MarkForged kinematics (#19235)
This commit is contained in:
Victor Sokolov
Scott Lahteine
parent
94809feac7
commit
47753d8a01
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@ -608,7 +608,7 @@
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// @section machine
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// Uncomment one of these options to enable CoreXY, CoreXZ, or CoreYZ kinematics
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// Enable one of the options below for CoreXY, CoreXZ, or CoreYZ kinematics,
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// either in the usual order or reversed
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//#define COREXY
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//#define COREXZ
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@ -616,6 +616,7 @@
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//#define COREYX
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//#define COREZX
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//#define COREZY
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//#define MARKFORGED_XY // MarkForged. See https://reprap.org/forum/read.php?152,504042
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//===========================================================================
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//============================== Endstop Settings ===========================
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@ -57,10 +57,11 @@ void safe_delay(millis_t ms) {
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void log_machine_info() {
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SERIAL_ECHOLNPGM("Machine Type: "
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TERN_(DELTA, "Delta")
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TERN_(IS_SCARA, "SCARA")
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TERN_(IS_CORE, "Core")
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TERN_(IS_CARTESIAN, "Cartesian")
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TERN_(DELTA, "Delta")
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TERN_(IS_SCARA, "SCARA")
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TERN_(IS_CORE, "Core")
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TERN_(MARKFORGED_XY, "MarkForged")
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TERN_(IS_CARTESIAN, "Cartesian")
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);
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SERIAL_ECHOLNPGM("Probe: "
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@ -145,10 +145,11 @@ void GcodeSuite::M360() {
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config_prefix(PSTR("PrinterType"));
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SERIAL_ECHOLNPGM(
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TERN_(DELTA, "Delta")
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TERN_(IS_SCARA, "SCARA")
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TERN_(IS_CORE, "Core")
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TERN_(IS_CARTESIAN, "Cartesian")
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TERN_(DELTA, "Delta")
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TERN_(IS_SCARA, "SCARA")
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TERN_(IS_CORE, "Core")
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TERN_(MARKFORGED_XY, "MarkForged")
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TERN_(IS_CARTESIAN, "Cartesian")
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);
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//
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@ -149,11 +149,16 @@
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#define CORE_AXIS_2 C_AXIS
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#endif
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#define CORESIGN(n) (ANY(COREYX, COREZX, COREZY) ? (-(n)) : (n))
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#elif ENABLED(MARKFORGED_XY)
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// Markforged kinematics
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#define CORE_AXIS_1 A_AXIS
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#define CORE_AXIS_2 B_AXIS
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#define NORMAL_AXIS Z_AXIS
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#endif
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// Calibration codes only for non-core axes
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#if EITHER(BACKLASH_GCODE, CALIBRATION_GCODE)
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#if IS_CORE
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#if EITHER(IS_CORE, MARKFORGED_XY)
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#define X_AXIS_INDEX 0
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#define Y_AXIS_INDEX 1
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#define Z_AXIS_INDEX 2
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@ -764,6 +764,8 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
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#if ENABLED(BABYSTEPPING)
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#if ENABLED(SCARA)
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#error "BABYSTEPPING is not implemented for SCARA yet."
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#elif BOTH(MARKFORGED_XY, BABYSTEP_XY)
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#error "BABYSTEPPING only implemented for Z axis on MarkForged."
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#elif BOTH(DELTA, BABYSTEP_XY)
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#error "BABYSTEPPING only implemented for Z axis on deltabots."
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#elif BOTH(BABYSTEP_ZPROBE_OFFSET, MESH_BED_LEVELING)
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@ -1155,8 +1157,9 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS
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+ ENABLED(COREYZ) \
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+ ENABLED(COREYX) \
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+ ENABLED(COREZX) \
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+ ENABLED(COREZY)
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#error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, or COREZY."
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+ ENABLED(COREZY) \
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+ ENABLED(MARKFORGED_XY)
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#error "Please enable only one of DELTA, MORGAN_SCARA, COREXY, COREYX, COREXZ, COREZX, COREYZ, COREZY, or MARKFORGED_XY."
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#endif
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/**
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@ -1576,8 +1579,8 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
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#if ENABLED(DUAL_X_CARRIAGE)
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#if EXTRUDERS < 2
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#error "DUAL_X_CARRIAGE requires 2 (or more) extruders."
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#elif CORE_IS_XY || CORE_IS_XZ
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#error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, or COREZX."
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#elif ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
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#error "DUAL_X_CARRIAGE cannot be used with COREXY, COREYX, COREXZ, COREZX, or MARKFORGED_XY."
