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- /**
- * Marlin 3D Printer Firmware
- * Copyright (C) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
- *
- * Based on Sprinter and grbl.
- * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
- #include "utility.h"
-
- #include "../Marlin.h"
- #include "../module/temperature.h"
-
- void safe_delay(millis_t ms) {
- while (ms > 50) {
- ms -= 50;
- delay(50);
- thermalManager.manage_heater();
- }
- delay(ms);
- thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
- }
-
- #if ENABLED(EEPROM_SETTINGS) || ENABLED(SD_FIRMWARE_UPDATE)
-
- void crc16(uint16_t *crc, const void * const data, uint16_t cnt) {
- uint8_t *ptr = (uint8_t *)data;
- while (cnt--) {
- *crc = (uint16_t)(*crc ^ (uint16_t)(((uint16_t)*ptr++) << 8));
- for (uint8_t i = 0; i < 8; i++)
- *crc = (uint16_t)((*crc & 0x8000) ? ((uint16_t)(*crc << 1) ^ 0x1021) : (*crc << 1));
- }
- }
-
- #endif // EEPROM_SETTINGS || SD_FIRMWARE_UPDATE
-
- #if ENABLED(ULTRA_LCD) || ENABLED(DEBUG_LEVELING_FEATURE) || ENABLED(EXTENSIBLE_UI)
-
- char conv[8] = { 0 };
-
- #define DIGIT(n) ('0' + (n))
- #define DIGIMOD(n, f) DIGIT((n)/(f) % 10)
- #define RJDIGIT(n, f) ((n) >= (f) ? DIGIMOD(n, f) : ' ')
- #define MINUSOR(n, alt) (n >= 0 ? (alt) : (n = -n, '-'))
-
- // Convert unsigned 8bit int to string 123 format
- char* ui8tostr3(const uint8_t i) {
- conv[4] = RJDIGIT(i, 100);
- conv[5] = RJDIGIT(i, 10);
- conv[6] = DIGIMOD(i, 1);
- return &conv[4];
- }
-
- // Convert signed 8bit int to rj string with 123 or -12 format
- char* i8tostr3(const int8_t x) {
- int xx = x;
- conv[4] = MINUSOR(xx, RJDIGIT(xx, 100));
- conv[5] = RJDIGIT(xx, 10);
- conv[6] = DIGIMOD(xx, 1);
- return &conv[4];
- }
-
- // Convert unsigned 16bit int to string 123 format
- char* ui16tostr3(const uint16_t xx) {
- conv[4] = RJDIGIT(xx, 100);
- conv[5] = RJDIGIT(xx, 10);
- conv[6] = DIGIMOD(xx, 1);
- return &conv[4];
- }
-
- // Convert unsigned 16bit int to string 1234 format
- char* ui16tostr4(const uint16_t xx) {
- conv[3] = RJDIGIT(xx, 1000);
- conv[4] = RJDIGIT(xx, 100);
- conv[5] = RJDIGIT(xx, 10);
- conv[6] = DIGIMOD(xx, 1);
- return &conv[3];
- }
-
- // Convert signed 16bit int to rj string with 123 or -12 format
- char* i16tostr3(const int16_t x) {
- int xx = x;
- conv[4] = MINUSOR(xx, RJDIGIT(xx, 100));
- conv[5] = RJDIGIT(xx, 10);
- conv[6] = DIGIMOD(xx, 1);
- return &conv[4];
- }
-
- // Convert unsigned 16bit int to lj string with 123 format
- char* i16tostr3left(const int16_t i) {
- char *str = &conv[6];
- *str = DIGIMOD(i, 1);
- if (i >= 10) {
- *(--str) = DIGIMOD(i, 10);
- if (i >= 100)
- *(--str) = DIGIMOD(i, 100);
- }
- return str;
- }
-
- // Convert signed 16bit int to rj string with 1234, _123, -123, _-12, or __-1 format
- char* i16tostr4sign(const int16_t i) {
- const bool neg = i < 0;
- const int ii = neg ? -i : i;
