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Use a, b, c instead of lx, ly, lz

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Scott Lahteine 8 years ago
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f8c2473a71
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c5cac486f5
5 changed files with 116 additions and 111 deletions
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  1. 3
      Marlin/Marlin_main.cpp
  2. 155
      Marlin/planner.cpp
  3. 25
      Marlin/planner.h
  4. 30
      Marlin/stepper.cpp
  5. 6
      Marlin/stepper.h

3
Marlin/Marlin_main.cpp
View File

@ -6892,8 +6892,7 @@ inline void gcode_M503() {
KEEPALIVE_STATE(IN_HANDLER);
// Set extruder to saved position
current_position[E_AXIS] = lastpos[E_AXIS];
destination[E_AXIS] = lastpos[E_AXIS];
destination[E_AXIS] = current_position[E_AXIS] = lastpos[E_AXIS];
planner.set_e_position_mm(current_position[E_AXIS]);
#if IS_KINEMATIC

155
Marlin/planner.cpp
View File

@ -594,13 +594,14 @@ void Planner::check_axes_activity() {
* Planner::_buffer_line
*
* Add a new linear movement to the buffer.
* Not apply the leveling.
*
* x,y,z,e - target position in mm
* Leveling and kinematics should be applied ahead of calling this.
*
* a,b,c,e - target positions in mm or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, const float &e, float fr_mm_s, const uint8_t extruder) {
void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
@ -611,36 +612,36 @@ void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, co
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
long target[NUM_AXIS] = {
lround(lx * axis_steps_per_mm[X_AXIS]),
lround(ly * axis_steps_per_mm[Y_AXIS]),
lround(lz * axis_steps_per_mm[Z_AXIS]),
long target[XYZE] = {
lround(a * axis_steps_per_mm[X_AXIS]),
lround(b * axis_steps_per_mm[Y_AXIS]),
lround(c * axis_steps_per_mm[Z_AXIS]),
lround(e * axis_steps_per_mm[E_AXIS])
};
long dx = target[X_AXIS] - position[X_AXIS],
dy = target[Y_AXIS] - position[Y_AXIS],
dz = target[Z_AXIS] - position[Z_AXIS];
long da = target[X_AXIS] - position[X_AXIS],
db = target[Y_AXIS] - position[Y_AXIS],
dc = target[Z_AXIS] - position[Z_AXIS];
/*
SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
SERIAL_CHAR(' ');
#if IS_KINEMATIC
SERIAL_ECHOPAIR("A:", lx);
SERIAL_ECHOPAIR(" (", dx);
SERIAL_ECHOPAIR(") B:", ly);
SERIAL_ECHOPAIR("A:", a);
SERIAL_ECHOPAIR(" (", da);
SERIAL_ECHOPAIR(") B:", b);
#else
SERIAL_ECHOPAIR("X:", lx);
SERIAL_ECHOPAIR(" (", dx);
SERIAL_ECHOPAIR(") Y:", ly);
SERIAL_ECHOPAIR("X:", a);
SERIAL_ECHOPAIR(" (", da);
SERIAL_ECHOPAIR(") Y:", b);
#endif
SERIAL_ECHOPAIR(" (", dy);
SERIAL_ECHOPAIR(" (", db);
#if ENABLED(DELTA)
SERIAL_ECHOPAIR(") C:", lz);
SERIAL_ECHOPAIR(") C:", c);
#else
SERIAL_ECHOPAIR(") Z:", lz);
SERIAL_ECHOPAIR(") Z:", c);
#endif
SERIAL_ECHOPAIR(" (", dz);
SERIAL_ECHOPAIR(" (", dc);
SERIAL_CHAR(')');
SERIAL_EOL;
//*/
@ -679,24 +680,24 @@ void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, co
#if ENABLED(COREXY)
// corexy planning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
block->steps[A_AXIS] = labs(dx + dy);
block->steps[B_AXIS] = labs(dx - dy);
block->steps[Z_AXIS] = labs(dz);
block->steps[A_AXIS] = labs(da + db);
block->steps[B_AXIS] = labs(da - db);
block->steps[Z_AXIS] = labs(dc);
#elif ENABLED(COREXZ)
// corexz planning
block->steps[A_AXIS] = labs(dx + dz);
block->steps[Y_AXIS] = labs(dy);
block->steps[C_AXIS] = labs(dx - dz);
block->steps[A_AXIS] = labs(da + dc);
block->steps[Y_AXIS] = labs(db);
block->steps[C_AXIS] = labs(da - dc);
#elif ENABLED(COREYZ)
// coreyz planning
block->steps[X_AXIS] = labs(dx);
block->steps[B_AXIS] = labs(dy + dz);
block->steps[C_AXIS] = labs(dy - dz);
block->steps[X_AXIS] = labs(da);
block->steps[B_AXIS] = labs(db + dc);
block->steps[C_AXIS] = labs(db - dc);
#else
// default non-h-bot planning
block->steps[X_AXIS] = labs(dx);
block->steps[Y_AXIS] = labs(dy);
block->steps[Z_AXIS] = labs(dz);
block->steps[X_AXIS] = labs(da);
block->steps[Y_AXIS] = labs(db);
block->steps[Z_AXIS] = labs(dc);
#endif
block->steps[E_AXIS] = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
