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jbrazio 9 years ago
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e4039a9b5b
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443e6d26fe
1 changed files with 235 additions and 140 deletions
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  1. 367
      Marlin/Marlin_main.cpp

367
Marlin/Marlin_main.cpp
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@ -456,9 +456,11 @@ static bool send_ok[BUFSIZE];
#define KEEPALIVE_STATE(n) ;
#endif // HOST_KEEPALIVE_FEATURE
//===========================================================================
//================================ Functions ================================
//===========================================================================
/**
* ***************************************************************************
* ******************************** FUNCTIONS ********************************
* ***************************************************************************
*/
void process_next_command();
@ -877,16 +879,16 @@ void get_command() {
}
#endif
//
// Loop while serial characters are incoming and the queue is not full
//
/**
* Loop while serial characters are incoming and the queue is not full
*/
while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
char serial_char = MYSERIAL.read();
//
// If the character ends the line
//
/**
* If the character ends the line
*/
if (serial_char == '\n' || serial_char == '\r') {
serial_comment_mode = false; // end of line == end of comment
@ -994,9 +996,12 @@ void get_command() {
if (!card.sdprinting) return;
// '#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is run dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
/**
* '#' stops reading from SD to the buffer prematurely, so procedural
* macro calls are possible. If it occurs, stop_buffering is triggered
* and the buffer is run dry; this character _can_ occur in serial com
* due to checksums, however, no checksums are used in SD printing.
*/
if (commands_in_queue == 0) stop_buffering = false;
@ -1035,8 +1040,10 @@ void get_command() {
_commit_command(false);
}
else if (sd_count >= MAX_CMD_SIZE - 1) {
// Keep fetching, but ignore normal characters beyond the max length
// The command will be injected when EOL is reached
/**
* Keep fetching, but ignore normal characters beyond the max length
* The command will be injected when EOL is reached
*/
}
else {
if (sd_char == ';') sd_comment_mode = true;
@ -1110,10 +1117,12 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
if (extruder == 0)
return base_home_pos(X_AXIS) + home_offset[X_AXIS];
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
/**
* In dual carriage mode the extruder offset provides an override of the
* second X-carriage offset when homed - otherwise X2_HOME_POS is used.
* This allow soft recalibration of the second extruder offset position
* without firmware reflash (through the M218 command).
*/
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
}
@ -1173,8 +1182,11 @@ static void set_axis_is_at_home(AxisEnum axis) {
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
// Works out real Homeposition angles using inverse kinematics,
// and calculates homing offset using forward kinematics
/**
* Works out real Homeposition angles using inverse kinematics,
* and calculates homing offset using forward kinematics
*/
calculate_delta(homeposition);
// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
@ -1194,8 +1206,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
current_position[axis] = delta[axis];
// SCARA home positions are based on configuration since the actual limits are determined by the
// inverse kinematic transform.
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
}
@ -1357,7 +1371,11 @@ static void setup_for_endstop_move() {
static void run_z_probe() {
refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
/**
* To prevent stepper_inactive_time from running out and
* EXTRUDER_RUNOUT_PREVENT from extruding
*/
refresh_cmd_timeout();
#if ENABLED(DELTA)
@ -1377,7 +1395,10 @@ static void setup_for_endstop_move() {
st_synchronize();
endstops_hit_on_purpose(); // clear endstop hit flags
// we have to let the planner know where we are right now as it is not where we said to go.
/**
* We have to let the planner know where we are right now as it
* is not where we said to go.
*/
long stop_steps = st_get_position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm;
@ -1402,7 +1423,10 @@ static void setup_for_endstop_move() {
// Tell the planner where we ended up - Get this from the stepper handler
zPosition = st_get_axis_position_mm(Z_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
plan_set_position(
current_position[X_AXIS], current_position[Y_AXIS], zPosition,
current_position[E_AXIS]
);
// move up the retract distance
zPosition += home_bump_mm(Z_AXIS);
@ -1474,10 +1498,21 @@ static void setup_for_endstop_move() {
feedrate = oldFeedRate;
}
inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); }
inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); }
inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }
inline void raise_z_after_probing() { do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); }
inline void do_blocking_move_to_xy(float x, float y) {
do_blocking_move_to(x, y, current_position[Z_AXIS]);
}
inline void do_blocking_move_to_x(float x) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
}
inline void do_blocking_move_to_z(float z) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
}
inline void raise_z_after_probing() {
do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
}
static void clean_up_after_endstop_move() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -1729,7 +1764,8 @@ static void setup_for_endstop_move() {
}
#endif
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); // this also updates current_position
// this also updates current_position
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
if (probe_action & ProbeDeploy) {
@ -1780,7 +1816,6 @@ static void setup_for_endstop_move() {
/**
* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
*/
static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
if (bed_level[x][y] != 0.0) {
return; // Don't overwrite good values.
