From 00b6b3da79efb54cb7fa1c1b7a7db51970b91139 Mon Sep 17 00:00:00 2001 From: Jimmy Envall Date: Mon, 27 Feb 2017 21:39:00 +0200 Subject: [PATCH 1/3] Added support for delta tower angle corrections. --- Marlin/Conditionals_post.h | 11 ++++++++++- Marlin/Marlin.h | 3 +++ Marlin/Marlin_main.cpp | 30 ++++++++++++++++++------------ Marlin/configuration_store.cpp | 19 +++++++++++++++++-- 4 files changed, 48 insertions(+), 15 deletions(-) mode change 100755 => 100644 Marlin/Marlin_main.cpp diff --git a/Marlin/Conditionals_post.h b/Marlin/Conditionals_post.h index f0735e60f4..fbb3ea644c 100644 --- a/Marlin/Conditionals_post.h +++ b/Marlin/Conditionals_post.h @@ -630,7 +630,7 @@ #endif /** - * Delta radius/rod trimmers + * Delta radius/rod trimmers/angle trimmers */ #if ENABLED(DELTA) #ifndef DELTA_RADIUS_TRIM_TOWER_1 @@ -651,6 +651,15 @@ #ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3 #define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0 #endif + #ifndef DELTA_TOWER_ANGLE_TRIM_1 + #define DELTA_TOWER_ANGLE_TRIM_1 0.0 + #endif + #ifndef DELTA_TOWER_ANGLE_TRIM_2 + #define DELTA_TOWER_ANGLE_TRIM_2 0.0 + #endif + #ifndef DELTA_TOWER_ANGLE_TRIM_3 + #define DELTA_TOWER_ANGLE_TRIM_3 0.0 + #endif #endif /** diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index cb6654eae8..381af4186c 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -335,6 +335,9 @@ float code_value_temp_diff(); delta_diagonal_rod_trim_tower_1, delta_diagonal_rod_trim_tower_2, delta_diagonal_rod_trim_tower_3, + delta_tower_angle_trim_1, + delta_tower_angle_trim_2, + delta_tower_angle_trim_3, delta_clip_start_height; void recalc_delta_settings(float radius, float diagonal_rod); #elif IS_SCARA diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp old mode 100755 new mode 100644 index bf11c6313f..e89abad4de --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -564,12 +564,15 @@ static uint8_t target_extruder; // these are the default values, can be overriden with M665 float delta_radius = DELTA_RADIUS, - delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower - delta_tower1_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), - delta_tower2_x = SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower - delta_tower2_y = -COS_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), - delta_tower3_x = 0, // back middle tower - delta_tower3_y = (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), + delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1, + delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2, + delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3, + delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower + delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), + delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower + delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), + delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower + delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), delta_diagonal_rod = DELTA_DIAGONAL_ROD, delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1, delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2, @@ -6337,6 +6340,9 @@ inline void gcode_M205() { if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units(); if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units(); if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units(); + if (code_seen('I')) delta_tower_angle_trim_1 = code_value_linear_units(); + if (code_seen('J')) delta_tower_angle_trim_2 = code_value_linear_units(); + if (code_seen('K')) delta_tower_angle_trim_3 = code_value_linear_units(); recalc_delta_settings(delta_radius, delta_diagonal_rod); } /** @@ -9140,12 +9146,12 @@ void ok_to_send() { * settings have been changed (e.g., by M665). */ void recalc_delta_settings(float radius, float diagonal_rod) { - delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower - delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); - delta_tower2_x = SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); // front right tower - delta_tower2_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_2); - delta_tower3_x = 0.0; // back middle tower - delta_tower3_y = (radius + DELTA_RADIUS_TRIM_TOWER_3); + delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower + delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), + delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower + delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), + delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower + delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1); delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2); delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3); diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 7af06aaad5..9cb9dc5c6c 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -84,7 +84,7 @@ * 308 G29 L F bilinear_start (int x2) * 312 bed_level_grid[][] (float x9, up to float x256) +988 * - * DELTA (if deltabot): 36 bytes + * DELTA (if deltabot): 48 bytes * 348 M666 XYZ endstop_adj (float x3) * 360 M665 R delta_radius (float) * 364 M665 L delta_diagonal_rod (float) @@ -92,6 +92,9 @@ * 372 M665 A delta_diagonal_rod_trim_tower_1 (float) * 376 M665 B delta_diagonal_rod_trim_tower_2 (float) * 380 M665 C delta_diagonal_rod_trim_tower_3 (float) + * 384 M665 I delta_tower_angle_trim_1 (float) + * 388 M665 J delta_tower_angle_trim_2 (float) + * 392 M665 K delta_tower_angle_trim_3 (float) * * Z_DUAL_ENDSTOPS: 4 bytes * 384 M666 Z z_endstop_adj (float) @@ -356,6 +359,9 @@ void Config_Postprocess() { EEPROM_WRITE(delta_diagonal_rod_trim_tower_1); // 1 float EEPROM_WRITE(delta_diagonal_rod_trim_tower_2); // 1 float EEPROM_WRITE(delta_diagonal_rod_trim_tower_3); // 1 float + EEPROM_WRITE(delta_tower_angle_trim_1); // 1 float + EEPROM_WRITE(delta_tower_angle_trim_2); // 1 float + EEPROM_WRITE(delta_tower_angle_trim_3); // 1 float #elif ENABLED(Z_DUAL_ENDSTOPS) EEPROM_WRITE(z_endstop_adj); // 1 float dummy = 0.0f; @@ -681,6 +687,9 @@ void Config_Postprocess() { EEPROM_READ(delta_diagonal_rod_trim_tower_1); // 1 float EEPROM_READ(delta_diagonal_rod_trim_tower_2); // 1 float EEPROM_READ(delta_diagonal_rod_trim_tower_3); // 1 float + EEPROM_READ(delta_tower_angle_trim_1); // 1 float + EEPROM_READ(delta_tower_angle_trim_2); // 1 float + EEPROM_READ(delta_tower_angle_trim_3); // 1 float #elif ENABLED(Z_DUAL_ENDSTOPS) EEPROM_READ(z_endstop_adj); dummy = 0.0f; @@ -909,6 +918,9 @@ void Config_ResetDefault() { delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1; delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2; delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3; + delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1; + delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2; + delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3; #elif ENABLED(Z_DUAL_ENDSTOPS) z_endstop_adj = 0; #endif @@ -1179,7 +1191,7 @@ void Config_ResetDefault() { SERIAL_EOL; CONFIG_ECHO_START; if (!forReplay) { - SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123]"); + SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123], IJK=tower_angle_trim[123]"); CONFIG_ECHO_START; } SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod); @@ -1188,6 +1200,9 @@ void Config_ResetDefault() { SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim_tower_1); SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim_tower_2); SERIAL_ECHOPAIR(" C", delta_diagonal_rod_trim_tower_3); + SERIAL_ECHOPAIR(" I", delta_tower_angle_trim_1); + SERIAL_ECHOPAIR(" J", delta_tower_angle_trim_2); + SERIAL_ECHOPAIR(" K", delta_tower_angle_trim_3); SERIAL_EOL; #elif ENABLED(Z_DUAL_ENDSTOPS) CONFIG_ECHO_START; From 47242a40bbb7331a3e59e2c0d9b31b0113147e8e Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 7 Mar 2017 16:35:27 -0600 Subject: [PATCH 2/3] Apply updated changes for delta_tower_angle_trim --- Marlin/Marlin_main.cpp | 29 +++++------- Marlin/configuration_store.cpp | 87 +++++++++++++++++----------------- 2 files changed, 57 insertions(+), 59 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index e89abad4de..5ba5a8d500 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -185,7 +185,7 @@ * M503 - Print the current settings (in memory): "M503 