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Merge pull request #4868 from thinkyhead/rc_autumn_fixups

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Cleanups for the Autumn release
This commit is contained in:
Scott Lahteine 2016-09-23 16:11:37 -05:00 committed by GitHub
parent 1370d9a52b 0951bffcc0
commit d0796fc54c
6 changed files with 552 additions and 430 deletions
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320
Marlin/Marlin_main.cpp
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@ -1453,26 +1453,23 @@ inline float get_homing_bump_feedrate(AxisEnum axis) {
return homing_feedrate_mm_s[axis] / hbd;
}
#if !IS_KINEMATIC
//
// line_to_current_position
// Move the planner to the current position from wherever it last moved
// (or from wherever it has been told it is located).
//
inline void line_to_current_position() {
//
// line_to_current_position
// Move the planner to the current position from wherever it last moved
// (or from wherever it has been told it is located).
//
inline void line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
}
}
//
// line_to_destination
// Move the planner, not necessarily synced with current_position
//
inline void line_to_destination(float fr_mm_s) {
//
// line_to_destination
// Move the planner, not necessarily synced with current_position
//
inline void line_to_destination(float fr_mm_s) {
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
}
inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
#endif // !IS_KINEMATIC
}
inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
@ -1485,12 +1482,19 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
#endif
if ( current_position[X_AXIS] == destination[X_AXIS]
&& current_position[Y_AXIS] == destination[Y_AXIS]
&& current_position[Z_AXIS] == destination[Z_AXIS]
&& current_position[E_AXIS] == destination[E_AXIS]
) return;
refresh_cmd_timeout();
inverse_kinematics(destination);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
set_current_to_destination();
}
#endif
#endif // IS_KINEMATIC
/**
* Plan a move to (X, Y, Z) and set the current_position
@ -1557,16 +1561,12 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
#endif
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
#elif IS_SCARA
set_destination_to_current();
// If Z needs to raise, do it before moving XY
if (current_position[Z_AXIS] < z) {
if (destination[Z_AXIS] < z) {
destination[Z_AXIS] = z;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
}
@ -1576,7 +1576,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
// If Z needs to lower, do it after moving XY
if (current_position[Z_AXIS] > z) {
if (destination[Z_AXIS] > z) {
destination[Z_AXIS] = z;
prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
}
@ -1607,6 +1607,10 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
stepper.synchronize();
feedrate_mm_s = old_feedrate_mm_s;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
#endif
}
void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
@ -1999,12 +2003,12 @@ static void clean_up_after_endstop_or_probe_move() {
// Clear endstop flags
endstops.hit_on_purpose();
// Tell the planner where we actually are
planner.sync_from_steppers();
// Get Z where the steppers were interrupted
set_current_from_steppers_for_axis(Z_AXIS);
// Tell the planner where we actually are
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
#endif
@ -2122,8 +2126,13 @@ static void clean_up_after_endstop_or_probe_move() {
/**
* Reset calibration results to zero.
*
* TODO: Proper functions to disable / enable
* bed leveling via a flag, correcting the
* current position in each case.
*/
void reset_bed_level() {
planner.abl_enabled = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
@ -2131,7 +2140,6 @@ static void clean_up_after_endstop_or_probe_move() {
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
memset(bed_level_grid, 0, sizeof(bed_level_grid));
nonlinear_grid_spacing[X_AXIS] = nonlinear_grid_spacing[Y_AXIS] = 0;
#endif
}
@ -2188,18 +2196,27 @@ static void clean_up_after_endstop_or_probe_move() {
/**
* 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(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
bool deploy_bltouch = (axis == Z_AXIS && where < 0);
if (deploy_bltouch) set_bltouch_deployed(true);
#endif
// Tell the planner we're at Z=0
current_position[axis] = 0;
#if IS_SCARA
SYNC_PLAN_POSITION_KINEMATIC();
current_position[axis] = distance;
inverse_kinematics(current_position);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
