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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/>.
- *
- */
-
- #include "../../inc/MarlinConfig.h"
-
- #include "../gcode.h"
- #include "../../module/motion.h"
- #include "../../module/stepper.h"
-
- #if ENABLED(M114_DETAIL)
-
- #if HAS_L64XX
- #include "../../libs/L64XX/L64XX_Marlin.h"
- #define DEBUG_OUT ENABLED(L6470_CHITCHAT)
- #include "../../core/debug_out.h"
- #endif
-
- void report_all_axis_pos(const xyze_pos_t &pos, const uint8_t n=LOGICAL_AXES, const uint8_t precision=3) {
- char str[12];
- LOOP_L_N(a, n) {
- SERIAL_CHAR(' ', axis_codes[a], ':');
- if (pos[a] >= 0) SERIAL_CHAR(' ');
- SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
- }
- SERIAL_EOL();
- }
- inline void report_linear_axis_pos(const xyze_pos_t &pos) { report_all_axis_pos(pos, XYZ); }
-
- void report_linear_axis_pos(const xyz_pos_t &pos, const uint8_t precision=3) {
- char str[12];
- LOOP_NUM_AXES(a) {
- SERIAL_CHAR(' ', AXIS_CHAR(a), ':');
- SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
- }
- SERIAL_EOL();
- }
-
- void report_current_position_detail() {
- // Position as sent by G-code
- SERIAL_ECHOPGM("\nLogical:");
- report_linear_axis_pos(current_position.asLogical());
-
- // Cartesian position in native machine space
- SERIAL_ECHOPGM("Raw: ");
- report_linear_axis_pos(current_position);
-
- xyze_pos_t leveled = current_position;
-
- #if HAS_LEVELING
- // Current position with leveling applied
- SERIAL_ECHOPGM("Leveled:");
- planner.apply_leveling(leveled);
- report_linear_axis_pos(leveled);
-
- // Test planner un-leveling. This should match the Raw result.
- SERIAL_ECHOPGM("UnLevel:");
- xyze_pos_t unleveled = leveled;
- planner.unapply_leveling(unleveled);
- report_linear_axis_pos(unleveled);
- #endif
-
- #if IS_KINEMATIC
- // Kinematics applied to the leveled position
- SERIAL_ECHOPGM(TERN(IS_SCARA, "ScaraK: ", "DeltaK: "));
- inverse_kinematics(leveled); // writes delta[]
- report_linear_axis_pos(delta);
- #endif
-
- planner.synchronize();
-
- #if HAS_L64XX
- char temp_buf[80];
- int32_t temp;
- //#define ABS_POS_SIGN_MASK 0b1111 1111 1110 0000 0000 0000 0000 0000
- #define ABS_POS_SIGN_MASK 0b11111111111000000000000000000000
- #define REPORT_ABSOLUTE_POS(Q) do{ \
- L64xxManager.say_axis(Q, false); \
- temp = L6470_GETPARAM(L6470_ABS_POS,Q); \
- if (temp & ABS_POS_SIGN_MASK) temp |= ABS_POS_SIGN_MASK; \
- sprintf_P(temp_buf, PSTR(":%8ld "), temp); \
- DEBUG_ECHO(temp_buf); \
- }while(0)
-
- DEBUG_ECHOPGM("\nL6470:");
- #if AXIS_IS_L64XX(X)
- REPORT_ABSOLUTE_POS(X);
- #endif
- #if AXIS_IS_L64XX(X2)
- REPORT_ABSOLUTE_POS(X2);
- #endif
- #if AXIS_IS_L64XX(Y)
- REPORT_ABSOLUTE_POS(Y);
- #endif
- #if AXIS_IS_L64XX(Y2)
- REPORT_ABSOLUTE_POS(Y2);
- #endif
- #if AXIS_IS_L64XX(Z)
- REPORT_ABSOLUTE_POS(Z);
- #endif
- #if AXIS_IS_L64XX(Z2)
- REPORT_ABSOLUTE_POS(Z2);
- #endif
- #if AXIS_IS_L64XX(Z3)
- REPORT_ABSOLUTE_POS(Z3);
- #endif
- #if AXIS_IS_L64XX(Z4)
- REPORT_ABSOLUTE_POS(Z4);
