From 1e57a6af73866c8e05c2972e17b5a2576bfcc9c2 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 Jul 2016 16:30:28 -0700 Subject: [PATCH 1/2] Use blocking_move, current_position in G28 homing --- Marlin/Marlin_main.cpp | 49 ++++++++++++++++-------------------------- 1 file changed, 19 insertions(+), 30 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index ad163d77d2..8a8c58ceef 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1594,7 +1594,7 @@ static void set_axis_is_at_home(AxisEnum axis) { /** * Some planner shorthand inline functions */ -inline void set_homing_bump_feedrate(AxisEnum axis) { +inline float set_homing_bump_feedrate(AxisEnum axis) { const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR; int hbd = homing_bump_divisor[axis]; if (hbd < 1) { @@ -1603,6 +1603,7 @@ inline void set_homing_bump_feedrate(AxisEnum axis) { SERIAL_ECHOLNPGM("Warning: Homing Bump Divisor < 1"); } feedrate_mm_m = homing_feedrate_mm_m[axis] / hbd; + return feedrate_mm_m; } // // line_to_current_position @@ -1707,6 +1708,11 @@ static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0) feedrate_mm_m = old_feedrate_mm_m; } +inline void do_blocking_move_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) { + current_position[axis] = where; + do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m); +} + inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m); } @@ -2419,27 +2425,19 @@ static void homeaxis(AxisEnum axis) { #endif // Move towards the endstop until an endstop is triggered - destination[axis] = 1.5 * max_length(axis) * axis_home_dir; - feedrate_mm_m = homing_feedrate_mm_m[axis]; - line_to_destination(); - stepper.synchronize(); + do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]); // Set the axis position as setup for the move current_position[axis] = 0; sync_plan_position(); // Move away from the endstop by the axis HOME_BUMP_MM - destination[axis] = -home_bump_mm(axis) * axis_home_dir; - line_to_destination(); - stepper.synchronize(); + do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]); // Slow down the feedrate for the next move - set_homing_bump_feedrate(axis); // Move slowly towards the endstop until triggered - destination[axis] = 2 * home_bump_mm(axis) * axis_home_dir; - line_to_destination(); - stepper.synchronize(); + do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis)); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position); @@ -2460,10 +2458,7 @@ static void homeaxis(AxisEnum axis) { sync_plan_position(); // Move to the adjusted endstop height - feedrate_mm_m = homing_feedrate_mm_m[axis]; - destination[Z_AXIS] = adj; - line_to_destination(); - stepper.synchronize(); + do_blocking_move_to_z(adj, homing_feedrate_mm_m[axis]); if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false); stepper.set_homing_flag(false); @@ -2474,15 +2469,13 @@ static void homeaxis(AxisEnum axis) { // retrace by the amount specified in endstop_adj if (endstop_adj[axis] * axis_home_dir < 0) { sync_plan_position(); - destination[axis] = endstop_adj[axis]; #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("> endstop_adj = ", endstop_adj[axis]); - DEBUG_POS("", destination); + DEBUG_POS("", current_position); } #endif - line_to_destination(); - stepper.synchronize(); + do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis)); } #endif @@ -2836,8 +2829,6 @@ inline void gcode_G4() { static void quick_home_xy() { - current_position[X_AXIS] = current_position[Y_AXIS] = 0; - #if ENABLED(DUAL_X_CARRIAGE) int x_axis_home_dir = x_home_dir(active_extruder); extruder_duplication_enabled = false; @@ -2845,17 +2836,15 @@ inline void gcode_G4() { int x_axis_home_dir = home_dir(X_AXIS); #endif - float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), - mlratio = mlx > mly ? mly / mlx : mlx / mly; + float mlx = max_length(X_AXIS), + mly = max_length(Y_AXIS), + mlratio = mlx > mly ? mly / mlx : mlx / mly, + fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1); - destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir; - destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS); - feedrate_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1); - line_to_destination(); - stepper.synchronize(); + do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m); endstops.hit_on_purpose(); // clear endstop hit flags + current_position[X_AXIS] = current_position[Y_AXIS] = 0; - destination[X_AXIS] = destination[Y_AXIS] = 0; } #endif // QUICK_HOME From 86eb5251c55b505fc76c6dbf8eca8033129d280c Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 17 Jul 2016 17:04:32 -0700 Subject: [PATCH 2/2] Fix some debug messages --- Marlin/Marlin_main.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 8a8c58ceef..0cadef03c0 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -6706,7 +6706,8 @@ inline void gcode_T(uint8_t tmp_extruder) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { - SERIAL_ECHOLNPGM(">>> gcode_T"); + SERIAL_ECHOPAIR(">>> gcode_T(", tmp_extruder); + SERIAL_ECHOLNPGM(")"); DEBUG_POS("BEFORE", current_position); } #endif @@ -6935,7 +6936,7 @@ inline void gcode_T(uint8_t tmp_extruder) { #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) { SERIAL_ECHOPAIR("Offset Tool XY by { ", xydiff[X_AXIS]); - SERIAL_ECHOPAIR(", ", xydiff[X_AXIS]); + SERIAL_ECHOPAIR(", ", xydiff[Y_AXIS]); SERIAL_ECHOLNPGM(" }"); } #endif