S". S0 specifies compact output. * M540 - Enable/disable SD card abort on endstop hit: "M540 S". (Requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) * M600 - Pause for filament change: "M600 X Y Z E L". (Requires FILAMENT_CHANGE_FEATURE) - * M665 - Set delta configurations: "M665 L R S" (Requires DELTA) + * M665 - Set delta configurations: "M665 L R S A B C I J K" (Requires DELTA) * M666 - Set delta endstop adjustment. (Requires DELTA) * M605 - Set dual x-carriage movement mode: "M605 S [X] [R]". (Requires DUAL_X_CARRIAGE) * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) @@ -556,9 +556,6 @@ static uint8_t target_extruder; #if ENABLED(DELTA) - #define SIN_60 0.8660254037844386 - #define COS_60 0.5 - float delta[ABC], endstop_adj[ABC] = { 0 }; @@ -567,12 +564,12 @@ static uint8_t target_extruder; delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1, delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2, delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3, - delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower - delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), - delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower - delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), - delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower - delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), + delta_tower1_x = -sin(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower + delta_tower1_y = -cos(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), + delta_tower2_x = sin(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower + delta_tower2_y = -cos(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), + delta_tower3_x = -sin(RADIANS( delta_tower_angle_trim_3)), // back middle tower + delta_tower3_y = cos(RADIANS( delta_tower_angle_trim_3)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), delta_diagonal_rod = DELTA_DIAGONAL_ROD, delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1, delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2, @@ -9146,12 +9143,12 @@ void ok_to_send() { * settings have been changed (e.g., by M665). */ void recalc_delta_settings(float radius, float diagonal_rod) { - delta_tower1_x = -sin( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower - delta_tower1_y = -cos( (60 - delta_tower_angle_trim_1) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), - delta_tower2_x = sin( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower - delta_tower2_y = -cos( (60 + delta_tower_angle_trim_2) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), - delta_tower3_x = -sin( ( delta_tower_angle_trim_3) * PI/180), // back middle tower - delta_tower3_y = cos( ( delta_tower_angle_trim_3) * PI/180) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), + delta_tower1_x = -sin(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower + delta_tower1_y = -cos(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), + delta_tower2_x = sin(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower + delta_tower2_y = -cos(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), + delta_tower3_x = -sin(RADIANS( delta_tower_angle_trim_3)), // back middle tower + delta_tower3_y = cos(RADIANS( delta_tower_angle_trim_3)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1); delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2); delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3); diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 9cb9dc5c6c..5fed29b9ad 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -36,13 +36,13 @@ * */ -#define EEPROM_VERSION "V30" +#define EEPROM_VERSION "V31" // Change EEPROM version if these are changed: #define EEPROM_OFFSET 100 /** - * V30 EEPROM Layout: + * V31 EEPROM Layout: * * 100 Version (char x4) * 104 EEPROM Checksum (uint16_t) @@ -96,55 +96,56 @@ * 388 M665 J delta_tower_angle_trim_2 (float) * 392 M665 K delta_tower_angle_trim_3 (float) * - * Z_DUAL_ENDSTOPS: 4 bytes - * 384 M666 Z z_endstop_adj (float) + * Z_DUAL_ENDSTOPS (if not deltabot): 48 bytes + * 348 M666 Z z_endstop_adj (float) + * --- dummy data (float x11) * * ULTIPANEL: 