andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Merge pull request #2101 from thinkyhead/code_style 

Code style and a dangling "else"
pull/1/head
Scott Lahteine 10 years ago
parent
80d2c11f9d d580a0d186
commit
6c27eaf864
3 changed files with 248 additions and 243 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 441
      Marlin/Marlin_main.cpp
  2. 44
      Marlin/stepper.cpp
  3. 6
      Marlin/stepper.h

441
Marlin/Marlin_main.cpp
View File

@ -1,30 +1,30 @@
/* -*- c++ -*- */ /**
* Marlin Firmware
/* *
Reprap firmware based on Sprinter and grbl. * Based on Sprinter and grbl.
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
This program is free software: you can redistribute it and/or modify * 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 * it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. * (at your option) any later version.
*
This program is distributed in the hope that it will be useful, * This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. * GNU General Public License for more details.
*
You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ *
* About Marlin
/* *
This firmware is a mashup between Sprinter and grbl. * This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter) * - https://github.com/kliment/Sprinter
(https://github.com/simen/grbl/tree) * - https://github.com/simen/grbl/tree
*
It has preliminary support for Matthew Roberts advance algorithm * It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html * - http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/ */
#include "Marlin.h" #include "Marlin.h"
@ -73,13 +73,12 @@
* - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes * - http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
* *
* Help us document these G-codes online: * Help us document these G-codes online:
* - http://www.marlinfirmware.org/index.php/G-Code
* - http://reprap.org/wiki/G-code * - http://reprap.org/wiki/G-code
* - https://github.com/MarlinFirmware/Marlin/wiki/Marlin-G-Code *
*/ * -----------------
/**
* Implemented Codes * Implemented Codes
* ------------------- * -----------------
* *
* "G" 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 * 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 * 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 * 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. * 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<extruder_number> X<offset_on_X> Y<offset_on_Y> * M218 - Set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
* M220 - Set speed factor override percentage: S<factor in percent> * M220 - Set speed factor override percentage: S<factor in percent>
@ -215,6 +214,11 @@
* *
* M928 - Start SD logging (M928 filename.g) - ended by M29 * M928 - Start SD logging (M928 filename.g) - ended by M29
* M999 - Restart after being stopped by error * M999 - Restart after being stopped by error
*
* "T" Codes
*
* T0-T3 - Select a tool by index (usually an extruder) [ F<mm/min> ]
*
*/ */
#ifdef SDSUPPORT #ifdef SDSUPPORT
@ -557,9 +561,9 @@ void servo_init() {
// Set position of Servo Endstops that are defined // Set position of Servo Endstops that are defined
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
for (int i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
if (servo_endstops[i] >= 0) if (servo_endstops[i] >= 0)
servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]); servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
#endif #endif
#if SERVO_LEVELING #if SERVO_LEVELING
@ -993,7 +997,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#endif //DUAL_X_CARRIAGE #endif //DUAL_X_CARRIAGE
static void axis_is_at_home(int axis) { static void axis_is_at_home(AxisEnum axis) {
#ifdef DUAL_X_CARRIAGE #ifdef DUAL_X_CARRIAGE
if (axis == X_AXIS) { if (axis == X_AXIS) {
@ -1198,12 +1202,12 @@ static void setup_for_endstop_move() {
plan_bed_level_matrix.set_to_identity(); plan_bed_level_matrix.set_to_identity();
feedrate = homing_feedrate[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS];
// move down until you find the bed // Move down until the probe (or endstop?) is triggered
float zPosition = -10; float zPosition = -10;
line_to_z(zPosition); line_to_z(zPosition);
st_synchronize(); 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); zPosition = st_get_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]);
@ -1313,21 +1317,21 @@ static void setup_for_endstop_move() {
st_synchronize(); st_synchronize();
#ifdef Z_PROBE_ENDSTOP #ifdef Z_PROBE_ENDSTOP
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop) if (z_probe_endstop)
#else #else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop) if (z_min_endstop)
#endif #endif
{ {
if (IsRunning()) { if (IsRunning()) {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
Stop();
} }
Stop();
}
#endif // Z_PROBE_ALLEN_KEY #endif // Z_PROBE_ALLEN_KEY
@ -1390,23 +1394,23 @@ static void setup_for_endstop_move() {
st_synchronize(); st_synchronize();
#ifdef Z_PROBE_ENDSTOP #ifdef Z_PROBE_ENDSTOP
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (!z_probe_endstop) if (!z_probe_endstop)
#else #else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (!z_min_endstop) if (!z_min_endstop)
#endif #endif
{ {
if (IsRunning()) { if (IsRunning()) {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!"); SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
Stop();
} }
Stop();
}
#endif #endif // Z_PROBE_ALLEN_KEY
} }
@ -1418,32 +1422,31 @@ static void setup_for_endstop_move() {
}; };
// Probe bed height at position (x,y), returns the measured z value // 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 // 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(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 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 !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if (retract_action & ProbeDeploy) deploy_z_probe(); if (probe_action & ProbeDeploy) deploy_z_probe();
#endif #endif
run_z_probe(); run_z_probe();
float measured_z = current_position[Z_AXIS]; float measured_z = current_position[Z_AXIS];
#if Z_RAISE_BETWEEN_PROBINGS > 0 #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 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(); st_synchronize();
} }
#endif #endif
#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY) #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 #endif
if (verbose_level > 2) { if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Bed"); SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL_F(x, 3); SERIAL_PROTOCOL_F(x, 3);
SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL_F(y, 3); SERIAL_PROTOCOL_F(y, 3);
@ -1593,12 +1596,11 @@ static void homeaxis(AxisEnum axis) {
if (axis == Z_AXIS) { if (axis == Z_AXIS) {
if (axis_home_dir < 0) deploy_z_probe(); if (axis_home_dir < 0) deploy_z_probe();
} }
else
#endif #endif
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
{ if (axis != Z_AXIS) {
// Engage Servo endstop if enabled // Engage Servo endstop if enabled
if (servo_endstops[axis] > -1) if (servo_endstops[axis] > -1)
servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]); servo[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
@ -2763,8 +2765,8 @@ inline void gcode_G28() {
z_tmp = current_position[Z_AXIS], 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) 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 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. current_position[Z_AXIS] += z_tmp - real_z; // The difference is added to current position and sent to planner.
sync_plan_position(); sync_plan_position();
