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- /**
- * Marlin 3D Printer Firmware
- * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
- *
- */
-
- /**
- * joystick.cpp - joystick input / jogging
- */
-
- #include "../inc/MarlinConfigPre.h"
-
- #if ENABLED(JOYSTICK)
-
- #include "joystick.h"
-
- #include "../inc/MarlinConfig.h" // for pins
- #include "../module/planner.h"
-
- Joystick joystick;
-
- #if ENABLED(EXTENSIBLE_UI)
- #include "../lcd/extui/ui_api.h"
- #endif
-
- #if HAS_JOY_ADC_X
- temp_info_t Joystick::x; // = { 0 }
- #if ENABLED(INVERT_JOY_X)
- #define JOY_X(N) (16383 - (N))
- #else
- #define JOY_X(N) (N)
- #endif
- #endif
- #if HAS_JOY_ADC_Y
- temp_info_t Joystick::y; // = { 0 }
- #if ENABLED(INVERT_JOY_Y)
- #define JOY_Y(N) (16383 - (N))
- #else
- #define JOY_Y(N) (N)
- #endif
- #endif
- #if HAS_JOY_ADC_Z
- temp_info_t Joystick::z; // = { 0 }
- #if ENABLED(INVERT_JOY_Z)
- #define JOY_Z(N) (16383 - (N))
- #else
- #define JOY_Z(N) (N)
- #endif
- #endif
-
- #if ENABLED(JOYSTICK_DEBUG)
- void Joystick::report() {
- SERIAL_ECHOPGM("Joystick");
- #if HAS_JOY_ADC_X
- SERIAL_ECHOPAIR_P(SP_X_STR, JOY_X(x.raw));
- #endif
- #if HAS_JOY_ADC_Y
- SERIAL_ECHOPAIR_P(SP_Y_STR, JOY_Y(y.raw));
- #endif
- #if HAS_JOY_ADC_Z
- SERIAL_ECHOPAIR_P(SP_Z_STR, JOY_Z(z.raw));
- #endif
- #if HAS_JOY_ADC_EN
- SERIAL_ECHO_TERNARY(READ(JOY_EN_PIN), " EN=", "HIGH (dis", "LOW (en", "abled)");
- #endif
- SERIAL_EOL();
- }
- #endif
-
- #if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
-
- void Joystick::calculate(xyz_float_t &norm_jog) {
- // Do nothing if enable pin (active-low) is not LOW
- #if HAS_JOY_ADC_EN
- if (READ(JOY_EN_PIN)) return;
- #endif
-
- auto _normalize_joy = [](float &axis_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])
- axis_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
- else if (raw < joy_limits[1])
- axis_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
- // Map normal to jog value via quadratic relationship
- axis_jog = SIGN(axis_jog) * sq(axis_jog);
- }
- };
-
- #if HAS_JOY_ADC_X
- static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS;
- _normalize_joy(norm_jog.x, JOY_X(x.raw), joy_x_limits);
- #endif
- #if HAS_JOY_ADC_Y
- static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS;
- _normalize_joy(norm_jog.y, JOY_Y(y.raw), joy_y_limits);
- #endif
- #if HAS_JOY_ADC_Z
- static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS;
- _normalize_joy(norm_jog.z, JOY_Z(z.raw), joy_z_limits);
- #endif
- }
-
- #endif
-
- #if ENABLED(POLL_JOG)
-
- void Joystick::inject_jog_moves() {
- // Recursion barrier
- static bool injecting_now; // = false;
- if (injecting_now) return;
-
- #if ENABLED(NO_MOTION_BEFORE_HOMING)
- if (TERN0(HAS_JOY_ADC_X, axis_should_home(X_AXIS)) || TERN0(HAS_JOY_ADC_Y, axis_should_home(Y_AXIS)) || TERN0(HAS_JOY_ADC_Z, axis_should_home(Z_AXIS)))
- return;
- #endif
-
- static constexpr int QUEUE_DEPTH = 5; // Insert up to this many movements
- static constexpr float target_lag = 0.25f, // Aim for 1/4 second lag
- seg_time = target_lag / QUEUE_DEPTH; // 0.05 seconds, short segments inserted every 1/20th of a second
- static constexpr millis_t timer_limit_ms = millis_t(seg_time * 500); // 25 ms minimum delay between insertions
-
- // The planner can merge/collapse small moves, so the movement queue is unreliable to control the lag
- static millis_t next_run = 0;
- if (PENDING(millis(), next_run)) return;
- next_run = millis() + timer_limit_ms;
-
- // Only inject a command if the planner has fewer than 5 moves and there are no unparsed commands
- if (planner.movesplanned() >= QUEUE_DEPTH || queue.has_commands_queued())
- return;
-
- // Normalized jog values are 0 for no movement and -1 or +1 for as max feedrate (nonlinear relationship)
- // Jog are initialized to zero and handling input can update values but doesn't have to
- // You could use a two-axis joystick and a one-axis keypad and they might work together
- xyz_float_t norm_jog{0};
-
- // Use ADC values and defined limits. The active zone is normalized: -1..0 (dead) 0..1
- #if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
- joystick.calculate(norm_jog);
- #endif
-
- // Other non-joystick poll-based jogging could be implemented here
- // with "jogging" encapsulated as a more general class.
-
- TERN_(EXTENSIBLE_UI, ExtUI::_joystick_update(norm_jog));
-
- // norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
- xyz_float_t move_dist{0};
- float hypot2 = 0;
- LOOP_XYZ(i) if (norm_jog[i]) {
- move_dist[i] = seg_time * norm_jog[i] *
- #if ENABLED(EXTENSIBLE_UI)
- manual_feedrate_mm_s[i];
- #else
- planner.settings.max_feedrate_mm_s[i];
- #endif
- hypot2 += sq(move_dist[i]);
- }
-
- if (!UNEAR_ZERO(hypot2)) {
- current_position += move_dist;
- apply_motion_limits(current_position);
- const float length = sqrt(hypot2);
- injecting_now = true;
- planner.buffer_line(current_position, length / seg_time, active_extruder, length);
- injecting_now = false;
- }
- }
-
- #endif // POLL_JOG
-
- #endif // JOYSTICK
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