6 bytes - * 388 M145 S0 H lcd_preheat_hotend_temp (int x2) - * 392 M145 S0 B lcd_preheat_bed_temp (int x2) - * 396 M145 S0 F lcd_preheat_fan_speed (int x2) + * 396 M145 S0 H lcd_preheat_hotend_temp (int x2) + * 400 M145 S0 B lcd_preheat_bed_temp (int x2) + * 404 M145 S0 F lcd_preheat_fan_speed (int x2) * * PIDTEMP: 66 bytes - * 400 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4) - * 416 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4) - * 432 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4) - * 448 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) - * 464 M301 L lpq_len (int) + * 408 M301 E0 PIDC Kp[0], Ki[0], Kd[0], Kc[0] (float x4) + * 424 M301 E1 PIDC Kp[1], Ki[1], Kd[1], Kc[1] (float x4) + * 440 M301 E2 PIDC Kp[2], Ki[2], Kd[2], Kc[2] (float x4) + * 456 M301 E3 PIDC Kp[3], Ki[3], Kd[3], Kc[3] (float x4) + * 472 M301 L lpq_len (int) * - * PIDTEMPBED: - * 466 M304 PID thermalManager.bedKp, thermalManager.bedKi, thermalManager.bedKd (float x3) + * PIDTEMPBED: 12 bytes + * 474 M304 PID thermalManager.bedKp, .bedKi, .bedKd (float x3) * * DOGLCD: 2 bytes - * 478 M250 C lcd_contrast (int) + * 486 M250 C lcd_contrast (int) * * FWRETRACT: 29 bytes - * 480 M209 S autoretract_enabled (bool) - * 481 M207 S retract_length (float) - * 485 M207 W retract_length_swap (float) - * 489 M207 F retract_feedrate_mm_s (float) - * 493 M207 Z retract_zlift (float) - * 497 M208 S retract_recover_length (float) - * 501 M208 W retract_recover_length_swap (float) - * 505 M208 F retract_recover_feedrate_mm_s (float) + * 488 M209 S autoretract_enabled (bool) + * 489 M207 S retract_length (float) + * 493 M207 W retract_length_swap (float) + * 497 M207 F retract_feedrate_mm_s (float) + * 501 M207 Z retract_zlift (float) + * 505 M208 S retract_recover_length (float) + * 509 M208 W retract_recover_length_swap (float) + * 513 M208 F retract_recover_feedrate_mm_s (float) * * Volumetric Extrusion: 17 bytes - * 509 M200 D volumetric_enabled (bool) - * 510 M200 T D filament_size (float x4) (T0..3) + * 517 M200 D volumetric_enabled (bool) + * 518 M200 T D filament_size (float x4) (T0..3) * - * TMC2130: 20 bytes - * 526 M906 X TMC2130 X-stepper current (uint16_t) - * 528 M906 Y TMC2130 Y-stepper current (uint16_t) - * 530 M906 Z TMC2130 Z-stepper current (uint16_t) - * 532 M906 X2 TMC2130 X2-stepper current (uint16_t) - * 534 M906 Y2 TMC2130 Y2-stepper current (uint16_t) - * 536 M906 Z2 TMC2130 Z2-stepper current (uint16_t) - * 538 M906 E0 TMC2130 E0-stepper current (uint16_t) - * 540 M906 E1 TMC2130 E1-stepper current (uint16_t) - * 542 M906 E2 TMC2130 E2-stepper current (uint16_t) - * 544 M906 E3 TMC2130 E3-stepper current (uint16_t) + * TMC2130 Stepper Current: 20 bytes + * 534 M906 X stepperX current (uint16_t) + * 536 M906 Y stepperY current (uint16_t) + * 538 M906 Z stepperZ current (uint16_t) + * 540 M906 X2 stepperX2 current (uint16_t) + * 542 M906 Y2 stepperY2 current (uint16_t) + * 544 M906 Z2 stepperZ2 current (uint16_t) + * 546 M906 E0 stepperE0 current (uint16_t) + * 548 M906 E1 stepperE1 current (uint16_t) + * 550 M906 E2 stepperE2 current (uint16_t) + * 552 M906 E3 stepperE3 current (uint16_t) * - * 546 Minimum end-point - * 1867 (546 + 36 + 9 + 288 + 988) Maximum end-point + * 554 Minimum end-point + * 1875 (554 + 36 + 9 + 288 + 988) Maximum end-point * */ #include "Marlin.h" @@ -365,10 +366,10 @@ void Config_Postprocess() { #elif ENABLED(Z_DUAL_ENDSTOPS) EEPROM_WRITE(z_endstop_adj); // 1 float dummy = 0.0f; - for (uint8_t q = 8; q--;) EEPROM_WRITE(dummy); + for (uint8_t q = 11; q--;) EEPROM_WRITE(dummy); #else dummy = 0.0f; - for (uint8_t q = 9; q--;) EEPROM_WRITE(dummy); + for (uint8_t q = 12; q--;) EEPROM_WRITE(dummy); #endif #if DISABLED(ULTIPANEL) @@ -693,10 +694,10 @@ void Config_Postprocess() { #elif ENABLED(Z_DUAL_ENDSTOPS) EEPROM_READ(z_endstop_adj); dummy = 0.0f; - for (uint8_t q=8; q--;) EEPROM_READ(dummy); + for (uint8_t q=11; q--;) EEPROM_READ(dummy); #else dummy = 0.0f; - for (uint8_t q=9; q--;) EEPROM_READ(dummy); + for (uint8_t q=12; q--;) EEPROM_READ(dummy); #endif #if DISABLED(ULTIPANEL) @@ -1191,7 +1192,7 @@ void