} }
#endif // !DELTA #endif // !DELTA
@ -2792,8 +2794,7 @@ inline void gcode_G28() {
feedrate = homing_feedrate[Z_AXIS]; feedrate = homing_feedrate[Z_AXIS];
run_z_probe(); run_z_probe();
SERIAL_PROTOCOLPGM("Bed"); SERIAL_PROTOCOLPGM("Bed X: ");
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001); SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
SERIAL_PROTOCOLPGM(" Y: "); SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001); SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
@ -4624,7 +4625,7 @@ inline void gcode_M400() { st_synchronize(); }
stow_z_probe(false); stow_z_probe(false);
} }
#endif #endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#ifdef FILAMENT_SENSOR #ifdef FILAMENT_SENSOR
@ -4819,7 +4820,7 @@ inline void gcode_M503() {
if (code_seen('Z')) { if (code_seen('Z')) {
value = code_value(); value = code_value();
if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) { 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_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK); SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
SERIAL_EOL; SERIAL_EOL;
@ -5074,9 +5075,11 @@ inline void gcode_M999() {
/** /**
* T0-T3: Switch tool, usually switching extruders * T0-T3: Switch tool, usually switching extruders
*
* F[mm/min] Set the movement feedrate
*/ */
inline void gcode_T() { inline void gcode_T() {
int tmp_extruder = code_value(); uint16_t tmp_extruder = code_value_short();
if (tmp_extruder >= EXTRUDERS) { if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_CHAR('T'); SERIAL_CHAR('T');
@ -5589,14 +5592,14 @@ void process_next_command() {
gcode_M400(); gcode_M400();
break; 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: case 401:
gcode_M401(); gcode_M401();
break; break;
case 402: case 402:
gcode_M402(); gcode_M402();
break; break;
#endif #endif // ENABLE_AUTO_BED_LEVELING && (SERVO_ENDSTOPS || Z_PROBE_ALLEN_KEY) && !Z_PROBE_SLED
#ifdef FILAMENT_SENSOR #ifdef FILAMENT_SENSOR
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
@ -6089,82 +6092,83 @@ void prepare_move() {
#endif // HAS_CONTROLLERFAN #endif // HAS_CONTROLLERFAN
#ifdef SCARA #ifdef SCARA
void calculate_SCARA_forward_Transform(float f_scara[3])
{ void calculate_SCARA_forward_Transform(float f_scara[3]) {
// Perform forward kinematics, and place results in delta[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 // 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; float x_sin, x_cos, y_sin, y_cos;
//SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]); //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
//SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]); //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
x_cos = cos(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_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
y_cos = cos(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_sin="); SERIAL_ECHO(x_sin);
// SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos); //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
// SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin); //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
// SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos); //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi 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[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
} }
void calculate_delta(float cartesian[3]){ void calculate_delta(float cartesian[3]){
//reverse kinematics. //reverse kinematics.
// Perform reversed kinematics, and place results in delta[3] // 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 // 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]; float SCARA_pos[2];
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; 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[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. SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
#if (Linkage_1 == Linkage_2) #if (Linkage_1 == Linkage_2)
SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1; SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
#else #else
SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000; SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
#endif #endif
SCARA_S2 = sqrt( 1 - sq(SCARA_C2) ); SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2; SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
SCARA_K2 = Linkage_2 * SCARA_S2; SCARA_K2 = Linkage_2 * SCARA_S2;
SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1; SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
SCARA_psi = atan2(SCARA_S2,SCARA_C2); SCARA_psi = atan2(SCARA_S2,SCARA_C2);
delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle 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[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
delta[Z_AXIS] = cartesian[Z_AXIS]; delta[Z_AXIS] = cartesian[Z_AXIS];
/* /*
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]); SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]); SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2); SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2); SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta); SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi); SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
SERIAL_ECHOLN(" ");*/ SERIAL_EOL;
} */
}
#endif #endif // SCARA
#ifdef TEMP_STAT_LEDS #ifdef TEMP_STAT_LEDS
@ -6395,88 +6399,89 @@ void kill()
st_synchronize(); st_synchronize();
} }
} }
#endif
void Stop() { #endif // FILAMENT_RUNOUT_SENSOR
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);
}
}
#ifdef FAST_PWM_FAN #ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val)
{
val &= 0x07;
switch(digitalPinToTimer(pin))
{
#if defined(TCCR0A) void setPwmFrequency(uint8_t pin, int val) {
case TIMER0A: val &= 0x07;
case TIMER0B: switch (digitalPinToTimer(pin)) {
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break;
#endif
#if defined(TCCR1A) #if defined(TCCR0A)
case TIMER1A: case TIMER0A:
case TIMER1B: case TIMER0B:
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR1B |= val; // TCCR0B |= val;
break; break;
#endif #endif
#if defined(TCCR2) #if defined(TCCR1A)
case TIMER2: case TIMER1A:
case TIMER2: case TIMER1B:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2 |= val; // TCCR1B |= val;
break; break;
#endif #endif
#if defined(TCCR2A) #if defined(TCCR2)
case TIMER2A: case TIMER2:
case TIMER2B: case TIMER2:
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22)); TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2B |= val; TCCR2 |= val;
break; break;
#endif #endif
#if defined(TCCR3A) #if defined(TCCR2A)
case TIMER3A: case TIMER2A:
case TIMER3B: case TIMER2B:
case TIMER3C: TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32)); TCCR2B |= val;
TCCR3B |= val; break;
break; #endif
#endif
#if defined(TCCR4A) #if defined(TCCR3A)
case TIMER4A: case TIMER3A:
case TIMER4B: case TIMER3B:
case TIMER4C: case TIMER3C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42)); TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
TCCR4B |= val; TCCR3B |= val;
break; break;
#endif #endif
#if defined(TCCR5A) #if defined(TCCR4A)
case TIMER5A: case TIMER4A:
case TIMER5B: case TIMER4B:
case TIMER5C: case TIMER4C:
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52)); TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
TCCR5B |= val; TCCR4B |= val;
break; break;
#endif #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){ bool setTargetedHotend(int code){
target_extruder = active_extruder; target_extruder = active_extruder;