#else
sync_plan_position();
current_position[axis] = where;
current_position[axis] = distance;
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
#endif
stepper.synchronize();
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
@ -2256,6 +2273,9 @@ static void homeaxis(AxisEnum axis) {
if (axis == Z_AXIS) stepper.set_homing_flag(true);
#endif
// Fast move towards endstop until triggered
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
// When homing Z with probe respect probe clearance
const float bump = axis_home_dir * (
#if HOMING_Z_WITH_PROBE
@ -2264,12 +2284,13 @@ static void homeaxis(AxisEnum axis) {
home_bump_mm(axis)
);
// 1. Fast move towards endstop until triggered
// 2. Move away from the endstop by the axis HOME_BUMP_MM
// 3. Slow move towards endstop until triggered
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOME_BUMP_MM
do_homing_move(axis, -bump);
// Slow move towards endstop until triggered
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
}
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
@ -2849,7 +2870,8 @@ inline void gcode_G4() {
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate_mm_s[X_AXIS], active_extruder);
feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
@ -2902,22 +2924,20 @@ inline void gcode_G4() {
destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if HAS_BED_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
if (position_is_reachable(
destination
#if HAS_BED_PROBE
#if HOMING_Z_WITH_PROBE
, true
#endif
)
) {
#if HOMING_Z_WITH_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
HOMEAXIS(Z);
}
@ -3133,19 +3153,13 @@ inline void gcode_G28() {
#if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = 0.0;
set_destination_to_current();
feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
line_to_destination();
line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
stepper.synchronize();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
#endif
#else
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z -
mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS))
#if Z_HOME_DIR > 0
+ Z_MAX_POS
#endif
;
planner.unapply_leveling(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
#endif
@ -3155,8 +3169,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = pre_home_z;
SYNC_PLAN_POSITION_KINEMATIC();
mbl.set_active(true);
current_position[Z_AXIS] = pre_home_z -
mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
planner.unapply_leveling(current_position);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
#endif
@ -3505,16 +3518,15 @@ inline void gcode_G28() {
stepper.synchronize();
// Disable auto bed leveling during G29
bool auto_bed_leveling_was_enabled = planner.abl_enabled,
abl_should_reenable = auto_bed_leveling_was_enabled;
planner.abl_enabled = false;
if (!dryrun) {
// Reset the bed_level_matrix because leveling
// needs to be done without leveling enabled.
reset_bed_level();
//
// Re-orient the current position without leveling
// based on where the steppers are positioned.
//
get_cartesian_from_steppers();
memcpy(current_position, cartes, sizeof(cartes));
@ -3525,9 +3537,12 @@ inline void gcode_G28() {
setup_for_endstop_or_probe_move();
// Deploy the probe. Probe will raise if needed.
if (DEPLOY_PROBE()) return;
if (DEPLOY_PROBE()) {
planner.abl_enabled = abl_should_reenable;
return;
}
float xProbe, yProbe, measured_z = 0;
float xProbe = 0, yProbe = 0, measured_z = 0;
#if ENABLED(AUTO_BED_LEVELING_GRID)
@ -3537,11 +3552,16 @@ inline void gcode_G28() {
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
float zoffset = zprobe_zoffset;
if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
if (xGridSpacing != nonlinear_grid_spacing[X_AXIS] || yGridSpacing != nonlinear_grid_spacing[Y_AXIS]) {
nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
// Can't re-enable (on error) until the new grid is written
abl_should_reenable = false;
}
#elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
/**
@ -3600,6 +3620,11 @@ inline void gcode_G28() {
measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
if (measured_z == NAN) {
planner.abl_enabled = abl_should_reenable;
return;
}
#if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
mean += measured_z;
@ -3639,6 +3664,11 @@ inline void gcode_G28() {
measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
}
if (measured_z == NAN) {
planner.abl_enabled = abl_should_reenable;
return;
}
if (!dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