- if (i >= 1000) {
- conv[3] = DIGIMOD(ii, 1000);
- conv[4] = DIGIMOD(ii, 100);
- conv[5] = DIGIMOD(ii, 10);
- }
- else if (ii >= 100) {
- conv[3] = neg ? '-' : ' ';
- conv[4] = DIGIMOD(ii, 100);
- conv[5] = DIGIMOD(ii, 10);
- }
- else {
- conv[3] = ' ';
- conv[4] = ' ';
- if (ii >= 10) {
- conv[4] = neg ? '-' : ' ';
- conv[5] = DIGIMOD(ii, 10);
- }
- else {
- conv[5] = neg ? '-' : ' ';
- }
- }
- conv[6] = DIGIMOD(ii, 1);
- return &conv[3];
- }
-
- // Convert unsigned float to string with 1.23 format
- char* ftostr12ns(const float &f) {
- const long i = ((f < 0 ? -f : f) * 1000 + 5) / 10;
- conv[3] = DIGIMOD(i, 100);
- conv[4] = '.';
- conv[5] = DIGIMOD(i, 10);
- conv[6] = DIGIMOD(i, 1);
- return &conv[3];
- }
-
- // Convert signed float to fixed-length string with 023.45 / -23.45 format
- char* ftostr52(const float &f) {
- long i = (f * 1000 + (f < 0 ? -5: 5)) / 10;
- conv[1] = MINUSOR(i, DIGIMOD(i, 10000));
- conv[2] = DIGIMOD(i, 1000);
- conv[3] = DIGIMOD(i, 100);
- conv[4] = '.';
- conv[5] = DIGIMOD(i, 10);
- conv[6] = DIGIMOD(i, 1);
- return &conv[1];
- }
-
- #if ENABLED(LCD_DECIMAL_SMALL_XY)
-
- // Convert float to rj string with 1234, _123, -123, _-12, 12.3, _1.2, or -1.2 format
- char* ftostr4sign(const float &f) {
- const int i = (f * 100 + (f < 0 ? -5: 5)) / 10;
- if (!WITHIN(i, -99, 999)) return i16tostr4sign((int)f);
- const bool neg = i < 0;
- const int ii = neg ? -i : i;
- conv[3] = neg ? '-' : (ii >= 100 ? DIGIMOD(ii, 100) : ' ');
- conv[4] = DIGIMOD(ii, 10);
- conv[5] = '.';
- conv[6] = DIGIMOD(ii, 1);
- return &conv[3];
- }
-
- #endif // LCD_DECIMAL_SMALL_XY
-
- // Convert float to fixed-length string with +123.4 / -123.4 format
- char* ftostr41sign(const float &f) {
- int i = (f * 100 + (f < 0 ? -5: 5)) / 10;
- conv[1] = MINUSOR(i, '+');
- conv[2] = DIGIMOD(i, 1000);
- conv[3] = DIGIMOD(i, 100);
- conv[4] = DIGIMOD(i, 10);
- conv[5] = '.';
- conv[6] = DIGIMOD(i, 1);
- return &conv[1];
- }
-
- // Convert signed float to string (6 digit) with -1.234 / _0.000 / +1.234 format
- char* ftostr43sign(const float &f, char plus/*=' '*/) {
- long i = (f * 10000 + (f < 0 ? -5: 5)) / 10;
- conv[1] = i ? MINUSOR(i, plus) : ' ';
- conv[2] = DIGIMOD(i, 1000);
- conv[3] = '.';
- conv[4] = DIGIMOD(i, 100);
- conv[5] = DIGIMOD(i, 10);
- conv[6] = DIGIMOD(i, 1);
- return &conv[1];
- }
-
- // Convert unsigned float to rj string with 12345 format
- char* ftostr5rj(const float &f) {
- const long i = ((f < 0 ? -f : f) * 10 + 5) / 10;
- conv[2] = RJDIGIT(i, 10000);
- conv[3] = RJDIGIT(i, 1000);
- conv[4] = RJDIGIT(i, 100);
- conv[5] = RJDIGIT(i, 10);
- conv[6] = DIGIMOD(i, 1);
- return &conv[2];
- }
-
- // Convert signed float to string with +1234.5 format
- char* ftostr51sign(const float &f) {
- long i = (f * 100 + (f < 0 ? -5: 5)) / 10;
- conv[0] = MINUSOR(i, '+');
- conv[1] = DIGIMOD(i, 10000);
- conv[2] = DIGIMOD(i, 1000);
