264 lines
9.1 KiB
C++
264 lines
9.1 KiB
C++
/**
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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 <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include "../inc/MarlinConfig.h"
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//#define MIXER_NORMALIZER_DEBUG
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#ifndef __AVR__ // || HAS_DUAL_MIXING
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// Use 16-bit (or fastest) data for the integer mix factors
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typedef uint_fast16_t mixer_comp_t;
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typedef uint_fast16_t mixer_accu_t;
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#define COLOR_A_MASK 0x8000
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#define COLOR_MASK 0x7FFF
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#else
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// Use 8-bit data for the integer mix factors
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// Exactness is sacrificed for speed
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#define MIXER_ACCU_SIGNED
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typedef uint8_t mixer_comp_t;
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typedef int8_t mixer_accu_t;
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#define COLOR_A_MASK 0x80
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#define COLOR_MASK 0x7F
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#endif
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typedef int8_t mixer_perc_t;
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#ifndef MIXING_VIRTUAL_TOOLS
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#define MIXING_VIRTUAL_TOOLS 1
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#endif
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enum MixTool {
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FIRST_USER_VIRTUAL_TOOL = 0
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, LAST_USER_VIRTUAL_TOOL = MIXING_VIRTUAL_TOOLS - 1
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, NR_USER_VIRTUAL_TOOLS
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, MIXER_DIRECT_SET_TOOL = NR_USER_VIRTUAL_TOOLS
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#if HAS_MIXER_SYNC_CHANNEL
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, MIXER_AUTORETRACT_TOOL
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#endif
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, NR_MIXING_VIRTUAL_TOOLS
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};
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#define MAX_VTOOLS TERN(HAS_MIXER_SYNC_CHANNEL, 254, 255)
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static_assert(NR_MIXING_VIRTUAL_TOOLS <= MAX_VTOOLS, "MIXING_VIRTUAL_TOOLS must be <= " STRINGIFY(MAX_VTOOLS) "!");
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#define MIXER_BLOCK_FIELD mixer_comp_t b_color[MIXING_STEPPERS]
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#define MIXER_POPULATE_BLOCK() mixer.populate_block(block->b_color)
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#define MIXER_STEPPER_SETUP() mixer.stepper_setup(current_block->b_color)
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#define MIXER_STEPPER_LOOP(VAR) for (uint_fast8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
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#if ENABLED(GRADIENT_MIX)
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typedef struct {
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bool enabled; // This gradient is enabled
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mixer_comp_t color[MIXING_STEPPERS]; // The current gradient color
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float start_z, end_z; // Region for gradient
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int8_t start_vtool, end_vtool; // Start and end virtual tools
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mixer_perc_t start_mix[MIXING_STEPPERS], // Start and end mixes from those tools
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end_mix[MIXING_STEPPERS];
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TERN_(GRADIENT_VTOOL, int8_t vtool_index); // Use this virtual tool number as index
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} gradient_t;
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#endif
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/**
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* @brief Mixer class
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* @details Contains data and behaviors for a Mixing Extruder
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*/
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class Mixer {
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public:
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static float collector[MIXING_STEPPERS]; // M163 components, also editable from LCD
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static void init(); // Populate colors at boot time
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static void reset_vtools();
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static void refresh_collector(const float proportion=1.0, const uint8_t t=selected_vtool, float (&c)[MIXING_STEPPERS]=collector);
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// Used up to Planner level
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FORCE_INLINE static void set_collector(const uint8_t c, const float f) { collector[c] = _MAX(f, 0.0f); }
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static void normalize(const uint8_t tool_index);
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FORCE_INLINE static void normalize() { normalize(selected_vtool); }
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FORCE_INLINE static uint8_t get_current_vtool() { return selected_vtool; }
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FORCE_INLINE static void T(const uint_fast8_t c) {
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selected_vtool = c;
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TERN_(GRADIENT_VTOOL, refresh_gradient());
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TERN_(HAS_DUAL_MIXING, update_mix_from_vtool());
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}
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// Used when dealing with blocks
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FORCE_INLINE static void populate_block(mixer_comp_t b_color[MIXING_STEPPERS]) {
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#if ENABLED(GRADIENT_MIX)
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if (gradient.enabled) {
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MIXER_STEPPER_LOOP(i) b_color[i] = gradient.color[i];
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return;
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}
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#endif
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MIXER_STEPPER_LOOP(i) b_color[i] = color[selected_vtool][i];
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}
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FORCE_INLINE static void stepper_setup(mixer_comp_t b_color[MIXING_STEPPERS]) {
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MIXER_STEPPER_LOOP(i) s_color[i] = b_color[i];
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}
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#if EITHER(HAS_DUAL_MIXING, GRADIENT_MIX)
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static mixer_perc_t mix[MIXING_STEPPERS]; // Scratch array for the Mix in proportion to 100
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static inline void copy_mix_to_color(mixer_comp_t (&tcolor)[MIXING_STEPPERS]) {
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// Scale each component to the largest one in terms of COLOR_A_MASK
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// So the largest component will be COLOR_A_MASK and the other will be in proportion to it
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const float scale = (COLOR_A_MASK) * RECIPROCAL(_MAX(
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LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5])
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));
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// Scale all values so their maximum is COLOR_A_MASK
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MIXER_STEPPER_LOOP(i) tcolor[i] = mix[i] * scale;
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#ifdef MIXER_NORMALIZER_DEBUG
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SERIAL_ECHOPGM("Mix [ ");
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SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(mix[0]), int(mix[1]), int(mix[2]), int(mix[3]), int(mix[4]), int(mix[5]));
