From 072625ccadf763ecef74e49792682ca42b83b605 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 May 2015 01:44:53 -0700 Subject: [PATCH 1/7] Update headings in Marlin_main.cpp and stepper.cpp --- Marlin/Marlin_main.cpp | 70 ++++++++++++++++++++++-------------------- Marlin/stepper.cpp | 39 +++++++++++------------ 2 files changed, 57 insertions(+), 52 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 4f48a2f11c..1a5bb6c126 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1,30 +1,30 @@ -/* -*- c++ -*- */ - -/* - Reprap firmware based on Sprinter and grbl. - Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm - - This program is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see . - */ - -/* - This firmware is a mashup between Sprinter and grbl. - (https://github.com/kliment/Sprinter) - (https://github.com/simen/grbl/tree) - - It has preliminary support for Matthew Roberts advance algorithm - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html +/** + * Marlin Firmware + * + * Based on Sprinter and grbl. + * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + * About Marlin + * + * This firmware is a mashup between Sprinter and grbl. + * - https://github.com/kliment/Sprinter + * - https://github.com/simen/grbl/tree + * + * It has preliminary support for Matthew Roberts advance algorithm + * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html */ #include "Marlin.h" @@ -73,13 +73,12 @@ * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes * * Help us document these G-codes online: + * - http://www.marlinfirmware.org/index.php/G-Code * - http://reprap.org/wiki/G-code - * - https://github.com/MarlinFirmware/Marlin/wiki/Marlin-G-Code - */ - -/** + * + * ----------------- * Implemented Codes - * ------------------- + * ----------------- * * "G" Codes * @@ -163,7 +162,7 @@ * M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk * M206 - Set additional homing offset * M207 - Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting - * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec] + * M208 - Set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/min] * M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. * M218 - Set hotend offset (in mm): T X Y * M220 - Set speed factor override percentage: S @@ -215,6 +214,11 @@ * * M928 - Start SD logging (M928 filename.g) - ended by M29 * M999 - Restart after being stopped by error + * + * "T" Codes + * + * T0-T3 - Select a tool by index (usually an extruder) [ F ] + * */ #ifdef SDSUPPORT diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 29d77048c9..357f6fd650 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -1,22 +1,23 @@ -/* - stepper.c - stepper motor driver: executes motion plans using stepper motors - Part of Grbl - - Copyright (c) 2009-2011 Simen Svale Skogsrud - - Grbl is free software: you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation, either version 3 of the License, or - (at your option) any later version. - - Grbl is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with Grbl. If not, see . -*/ +/** + * stepper.cpp - stepper motor driver: executes motion plans using stepper motors + * Marlin Firmware + * + * Derived from Grbl + * Copyright (c) 2009-2011 Simen Svale Skogsrud + * + * Grbl is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Grbl is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Grbl. If not, see . + */ /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith and Philipp Tiefenbacher. */ From c54a2ea0425dd3289710328c37368d979767f542 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 May 2015 01:47:02 -0700 Subject: [PATCH 2/7] Adjust spacing in Marlin_main.cpp and stepper.* --- Marlin/Marlin_main.cpp | 330 +++++++++++++++++++++-------------------- Marlin/stepper.cpp | 5 +- Marlin/stepper.h | 6 +- 3 files changed, 171 insertions(+), 170 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 1a5bb6c126..4afb61290d 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -561,9 +561,9 @@ void servo_init() { // Set position of Servo Endstops that are defined #ifdef SERVO_ENDSTOPS - for (int i = 0; i < 3; i++) - if (servo_endstops[i] >= 0) - servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]); + for (int i = 0; i < 3; i++) + if (servo_endstops[i] >= 0) + servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]); #endif #if SERVO_LEVELING @@ -1317,21 +1317,21 @@ static void setup_for_endstop_move() { st_synchronize(); - #ifdef Z_PROBE_ENDSTOP - bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); - if (z_probe_endstop) - #else - bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); - if (z_min_endstop) - #endif - { - if (IsRunning()) { - SERIAL_ERROR_START; - SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); - LCD_ALERTMESSAGEPGM("Err: ZPROBE"); + #ifdef Z_PROBE_ENDSTOP + bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); + if (z_probe_endstop) + #else + bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); + if (z_min_endstop) + #endif + { + if (IsRunning()) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); + LCD_ALERTMESSAGEPGM("Err: ZPROBE"); + } + Stop(); } - Stop(); - } #endif // Z_PROBE_ALLEN_KEY @@ -1394,21 +1394,21 @@ static void setup_for_endstop_move() { st_synchronize(); - #ifdef Z_PROBE_ENDSTOP - bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); - if (!z_probe_endstop) - #else - bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); - if (!z_min_endstop) - #endif - { - if (IsRunning()) { - SERIAL_ERROR_START; - SERIAL_ERRORLNPGM("Z-Probe failed to retract!"); - LCD_ALERTMESSAGEPGM("Err: ZPROBE"); + #ifdef Z_PROBE_ENDSTOP + bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); + if (!z_probe_endstop) + #else + bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); + if (!z_min_endstop) + #endif + { + if (IsRunning()) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM("Z-Probe failed to retract!"); + LCD_ALERTMESSAGEPGM("Err: ZPROBE"); + } + Stop(); } - Stop(); - } #endif @@ -6093,82 +6093,83 @@ void prepare_move() { #endif // HAS_CONTROLLERFAN #ifdef SCARA -void calculate_SCARA_forward_Transform(float f_scara[3]) -{ - // Perform forward kinematics, and place results in delta[3] - // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 - - float x_sin, x_cos, y_sin, y_cos; - + + void calculate_SCARA_forward_Transform(float f_scara[3]) { + // Perform forward kinematics, and place results in delta[3] + // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 + + float x_sin, x_cos, y_sin, y_cos; + //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]); //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]); - + x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; - - // SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin); - // SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos); - // SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin); - // SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos); - + + //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin); + //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos); + //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin); + //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos); + delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]); //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); -} + } -void calculate_delta(float cartesian[3]){ - //reverse kinematics. - // Perform reversed kinematics, and place results in delta[3] - // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 - - float SCARA_pos[2]; - static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; - - SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y - SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor. - - #if (Linkage_1 == Linkage_2) - SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1; - #else - SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000; - #endif - - SCARA_S2 = sqrt( 1 - sq(SCARA_C2) ); - - SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2; - SCARA_K2 = Linkage_2 * SCARA_S2; - - SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1; - SCARA_psi = atan2(SCARA_S2,SCARA_C2); - - delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle - delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor) - delta[Z_AXIS] = cartesian[Z_AXIS]; - - /* - SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]); - SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); - SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); - - SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]); - SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]); - - SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); - SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); - SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); - - SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2); - SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2); - SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta); - SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi); - SERIAL_ECHOLN(" ");*/ -} + void calculate_delta(float cartesian[3]){ + //reverse kinematics. + // Perform reversed kinematics, and place results in delta[3] + // The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 + + float SCARA_pos[2]; + static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; + + SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y + SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor. + + #if (Linkage_1 == Linkage_2) + SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1; + #else + SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000; + #endif + + SCARA_S2 = sqrt( 1 - sq(SCARA_C2) ); + + SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2; + SCARA_K2 = Linkage_2 * SCARA_S2; + + SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1; + SCARA_psi = atan2(SCARA_S2,SCARA_C2); + + delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle + delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor) + delta[Z_AXIS] = cartesian[Z_AXIS]; + + /* + SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]); + SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); + SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); + + SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]); + SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]); + + SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); + SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); + SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); + + SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2); + SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2); + SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta); + SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi); + SERIAL_EOL; + */ + } -#endif +#endif // SCARA #ifdef TEMP_STAT_LEDS @@ -6399,88 +6400,89 @@ void kill() st_synchronize(); } } -#endif -void Stop() { - disable_all_heaters(); - if (IsRunning()) { - Running = false; - Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart - SERIAL_ERROR_START; - SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); - LCD_MESSAGEPGM(MSG_STOPPED); - } -} +#endif // FILAMENT_RUNOUT_SENSOR #ifdef FAST_PWM_FAN -void setPwmFrequency(uint8_t pin, int val) -{ - val &= 0x07; - switch(digitalPinToTimer(pin)) - { - #if defined(TCCR0A) - case TIMER0A: - case TIMER0B: -// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02)); -// TCCR0B |= val; - break; - #endif + void setPwmFrequency(uint8_t pin, int val) { + val &= 0x07; + switch (digitalPinToTimer(pin)) { - #if defined(TCCR1A) - case TIMER1A: - case TIMER1B: -// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); -// TCCR1B |= val; - break; - #endif + #if defined(TCCR0A) + case TIMER0A: + case TIMER0B: + // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02)); + // TCCR0B |= val; + break; + #endif - #if defined(TCCR2) - case TIMER2: - case TIMER2: - TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); - TCCR2 |= val; - break; - #endif + #if defined(TCCR1A) + case TIMER1A: + case TIMER1B: + // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); + // TCCR1B |= val; + break; + #endif - #if defined(TCCR2A) - case TIMER2A: - case TIMER2B: - TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22)); - TCCR2B |= val; - break; - #endif + #if defined(TCCR2) + case TIMER2: + case TIMER2: + TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); + TCCR2 |= val; + break; + #endif - #if defined(TCCR3A) - case TIMER3A: - case TIMER3B: - case TIMER3C: - TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32)); - TCCR3B |= val; - break; - #endif + #if defined(TCCR2A) + case TIMER2A: + case TIMER2B: + TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22)); + TCCR2B |= val; + break; + #endif + + #if defined(TCCR3A) + case TIMER3A: + case TIMER3B: + case TIMER3C: + TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32)); + TCCR3B |= val; + break; + #endif + + #if defined(TCCR4A) + case TIMER4A: + case TIMER4B: + case TIMER4C: + TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42)); + TCCR4B |= val; + break; + #endif - #if defined(TCCR4A) - case TIMER4A: - case TIMER4B: - case TIMER4C: - TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42)); - TCCR4B |= val; - break; - #endif - - #if defined(TCCR5A) - case TIMER5A: - case TIMER5B: - case TIMER5C: - TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52)); - TCCR5B |= val; - break; - #endif + #if defined(TCCR5A) + case TIMER5A: + case TIMER5B: + case TIMER5C: + TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52)); + TCCR5B |= val; + break; + #endif + + } + } +#endif // FAST_PWM_FAN + +void Stop() { + disable_all_heaters(); + if (IsRunning()) { + Running = false; + Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); + LCD_MESSAGEPGM(MSG_STOPPED); } } -#endif //FAST_PWM_FAN bool setTargetedHotend(int code){ target_extruder = active_extruder; diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 357f6fd650..7b00da34ee 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -1110,9 +1110,8 @@ long st_get_position(uint8_t axis) { #ifdef ENABLE_AUTO_BED_LEVELING - float st_get_position_mm(uint8_t axis) { - float steper_position_in_steps = st_get_position(axis); - return steper_position_in_steps / axis_steps_per_unit[axis]; + float st_get_position_mm(AxisEnum axis) { + return st_get_position(axis) / axis_steps_per_unit[axis]; } #endif // ENABLE_AUTO_BED_LEVELING diff --git a/Marlin/stepper.h b/Marlin/stepper.h index d6c17d60f6..15d814332f 100644 --- a/Marlin/stepper.h +++ b/Marlin/stepper.h @@ -67,9 +67,9 @@ void st_set_e_position(const long &e); long st_get_position(uint8_t axis); #ifdef ENABLE_AUTO_BED_LEVELING -// Get current position in mm -float st_get_position_mm(uint8_t axis); -#endif //ENABLE_AUTO_BED_LEVELING + // Get current position in mm + float st_get_position_mm(AxisEnum axis); +#endif // The stepper subsystem goes to sleep when it runs out of things to execute. Call this // to notify the subsystem that it is time to go to work. From c966aa26ff477d1e15152588c09c57b9ba62e48b Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 May 2015 01:47:53 -0700 Subject: [PATCH 3/7] Comments in Marlin_main.cpp --- Marlin/Marlin_main.cpp | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 4afb61290d..7aa6b1b44b 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1202,12 +1202,12 @@ static void setup_for_endstop_move() { plan_bed_level_matrix.set_to_identity(); feedrate = homing_feedrate[Z_AXIS]; - // move down until you find the bed + // Move down until the probe (or endstop?) is triggered float zPosition = -10; line_to_z(zPosition); st_synchronize(); - // we have to let the planner know where we are right now as it is not where we said to go. + // Tell the planner where we ended up - Get this from the stepper handler zPosition = st_get_position_mm(Z_AXIS); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]); @@ -1410,7 +1410,7 @@ static void setup_for_endstop_move() { Stop(); } - #endif + #endif // Z_PROBE_ALLEN_KEY } @@ -4628,7 +4628,7 @@ inline void gcode_M400() { st_synchronize(); } stow_z_probe(false); } -#endif +#endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED #ifdef FILAMENT_SENSOR @@ -4823,7 +4823,7 @@ inline void gcode_M503() { if (code_seen('Z')) { value = code_value(); if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) { - zprobe_zoffset = -value; // compare w/ line 278 of configuration_store.cpp + zprobe_zoffset = -value; SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK); SERIAL_EOL; @@ -5078,6 +5078,8 @@ inline void gcode_M999() { /** * T0-T3: Switch tool, usually switching extruders + * + * F[mm/min] Set the movement feedrate */ inline void gcode_T() { int tmp_extruder = code_value(); @@ -5600,7 +5602,7 @@ void process_next_command() { case 402: gcode_M402(); break; - #endif + #endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED #ifdef FILAMENT_SENSOR case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width From 7dfb8becdb0e6ab3e3fc2c3824d7e3276617e45f Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 May 2015 01:48:51 -0700 Subject: [PATCH 4/7] Adjust some names and types in Marlin_main.cpp --- Marlin/Marlin_main.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 7aa6b1b44b..28207b8385 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -997,7 +997,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR); #endif //DUAL_X_CARRIAGE -static void axis_is_at_home(int axis) { +static void axis_is_at_home(AxisEnum axis) { #ifdef DUAL_X_CARRIAGE if (axis == X_AXIS) { @@ -1422,27 +1422,27 @@ static void setup_for_endstop_move() { }; // Probe bed height at position (x,y), returns the measured z value - static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeDeployAndStow, int verbose_level=1) { + static float probe_pt(float x, float y, float z_before, ProbeAction probe_action=ProbeDeployAndStow, int verbose_level=1) { // move to right place do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); // this also updates current_position do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); // this also updates current_position #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) - if (retract_action & ProbeDeploy) deploy_z_probe(); + if (probe_action & ProbeDeploy) deploy_z_probe(); #endif run_z_probe(); float measured_z = current_position[Z_AXIS]; #if Z_RAISE_BETWEEN_PROBINGS > 0 - if (retract_action == ProbeStay) { + if (probe_action == ProbeStay) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); // this also updates current_position st_synchronize(); } #endif #if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) - if (retract_action & ProbeStow) stow_z_probe(); + if (probe_action & ProbeStow) stow_z_probe(); #endif if (verbose_level > 2) { @@ -5082,7 +5082,7 @@ inline void gcode_M999() { * F[mm/min] Set the movement feedrate */ inline void gcode_T() { - int tmp_extruder = code_value(); + uint16_t tmp_extruder = code_value_short(); if (tmp_extruder >= EXTRUDERS) { SERIAL_ECHO_START; SERIAL_CHAR('T'); @@ -5595,7 +5595,7 @@ void process_next_command() { gcode_M400(); break; - #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && not defined(Z_PROBE_SLED) + #if defined(ENABLE_AUTO_BED_LEVELING) && (defined(SERVO_ENDSTOPS) || defined(Z_PROBE_ALLEN_KEY)) && !defined(Z_PROBE_SLED) case 401: gcode_M401(); break; From b83e3f090578f0c49ff798b931ad529128518976 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 May 2015 01:49:52 -0700 Subject: [PATCH 5/7] Combine "Bed X: " strings --- Marlin/Marlin_main.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 28207b8385..2efac9fd1c 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1446,8 +1446,7 @@ static void setup_for_endstop_move() { #endif if (verbose_level > 2) { - SERIAL_PROTOCOLPGM("Bed"); - SERIAL_PROTOCOLPGM(" X: "); + SERIAL_PROTOCOLPGM("Bed X: "); SERIAL_PROTOCOL_F(x, 3); SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOL_F(y, 3); @@ -2796,8 +2795,7 @@ inline void gcode_G28() { feedrate = homing_feedrate[Z_AXIS]; run_z_probe(); - SERIAL_PROTOCOLPGM("Bed"); - SERIAL_PROTOCOLPGM(" X: "); + SERIAL_PROTOCOLPGM("Bed X: "); SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001); SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001); From 2f3a410cb090198491f10af7dc9b30814baa11ff Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 May 2015 01:50:30 -0700 Subject: [PATCH 6/7] Fix a potential hanging "else" bug --- Marlin/Marlin_main.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 2efac9fd1c..26bed52941 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1596,12 +1596,11 @@ static void homeaxis(AxisEnum axis) { if (axis == Z_AXIS) { if (axis_home_dir < 0) deploy_z_probe(); } - else #endif #ifdef SERVO_ENDSTOPS - { + if (axis != Z_AXIS) { // Engage Servo endstop if enabled if (servo_endstops[axis] > -1) servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]); From d580a0d186bde398765206380526c776d8c46a68 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 May 2015 01:51:14 -0700 Subject: [PATCH 7/7] Use "+=" in plane rotation --- Marlin/Marlin_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 26bed52941..0497a25c92 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -2765,8 +2765,8 @@ inline void gcode_G28() { z_tmp = current_position[Z_AXIS], real_z = (float)st_get_position(Z_AXIS) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) - 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. + 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; // The difference is added to current position and sent to planner. sync_plan_position(); } #endif // !DELTA