@ -3647,12 +3677,23 @@ inline void gcode_G28() {
planeNormal.z *= -1;
}
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
abl_should_reenable = false;
}
#endif // AUTO_BED_LEVELING_3POINT
// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
if (STOW_PROBE()) return;
if (STOW_PROBE()) {
planner.abl_enabled = abl_should_reenable;
return;
}
//
// Unless this is a dry run, auto bed leveling will
// definitely be enabled after this point
//
// Restore state after probing
clean_up_after_endstop_or_probe_move();
@ -3842,6 +3883,9 @@ inline void gcode_G28() {
report_current_position();
KEEPALIVE_STATE(IN_HANDLER);
// Auto Bed Leveling is complete! Enable if possible.
planner.abl_enabled = dryrun ? abl_should_reenable : true;
}
#endif // AUTO_BED_LEVELING_FEATURE
@ -3925,6 +3969,8 @@ inline void gcode_G92() {
SYNC_PLAN_POSITION_KINEMATIC();
else if (didE)
sync_plan_position_e();
report_current_position();
}
#if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
@ -4186,7 +4232,11 @@ inline void gcode_M42() {
if (pin_number < 0) return;
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
if (pin_number == sensitive_pins[i]) return;
if (pin_number == sensitive_pins[i]) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
return;
}
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
@ -7736,7 +7786,7 @@ void ok_to_send() {
// Get the Z adjustment for non-linear bed leveling
float nonlinear_z_offset(float cartesian[XYZ]) {
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return 0; // G29 not done!
if (planner.abl_enabled) return;
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
@ -7846,15 +7896,19 @@ void ok_to_send() {
) \
)
#define DELTA_RAW_IK() do { \
delta[A_AXIS] = DELTA_Z(1); \
delta[B_AXIS] = DELTA_Z(2); \
delta[C_AXIS] = DELTA_Z(3); \
} while(0)
#define DELTA_LOGICAL_IK() do { \
const float raw[XYZ] = { \
RAW_X_POSITION(logical[X_AXIS]), \
RAW_Y_POSITION(logical[Y_AXIS]), \
RAW_Z_POSITION(logical[Z_AXIS]) \
}; \
delta[A_AXIS] = DELTA_Z(1); \
delta[B_AXIS] = DELTA_Z(2); \
delta[C_AXIS] = DELTA_Z(3); \
DELTA_RAW_IK(); \
} while(0)
#define DELTA_DEBUG() do { \
@ -8012,7 +8066,7 @@ void get_cartesian_from_steppers() {
void set_current_from_steppers_for_axis(const AxisEnum axis) {
get_cartesian_from_steppers();
#if PLANNER_LEVELING
planner.unapply_leveling(cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS]);
planner.unapply_leveling(cartes);
#endif
if (axis == ALL_AXES)
memcpy(current_position, cartes, sizeof(cartes));
@ -8091,101 +8145,123 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
* This calls planner.buffer_line several times, adding
* small incremental moves for DELTA or SCARA.
*/
inline bool prepare_kinematic_move_to(float logical[NUM_AXIS]) {
inline bool prepare_kinematic_move_to(float ltarget[NUM_AXIS]) {
// Get the top feedrate of the move in the XY plane
float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
// If the move is only in Z don't split up the move.
// This shortcut cannot be used if planar bed leveling
// is in use, but is fine with mesh-based bed leveling
if (logical[X_AXIS] == current_position[X_AXIS] && logical[Y_AXIS] == current_position[Y_AXIS]) {
inverse_kinematics(logical);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
// If the move is only in Z/E don't split up the move
if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
inverse_kinematics(ltarget);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
return true;
}
// Get the distance moved in XYZ
// Get the cartesian distances moved in XYZE
float difference[NUM_AXIS];
LOOP_XYZE(i) difference[i] = logical[i] - current_position[i];
LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
// Get the linear distance in XYZ
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
// If the move is very short, check the E move distance
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
// No E move either? Game over.
if (UNEAR_ZERO(cartesian_mm)) return false;
// Minimum number of seconds to move the given distance
float seconds = cartesian_mm / _feedrate_mm_s;
// The number of segments-per-second times the duration
// gives the number of segments we should produce
// gives the number of segments
uint16_t segments = delta_segments_per_second * seconds;
// For SCARA minimum segment size is 0.5mm
#if IS_SCARA
NOMORE(segments, cartesian_mm * 2);
#endif
// At least one segment is required
NOLESS(segments, 1);
// Each segment produces this much of the move
float inv_segments = 1.0 / segments,
segment_distance[XYZE] = {
