespace ExtUI {
}
#endif
constexpr float max_manual_feedrate[XYZE] = MANUAL_FEEDRATE;
setFeedrate_mm_s(MMM_TO_MMS(max_manual_feedrate[axis]));
constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
setFeedrate_mm_s(MMM_TO_MMS(manual_feedrate[axis]));
if (!flags.manual_motion) set_destination_from_current();
set_destination_from_current();
destination[axis] = constrain(position, min, max);
flags.manual_motion = true;
prepare_move_to_destination();
}
void setAxisPosition_mm(const float position, const extruder_t extruder) {
setActiveTool(extruder, true);
constexpr float max_manual_feedrate[XYZE] = MANUAL_FEEDRATE;
setFeedrate_mm_s(MMM_TO_MMS(max_manual_feedrate[E_AXIS]));
if (!flags.manual_motion) set_destination_from_current();
constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
setFeedrate_mm_s(MMM_TO_MMS(manual_feedrate[E_AXIS]));
set_destination_from_current();
destination[E_AXIS] = position;
flags.manual_motion = true;
}
void _processManualMoveToDestination() {
// Lower max_response_lag makes controls more responsive, but makes CPU work harder
constexpr float max_response_lag = 0.1; // seconds
constexpr uint8_t segments_to_buffer = 4; // keep planner filled with this many segments
if (flags.manual_motion && planner.movesplanned() < segments_to_buffer) {
float saved_destination[XYZ];
COPY(saved_destination, destination);
// Compute direction vector from current_position towards destination.
destination[X_AXIS] -= current_position[X_AXIS];
destination[Y_AXIS] -= current_position[Y_AXIS];
destination[Z_AXIS] -= current_position[Z_AXIS];
const float inv_length = RSQRT(sq(destination[X_AXIS]) + sq(destination[Y_AXIS]) + sq(destination[Z_AXIS]));
// Find move segment length so that all segments can execute in less time than max_response_lag
const float scale = inv_length * feedrate_mm_s * max_response_lag / segments_to_buffer;
if (scale < 1) {
// Move a small bit towards the destination.
destination[X_AXIS] = scale * destination[X_AXIS] + current_position[X_AXIS];
destination[Y_AXIS] = scale * destination[Y_AXIS] + current_position[Y_AXIS];
destination[Z_AXIS] = scale * destination[Z_AXIS] + current_position[Z_AXIS];
prepare_move_to_destination();
COPY(destination, saved_destination);
}
else {
// We are close enough to finish off the move.
COPY(destination, saved_destination);
prepare_move_to_destination();
flags.manual_motion = false;
}
}
prepare_move_to_destination();
}
void setActiveTool(const extruder_t extruder, bool no_move) {
@ -1044,7 +1052,6 @@ void MarlinUI::update() {
}
}
#endif // SDSUPPORT
ExtUI::_processManualMoveToDestination();
ExtUI::onIdle();
}

9
Marlin/src/lcd/extensible_ui/ui_api.h
View file

@ -46,10 +46,6 @@
namespace ExtUI {
#if ENABLED(JOYSTICK)
extern float norm_jog[];
#endif
// The ExtUI implementation can store up to this many bytes
// in the EEPROM when the methods onStoreSettings and
// onLoadSettings are called.
@ -84,7 +80,10 @@ namespace ExtUI {
void enableHeater(const heater_t);
void enableHeater(const extruder_t);
void jog(float dx, float dy, float dz);
#if ENABLED(JOYSTICK)
void jog(float dx, float dy, float dz);
void _joystick_update(float (&norm_jog)[XYZ]);
#endif
/**
* Getters and setters