- conv[3] = DIGIMOD(i, 100);
- conv[4] = DIGIMOD(i, 10);
- conv[5] = '.';
- conv[6] = DIGIMOD(i, 1);
- return conv;
- }
-
- // Convert signed float to string with +123.45 format
- char* ftostr52sign(const float &f) {
- long i = (f * 1000 + (f < 0 ? -5: 5)) / 10;
- conv[0] = MINUSOR(i, '+');
- conv[1] = DIGIMOD(i, 10000);
- conv[2] = DIGIMOD(i, 1000);
- conv[3] = DIGIMOD(i, 100);
- conv[4] = '.';
- conv[5] = DIGIMOD(i, 10);
- conv[6] = DIGIMOD(i, 1);
- return conv;
- }
-
- // Convert unsigned float to string with 1234.56 format omitting trailing zeros
- char* ftostr62rj(const float &f) {
- const long i = ((f < 0 ? -f : f) * 1000 + 5) / 10;
- conv[0] = RJDIGIT(i, 100000);
- conv[1] = RJDIGIT(i, 10000);
- conv[2] = RJDIGIT(i, 1000);
- conv[3] = DIGIMOD(i, 100);
- conv[4] = '.';
- conv[5] = DIGIMOD(i, 10);
- conv[6] = DIGIMOD(i, 1);
- return conv;
- }
-
- // Convert signed float to space-padded string with -_23.4_ format
- char* ftostr52sp(const float &f) {
- long i = (f * 1000 + (f < 0 ? -5: 5)) / 10;
- uint8_t dig;
- conv[0] = MINUSOR(i, ' ');
- conv[1] = RJDIGIT(i, 10000);
- conv[2] = RJDIGIT(i, 1000);
- conv[3] = DIGIMOD(i, 100);
-
- if ((dig = i % 10)) { // second digit after decimal point?
- conv[4] = '.';
- conv[5] = DIGIMOD(i, 10);
- conv[6] = DIGIT(dig);
- }
- else {
- if ((dig = (i / 10) % 10)) { // first digit after decimal point?
- conv[4] = '.';
- conv[5] = DIGIT(dig);
- }
- else // nothing after decimal point
- conv[4] = conv[5] = ' ';
- conv[6] = ' ';
- }
- return conv;
- }
-
- #endif // ULTRA_LCD
-
- #if ENABLED(DEBUG_LEVELING_FEATURE)
-
- #include "../module/probe.h"
- #include "../module/motion.h"
- #include "../module/stepper.h"
- #include "../feature/bedlevel/bedlevel.h"
-
- void log_machine_info() {
- SERIAL_ECHOLNPGM("Machine Type: "
- #if ENABLED(DELTA)
- "Delta"
- #elif IS_SCARA
- "SCARA"
- #elif IS_CORE
- "Core"
- #else
- "Cartesian"
- #endif
- );
-
- SERIAL_ECHOLNPGM("Probe: "
- #if ENABLED(PROBE_MANUALLY)
- "PROBE_MANUALLY"
- #elif ENABLED(FIX_MOUNTED_PROBE)
- "FIX_MOUNTED_PROBE"
- #elif ENABLED(BLTOUCH)
- "BLTOUCH"
- #elif HAS_Z_SERVO_PROBE
- "SERVO PROBE"
- #elif ENABLED(Z_PROBE_SLED)
- "Z_PROBE_SLED"
- #elif ENABLED(Z_PROBE_ALLEN_KEY)
- "Z_PROBE_ALLEN_KEY"
- #else
- "NONE"
- #endif
- );
-
- #if HAS_BED_PROBE
- SERIAL_ECHOPGM("Probe Offset X:" STRINGIFY(X_PROBE_OFFSET_FROM_EXTRUDER) " Y:" STRINGIFY(Y_PROBE_OFFSET_FROM_EXTRUDER));
- SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
- if ((X_PROBE_OFFSET_FROM_EXTRUDER) > 0)
- SERIAL_ECHOPGM(" (Right");
- else if ((X_PROBE_OFFSET_FROM_EXTRUDER) < 0)
- SERIAL_ECHOPGM(" (Left");
- else if ((Y_PROBE_OFFSET_FROM_EXTRUDER) != 0)
- SERIAL_ECHOPGM(" (Middle");
- else
- SERIAL_ECHOPGM(" (Aligned With");
-
- if ((Y_PROBE_OFFSET_FROM_EXTRUDER) > 0) {
- #if IS_SCARA
- SERIAL_ECHOPGM("-Distal");
- #else
- SERIAL_ECHOPGM("-Back");
- #endif