difference[X_AXIS] * inv_segments,
difference[Y_AXIS] * inv_segments,
difference[Z_AXIS] * inv_segments,
difference[E_AXIS] * inv_segments
// The approximate length of each segment
float segment_distance[XYZE] = {
difference[X_AXIS] / segments,
difference[Y_AXIS] / segments,
difference[Z_AXIS] / segments,
difference[E_AXIS] / segments
};
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" segments=", segments);
// Send all the segments to the planner
// Drop one segment so the last move is to the exact target.
// If there's only 1 segment, loops will be skipped entirely.
--segments;
#if ENABLED(DELTA) && ENABLED(USE_RAW_KINEMATICS)
// Using "raw" coordinates saves 6 float subtractions
// per segment, saving valuable CPU cycles
#define DELTA_E raw[E_AXIS]
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) raw[i] += ADDEND;
#define DELTA_IK() do { \
delta[A_AXIS] = DELTA_Z(1); \
delta[B_AXIS] = DELTA_Z(2); \
delta[C_AXIS] = DELTA_Z(3); \
} while(0)
#if ENABLED(USE_RAW_KINEMATICS)
// Get the raw current position as starting point
float raw[ABC] = {
float raw[XYZE] = {
RAW_CURRENT_POSITION(X_AXIS),
RAW_CURRENT_POSITION(Y_AXIS),
RAW_CURRENT_POSITION(Z_AXIS)
RAW_CURRENT_POSITION(Z_AXIS),
current_position[E_AXIS]
};
#define DELTA_VAR raw
// Delta can inline its kinematics
#if ENABLED(DELTA)
#define DELTA_IK() DELTA_RAW_IK()
#else
#define DELTA_IK() inverse_kinematics(raw)
#endif
#else
#define DELTA_E logical[E_AXIS]
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) logical[i] += ADDEND;
// Get the logical current position as starting point
float logical[XYZE];
memcpy(logical, current_position, sizeof(logical));
#define DELTA_VAR logical
// Delta can inline its kinematics
#if ENABLED(DELTA)
#define DELTA_IK() DELTA_LOGICAL_IK()
#else
#define DELTA_IK() inverse_kinematics(logical)
#endif
// Get the logical current position as starting point
LOOP_XYZE(i) logical[i] = current_position[i];
#endif
#if ENABLED(USE_DELTA_IK_INTERPOLATION)
// Get the starting delta for interpolation
if (segments >= 2) inverse_kinematics(logical);
// Only interpolate XYZ. Advance E normally.
#define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
// Get the starting delta if interpolation is possible
if (segments >= 2) DELTA_IK();
// Loop using decrement
for (uint16_t s = segments + 1; --s;) {
if (s > 1) {
// Are there at least 2 moves left?
if (s >= 2) {
// Save the previous delta for interpolation
float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
// Get the delta 2 segments ahead (rather than the next)
DELTA_NEXT(segment_distance[i] + segment_distance[i]);
// Advance E normally
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
// Get the exact delta for the move after this
DELTA_IK();
// Move to the interpolated delta position first
@ -8193,33 +8269,43 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
(prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
(prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
(prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
logical[E_AXIS], _feedrate_mm_s, active_extruder
DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
);
// Advance E once more for the next move
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
// Do an extra decrement of the loop
--s;
}
else {
// Get the last segment delta (only when segments is odd)
DELTA_NEXT(segment_distance[i])
// Get the last segment delta. (Used when segments is odd)
DELTA_NEXT(segment_distance[i]);
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
DELTA_IK();
}
// Move to the non-interpolated position
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_E, _feedrate_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
}
#else
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
// For non-interpolated delta calculate every segment
for (uint16_t s = segments + 1; --s;) {
DELTA_NEXT(segment_distance[i])
DELTA_NEXT(segment_distance[i]);
DELTA_IK();
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
}
#endif
// Since segment_distance is only approximate,
// the final move must be to the exact destination.
inverse_kinematics(ltarget);
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
return true;
}
@ -8554,7 +8640,7 @@ void prepare_move_to_destination() {
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
/*
SERIAL_ECHOPAIR("Angle a=", a);
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
SERIAL_ECHOPAIR(" b=", b);
SERIAL_ECHOPAIR(" a_sin=", a_sin);
SERIAL_ECHOPAIR(" a_cos=", a_cos);

