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Merge pull request #4836 from thinkyhead/rc_some_comments

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Some comments, const args, debug output tweaks
This commit is contained in:
Scott Lahteine 2016-09-18 13:38:07 -05:00 committed by GitHub
parent 48fe2fdc9e 2fc9ad6657
commit 2ebfbc4c8d
2 changed files with 57 additions and 23 deletions
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76
Marlin/Marlin_main.cpp
View file

@ -596,7 +596,7 @@ void process_next_command();
void prepare_move_to_destination(); void prepare_move_to_destination();
void get_cartesian_from_steppers(); void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(AxisEnum axis); void set_current_from_steppers_for_axis(const AxisEnum axis);
#if ENABLED(ARC_SUPPORT) #if ENABLED(ARC_SUPPORT)
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise); void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
@ -645,9 +645,9 @@ static void report_current_position();
/** /**
* sync_plan_position * sync_plan_position
* Set planner / stepper positions to the cartesian current_position. *
* The stepper code translates these coordinates into step units. * Set the planner/stepper positions directly from current_position with
* Allows translation between steps and millimeters for cartesian & core robots * no kinematic translation. Used for homing axes and cartesian/core syncing.
*/ */
inline void sync_plan_position() { inline void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
@ -1323,6 +1323,23 @@ static void set_home_offset(AxisEnum axis, float v) {
update_software_endstops(axis); update_software_endstops(axis);
} }
/**
* Set an axis' current position to its home position (after homing).
*
* For Core and Cartesian robots this applies one-to-one when an
* individual axis has been homed.
*
* DELTA should wait until all homing is done before setting the XYZ
* current_position to home, because homing is a single operation.
* In the case where the axis positions are already known and previously
* homed, DELTA could home to X or Y individually by moving either one
* to the center. However, homing Z always homes XY and Z.
*
* SCARA should wait until all XY homing is done before setting the XY
* current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually.
*
*/
static void set_axis_is_at_home(AxisEnum axis) { static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
@ -1355,8 +1372,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]); // SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
/** /**
* Works out real Homeposition angles using inverse kinematics, * Get Home position SCARA arm angles using inverse kinematics,
* and calculates homing offset using forward kinematics * and calculate homing offset using forward kinematics
*/ */
inverse_kinematics(homeposition); inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]); forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
@ -1989,7 +2006,7 @@ static void clean_up_after_endstop_or_probe_move() {
// - Raise to the BETWEEN height // - Raise to the BETWEEN height
// - Return the probed Z position // - Return the probed Z position
// //
static float probe_pt(float x, float y, bool stow = true, int verbose_level = 1) { static float probe_pt(const float &x, const float &y, bool stow = true, int verbose_level = 1) {
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> probe_pt(", x); SERIAL_ECHOPAIR(">>> probe_pt(", x);
@ -2013,7 +2030,10 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_ECHOLNPGM(")"); SERIAL_ECHOLNPGM(")");
} }
#endif #endif
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S; feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
if (DEPLOY_PROBE()) return NAN; if (DEPLOY_PROBE()) return NAN;
@ -2105,9 +2125,9 @@ static void clean_up_after_endstop_or_probe_move() {
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR) #elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
/** /**
* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING * Extrapolate a single point from its neighbors
*/ */
static void extrapolate_one_point(uint8_t x, uint8_t y, int xdir, int ydir) { static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
if (bed_level_grid[x][y]) return; // Don't overwrite good values. if (bed_level_grid[x][y]) return; // Don't overwrite good values.
float a = 2 * bed_level_grid[x + xdir][y] - bed_level_grid[x + xdir * 2][y], // Left to right. float a = 2 * bed_level_grid[x + xdir][y] - bed_level_grid[x + xdir * 2][y], // Left to right.
b = 2 * bed_level_grid[x][y + ydir] - bed_level_grid[x][y + ydir * 2], // Front to back. b = 2 * bed_level_grid[x][y + ydir] - bed_level_grid[x][y + ydir * 2], // Front to back.
@ -2151,7 +2171,7 @@ static void clean_up_after_endstop_or_probe_move() {
#endif // AUTO_BED_LEVELING_NONLINEAR #endif // AUTO_BED_LEVELING_NONLINEAR
/** /**
* Home an individual axis * Home an individual linear axis
*/ */
static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) { static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
@ -2163,6 +2183,17 @@ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
endstops.hit_on_purpose(); endstops.hit_on_purpose();
} }
/**
* Home an individual "raw axis" to its endstop.
* This applies to XYZ on Cartesian and Core robots, and