- }
- else if ((Y_PROBE_OFFSET_FROM_EXTRUDER) < 0) {
- #if IS_SCARA
- SERIAL_ECHOPGM("-Proximal");
- #else
- SERIAL_ECHOPGM("-Front");
- #endif
- }
- else if ((X_PROBE_OFFSET_FROM_EXTRUDER) != 0)
- SERIAL_ECHOPGM("-Center");
-
- if (zprobe_zoffset < 0)
- SERIAL_ECHOPGM(" & Below");
- else if (zprobe_zoffset > 0)
- SERIAL_ECHOPGM(" & Above");
- else
- SERIAL_ECHOPGM(" & Same Z as");
- SERIAL_ECHOLNPGM(" Nozzle)");
- #endif
-
- #if HAS_ABL_OR_UBL
- SERIAL_ECHOLNPGM("Auto Bed Leveling: "
- #if ENABLED(AUTO_BED_LEVELING_LINEAR)
- "LINEAR"
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- "BILINEAR"
- #elif ENABLED(AUTO_BED_LEVELING_3POINT)
- "3POINT"
- #elif ENABLED(AUTO_BED_LEVELING_UBL)
- "UBL"
- #endif
- );
- if (planner.leveling_active) {
- SERIAL_ECHOLNPGM(" (enabled)");
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- if (planner.z_fade_height)
- SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
- #endif
- #if ABL_PLANAR
- const float diff[XYZ] = {
- planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
- planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
- planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
- };
- SERIAL_ECHOPGM("ABL Adjustment X");
- if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
- SERIAL_ECHO(diff[X_AXIS]);
- SERIAL_ECHOPGM(" Y");
- if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
- SERIAL_ECHO(diff[Y_AXIS]);
- SERIAL_ECHOPGM(" Z");
- if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
- SERIAL_ECHO(diff[Z_AXIS]);
- #else
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- SERIAL_ECHOPGM("UBL Adjustment Z");
- const float rz = ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS]);
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- SERIAL_ECHOPGM("ABL Adjustment Z");
- const float rz = bilinear_z_offset(current_position);
- #endif
- SERIAL_ECHO(ftostr43sign(rz, '+'));
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- if (planner.z_fade_height) {
- SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position[Z_AXIS]), '+'));
- SERIAL_CHAR(')');
- }
- #endif
- #endif
- }
- else
- SERIAL_ECHOLNPGM(" (disabled)");
-
- SERIAL_EOL();
-
- #elif ENABLED(MESH_BED_LEVELING)
-
- SERIAL_ECHOPGM("Mesh Bed Leveling");
- if (planner.leveling_active) {
- SERIAL_ECHOLNPGM(" (enabled)");
- SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- , 1.0
- #endif
- ), '+'));
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- if (planner.z_fade_height) {
- SERIAL_ECHOPAIR(" (", ftostr43sign(
- mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS], planner.fade_scaling_factor_for_z(current_position[Z_AXIS])), '+'
- ));
- SERIAL_CHAR(')');
- }
- #endif
- }
- else
- SERIAL_ECHOPGM(" (disabled)");
-
- SERIAL_EOL();
-
- #endif // MESH_BED_LEVELING
- }
-
- #endif // DEBUG_LEVELING_FEATURE
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