9
Marlin/SanityCheck.h
View file

@ -48,7 +48,7 @@
#error "You are using an old Configuration_adv.h file, update it before building Marlin."
#endif
/**
/**
* Warnings for old configurations
*/
#if WATCH_TEMP_PERIOD > 500
@ -450,6 +450,13 @@
#endif
/**
* Homing Bump
*/
#if X_HOME_BUMP_MM < 0 || Y_HOME_BUMP_MM < 0 || Z_HOME_BUMP_MM < 0
#error "[XYZ]_HOME_BUMP_MM must be greater than or equal to 0."
#endif
/**
* Make sure Z_SAFE_HOMING point is reachable
*/

1
Marlin/language.h
View file

@ -151,6 +151,7 @@
#define MSG_ERR_M421_PARAMETERS "M421 requires XYZ or IJZ parameters"
#define MSG_ERR_MESH_XY "Mesh XY or IJ cannot be resolved"
#define MSG_ERR_ARC_ARGS "G2/G3 bad parameters"
#define MSG_ERR_PROTECTED_PIN "Protected Pin"
#define MSG_ERR_M428_TOO_FAR "Too far from reference point"
#define MSG_ERR_M303_DISABLED "PIDTEMP disabled"
#define MSG_M119_REPORT "Reporting endstop status"

71
Marlin/planner.cpp
View file

@ -98,6 +98,10 @@ float Planner::min_feedrate_mm_s,
Planner::max_e_jerk,
Planner::min_travel_feedrate_mm_s;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#endif
@ -135,8 +139,8 @@ Planner::Planner() { init(); }
void Planner::init() {
block_buffer_head = block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
LOOP_XYZE(i) previous_speed[i] = 0.0;
memset(position, 0, sizeof(position));
memset(previous_speed, 0, sizeof(previous_speed));
previous_nominal_speed = 0.0;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
bed_level_matrix.set_to_identity();
@ -524,6 +528,11 @@ void Planner::check_axes_activity() {
#if PLANNER_LEVELING
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (!abl_enabled) return;
#endif
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active())
@ -561,28 +570,34 @@ void Planner::check_axes_activity() {
#endif
}
void Planner::unapply_leveling(float &lx, float &ly, float &lz) {
void Planner::unapply_leveling(float logical[XYZ]) {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (!abl_enabled) return;
#endif
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active())
lz -= mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
logical[Z_AXIS] -= mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]));
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
float dx = lx - (X_TILT_FULCRUM), dy = ly - (Y_TILT_FULCRUM), dz = lz;
float dx = RAW_X_POSITION(logical[X_AXIS]) - (X_TILT_FULCRUM),
dy = RAW_Y_POSITION(logical[Y_AXIS]) - (Y_TILT_FULCRUM),
dz = RAW_Z_POSITION(logical[Z_AXIS]);
apply_rotation_xyz(inverse, dx, dy, dz);
lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
lz = LOGICAL_Z_POSITION(dz);
logical[X_AXIS] = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
logical[Y_AXIS] = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
logical[Z_AXIS] = LOGICAL_Z_POSITION(dz);
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
float tmp[XYZ] = { lx, ly, 0 };
lz -= nonlinear_z_offset(tmp);
logical[Z_AXIS] -= nonlinear_z_offset(logical);
#endif
}
@ -625,30 +640,29 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
dz = target[Z_AXIS] - position[Z_AXIS];
/*
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Planner ", x);
SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
SERIAL_CHAR(' ');
#if IS_KINEMATIC
SERIAL_ECHOPAIR("A:", x);
SERIAL_ECHOPAIR("A:", lx);
SERIAL_ECHOPAIR(" (", dx);
SERIAL_ECHOPAIR(") B:", y);
SERIAL_ECHOPAIR(") B:", ly);
#else
SERIAL_ECHOPAIR("X:", x);
SERIAL_ECHOPAIR("X:", lx);
SERIAL_ECHOPAIR(" (", dx);
SERIAL_ECHOPAIR(") Y:", y);
SERIAL_ECHOPAIR(") Y:", ly);
#endif
SERIAL_ECHOPAIR(" (", dy);
#elif ENABLED(DELTA)
SERIAL_ECHOPAIR(") C:", z);
#if ENABLED(DELTA)
SERIAL_ECHOPAIR(") C:", lz);
#else
SERIAL_ECHOPAIR(") Z:", z);
SERIAL_ECHOPAIR(") Z:", lz);
#endif
SERIAL_ECHOPAIR(" (", dz);
SERIAL_ECHOLNPGM(")");
//*/
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
if (DEBUGGING(DRYRUN))
position[E_AXIS] = target[E_AXIS];
if (DEBUGGING(DRYRUN)) position[E_AXIS] = target[E_AXIS];
long de = target[E_AXIS] - position[E_AXIS];
@ -1131,7 +1145,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
block->recalculate_flag = true; // Always calculate trapezoid for new block
// Update previous path unit_vector and nominal speed
LOOP_XYZE(i) previous_speed[i] = current_speed[i];
memcpy(previous_speed, current_speed, sizeof(previous_speed));
previous_nominal_speed = block->nominal_speed;
#if ENABLED(LIN_ADVANCE)
@ -1177,8 +1191,8 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
// Move buffer head
block_buffer_head = next_buffer_head;
// Update position
LOOP_XYZE(i) position[i] = target[i];
// Update the position (only when a move was queued)
memcpy(position, target, sizeof(position));
recalculate();
@ -1204,7 +1218,14 @@ void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
stepper.set_position(nx, ny, nz, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
LOOP_XYZE(i) previous_speed[i] = 0.0;
memset(previous_speed, 0, sizeof(previous_speed));
}
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
void Planner::sync_from_steppers() {
LOOP_XYZE(i) position[i] = stepper.position((AxisEnum)i);
}
/**

8
Marlin/planner.h
View file

@ -137,6 +137,7 @@ class Planner {
static float min_travel_feedrate_mm_s;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
static bool abl_enabled; // Flag that bed leveling is enabled
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
#endif
@ -218,7 +219,7 @@ class Planner {
* as it will be given to the planner and steppers.
*/
static void apply_leveling(float &lx, float &ly, float &lz);
static void unapply_leveling(float &lx, float &ly, float &lz);
static void unapply_leveling(float logical[XYZ]);
#endif
@ -242,6 +243,11 @@ class Planner {
*/
static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
static void sync_from_steppers();
/**
* Set the E position (mm) of the planner (and the E stepper)
*/

7
Marlin/stepper.cpp
View file

@ -357,11 +357,10 @@ void Stepper::isr() {
}
else {
OCR1A = 2000; // 1kHz.
return;
}
}
if (current_block) {
// Update endstops state, if enabled
if (endstops.enabled
#if HAS_BED_PROBE
@ -667,7 +666,6 @@ void Stepper::isr() {
current_block = NULL;
planner.discard_current_block();
}
}
}
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
@ -936,6 +934,9 @@ void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
* derive the current XYZ position later on.
*/
void Stepper::set_position(const long& x, const long& y, const long& z, const long& e) {
synchronize(); // Bad to set stepper counts in the middle of a move
CRITICAL_SECTION_START;
#if ENABLED(COREXY)