@ -1800,8 +1835,10 @@ static void setup_for_endstop_move() {
bed_level[x][y] = median;
}
// Fill in the unprobed points (corners of circular print surface)
// using linear extrapolation, away from the center.
/**
* Fill in the unprobed points (corners of circular print surface)
* using linear extrapolation, away from the center.
*/
static void extrapolate_unprobed_bed_level() {
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
for (int y = 0; y <= half; y++) {
@ -1815,7 +1852,9 @@ static void setup_for_endstop_move() {
}
}
// Print calibration results for plotting or manual frame adjustment.
/**
* Print calibration results for plotting or manual frame adjustment.
*/
static void print_bed_level() {
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
@ -1826,7 +1865,9 @@ static void setup_for_endstop_move() {
}
}
// Reset calibration results to zero.
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
@ -1846,8 +1887,10 @@ static void setup_for_endstop_move() {
void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
// The zprobe_zoffset is negative any switch below the nozzle, so
// multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
/**
* The zprobe_zoffset is negative any switch below the nozzle, so
* multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
*/
z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
}
@ -1894,7 +1937,8 @@ static void axis_unhomed_error() {
#if Z_RAISE_AFTER_PROBING > 0
raise_z_after_probing(); // raise Z
#endif
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); // Dock sled a bit closer to ensure proper capturing
// Dock sled a bit closer to ensure proper capturing
do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
digitalWrite(SLED_PIN, LOW); // turn off magnet
}
else {
@ -2190,9 +2234,9 @@ static void homeaxis(AxisEnum axis) {
#endif // FWRETRACT
/**
*
* G-Code Handler functions
*
* ***************************************************************************
* ***************************** G-CODE HANDLING *****************************
* ***************************************************************************
*/
/**
@ -2383,7 +2427,10 @@ inline void gcode_G28() {
#endif
#endif
// For mesh bed leveling deactivate the mesh calculations, will be turned on again when homing all axis
/**
* For mesh bed leveling deactivate the mesh calculations, will be turned
* on again when homing all axis
*/
#if ENABLED(MESH_BED_LEVELING)
uint8_t mbl_was_active = mbl.active;
mbl.active = 0;
@ -2391,13 +2438,19 @@ inline void gcode_G28() {
setup_for_endstop_move();
set_destination_to_current(); // Directly after a reset this is all 0. Later we get a hint if we have to raise z or not.
/**
* Directly after a reset this is all 0. Later we get a hint if we have
* to raise z or not.
*/
set_destination_to_current();
feedrate = 0.0;
#if ENABLED(DELTA)
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
/**
* A delta can only safely home all axis at the same time
* all axis have to home at the same time
*/
// Pretend the current position is 0,0,0
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
@ -2462,9 +2515,11 @@ inline void gcode_G28() {
line_to_destination();
st_synchronize();
// Update the current Z position even if it currently not real from Z-home
// otherwise each call to line_to_destination() will want to move Z-axis
// by MIN_Z_HEIGHT_FOR_HOMING.
/**
* Update the current Z position even if it currently not real from
* Z-home otherwise each call to line_to_destination() will want to
* move Z-axis by MIN_Z_HEIGHT_FOR_HOMING.
*/
current_position[Z_AXIS] = destination[Z_AXIS];
}
#endif
@ -2581,15 +2636,18 @@ inline void gcode_G28() {
if (home_all_axis) {
// At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
// No need to move Z any more as this height should already be safe
// enough to reach Z_SAFE_HOMING XY positions.
// Just make sure the planner is in sync.
/**
* At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
* No need to move Z any more as this height should already be safe
* enough to reach Z_SAFE_HOMING XY positions.
* Just make sure the planner is in sync.