@ -720,33 +721,33 @@ void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, co
block->e_to_p_pressure = baricuda_e_to_p_pressure;
#endif
// Compute direction bits for this block
uint8_t db = 0;
// Compute direction bit-mask for this block
uint8_t dm = 0;
#if ENABLED(COREXY)
if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) SBI(db, Y_HEAD); // ...and Y
if (dz < 0) SBI(db, Z_AXIS);
if (dx + dy < 0) SBI(db, A_AXIS); // Motor A direction
if (dx - dy < 0) SBI(db, B_AXIS); // Motor B direction
if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
if (dc < 0) SBI(dm, Z_AXIS);
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
if (da - db < 0) SBI(dm, B_AXIS); // Motor B direction
#elif ENABLED(COREXZ)
if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) SBI(db, Y_AXIS);
if (dz < 0) SBI(db, Z_HEAD); // ...and Z
if (dx + dz < 0) SBI(db, A_AXIS); // Motor A direction
if (dx - dz < 0) SBI(db, C_AXIS); // Motor C direction
if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
if (db < 0) SBI(dm, Y_AXIS);
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
if (da - dc < 0) SBI(dm, C_AXIS); // Motor C direction
#elif ENABLED(COREYZ)
if (dx < 0) SBI(db, X_AXIS);
if (dy < 0) SBI(db, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
if (dz < 0) SBI(db, Z_HEAD); // ...and Z
if (dy + dz < 0) SBI(db, B_AXIS); // Motor B direction
if (dy - dz < 0) SBI(db, C_AXIS); // Motor C direction
if (da < 0) SBI(dm, X_AXIS);
if (db < 0) SBI(dm, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
if (db - dc < 0) SBI(dm, C_AXIS); // Motor C direction
#else
if (dx < 0) SBI(db, X_AXIS);
if (dy < 0) SBI(db, Y_AXIS);
if (dz < 0) SBI(db, Z_AXIS);
if (da < 0) SBI(dm, X_AXIS);
if (db < 0) SBI(dm, Y_AXIS);
if (dc < 0) SBI(dm, Z_AXIS);
#endif
if (de < 0) SBI(db, E_AXIS);
block->direction_bits = db;
if (de < 0) SBI(dm, E_AXIS);
block->direction_bits = dm;
block->active_extruder = extruder;
@ -859,29 +860,29 @@ void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, co
#if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
float delta_mm[7];
#if ENABLED(COREXY)
delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
delta_mm[A_AXIS] = (dx + dy) * steps_to_mm[A_AXIS];
delta_mm[B_AXIS] = (dx - dy) * steps_to_mm[B_AXIS];
delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
delta_mm[B_AXIS] = (da - db) * steps_to_mm[B_AXIS];
#elif ENABLED(COREXZ)
delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
delta_mm[A_AXIS] = (dx + dz) * steps_to_mm[A_AXIS];
delta_mm[C_AXIS] = (dx - dz) * steps_to_mm[C_AXIS];
delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
delta_mm[C_AXIS] = (da - dc) * steps_to_mm[C_AXIS];
#elif ENABLED(COREYZ)
delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
delta_mm[B_AXIS] = (dy + dz) * steps_to_mm[B_AXIS];
delta_mm[C_AXIS] = (dy - dz) * steps_to_mm[C_AXIS];
delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
delta_mm[C_AXIS] = (db - dc) * steps_to_mm[C_AXIS];
#endif
#else
float delta_mm[4];
delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
#endif
delta_mm[E_AXIS] = 0.01 * (de * steps_to_mm[E_AXIS]) * volumetric_multiplier[extruder] * flow_percentage[extruder];
@ -1184,12 +1185,12 @@ void Planner::_buffer_line(const float &lx, const float &ly, const float &lz, co
* On CORE machines stepper ABC will be translated from the given XYZ.
*/
void Planner::_set_position_mm(const float &lx, const float &ly, const float &lz, const float &e) {
long nx = position[X_AXIS] = lround(lx * axis_steps_per_mm[X_AXIS]),
ny = position[Y_AXIS] = lround(ly * axis_steps_per_mm[Y_AXIS]),
nz = position[Z_AXIS] = lround(lz * axis_steps_per_mm[Z_AXIS]),
void Planner::_set_position_mm(const float &a, const float &b, const float &c, const float &e) {
long na = position[X_AXIS] = lround(a * axis_steps_per_mm[X_AXIS]),
nb = position[Y_AXIS] = lround(b * axis_steps_per_mm[Y_AXIS]),
nc = position[Z_AXIS] = lround(c * axis_steps_per_mm[Z_AXIS]),
ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
stepper.set_position(nx, ny, nz, ne);
stepper.set_position(na, nb, nc, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
memset(previous_speed, 0, sizeof(previous_speed));