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#elif !GOOD_AXIS_PINS(X2)
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#error "DUAL_X_CARRIAGE requires X2 stepper pins to be defined."
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#elif !HAS_X_MAX
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@ -2533,6 +2536,8 @@ static_assert(hbm[Z_AXIS] >= 0, "HOMING_BUMP_MM.Z must be greater than or equal
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#error "CoreXZ requires both X and Z to use sensorless homing if either one does."
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#elif CORE_IS_YZ && Y_SENSORLESS != Z_SENSORLESS && !HOMING_Z_WITH_PROBE
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#error "CoreYZ requires both Y and Z to use sensorless homing if either one does."
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#elif ENABLED(MARKFORGED_XY) && X_SENSORLESS != Y_SENSORLESS
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#error "MARKFORGED_XY requires both X and Y to use sensorless homing if either one does."
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#endif
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// Other TMC feature requirements
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@ -2848,6 +2853,10 @@ static_assert( _ARR_TEST(3,0) && _ARR_TEST(3,1) && _ARR_TEST(3,2)
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#error "BACKLASH_COMPENSATION requires BACKLASH_DISTANCE_MM."
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#elif !defined(BACKLASH_CORRECTION)
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#error "BACKLASH_COMPENSATION requires BACKLASH_CORRECTION."
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#elif ENABLED(MARKFORGED_XY)
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constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
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static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],
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"BACKLASH_COMPENSATION can only apply to " STRINGIFY(NORMAL_AXIS) " on a MarkForged system.");
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#elif IS_CORE
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constexpr float backlash_arr[] = BACKLASH_DISTANCE_MM;
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static_assert(!backlash_arr[CORE_AXIS_1] && !backlash_arr[CORE_AXIS_2],
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@ -498,7 +498,7 @@ void Endstops::update() {
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#define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX)))
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#define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT))
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#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
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#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
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// If G38 command is active check Z_MIN_PROBE for ALL movement
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if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE);
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#endif
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@ -514,12 +514,12 @@ void Endstops::update() {
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#endif
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// Use HEAD for core axes, AXIS for others
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#if CORE_IS_XY || CORE_IS_XZ
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#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
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#define X_AXIS_HEAD X_HEAD
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#else
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#define X_AXIS_HEAD X_AXIS
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#endif
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#if CORE_IS_XY || CORE_IS_YZ
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#if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY)
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#define Y_AXIS_HEAD Y_HEAD
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#else
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#define Y_AXIS_HEAD Y_AXIS
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@ -736,7 +736,7 @@ void Endstops::update() {
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#define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX)
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#endif
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#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && !(CORE_IS_XY || CORE_IS_XZ)
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#if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY)
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#if ENABLED(G38_PROBE_AWAY)
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#define _G38_OPEN_STATE (G38_move >= 4)
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#else
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@ -865,7 +865,7 @@ void Endstops::update() {
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bool hit = false;
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#if X_SPI_SENSORLESS
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if (tmc_spi_homing.x && (stepperX.test_stall_status()
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#if CORE_IS_XY && Y_SPI_SENSORLESS
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#if ANY(CORE_IS_XY, MARKFORGED_XY) && Y_SPI_SENSORLESS
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|| stepperY.test_stall_status()
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#elif CORE_IS_XZ && Z_SPI_SENSORLESS
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|| stepperZ.test_stall_status()
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@ -877,7 +877,7 @@ void Endstops::update() {
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#endif
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#if Y_SPI_SENSORLESS
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if (tmc_spi_homing.y && (stepperY.test_stall_status()
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#if CORE_IS_XY && X_SPI_SENSORLESS
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#if ANY(CORE_IS_XY, MARKFORGED_XY) && X_SPI_SENSORLESS
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|| stepperX.test_stall_status()
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#elif CORE_IS_YZ && Z_SPI_SENSORLESS
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|| stepperZ.test_stall_status()
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@ -1152,7 +1152,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
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#if AXIS_HAS_STALLGUARD(X2)
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stealth_states.x2 = tmc_enable_stallguard(stepperX2);
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#endif
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#if CORE_IS_XY && Y_SENSORLESS
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#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
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stealth_states.y = tmc_enable_stallguard(stepperY);
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#elif CORE_IS_XZ && Z_SENSORLESS
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stealth_states.z = tmc_enable_stallguard(stepperZ);
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@ -1165,7 +1165,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
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#if AXIS_HAS_STALLGUARD(Y2)
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stealth_states.y2 = tmc_enable_stallguard(stepperY2);
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#endif
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#if CORE_IS_XY && X_SENSORLESS