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SERIAL_ECHOPGM(" ] to Color [ ");
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SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(tcolor[0]), int(tcolor[1]), int(tcolor[2]), int(tcolor[3]), int(tcolor[4]), int(tcolor[5]));
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SERIAL_ECHOLNPGM(" ]");
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#endif
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}
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static inline void update_mix_from_vtool(const uint8_t j=selected_vtool) {
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float ctot = 0;
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MIXER_STEPPER_LOOP(i) ctot += color[j][i];
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//MIXER_STEPPER_LOOP(i) mix[i] = 100.0f * color[j][i] / ctot;
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MIXER_STEPPER_LOOP(i) mix[i] = mixer_perc_t(100.0f * color[j][i] / ctot);
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#ifdef MIXER_NORMALIZER_DEBUG
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SERIAL_ECHOPAIR("V-tool ", int(j), " [ ");
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SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(color[j][0]), int(color[j][1]), int(color[j][2]), int(color[j][3]), int(color[j][4]), int(color[j][5]));
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SERIAL_ECHOPGM(" ] to Mix [ ");
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SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(mix[0]), int(mix[1]), int(mix[2]), int(mix[3]), int(mix[4]), int(mix[5]));
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SERIAL_ECHOLNPGM(" ]");
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#endif
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}
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#endif // HAS_DUAL_MIXING || GRADIENT_MIX
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#if HAS_DUAL_MIXING
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// Update the virtual tool from an edited mix
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static inline void update_vtool_from_mix() {
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copy_mix_to_color(color[selected_vtool]);
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TERN_(GRADIENT_MIX, refresh_gradient());
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// MIXER_STEPPER_LOOP(i) collector[i] = mix[i];
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// normalize();
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}
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#endif // HAS_DUAL_MIXING
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#if ENABLED(GRADIENT_MIX)
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static gradient_t gradient;
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static float prev_z;
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// Update the current mix from the gradient for a given Z
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static void update_gradient_for_z(const float z);
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static void update_gradient_for_planner_z();
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static inline void gradient_control(const float z) {
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if (gradient.enabled) {
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if (z >= gradient.end_z)
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T(gradient.end_vtool);
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else
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update_gradient_for_z(z);
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}
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}
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static inline void update_mix_from_gradient() {
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float ctot = 0;
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MIXER_STEPPER_LOOP(i) ctot += gradient.color[i];
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MIXER_STEPPER_LOOP(i) mix[i] = (mixer_perc_t)CEIL(100.0f * gradient.color[i] / ctot);
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#ifdef MIXER_NORMALIZER_DEBUG
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SERIAL_ECHOPGM("Gradient [ ");
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SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(gradient.color[0]), int(gradient.color[1]), int(gradient.color[2]), int(gradient.color[3]), int(gradient.color[4]), int(gradient.color[5]));
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SERIAL_ECHOPGM(" ] to Mix [ ");
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SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(mix[0]), int(mix[1]), int(mix[2]), int(mix[3]), int(mix[4]), int(mix[5]));
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SERIAL_ECHOLNPGM(" ]");
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#endif
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}
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// Refresh the gradient after a change
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static void refresh_gradient() {
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#if ENABLED(GRADIENT_VTOOL)
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const bool is_grd = (gradient.vtool_index == -1 || selected_vtool == (uint8_t)gradient.vtool_index);
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#else
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constexpr bool is_grd = true;
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#endif
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gradient.enabled = is_grd && gradient.start_vtool != gradient.end_vtool && gradient.start_z < gradient.end_z;
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if (gradient.enabled) {
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mixer_perc_t mix_bak[MIXING_STEPPERS];
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COPY(mix_bak, mix);
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update_mix_from_vtool(gradient.start_vtool);
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COPY(gradient.start_mix, mix);
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update_mix_from_vtool(gradient.end_vtool);
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COPY(gradient.end_mix, mix);
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update_gradient_for_planner_z();
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COPY(mix, mix_bak);
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prev_z = -1;
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}
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}
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#endif // GRADIENT_MIX
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// Used in Stepper
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FORCE_INLINE static uint8_t get_stepper() { return runner; }
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FORCE_INLINE static uint8_t get_next_stepper() {
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for (;;) {
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if (--runner < 0) runner = MIXING_STEPPERS - 1;
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accu[runner] += s_color[runner];
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if (
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#ifdef MIXER_ACCU_SIGNED
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accu[runner] < 0
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#else
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accu[runner] & COLOR_A_MASK
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#endif
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) {
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accu[runner] &= COLOR_MASK;
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return runner;
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}
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}
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}
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private:
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// Used up to Planner level
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static uint_fast8_t selected_vtool;
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static mixer_comp_t color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
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// Used in Stepper
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static int_fast8_t runner;
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static mixer_comp_t s_color[MIXING_STEPPERS];
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static mixer_accu_t accu[MIXING_STEPPERS];
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};
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extern Mixer mixer;
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