25
Marlin/planner.h
View File

@ -232,27 +232,32 @@ class Planner {
/**
* Planner::_buffer_line
*
* Add a new linear movement to the buffer.
* Doesn't apply the leveling.
* Add a new direct linear movement to the buffer.
*
* Leveling and kinematics should be applied ahead of this.
*
* x,y,z,e - target position in mm
* fr_mm_s - (target) speed of the move
* a,b,c,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static void _buffer_line(const float &lx, const float &ly, const float &lz, const float &e, float fr_mm_s, const uint8_t extruder);
static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
static void _set_position_mm(const float &lx, const float &ly, const float &lz, const float &e);
static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
/**
* Add a new linear movement to the buffer.
* The target is NOT translated to delta/scara
*
* x,y,z,e - target position in mm
* Leveling will be applied to input on cartesians.
* Kinematic machines should call buffer_line_kinematic (for leveled moves).
* (Cartesians may also call buffer_line_kinematic.)
*
* lx,ly,lz,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING && ! IS_KINEMATIC
#if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(lx, ly, lz);
#endif
_buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
@ -267,7 +272,7 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static FORCE_INLINE void buffer_line_kinematic(const float target[NUM_AXIS], float fr_mm_s, const uint8_t extruder) {
static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], float fr_mm_s, const uint8_t extruder) {
#if PLANNER_LEVELING
float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
apply_leveling(pos);
@ -292,7 +297,7 @@ class Planner {
* Clears previous speed values.
*/
static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
#if PLANNER_LEVELING && ! IS_KINEMATIC
#if PLANNER_LEVELING && IS_CARTESIAN
apply_leveling(lx, ly, lz);
#endif
_set_position_mm(lx, ly, lz, e);

30
Marlin/stepper.cpp
View File

@ -953,7 +953,7 @@ void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
void Stepper::set_position(const long& x, const long& y, const long& z, const long& e) {
void Stepper::set_position(const long &a, const long &b, const long &c, const long &e) {
synchronize(); // Bad to set stepper counts in the middle of a move
@ -962,37 +962,37 @@ void Stepper::set_position(const long& x, const long& y, const long& z, const lo
#if ENABLED(COREXY)
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
count_position[A_AXIS] = x + y;
count_position[B_AXIS] = x - y;
count_position[Z_AXIS] = z;
count_position[A_AXIS] = a + b;
count_position[B_AXIS] = a - b;
count_position[Z_AXIS] = c;
#elif ENABLED(COREXZ)
// corexz planning
count_position[A_AXIS] = x + z;
count_position[Y_AXIS] = y;
count_position[C_AXIS] = x - z;
count_position[A_AXIS] = a + c;
count_position[Y_AXIS] = b;
count_position[C_AXIS] = a - c;
#elif ENABLED(COREYZ)
// coreyz planning
count_position[X_AXIS] = x;
count_position[B_AXIS] = y + z;
count_position[C_AXIS] = y - z;
count_position[X_AXIS] = a;
count_position[B_AXIS] = y + c;
count_position[C_AXIS] = y - c;
#else
// default non-h-bot planning
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
count_position[X_AXIS] = a;
count_position[Y_AXIS] = b;
count_position[Z_AXIS] = c;
#endif
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
void Stepper::set_position(const AxisEnum &axis, const long& v) {
void Stepper::set_position(const AxisEnum &axis, const long &v) {
CRITICAL_SECTION_START;
count_position[axis] = v;
CRITICAL_SECTION_END;
}
void Stepper::set_e_position(const long& e) {
void Stepper::set_e_position(const long &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;

6
Marlin/stepper.h
View File

@ -188,9 +188,9 @@ class Stepper {
//
// Set the current position in steps
//
static void set_position(const long& x, const long& y, const long& z, const long& e);
static void set_position(const AxisEnum& a, const long& v);
static void set_e_position(const long& e);
static void set_position(const long &a, const long &b, const long &c, const long &e);
static void set_position(const AxisEnum &a, const long &v);
static void set_e_position(const long &e);
//
// Set direction bits for all steppers

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