- #endif
- #if AXIS_IS_L64XX(I)
- REPORT_ABSOLUTE_POS(I);
- #endif
- #if AXIS_IS_L64XX(J)
- REPORT_ABSOLUTE_POS(J);
- #endif
- #if AXIS_IS_L64XX(K)
- REPORT_ABSOLUTE_POS(K);
- #endif
- #if AXIS_IS_L64XX(U)
- REPORT_ABSOLUTE_POS(U);
- #endif
- #if AXIS_IS_L64XX(V)
- REPORT_ABSOLUTE_POS(V);
- #endif
- #if AXIS_IS_L64XX(W)
- REPORT_ABSOLUTE_POS(W);
- #endif
- #if AXIS_IS_L64XX(E0)
- REPORT_ABSOLUTE_POS(E0);
- #endif
- #if AXIS_IS_L64XX(E1)
- REPORT_ABSOLUTE_POS(E1);
- #endif
- #if AXIS_IS_L64XX(E2)
- REPORT_ABSOLUTE_POS(E2);
- #endif
- #if AXIS_IS_L64XX(E3)
- REPORT_ABSOLUTE_POS(E3);
- #endif
- #if AXIS_IS_L64XX(E4)
- REPORT_ABSOLUTE_POS(E4);
- #endif
- #if AXIS_IS_L64XX(E5)
- REPORT_ABSOLUTE_POS(E5);
- #endif
- #if AXIS_IS_L64XX(E6)
- REPORT_ABSOLUTE_POS(E6);
- #endif
- #if AXIS_IS_L64XX(E7)
- REPORT_ABSOLUTE_POS(E7);
- #endif
- SERIAL_EOL();
- #endif // HAS_L64XX
-
- SERIAL_ECHOPGM("Stepper:");
- LOOP_LOGICAL_AXES(i) {
- SERIAL_CHAR(' ', axis_codes[i], ':');
- SERIAL_ECHO(stepper.position((AxisEnum)i));
- }
- SERIAL_EOL();
-
- #if IS_SCARA
- const xy_float_t deg = {
- planner.get_axis_position_degrees(A_AXIS),
- planner.get_axis_position_degrees(B_AXIS)
- };
- SERIAL_ECHOPGM("Degrees:");
- report_all_axis_pos(deg, 2);
- #endif
-
- SERIAL_ECHOPGM("FromStp:");
- get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
- xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(
- planner.get_axis_position_mm(E_AXIS),
- cartes.x, cartes.y, cartes.z,
- planner.get_axis_position_mm(I_AXIS),
- planner.get_axis_position_mm(J_AXIS),
- planner.get_axis_position_mm(K_AXIS),
- planner.get_axis_position_mm(U_AXIS),
- planner.get_axis_position_mm(V_AXIS),
- planner.get_axis_position_mm(W_AXIS)
- );
- report_all_axis_pos(from_steppers);
-
- const xyze_float_t diff = from_steppers - leveled;
- SERIAL_ECHOPGM("Diff: ");
- report_all_axis_pos(diff);
-
- TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
- }
-
- #endif // M114_DETAIL
-
- /**
- * M114: Report the current position to host.
- * Since steppers are moving, the count positions are
- * projected by using planner calculations.
- * D - Report more detail. This syncs the planner. (Requires M114_DETAIL)
- * E - Report E stepper position (Requires M114_DETAIL)
- * R - Report the realtime position instead of projected.
- */
- void GcodeSuite::M114() {
-
- #if ENABLED(M114_DETAIL)
- if (parser.seen_test('D')) {
- #if DISABLED(M114_LEGACY)
- planner.synchronize();
- #endif
- report_current_position();
- report_current_position_detail();
- return;
- }
- #if HAS_EXTRUDERS
- if (parser.seen_test('E')) {
- SERIAL_ECHOLNPGM("Count E:", stepper.position(E_AXIS));
- return;
- }
- #endif
- #endif
-
- #if ENABLED(M114_REALTIME)
- if (parser.seen_test('R')) { report_real_position(); return; }
- #endif
-
- TERN_(M114_LEGACY, planner.synchronize());
- report_current_position_projected();
-
- TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
- }
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