*/
sync_plan_position();
//
// Set the Z probe (or just the nozzle) destination to the safe homing point
//
/**
* Set the Z probe (or just the nozzle) destination to the safe
* homing point
*/
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
@ -2606,8 +2664,10 @@ inline void gcode_G28() {
line_to_destination();
st_synchronize();
// Update the current positions for XY, Z is still at least at
// MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
/**
* Update the current positions for XY, Z is still at least at
* MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
*/
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
@ -2620,8 +2680,11 @@ inline void gcode_G28() {
// Let's see if X and Y are homed
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
// Make sure the Z probe is within the physical limits
// NOTE: This doesn't necessarily ensure the Z probe is also within the bed!
/**
* Make sure the Z probe is within the physical limits
* NOTE: This doesn't necessarily ensure the Z probe is also
* within the bed!
*/
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
@ -3038,11 +3101,14 @@ inline void gcode_G28() {
float z_offset = zprobe_zoffset;
if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
#else // !DELTA
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
/**
* solve the plane equation ax + by + d = z
* A is the matrix with rows [x y 1] for all the probed points
* B is the vector of the Z positions
* the normal vector to the plane is formed by the coefficients of the
* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
@ -3273,9 +3339,11 @@ inline void gcode_G28() {
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
if (!dryrun) {
// Correct the Z height difference from Z probe position and nozzle tip position.
// The Z height on homing is measured by Z probe, but the Z probe is quite far from the nozzle.
// When the bed is uneven, this height must be corrected.
/**
* Correct the Z height difference from Z probe position and nozzle tip position.
* The Z height on homing is measured by Z probe, but the Z probe is quite far
* from the nozzle. When the bed is uneven, this height must be corrected.
*/
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
z_tmp = current_position[Z_AXIS],
@ -3290,24 +3358,31 @@ inline void gcode_G28() {
}
#endif
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the Z probe offset
// Get the current Z position and send it to the planner.
//
// >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z (most recent plan_set_position/sync_plan_position)
//
// >> zprobe_zoffset : Z distance from nozzle to Z probe (set by default, M851, EEPROM, or Menu)
//
// >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted after the last probe
//
// >> Should home_offset[Z_AXIS] be included?
//
// Discussion: home_offset[Z_AXIS] was applied in G28 to set the starting Z.
// If Z is not tweaked in G29 -and- the Z probe in G29 is not actually "homing" Z...
// then perhaps it should not be included here. The purpose of home_offset[] is to
// adjust for inaccurate endstops, not for reasonably accurate probes. If it were
// added here, it could be seen as a compensating factor for the Z probe.
//
// Apply the correction sending the Z probe offset
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
/*
* Get the current Z position and send it to the planner.
*
* >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
* (most recent plan_set_position/sync_plan_position)
*
* >> zprobe_zoffset : Z distance from nozzle to Z probe
* (set by default, M851, EEPROM, or Menu)
*
* >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted
* after the last probe
*
* >> Should home_offset[Z_AXIS] be included?
*
*
* Discussion: home_offset[Z_AXIS] was applied in G28 to set the
* starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is
* not actually "homing" Z... then perhaps it should not be included
* here. The purpose of home_offset[] is to adjust for inaccurate
* endstops, not for reasonably accurate probes. If it were added
* here, it could be seen as a compensating factor for the Z probe.
*/
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (marlin_debug_flags & DEBUG_LEVELING) {
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
@ -3697,7 +3772,10 @@ inline void gcode_M42() {
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
// This is redundant since the SanityCheck.h already checks for a valid Z_MIN_PROBE_PIN, but here for clarity.
/**
* This is redundant since the SanityCheck.h already checks for a valid
* Z_MIN_PROBE_PIN, but here for clarity.
*/
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
#if !HAS_Z_PROBE
#error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation.
@ -3804,17 +3882,20 @@ inline void gcode_M42() {
if (!seen_L) n_legs = 7;
}
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
/**
* Now get everything to the specified probe point So we can safely do a
* probe to get us close to the bed. If the Z-Axis is far from the bed,
* we don't want to use that as a starting point for each probe.
*/
if (verbose_level > 2)
SERIAL_PROTOCOLPGM("Positioning the probe...\n");
#if ENABLED(DELTA)
reset_bed_level(); // we don't do bed level correction in M48 because we want the raw data when we probe
// we don't do bed level correction in M48 because we want the raw data when we probe
reset_bed_level();
#else
plan_bed_level_matrix.set_to_identity(); // we don't do bed level correction in M48 because we wantthe raw data when we probe
// we don't do bed level correction in M48 because we want the raw data when we probe
plan_bed_level_matrix.set_to_identity();
#endif
if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
@ -3822,10 +3903,10 @@ inline void gcode_M42() {
do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
//
// OK, do the initial probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
/**
* OK, do the initial probe to get us close to the bed.
