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Apply updated changes for delta_tower_angle_trim

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This commit is contained in:
Scott Lahteine 2017-03-07 16:35:27 -06:00
parent 00b6b3da79
commit 47242a40bb
2 changed files with 57 additions and 59 deletions
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29
Marlin/Marlin_main.cpp
View file

@ -185,7 +185,7 @@
* M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output. * M503 - Print the current settings (in memory): "M503 S<verbose>". S0 specifies compact output.
* M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) * M540 - Enable/disable SD card abort on endstop hit: "M540 S<state>". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
* M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE) * M600 - Pause for filament change: "M600 X<pos> Y<pos> Z<raise> E<first_retract> L<later_retract>". (Requires FILAMENT_CHANGE_FEATURE)
* M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s>" (Requires DELTA) * M665 - Set delta configurations: "M665 L<diagonal rod> R<delta radius> S<segments/s> A<rod A trim mm> B<rod B trim mm> C<rod C trim mm> I<tower A trim angle> J<tower B trim angle> K<tower C trim angle>" (Requires DELTA)
* M666 - Set delta endstop adjustment. (Requires DELTA) * M666 - Set delta endstop adjustment. (Requires DELTA)
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE) * M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
@ -556,9 +556,6 @@ static uint8_t target_extruder;
#if ENABLED(DELTA) #if ENABLED(DELTA)
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float delta[ABC], float delta[ABC],
endstop_adj[ABC] = { 0 }; endstop_adj[ABC] = { 0 };
@ -567,12 +564,12 @@ static uint8_t target_extruder;
delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1, delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1,
delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2, delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2,
delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3, delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3,
delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower delta_tower1_x = -sin(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), delta_tower1_y = -cos(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower delta_tower2_x = sin(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), delta_tower2_y = -cos(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower delta_tower3_x = -sin(RADIANS( delta_tower_angle_trim_3)), // back middle tower
delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), delta_tower3_y = cos(RADIANS( delta_tower_angle_trim_3)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
delta_diagonal_rod = DELTA_DIAGONAL_ROD, delta_diagonal_rod = DELTA_DIAGONAL_ROD,
delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1, delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1,
delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2, delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2,
@ -9146,12 +9143,12 @@ void ok_to_send() {
* settings have been changed (e.g., by M665). * settings have been changed (e.g., by M665).
*/ */
void recalc_delta_settings(float radius, float diagonal_rod) { void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower delta_tower1_x = -sin(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower
delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), delta_tower1_y = -cos(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1),
delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower delta_tower2_x = sin(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower
delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), delta_tower2_y = -cos(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2),
delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower delta_tower3_x = -sin(RADIANS( delta_tower_angle_trim_3)), // back middle tower
delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), delta_tower3_y = cos(RADIANS( delta_tower_angle_trim_3)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3),
delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1); delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1);
delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2); delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2);
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3); delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);

