From 8cbb5350ad4cdfdec79ad6bdfaec40d670bc247c Mon Sep 17 00:00:00 2001
From: Marcio Teixeira <marcio@alephobjects.com>
Date: Wed, 25 Sep 2019 17:46:36 -0600
Subject: [PATCH] Refactor joystick support in ExtUI (#15318)
---
Marlin/src/feature/joystick.cpp | 28 +++---
Marlin/src/lcd/extensible_ui/ui_api.cpp | 119 +++++++++++++-----------
Marlin/src/lcd/extensible_ui/ui_api.h | 9 +-
3 files changed, 84 insertions(+), 72 deletions(-)
diff --git a/Marlin/src/feature/joystick.cpp b/Marlin/src/feature/joystick.cpp
index 45507339c5..bb54ff1d6d 100644
--- a/Marlin/src/feature/joystick.cpp
+++ b/Marlin/src/feature/joystick.cpp
@@ -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]);
}
diff --git a/Marlin/src/lcd/extensible_ui/ui_api.cpp b/Marlin/src/lcd/extensible_ui/ui_api.cpp
index f5cfefd217..4affcb6d7d 100644
--- a/Marlin/src/lcd/extensible_ui/ui_api.cpp
+++ b/Marlin/src/lcd/extensible_ui/ui_api.cpp
@@ -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();
}
diff --git a/Marlin/src/lcd/extensible_ui/ui_api.h b/Marlin/src/lcd/extensible_ui/ui_api.h
index 6d040e2db9..60f17b62c7 100644
--- a/Marlin/src/lcd/extensible_ui/ui_api.h
+++ b/Marlin/src/lcd/extensible_ui/ui_api.h
@@ -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