44
Marlin/stepper.cpp
View File

@ -1,22 +1,23 @@
/* /**
stepper.c - stepper motor driver: executes motion plans using stepper motors * stepper.cpp - stepper motor driver: executes motion plans using stepper motors
Part of Grbl * Marlin Firmware
*
Copyright (c) 2009-2011 Simen Svale Skogsrud * 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 * Grbl is free software: you can redistribute it and/or modify
the Free Software Foundation, either version 3 of the License, or * it under the terms of the GNU General Public License as published by
(at your option) any later version. * 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 * Grbl is distributed in the hope that it will be useful,
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * but WITHOUT ANY WARRANTY; without even the implied warranty of
GNU General Public License for more details. * 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 <http://www.gnu.org/licenses/>. * You should have received a copy of the GNU General Public License
*/ * along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
and Philipp Tiefenbacher. */ and Philipp Tiefenbacher. */
@ -1109,9 +1110,8 @@ long st_get_position(uint8_t axis) {
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
float st_get_position_mm(uint8_t axis) { float st_get_position_mm(AxisEnum axis) {
float steper_position_in_steps = st_get_position(axis); return st_get_position(axis) / axis_steps_per_unit[axis];
return steper_position_in_steps / axis_steps_per_unit[axis];
} }
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING

6
Marlin/stepper.h
View File

@ -67,9 +67,9 @@ void st_set_e_position(const long &e);
long st_get_position(uint8_t axis); long st_get_position(uint8_t axis);
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// Get current position in mm // Get current position in mm
float st_get_position_mm(uint8_t axis); float st_get_position_mm(AxisEnum axis);
#endif //ENABLE_AUTO_BED_LEVELING #endif
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this // 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. // to notify the subsystem that it is time to go to work.

Write Preview
Loading…
Cancel
Save