87
Marlin/configuration_store.cpp
View file

@ -36,13 +36,13 @@
* *
*/ */
#define EEPROM_VERSION "V30" #define EEPROM_VERSION "V31"
// Change EEPROM version if these are changed: // Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100 #define EEPROM_OFFSET 100
/** /**
* V30 EEPROM Layout: * V31 EEPROM Layout:
* *
* 100 Version (char x4) * 100 Version (char x4)
* 104 EEPROM Checksum (uint16_t) * 104 EEPROM Checksum (uint16_t)
@ -96,55 +96,56 @@
* 388 M665 J delta_tower_angle_trim_2 (float) * 388 M665 J delta_tower_angle_trim_2 (float)
* 392 M665 K delta_tower_angle_trim_3 (float) * 392 M665 K delta_tower_angle_trim_3 (float)
* *
* Z_DUAL_ENDSTOPS: 4 bytes * Z_DUAL_ENDSTOPS (if not deltabot): 48 bytes
* 384 M666 Z z_endstop_adj (float) * 348 M666 Z z_endstop_adj (float)
* --- dummy data (float x11)
* *
* ULTIPANEL: 6 bytes * ULTIPANEL: 6 bytes
* 388 M145 S0 H lcd_preheat_hotend_temp (int x2) * 396 M145 S0 H lcd_preheat_hotend_temp (int x2)
* 392 M145 S0 B lcd_preheat_bed_temp (int x2) * 400 M145 S0 B lcd_preheat_bed_temp (int x2)
* 396 M145 S0 F lcd_preheat_fan_speed (int x2) * 404 M145 S0 F lcd_preheat_fan_speed (int x2)
* *
* PIDTEMP: 66 bytes * PIDTEMP: 66 bytes
* 400 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4) * 408 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4)
* 416 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4) * 424 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4)
* 432 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4) * 440 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4)
* 448 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) * 456 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4)
* 464 M301 L lpq_len (int) * 472 M301 L lpq_len (int)
* *
* PIDTEMPBED: * PIDTEMPBED: 12 bytes
* 466 M304 PID thermalManager.bedKp, thermalManager.bedKi, thermalManager.bedKd (float x3) * 474 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3)
* *
* DOGLCD: 2 bytes * DOGLCD: 2 bytes
* 478 M250 C lcd_contrast (int) * 486 M250 C lcd_contrast (int)
* *
* FWRETRACT: 29 bytes * FWRETRACT: 29 bytes
* 480 M209 S autoretract_enabled (bool) * 488 M209 S autoretract_enabled (bool)
* 481 M207 S retract_length (float) * 489 M207 S retract_length (float)
* 485 M207 W retract_length_swap (float) * 493 M207 W retract_length_swap (float)
* 489 M207 F retract_feedrate_mm_s (float) * 497 M207 F retract_feedrate_mm_s (float)
* 493 M207 Z retract_zlift (float) * 501 M207 Z retract_zlift (float)
* 497 M208 S retract_recover_length (float) * 505 M208 S retract_recover_length (float)
* 501 M208 W retract_recover_length_swap (float) * 509 M208 W retract_recover_length_swap (float)
* 505 M208 F retract_recover_feedrate_mm_s (float) * 513 M208 F retract_recover_feedrate_mm_s (float)
* *
* Volumetric Extrusion: 17 bytes * Volumetric Extrusion: 17 bytes
* 509 M200 D volumetric_enabled (bool) * 517 M200 D volumetric_enabled (bool)
* 510 M200 T D filament_size (float x4) (T0..3) * 518 M200 T D filament_size (float x4) (T0..3)
* *
* TMC2130: 20 bytes * TMC2130 Stepper Current: 20 bytes
* 526 M906 X TMC2130 X-stepper current (uint16_t) * 534 M906 X stepperX current (uint16_t)
* 528 M906 Y TMC2130 Y-stepper current (uint16_t) * 536 M906 Y stepperY current (uint16_t)
* 530 M906 Z TMC2130 Z-stepper current (uint16_t) * 538 M906 Z stepperZ current (uint16_t)
* 532 M906 X2 TMC2130 X2-stepper current (uint16_t) * 540 M906 X2 stepperX2 current (uint16_t)
* 534 M906 Y2 TMC2130 Y2-stepper current (uint16_t) * 542 M906 Y2 stepperY2 current (uint16_t)
* 536 M906 Z2 TMC2130 Z2-stepper current (uint16_t) * 544 M906 Z2 stepperZ2 current (uint16_t)
* 538 M906 E0 TMC2130 E0-stepper current (uint16_t) * 546 M906 E0 stepperE0 current (uint16_t)
* 540 M906 E1 TMC2130 E1-stepper current (uint16_t) * 548 M906 E1 stepperE1 current (uint16_t)
* 542 M906 E2 TMC2130 E2-stepper current (uint16_t) * 550 M906 E2 stepperE2 current (uint16_t)
* 544 M906 E3 TMC2130 E3-stepper current (uint16_t) * 552 M906 E3 stepperE3 current (uint16_t)
* *
* 546 Minimum end-point * 554 Minimum end-point
* 1867 (546 + 36 + 9 + 288 + 988) Maximum end-point * 1875 (554 + 36 + 9 + 288 + 988) Maximum end-point
* *
*/ */
#include "Marlin.h" #include "Marlin.h"
@ -365,10 +366,10 @@ void Config_Postprocess() {
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_WRITE(z_endstop_adj); // 1 float EEPROM_WRITE(z_endstop_adj); // 1 float
dummy = 0.0f; dummy = 0.0f;
for (uint8_t q = 8; q--;) EEPROM_WRITE(dummy); for (uint8_t q = 11; q--;) EEPROM_WRITE(dummy);
#else #else
dummy = 0.0f; dummy = 0.0f;
for (uint8_t q = 9; q--;) EEPROM_WRITE(dummy); for (uint8_t q = 12; q--;) EEPROM_WRITE(dummy);
#endif #endif
#if DISABLED(ULTIPANEL) #if DISABLED(ULTIPANEL)
@ -693,10 +694,10 @@ void Config_Postprocess() {
#elif ENABLED(Z_DUAL_ENDSTOPS) #elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_READ(z_endstop_adj); EEPROM_READ(z_endstop_adj);
dummy = 0.0f; dummy = 0.0f;
for (uint8_t q=8; q--;) EEPROM_READ(dummy); for (uint8_t q=11; q--;) EEPROM_READ(dummy);
#else #else
dummy = 0.0f; dummy = 0.0f;
for (uint8_t q=9; q--;) EEPROM_READ(dummy); for (uint8_t q=12; q--;) EEPROM_READ(dummy);
#endif #endif
#if DISABLED(ULTIPANEL) #if DISABLED(ULTIPANEL)
@ -1191,7 +1192,7 @@ void Config_ResetDefault() {
SERIAL_EOL; SERIAL_EOL;
CONFIG_ECHO_START; CONFIG_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123], IJK=tower_angle_trim[123]"); SERIAL_ECHOLNPGM("Delta settings: L=diagonal rod, R=radius, S=segments-per-second, ABC=diagonal rod trim, IJK=tower angle trim");
CONFIG_ECHO_START; CONFIG_ECHO_START;
} }
SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod); SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod);