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More detailed debugging of G28 delta

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This commit is contained in:
Scott Lahteine 2016-10-02 01:48:17 -05:00
parent 473f4a17a8
commit e7dc174f30
3 changed files with 67 additions and 34 deletions
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95
Marlin/Marlin_main.cpp
View file

@ -643,7 +643,7 @@ static void report_current_position();
#endif
#define DEBUG_POS(SUFFIX,VAR) do { \
print_xyz(PSTR(STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); } while(0)
#endif
/**
@ -1349,7 +1349,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> set_axis_is_at_home(", axis_codes[axis]);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
@ -1437,7 +1438,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
SERIAL_ECHOLNPAIR("] = ", home_offset[axis]);
DEBUG_POS("", current_position);
SERIAL_ECHOPAIR("<<< set_axis_is_at_home(", axis_codes[axis]);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
}
@ -1661,7 +1663,8 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("do_probe_raise(", z_raise);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
@ -1718,7 +1721,8 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("dock_sled(", stow);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
@ -1905,6 +1909,13 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(BLTOUCH)
FORCE_INLINE void set_bltouch_deployed(const bool &deploy) {
servo[Z_ENDSTOP_SERVO_NR].move(deploy ? BLTOUCH_DEPLOY : BLTOUCH_STOW);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("set_bltouch_deployed(", deploy);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
}
#endif
@ -2084,7 +2095,8 @@ static void clean_up_after_endstop_or_probe_move() {
SERIAL_ECHOPAIR(">>> probe_pt(", x);
SERIAL_ECHOPAIR(", ", y);
SERIAL_ECHOPAIR(", ", stow ? "stow" : "no stow");
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
DEBUG_POS("", current_position);
}
#endif
@ -2094,15 +2106,6 @@ static void clean_up_after_endstop_or_probe_move() {
// Ensure a minimum height before moving the probe
do_probe_raise(Z_CLEARANCE_BETWEEN_PROBES);
// Move to the XY where we shall probe
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> do_blocking_move_to_xy(", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
SERIAL_ECHOPAIR(", ", y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
SERIAL_ECHOLNPGM(")");
}
#endif
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
// Move the probe to the given XY
@ -2337,6 +2340,16 @@ static void clean_up_after_endstop_or_probe_move() {
*/
static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> do_homing_move(", axis_codes[axis]);
SERIAL_ECHOPAIR(", ", distance);
SERIAL_ECHOPAIR(", ", fr_mm_s);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
bool deploy_bltouch = (axis == Z_AXIS && distance < 0);
if (deploy_bltouch) set_bltouch_deployed(true);
@ -2363,6 +2376,14 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.
#endif
endstops.hit_on_purpose();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< do_homing_move(", axis_codes[axis]);
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
}
/**
@ -2392,7 +2413,8 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> homeaxis(", axis_codes[axis]);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
@ -2413,6 +2435,9 @@ static void homeaxis(AxisEnum axis) {
#endif
// Fast move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 1 Fast:");
#endif
do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
// When homing Z with probe respect probe clearance
@ -2426,8 +2451,15 @@ static void homeaxis(AxisEnum axis) {
// If a second homing move is configured...
if (bump) {
// Move away from the endstop by the axis HOME_BUMP_MM
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Move Away:");
#endif
do_homing_move(axis, -bump);
// Slow move towards endstop until triggered
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Home 2 Slow:");
#endif
do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
}
@ -2466,10 +2498,7 @@ static void homeaxis(AxisEnum axis) {
// retrace by the amount specified in endstop_adj
if (endstop_adj[axis] * Z_HOME_DIR < 0) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis] * Z_HOME_DIR);
DEBUG_POS("", current_position);
}
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("endstop_adj:");
#endif
do_homing_move(axis, endstop_adj[axis]);
}
@ -2497,7 +2526,8 @@ static void homeaxis(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR("<<< homeaxis(", axis_codes[axis]);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
}
#endif
} // homeaxis()
@ -3044,6 +3074,9 @@ inline void gcode_G4() {
* This is like quick_home_xy() but for 3 towers.
*/
inline void home_delta() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
#endif
// Init the current position of all carriages to 0,0,0
memset(current_position, 0, sizeof(current_position));
sync_plan_position();
@ -3055,11 +3088,8 @@ inline void gcode_G4() {
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// Probably not needed. Double-check this line:
memset(current_position, 0, sizeof(current_position));
// At least one carriage has reached the top.
// Now back off and re-home each carriage separately.
// Now re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
@ -3073,7 +3103,7 @@ inline void gcode_G4() {
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
#endif
}
@ -3313,6 +3343,11 @@ inline void gcode_G28() {
endstops.not_homing();
#if ENABLED(DELTA)
// move to a height where we can use the full xy-area
do_blocking_move_to_z(delta_clip_start_height);
#endif
// Enable mesh leveling again
#if ENABLED(MESH_BED_LEVELING)
if (mbl.has_mesh()) {
@ -3357,11 +3392,6 @@ inline void gcode_G28() {
}
#endif
#if ENABLED(DELTA)
// move to a height where we can use the full xy-area
do_blocking_move_to_z(delta_clip_start_height);
#endif
clean_up_after_endstop_or_probe_move();
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -7314,7 +7344,8 @@ inline void gcode_T(uint8_t tmp_extruder) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
DEBUG_POS("BEFORE", current_position);
}
#endif

3
Marlin/planner.cpp
View file

@ -658,7 +658,8 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
SERIAL_ECHOPAIR(") Z:", lz);
#endif
SERIAL_ECHOPAIR(" (", dz);
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
//*/
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied

3
Marlin/stepper_dac.cpp
View file

@ -102,7 +102,8 @@
SERIAL_ECHOPAIR(" (", dac_amps(2));
SERIAL_ECHOPAIR(") E:", dac_perc(3));
SERIAL_ECHOPAIR(" (", dac_amps(3));
SERIAL_ECHOLNPGM(")");
SERIAL_CHAR(')');
SERIAL_EOL;
}
void dac_commit_eeprom() {