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#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
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stealth_states.x = tmc_enable_stallguard(stepperX);
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#elif CORE_IS_YZ && Z_SENSORLESS
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stealth_states.z = tmc_enable_stallguard(stepperZ);
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@ -1216,7 +1216,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
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#if AXIS_HAS_STALLGUARD(X2)
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tmc_disable_stallguard(stepperX2, enable_stealth.x2);
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#endif
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#if CORE_IS_XY && Y_SENSORLESS
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#if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS
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tmc_disable_stallguard(stepperY, enable_stealth.y);
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#elif CORE_IS_XZ && Z_SENSORLESS
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tmc_disable_stallguard(stepperZ, enable_stealth.z);
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@ -1229,7 +1229,7 @@ feedRate_t get_homing_bump_feedrate(const AxisEnum axis) {
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#if AXIS_HAS_STALLGUARD(Y2)
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tmc_disable_stallguard(stepperY2, enable_stealth.y2);
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#endif
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#if CORE_IS_XY && X_SENSORLESS
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#if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS
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tmc_disable_stallguard(stepperX, enable_stealth.x);
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#elif CORE_IS_YZ && Z_SENSORLESS
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tmc_disable_stallguard(stepperZ, enable_stealth.z);
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@ -1789,7 +1789,7 @@ void homeaxis(const AxisEnum axis) {
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do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis));
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}
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#else // CARTESIAN / CORE
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#else // CARTESIAN / CORE / MARKFORGED_XY
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set_axis_is_at_home(axis);
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sync_plan_position();
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@ -1818,8 +1818,11 @@ void homeaxis(const AxisEnum axis) {
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#if ENABLED(SENSORLESS_HOMING)
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planner.synchronize();
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if (TERN0(IS_CORE, axis != NORMAL_AXIS))
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safe_delay(200); // Short delay to allow belts to spring back
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if (false
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#if EITHER(IS_CORE, MARKFORGED_XY)
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|| axis != NORMAL_AXIS
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#endif
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) safe_delay(200); // Short delay to allow belts to spring back
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#endif
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}
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#endif
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@ -1614,6 +1614,7 @@ void Planner::finish_and_disable() {
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float Planner::get_axis_position_mm(const AxisEnum axis) {
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float axis_steps;
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#if IS_CORE
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// Requesting one of the "core" axes?
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if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
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@ -1631,9 +1632,30 @@ float Planner::get_axis_position_mm(const AxisEnum axis) {
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}
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else
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axis_steps = stepper.position(axis);
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#elif ENABLED(MARKFORGED_XY)
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// Requesting one of the joined axes?
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if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
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// Protect the access to the position.
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const bool was_enabled = stepper.suspend();
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const int32_t p1 = stepper.position(CORE_AXIS_1),
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p2 = stepper.position(CORE_AXIS_2);
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if (was_enabled) stepper.wake_up();
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axis_steps = ((axis == CORE_AXIS_1) ? p1 - p2 : p2);
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}
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else
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axis_steps = stepper.position(axis);
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#else
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axis_steps = stepper.position(axis);
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#endif
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return axis_steps * steps_to_mm[axis];
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}
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@ -1808,6 +1830,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
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if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
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if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
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#elif ENABLED(MARKFORGED_XY)
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if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
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if (db < 0) SBI(dm, Y_HEAD); // ...and Y
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if (dc < 0) SBI(dm, Z_AXIS);
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if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
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if (db < 0) SBI(dm, B_AXIS); // Motor B direction
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#else
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if (da < 0) SBI(dm, X_AXIS);
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if (db < 0) SBI(dm, Y_AXIS);
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@ -1843,6 +1871,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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block->steps.set(ABS(da + dc), ABS(db), ABS(da - dc));
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#elif CORE_IS_YZ
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block->steps.set(ABS(da), ABS(db + dc), ABS(db - dc));
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#elif ENABLED(MARKFORGED_XY)
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block->steps.set(ABS(da + db), ABS(db), ABS(dc));
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#elif IS_SCARA
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block->steps.set(ABS(da), ABS(db), ABS(dc));
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#else