* Then retrace the right amount and use that in subsequent probes
*/
setup_for_endstop_move();
probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
@ -3862,19 +3943,27 @@ inline void gcode_M42() {
for (uint8_t l = 0; l < n_legs - 1; l++) {
double delta_angle;
if (schizoid_flag)
delta_angle = dir * 2.0 * 72.0; // The points of a 5 point star are 72 degrees apart. We need to
// The points of a 5 point star are 72 degrees apart. We need to
// skip a point and go to the next one on the star.
delta_angle = dir * 2.0 * 72.0;
else
delta_angle = dir * (float) random(25, 45); // If we do this line, we are just trying to move further
// If we do this line, we are just trying to move further
// around the circle.
delta_angle = dir * (float) random(25, 45);
angle += delta_angle;
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
X_current = X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER + cos(RADIANS(angle)) * radius;
Y_current = Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER + sin(RADIANS(angle)) * radius;
#if DISABLED(DELTA)
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
@ -3904,10 +3993,13 @@ inline void gcode_M42() {
} // n_legs loop
} // n_legs
// We don't really have to do this move, but if we don't we can see a funny shift in the Z Height
// Because the user might not have the Z_RAISE_BEFORE_PROBING height identical to the
// Z_RAISE_BETWEEN_PROBING height. This gets us back to the probe location at the same height that
// we have been running around the circle at.
/**
* We don't really have to do this move, but if we don't we can see a
* funny shift in the Z Height because the user might not have the
* Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING
* height. This gets us back to the probe location at the same height that
* we have been running around the circle at.
*/
do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
if (deploy_probe_for_each_reading)
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
@ -3917,17 +4009,17 @@ inline void gcode_M42() {
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
}
//
// Get the current mean for the data points we have so far
//
/**
* Get the current mean for the data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
mean = sum / (n + 1);
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
/**
* Now, use that mean to calculate the standard deviation for the
* data points we have so far
*/
sum = 0.0;
for (uint8_t j = 0; j <= n; j++) {
float ss = sample_set[j] - mean;
@ -4367,9 +4459,11 @@ inline void gcode_M140() {
inline void gcode_M80() {
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
/**
* If you have a switch on suicide pin, this is useful
* if you want to start another print with suicide feature after
* a print without suicide...
*/
#if HAS_SUICIDE
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
@ -6973,30 +7067,31 @@ void plan_arc(
float linear_per_segment = linear_travel / segments;
float extruder_per_segment = extruder_travel / segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
r_T = [cos(phi) -sin(phi);
sin(phi) cos(phi] * r ;
For arc generation, the center of the circle is the axis of rotation and the radius vector is
defined from the circle center to the initial position. Each line segment is formed by successive
vector rotations. This requires only two cos() and sin() computations to form the rotation
matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
all double numbers are single precision on the Arduino. (True double precision will not have
round off issues for CNC applications.) Single precision error can accumulate to be greater than
tool precision in some cases. Therefore, arc path correction is implemented.
Small angle approximation may be used to reduce computation overhead further. This approximation
holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
issue for CNC machines with the single precision Arduino calculations.
This approximation also allows plan_arc to immediately insert a line segment into the planner
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
This is important when there are successive arc motions.
/**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
* r_T = [cos(phi) -sin(phi);
* sin(phi) cos(phi] * r ;
*
* For arc generation, the center of the circle is the axis of rotation and the radius vector is
* defined from the circle center to the initial position. Each line segment is formed by successive
* vector rotations. This requires only two cos() and sin() computations to form the rotation
* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
* all double numbers are single precision on the Arduino. (True double precision will not have
* round off issues for CNC applications.) Single precision error can accumulate to be greater than
* tool precision in some cases. Therefore, arc path correction is implemented.
*
* Small angle approximation may be used to reduce computation overhead further. This approximation
* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
* issue for CNC machines with the single precision Arduino calculations.
*
* This approximation also allows plan_arc to immediately insert a line segment into the planner
* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
* This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation

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