diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 204226eeb4..222ad08b0a 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -211,72 +211,37 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES; int feedmultiply = 100; //100->1 200->2 int saved_feedmultiply; int extrudemultiply = 100; //100->1 200->2 -int extruder_multiply[EXTRUDERS] = { 100 - #if EXTRUDERS > 1 - , 100 - #if EXTRUDERS > 2 - , 100 - #if EXTRUDERS > 3 - , 100 - #endif - #endif - #endif -}; +int extruder_multiply[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100, 100, 100, 100); bool volumetric_enabled = false; -float filament_size[EXTRUDERS] = { DEFAULT_NOMINAL_FILAMENT_DIA - #if EXTRUDERS > 1 - , DEFAULT_NOMINAL_FILAMENT_DIA - #if EXTRUDERS > 2 - , DEFAULT_NOMINAL_FILAMENT_DIA - #if EXTRUDERS > 3 - , DEFAULT_NOMINAL_FILAMENT_DIA - #endif - #endif - #endif -}; -float volumetric_multiplier[EXTRUDERS] = {1.0 - #if EXTRUDERS > 1 - , 1.0 - #if EXTRUDERS > 2 - , 1.0 - #if EXTRUDERS > 3 - , 1.0 - #endif - #endif - #endif -}; -float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 }; -float home_offset[3] = { 0, 0, 0 }; +float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA, DEFAULT_NOMINAL_FILAMENT_DIA); +float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(1.0, 1.0, 1.0, 1.0); +float current_position[NUM_AXIS] = { 0.0 }; +float home_offset[3] = { 0 }; #ifdef DELTA - float endstop_adj[3] = { 0, 0, 0 }; + float endstop_adj[3] = { 0 }; #elif defined(Z_DUAL_ENDSTOPS) float z_endstop_adj = 0; #endif float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; -bool axis_known_position[3] = { false, false, false }; +bool axis_known_position[3] = { false }; // Extruder offset #if EXTRUDERS > 1 -#ifndef DUAL_X_CARRIAGE - #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane -#else - #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane -#endif -float extruder_offset[NUM_EXTRUDER_OFFSETS][EXTRUDERS] = { - #if defined(EXTRUDER_OFFSET_X) - EXTRUDER_OFFSET_X - #else - 0 + #ifndef EXTRUDER_OFFSET_X + #define EXTRUDER_OFFSET_X 0 #endif - , - #if defined(EXTRUDER_OFFSET_Y) - EXTRUDER_OFFSET_Y + #ifndef EXTRUDER_OFFSET_Y + #define EXTRUDER_OFFSET_Y 0 + #endif + #ifndef DUAL_X_CARRIAGE + #define NUM_EXTRUDER_OFFSETS 2 // only in XY plane #else - 0 + #define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane #endif -}; + #define _EXY { EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y } + float extruder_offset[EXTRUDERS][NUM_EXTRUDER_OFFSETS] = ARRAY_BY_EXTRUDERS(_EXY, _EXY, _EXY, _EXY); #endif uint8_t active_extruder = 0; @@ -295,28 +260,8 @@ int fanSpeed = 0; #ifdef FWRETRACT bool autoretract_enabled = false; - bool retracted[EXTRUDERS] = { false - #if EXTRUDERS > 1 - , false - #if EXTRUDERS > 2 - , false - #if EXTRUDERS > 3 - , false - #endif - #endif - #endif - }; - bool retracted_swap[EXTRUDERS] = { false - #if EXTRUDERS > 1 - , false - #if EXTRUDERS > 2 - , false - #if EXTRUDERS > 3 - , false - #endif - #endif - #endif - }; + bool retracted[EXTRUDERS] = { false }; + bool retracted_swap[EXTRUDERS] = { false }; float retract_length = RETRACT_LENGTH; float retract_length_swap = RETRACT_LENGTH_SWAP; @@ -385,9 +330,9 @@ const char errormagic[] PROGMEM = "Error:"; const char echomagic[] PROGMEM = "echo:"; const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; -static float destination[NUM_AXIS] = { 0, 0, 0, 0 }; +static float destination[NUM_AXIS] = { 0 }; -static float offset[3] = { 0, 0, 0 }; +static float offset[3] = { 0 }; #ifndef DELTA static bool home_all_axis = true; @@ -993,7 +938,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR); // 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; + return (extruder_offset[1][X_AXIS] > 0) ? extruder_offset[1][X_AXIS] : X2_HOME_POS; } static int x_home_dir(int extruder) { @@ -1017,14 +962,14 @@ static void axis_is_at_home(int axis) { if (active_extruder != 0) { current_position[X_AXIS] = x_home_pos(active_extruder); min_pos[X_AXIS] = X2_MIN_POS; - max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS); + max_pos[X_AXIS] = max(extruder_offset[1][X_AXIS], X2_MAX_POS); return; } else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS]; min_pos[X_AXIS] = base_min_pos(X_AXIS) + home_offset[X_AXIS]; max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + home_offset[X_AXIS], - max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset); + max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset); return; } } @@ -1077,12 +1022,18 @@ static void axis_is_at_home(int axis) { #endif } +/** + * Shorthand to tell the planner our current position (in mm). + */ +inline void sync_plan_position() { + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); +} + #ifdef ENABLE_AUTO_BED_LEVELING #ifdef AUTO_BED_LEVELING_GRID #ifndef DELTA -static void set_bed_level_equation_lsq(double *plane_equation_coefficients) -{ + static void set_bed_level_equation_lsq(double *plane_equation_coefficients) { vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1); planeNormal.debug("planeNormal"); plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal); @@ -1093,13 +1044,13 @@ static void set_bed_level_equation_lsq(double *plane_equation_coefficients) //uncorrected_position.debug("position before"); vector_3 corrected_position = plan_get_position(); -// corrected_position.debug("position after"); + //corrected_position.debug("position after"); current_position[X_AXIS] = corrected_position.x; current_position[Y_AXIS] = corrected_position.y; - current_position[Z_AXIS] = corrected_position.z; + current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); -} + sync_plan_position(); + } #endif #else // not AUTO_BED_LEVELING_GRID @@ -1124,9 +1075,9 @@ static void set_bed_level_equation_3pts(float z_at_pt_1, float z_at_pt_2, float vector_3 corrected_position = plan_get_position(); current_position[X_AXIS] = corrected_position.x; current_position[Y_AXIS] = corrected_position.y; - current_position[Z_AXIS] = corrected_position.z; + current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); } #endif // AUTO_BED_LEVELING_GRID @@ -1172,18 +1123,14 @@ static void run_z_probe() { endstops_hit_on_purpose(); // move back down slowly to find bed - - if (homing_bump_divisor[Z_AXIS] >= 1) - { - feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS]; + if (homing_bump_divisor[Z_AXIS] >= 1) { + feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS]; } - else - { - feedrate = homing_feedrate[Z_AXIS]/10; - SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1"); + else { + feedrate = homing_feedrate[Z_AXIS]/10; + SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1"); } - zPosition -= home_retract_mm(Z_AXIS) * 2; plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder); st_synchronize(); @@ -1191,7 +1138,7 @@ static void run_z_probe() { current_position[Z_AXIS] = st_get_position_mm(Z_AXIS); // make sure the planner knows where we are as it may be a bit different than we last said to move to - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); #endif } @@ -1471,7 +1418,7 @@ static void homeaxis(int axis) { #endif current_position[axis] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); #ifndef Z_PROBE_SLED @@ -1497,7 +1444,7 @@ static void homeaxis(int axis) { st_synchronize(); current_position[axis] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); destination[axis] = -home_retract_mm(axis) * axis_home_dir; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); @@ -1520,7 +1467,7 @@ static void homeaxis(int axis) { if (axis==Z_AXIS) { feedrate = homing_feedrate[axis]; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); if (axis_home_dir > 0) { destination[axis] = (-1) * fabs(z_endstop_adj); @@ -1540,7 +1487,7 @@ static void homeaxis(int axis) { #ifdef DELTA // retrace by the amount specified in endstop_adj if (endstop_adj[axis] * axis_home_dir < 0) { - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); destination[axis] = endstop_adj[axis]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); @@ -1596,7 +1543,7 @@ void refresh_cmd_timeout(void) calculate_delta(current_position); // change cartesian kinematic to delta kinematic; plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); #else - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); #endif prepare_move(); } @@ -1612,7 +1559,7 @@ void refresh_cmd_timeout(void) calculate_delta(current_position); // change cartesian kinematic to delta kinematic; plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]); #else - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); #endif //prepare_move(); } @@ -1789,7 +1736,7 @@ inline void gcode_G28() { // Move all carriages up together until the first endstop is hit. for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH; feedrate = 1.732 * homing_feedrate[X_AXIS]; @@ -1829,7 +1776,7 @@ inline void gcode_G28() { extruder_duplication_enabled = false; #endif - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir; destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS); feedrate = homing_feedrate[X_AXIS]; @@ -1844,7 +1791,7 @@ inline void gcode_G28() { axis_is_at_home(X_AXIS); axis_is_at_home(Y_AXIS); - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); destination[X_AXIS] = current_position[X_AXIS]; destination[Y_AXIS] = current_position[Y_AXIS]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); @@ -1921,7 +1868,7 @@ inline void gcode_G28() { feedrate = XY_TRAVEL_SPEED / 60; current_position[Z_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); st_synchronize(); current_position[X_AXIS] = destination[X_AXIS]; @@ -1973,7 +1920,7 @@ inline void gcode_G28() { if (home_all_axis || code_seen(axis_codes[Z_AXIS])) current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative) #endif - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); #endif // else DELTA @@ -1998,7 +1945,7 @@ inline void gcode_G28() { plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder); st_synchronize(); current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); mbl.active = 1; } #endif @@ -2069,7 +2016,7 @@ inline void gcode_G28() { int ix, iy; if (probe_point == 0) { current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); } else { ix = (probe_point-1) % MESH_NUM_X_POINTS; iy = (probe_point-1) / MESH_NUM_X_POINTS; @@ -2242,7 +2189,7 @@ inline void gcode_G28() { current_position[X_AXIS] = uncorrected_position.x; current_position[Y_AXIS] = uncorrected_position.y; current_position[Z_AXIS] = uncorrected_position.z; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); #endif } @@ -2443,7 +2390,7 @@ inline void gcode_G28() { apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); } #endif // !DELTA @@ -2494,15 +2441,17 @@ inline void gcode_G92() { if (!code_seen(axis_codes[E_AXIS])) st_synchronize(); + bool didXYZ = false; for (int i = 0; i < NUM_AXIS; i++) { if (code_seen(axis_codes[i])) { - current_position[i] = code_value(); + float v = current_position[i] = code_value(); if (i == E_AXIS) - plan_set_e_position(current_position[E_AXIS]); + plan_set_e_position(v); else - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + didXYZ = true; } } + if (didXYZ) sync_plan_position(); } #ifdef ULTIPANEL @@ -3760,23 +3709,23 @@ inline void gcode_M206() { inline void gcode_M218() { if (setTargetedHotend(218)) return; - if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value(); - if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value(); + if (code_seen('X')) extruder_offset[tmp_extruder][X_AXIS] = code_value(); + if (code_seen('Y')) extruder_offset[tmp_extruder][Y_AXIS] = code_value(); #ifdef DUAL_X_CARRIAGE - if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value(); + if (code_seen('Z')) extruder_offset[tmp_extruder][Z_AXIS] = code_value(); #endif SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) { SERIAL_ECHO(" "); - SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]); + SERIAL_ECHO(extruder_offset[tmp_extruder][X_AXIS]); SERIAL_ECHO(","); - SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]); + SERIAL_ECHO(extruder_offset[tmp_extruder][Y_AXIS]); #ifdef DUAL_X_CARRIAGE SERIAL_ECHO(","); - SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]); + SERIAL_ECHO(extruder_offset[tmp_extruder][Z_AXIS]); #endif } SERIAL_EOL; @@ -4467,13 +4416,13 @@ inline void gcode_M503() { SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); SERIAL_ECHO(" "); - SERIAL_ECHO(extruder_offset[X_AXIS][0]); + SERIAL_ECHO(extruder_offset[0][X_AXIS]); SERIAL_ECHO(","); - SERIAL_ECHO(extruder_offset[Y_AXIS][0]); + SERIAL_ECHO(extruder_offset[0][Y_AXIS]); SERIAL_ECHO(" "); SERIAL_ECHO(duplicate_extruder_x_offset); SERIAL_ECHO(","); - SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]); + SERIAL_ECHOLN(extruder_offset[1][Y_AXIS]); break; case DXC_FULL_CONTROL_MODE: case DXC_AUTO_PARK_MODE: @@ -4608,11 +4557,11 @@ inline void gcode_T() { // apply Y & Z extruder offset (x offset is already used in determining home pos) current_position[Y_AXIS] = current_position[Y_AXIS] - - extruder_offset[Y_AXIS][active_extruder] + - extruder_offset[Y_AXIS][tmp_extruder]; + extruder_offset[active_extruder][Y_AXIS] + + extruder_offset[tmp_extruder][Y_AXIS]; current_position[Z_AXIS] = current_position[Z_AXIS] - - extruder_offset[Z_AXIS][active_extruder] + - extruder_offset[Z_AXIS][tmp_extruder]; + extruder_offset[active_extruder][Z_AXIS] + + extruder_offset[tmp_extruder][Z_AXIS]; active_extruder = tmp_extruder; @@ -4642,7 +4591,7 @@ inline void gcode_T() { #else // !DUAL_X_CARRIAGE // Offset extruder (only by XY) for (int i=X_AXIS; i<=Y_AXIS; i++) - current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder]; + current_position[i] += extruder_offset[tmp_extruder][i] - extruder_offset[active_extruder][i]; // Set the new active extruder and position active_extruder = tmp_extruder; #endif // !DUAL_X_CARRIAGE @@ -4651,7 +4600,7 @@ inline void gcode_T() { //sent position to plan_set_position(); plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]); #else - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); #endif // Move to the old position if 'F' was in the parameters if (make_move && !Stopped) prepare_move(); @@ -5492,7 +5441,7 @@ for (int s = 1; s <= steps; s++) { plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1); - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + sync_plan_position(); st_synchronize(); extruder_duplication_enabled = true; active_extruder_parked = false; diff --git a/Marlin/pins_RAMBO.h b/Marlin/pins_RAMBO.h index 3849e29489..e175035791 100644 --- a/Marlin/pins_RAMBO.h +++ b/Marlin/pins_RAMBO.h @@ -22,6 +22,17 @@ #endif #endif +#undef X_MS1_PIN +#undef X_MS2_PIN +#undef Y_MS1_PIN +#undef Y_MS2_PIN +#undef Z_MS1_PIN +#undef Z_MS2_PIN +#undef E0_MS1_PIN +#undef E0_MS2_PIN +#undef E1_MS1_PIN +#undef E1_MS2_PIN + #define X_STEP_PIN 37 #define X_DIR_PIN 48 #define X_MIN_PIN 12 @@ -75,6 +86,7 @@ #define E1_MS1_PIN 63 #define E1_MS2_PIN 64 +#undef DIGIPOTSS_PIN #define DIGIPOTSS_PIN 38 #define DIGIPOT_CHANNELS {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 958941f581..786527d0d7 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -342,7 +342,7 @@ void planner_recalculate_trapezoids() { // b. No speed reduction within one block requires faster deceleration than the one, true constant // acceleration. // 2. Go over every block in chronological order and dial down junction speed reduction values if -// a. The speed increase within one block would require faster accelleration than the one, true +// a. The speed increase within one block would require faster acceleration than the one, true // constant acceleration. // // When these stages are complete all blocks have an entry_factor that will allow all speed changes to diff --git a/Marlin/planner.h b/Marlin/planner.h index ed219fa234..41471a2b0f 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -80,21 +80,37 @@ extern volatile unsigned char block_buffer_tail; FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); } #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING) + #if defined(ENABLE_AUTO_BED_LEVELING) #include "vector_3.h" - // this holds the required transform to compensate for bed level + + // Transform required to compensate for bed level extern matrix_3x3 plan_bed_level_matrix; - // Get the position applying the bed level matrix if enabled + + /** + * Get the position applying the bed level matrix + */ vector_3 plan_get_position(); #endif // ENABLE_AUTO_BED_LEVELING - // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in - // millimeters. Feed rate specifies the speed of the motion. + + /** + * Add a new linear movement to the buffer. x, y, z are the signed, absolute target position in + * millimeters. Feed rate specifies the (target) speed of the motion. + */ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder); - // Set position. Used for G92 instructions. + + /** + * Set the planner positions. Used for G92 instructions. + * Multiplies by axis_steps_per_unit[] to set stepper positions. + * Clears previous speed values. + */ void plan_set_position(float x, float y, float z, const float &e); + #else + void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); void plan_set_position(const float &x, const float &y, const float &z, const float &e); + #endif // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING void plan_set_e_position(const float &e); diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index bae91039f6..bb45fe2a8d 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -1205,7 +1205,7 @@ void microstep_init() { pinMode(E0_MS1_PIN,OUTPUT); pinMode(E0_MS2_PIN,OUTPUT); const uint8_t microstep_modes[] = MICROSTEP_MODES; - for (int i = 0; i < sizeof(microstep_modes) / sizeof(microstep_modes[0]); i++) + for (uint16_t i = 0; i < sizeof(microstep_modes) / sizeof(microstep_modes[0]); i++) microstep_mode(i, microstep_modes[i]); #endif }