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@ -1859,7 +1889,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
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*/
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struct DistanceMM : abce_float_t {
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TERN_(IS_CORE, xyz_pos_t head);
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#if EITHER(IS_CORE, MARKFORGED_XY)
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xyz_pos_t head;
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#endif
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} steps_dist_mm;
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#if IS_CORE
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#if CORE_IS_XY
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@ -1881,6 +1913,12 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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steps_dist_mm.b = (db + dc) * steps_to_mm[B_AXIS];
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steps_dist_mm.c = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
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#endif
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#elif ENABLED(MARKFORGED_XY)
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steps_dist_mm.head.x = da * steps_to_mm[A_AXIS];
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steps_dist_mm.head.y = db * steps_to_mm[B_AXIS];
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steps_dist_mm.z = dc * steps_to_mm[Z_AXIS];
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steps_dist_mm.a = (da - db) * steps_to_mm[A_AXIS];
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steps_dist_mm.b = db * steps_to_mm[B_AXIS];
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#else
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steps_dist_mm.a = da * steps_to_mm[A_AXIS];
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steps_dist_mm.b = db * steps_to_mm[B_AXIS];
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@ -1907,7 +1945,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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block->millimeters = millimeters;
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else
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block->millimeters = SQRT(
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#if CORE_IS_XY
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#if EITHER(CORE_IS_XY, MARKFORGED_XY)
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sq(steps_dist_mm.head.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.z)
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#elif CORE_IS_XZ
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sq(steps_dist_mm.head.x) + sq(steps_dist_mm.y) + sq(steps_dist_mm.head.z)
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@ -1964,7 +2002,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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#endif
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// Enable active axes
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#if CORE_IS_XY
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#if EITHER(CORE_IS_XY, MARKFORGED_XY)
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if (block->steps.a || block->steps.b) {
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ENABLE_AXIS_X();
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ENABLE_AXIS_Y();
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@ -2325,9 +2363,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
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* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
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* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
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* => normalize the complete junction vector.
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||||
* Elsewise, when needed JD factors in the E component
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* Elsewise, when needed JD will factor-in the E component
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*/
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||||
if (ENABLED(IS_CORE) || esteps > 0)
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||||
if (EITHER(IS_CORE, MARKFORGED_XY) || esteps > 0)
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normalize_junction_vector(unit_vec); // Normalize with XYZE components
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else
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unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))
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||||
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@ -2041,6 +2041,8 @@ uint32_t Stepper::block_phase_isr() {
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#define X_CMP(A,B) ((A)!=(B))
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||||
#endif
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||||
#define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && X_CMP(D_(1),D_(2))) )
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#elif ENABLED(MARKFORGED_XY)
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#define X_MOVE_TEST (current_block->steps.a != current_block->steps.b)
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#else
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||||
#define X_MOVE_TEST !!current_block->steps.a
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||||
#endif
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||||
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|
@ -2614,6 +2616,8 @@ void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c
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#elif CORE_IS_YZ
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||||
// coreyz planning
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||||
count_position.set(a, b + c, CORESIGN(b - c));
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#elif ENABLED(MARKFORGED_XY)
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||||
count_position.set(a - b, b, c);
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||||
#else
|
||||
// default non-h-bot planning
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||||
count_position.set(a, b, c);
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||||
|
|
@ -2680,6 +2684,10 @@ void Stepper::endstop_triggered(const AxisEnum axis) {
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? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2])
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||||
: count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2]
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||||
) * double(0.5)
|
||||
#elif ENABLED(MARKFORGED_XY)
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||||
axis == CORE_AXIS_1
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||||
? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]
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||||
: count_position[CORE_AXIS_2]
|
||||
#else // !IS_CORE
|
||||
count_position[axis]
|
||||
#endif
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||||
|
|
@ -2709,12 +2717,12 @@ int32_t Stepper::triggered_position(const AxisEnum axis) {
|
|||
}
|
||||
|
||||
void Stepper::report_a_position(const xyz_long_t &pos) {
|
||||
#if CORE_IS_XY || CORE_IS_XZ || ENABLED(DELTA) || IS_SCARA
|
||||
#if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, DELTA, IS_SCARA)
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||||
SERIAL_ECHOPAIR(STR_COUNT_A, pos.x, " B:", pos.y);
|
||||
#else
|
||||
SERIAL_ECHOPAIR_P(PSTR(STR_COUNT_X), pos.x, SP_Y_LBL, pos.y);
|
||||
#endif
|
||||
#if CORE_IS_XZ || CORE_IS_YZ || ENABLED(DELTA)
|
||||
#if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA)
|
||||
SERIAL_ECHOLNPAIR(" C:", pos.z);
|
||||
#else
|
||||
SERIAL_ECHOLNPAIR_P(SP_Z_LBL, pos.z);
|
||||
|
|
|
|||
Loading…
Reference in a new issue