* to the individual ABC steppers on DELTA and SCARA.
*
* At the end of the procedure the axis is marked as
* homed and the current position of that axis is updated.
* Kinematic robots should wait till all axes are homed
* before updating the current position.
*/
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS) #define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
static void homeaxis(AxisEnum axis) { static void homeaxis(AxisEnum axis) {
@ -2678,11 +2709,17 @@ inline void gcode_G4() {
SERIAL_ECHOPGM(" (Right"); SERIAL_ECHOPGM(" (Right");
#elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0) #elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
SERIAL_ECHOPGM(" (Left"); SERIAL_ECHOPGM(" (Left");
#elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
SERIAL_ECHOPGM(" (Middle");
#else
SERIAL_ECHOPGM(" (Aligned With");
#endif #endif
#if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0) #if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
SERIAL_ECHOPGM("-Back"); SERIAL_ECHOPGM("-Back");
#elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0) #elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
SERIAL_ECHOPGM("-Front"); SERIAL_ECHOPGM("-Front");
#elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
SERIAL_ECHOPGM("-Center");
#endif #endif
if (zprobe_zoffset < 0) if (zprobe_zoffset < 0)
SERIAL_ECHOPGM(" & Below"); SERIAL_ECHOPGM(" & Below");
@ -3295,8 +3332,8 @@ inline void gcode_G28() {
return; return;
} }
bool dryrun = code_seen('D'); bool dryrun = code_seen('D'),
bool stow_probe_after_each = code_seen('E'); stow_probe_after_each = code_seen('E');
#if ENABLED(AUTO_BED_LEVELING_GRID) #if ENABLED(AUTO_BED_LEVELING_GRID)
@ -3386,7 +3423,6 @@ inline void gcode_G28() {
#endif // !DELTA #endif // !DELTA
// Inform the planner about the new coordinates // Inform the planner about the new coordinates
// (This is probably not needed here)
SYNC_PLAN_POSITION_KINEMATIC(); SYNC_PLAN_POSITION_KINEMATIC();
} }
@ -3759,11 +3795,11 @@ inline void gcode_G28() {
* G92: Set current position to given X Y Z E * G92: Set current position to given X Y Z E
*/ */
inline void gcode_G92() { inline void gcode_G92() {
bool didE = code_seen('E'); bool didXYZ = false,
didE = code_seen('E');
if (!didE) stepper.synchronize(); if (!didE) stepper.synchronize();
bool didXYZ = false;
LOOP_XYZE(i) { LOOP_XYZE(i) {
if (code_seen(axis_codes[i])) { if (code_seen(axis_codes[i])) {
float p = current_position[i], float p = current_position[i],
@ -4148,7 +4184,7 @@ inline void gcode_M42() {
if (verbose_level > 2) if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Positioning the probe..."); SERIAL_PROTOCOLLNPGM("Positioning the probe...");
// we don't do bed level correction in M48 because we want the raw data when we probe // Disable bed level correction in M48 because we want the raw data when we probe
#if ENABLED(AUTO_BED_LEVELING_FEATURE) #if ENABLED(AUTO_BED_LEVELING_FEATURE)
reset_bed_level(); reset_bed_level();
#endif #endif
@ -5745,9 +5781,8 @@ inline void gcode_M303() {
} }
#if ENABLED(MORGAN_SCARA) #if ENABLED(MORGAN_SCARA)
bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) { bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLNPGM(" Soft endstops disabled");
if (IsRunning()) { if (IsRunning()) {
//gcode_get_destination(); // For X Y Z E F //gcode_get_destination(); // For X Y Z E F
forward_kinematics_SCARA(delta_a, delta_b); forward_kinematics_SCARA(delta_a, delta_b);
@ -5755,7 +5790,6 @@ inline void gcode_M303() {
destination[Y_AXIS] = cartes[Y_AXIS]; destination[Y_AXIS] = cartes[Y_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS]; destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination(); prepare_move_to_destination();
//ok_to_send();
return true; return true;
} }
return false; return false;
@ -7875,7 +7909,7 @@ void get_cartesian_from_steppers() {
* *
* << INCOMPLETE! Still needs to unapply leveling! >> * << INCOMPLETE! Still needs to unapply leveling! >>
*/ */
void set_current_from_steppers_for_axis(AxisEnum axis) { void set_current_from_steppers_for_axis(const AxisEnum axis) {
#if ENABLED(AUTO_BED_LEVELING_LINEAR) #if ENABLED(AUTO_BED_LEVELING_LINEAR)
vector_3 pos = untilted_stepper_position(); vector_3 pos = untilted_stepper_position();
current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z; current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;
@ -7948,7 +7982,7 @@ void set_current_from_steppers_for_axis(AxisEnum axis) {
mesh_line_to_destination(fr_mm_s, x_splits, y_splits); mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
} }
#endif // MESH_BED_LEVELING #endif // MESH_BED_LEVELING
#if IS_KINEMATIC #if IS_KINEMATIC

4
Marlin/stepper.cpp
View file

@ -1062,14 +1062,14 @@ void Stepper::report_positions() {
zpos = count_position[Z_AXIS]; zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
#if ENABLED(COREXY) || ENABLED(COREXZ) #if ENABLED(COREXY) || ENABLED(COREXZ) || IS_SCARA
SERIAL_PROTOCOLPGM(MSG_COUNT_A); SERIAL_PROTOCOLPGM(MSG_COUNT_A);
#else #else
SERIAL_PROTOCOLPGM(MSG_COUNT_X); SERIAL_PROTOCOLPGM(MSG_COUNT_X);
#endif #endif
SERIAL_PROTOCOL(xpos); SERIAL_PROTOCOL(xpos);
#if ENABLED(COREXY) || ENABLED(COREYZ) #if ENABLED(COREXY) || ENABLED(COREYZ) || IS_SCARA
SERIAL_PROTOCOLPGM(" B:"); SERIAL_PROTOCOLPGM(" B:");
#else #else
SERIAL_PROTOCOLPGM(" Y:"); SERIAL_PROTOCOLPGM(" Y:");