Config_ResetDefault() { SERIAL_EOL; CONFIG_ECHO_START; if (!forReplay) { - SERIAL_ECHOLNPGM("Delta settings: L=diagonal_rod, R=radius, S=segments_per_second, ABC=diagonal_rod_trim_tower_[123], IJK=tower_angle_trim[123]"); + SERIAL_ECHOLNPGM("Delta settings: L=diagonal rod, R=radius, S=segments-per-second, ABC=diagonal rod trim, IJK=tower angle trim"); CONFIG_ECHO_START; } SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod); From 58b3e98878163ff51b54e044402e542cb67f8d8e Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 7 Mar 2017 17:42:04 -0600 Subject: [PATCH 3/3] Use arrays for delta tower parameters --- Marlin/Marlin.h | 8 +--- Marlin/Marlin_main.cpp | 88 +++++++++++++++------------------- Marlin/configuration_store.cpp | 76 +++++++++++++---------------- 3 files changed, 73 insertions(+), 99 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 381af4186c..4947341f5c 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -332,12 +332,8 @@ float code_value_temp_diff(); delta_radius, delta_diagonal_rod, delta_segments_per_second, - delta_diagonal_rod_trim_tower_1, - delta_diagonal_rod_trim_tower_2, - delta_diagonal_rod_trim_tower_3, - delta_tower_angle_trim_1, - delta_tower_angle_trim_2, - delta_tower_angle_trim_3, + delta_diagonal_rod_trim[ABC], + delta_tower_angle_trim[ABC], delta_clip_start_height; void recalc_delta_settings(float radius, float diagonal_rod); #elif IS_SCARA diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 5ba5a8d500..8cd936da81 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -559,25 +559,15 @@ static uint8_t target_extruder; float delta[ABC], endstop_adj[ABC] = { 0 }; - // these are the default values, can be overriden with M665 - float delta_radius = DELTA_RADIUS, - delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1, - delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2, - delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3, - delta_tower1_x = -sin(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower - delta_tower1_y = -cos(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), - delta_tower2_x = sin(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower - delta_tower2_y = -cos(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), - delta_tower3_x = -sin(RADIANS( delta_tower_angle_trim_3)), // back middle tower - delta_tower3_y = cos(RADIANS( delta_tower_angle_trim_3)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), - delta_diagonal_rod = DELTA_DIAGONAL_ROD, - delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1, - delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2, - delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3, - delta_diagonal_rod_2_tower_1 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_1), - delta_diagonal_rod_2_tower_2 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_2), - delta_diagonal_rod_2_tower_3 = sq(delta_diagonal_rod + delta_diagonal_rod_trim_tower_3), - delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND, + // These values are loaded or reset at boot time when setup() calls + // Config_RetrieveSettings(), which calls recalc_delta_settings(). + float delta_radius, + delta_tower_angle_trim[ABC], + delta_tower[ABC][2], + delta_diagonal_rod, + delta_diagonal_rod_trim[ABC], + delta_diagonal_rod_2_tower[ABC], + delta_segments_per_second, delta_clip_start_height = Z_MAX_POS; float delta_safe_distance_from_top(); @@ -6334,12 +6324,12 @@ inline void gcode_M205() { if (code_seen('L')) delta_diagonal_rod = code_value_linear_units(); if (code_seen('R')) delta_radius = code_value_linear_units(); if (code_seen('S')) delta_segments_per_second = code_value_float(); - if (code_seen('A')) delta_diagonal_rod_trim_tower_1 = code_value_linear_units(); - if (code_seen('B')) delta_diagonal_rod_trim_tower_2 = code_value_linear_units(); - if (code_seen('C')) delta_diagonal_rod_trim_tower_3 = code_value_linear_units(); - if (code_seen('I')) delta_tower_angle_trim_1 = code_value_linear_units(); - if (code_seen('J')) delta_tower_angle_trim_2 = code_value_linear_units(); - if (code_seen('K')) delta_tower_angle_trim_3 = code_value_linear_units(); + if (code_seen('A')) delta_diagonal_rod_trim[A_AXIS] = code_value_linear_units(); + if (code_seen('B')) delta_diagonal_rod_trim[B_AXIS] = code_value_linear_units(); + if (code_seen('C')) delta_diagonal_rod_trim[C_AXIS] = code_value_linear_units(); + if (code_seen('I')) delta_tower_angle_trim[A_AXIS] = code_value_linear_units(); + if (code_seen('J')) delta_tower_angle_trim[B_AXIS] = code_value_linear_units(); + if (code_seen('K')) delta_tower_angle_trim[C_AXIS] = code_value_linear_units(); recalc_delta_settings(delta_radius, delta_diagonal_rod); } /** @@ -9143,15 +9133,15 @@ void ok_to_send() { * settings have been changed (e.g., by M665). */ void recalc_delta_settings(float radius, float diagonal_rod) { - delta_tower1_x = -sin(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower - delta_tower1_y = -cos(RADIANS(60 - delta_tower_angle_trim_1)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), - delta_tower2_x = sin(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower - delta_tower2_y = -cos(RADIANS(60 + delta_tower_angle_trim_2)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), - delta_tower3_x = -sin(RADIANS( delta_tower_angle_trim_3)), // back middle tower - delta_tower3_y = cos(RADIANS( delta_tower_angle_trim_3)) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), - delta_diagonal_rod_2_tower_1 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_1); - delta_diagonal_rod_2_tower_2 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_2); - delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3); + delta_tower[A_AXIS][X_AXIS] = -sin(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), // front left tower + delta_tower[A_AXIS][Y_AXIS] = -cos(RADIANS(60 - delta_tower_angle_trim[A_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1), + delta_tower[B_AXIS][X_AXIS] = sin(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), // front right tower + delta_tower[B_AXIS][Y_AXIS] = -cos(RADIANS(60 + delta_tower_angle_trim[B_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_2), + delta_tower[C_AXIS][X_AXIS] = -sin(RADIANS( delta_tower_angle_trim[C_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), // back middle tower + delta_tower[C_AXIS][Y_AXIS] = cos(RADIANS( delta_tower_angle_trim[C_AXIS])) * (delta_radius + DELTA_RADIUS_TRIM_TOWER_3), + delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[A_AXIS]); + delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[B_AXIS]); + delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + delta_diagonal_rod_trim[C_AXIS]); } #if ENABLED(DELTA_FAST_SQRT) @@ -9201,17 +9191,17 @@ void ok_to_send() { */ // Macro to obtain the Z position of an individual tower - #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \ - delta_diagonal_rod_2_tower_##T - HYPOT2( \ - delta_tower##T##_x - raw[X_AXIS], \ - delta_tower##T##_y - raw[Y_AXIS] \ - ) \ + #define DELTA_Z(T) raw[Z_AXIS] + _SQRT( \ + delta_diagonal_rod_2_tower[T] - HYPOT2( \ + delta_tower[T][X_AXIS] - raw[X_AXIS], \ + delta_tower[T][Y_AXIS] - raw[Y_AXIS] \ + ) \ ) #define DELTA_RAW_IK() do { \ - delta[A_AXIS] = DELTA_Z(1); \ - delta[B_AXIS] = DELTA_Z(2); \ - delta[C_AXIS] = DELTA_Z(3); \ + delta[A_AXIS] = DELTA_Z(A_AXIS); \ + delta[B_AXIS] = DELTA_Z(B_AXIS); \ + delta[C_AXIS] = DELTA_Z(C_AXIS); \ } while(0) #define DELTA_LOGICAL_IK() do { \ @@ -9281,7 +9271,7 @@ void ok_to_send() { */ void forward_kinematics_DELTA(float z1, float z2, float z3) { // Create a vector in old coordinates along x axis of new coordinate - float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 }; + float p12[3] = { delta_tower[B_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[B_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z2 - z1 }; // Get the Magnitude of vector. float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) ); @@ -9290,7 +9280,7 @@ void ok_to_send() { float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d }; // Get the vector from the origin of the new system to the third point. - float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 }; + float p13[3] = { delta_tower[C_AXIS][X_AXIS] - delta_tower[A_AXIS][X_AXIS], delta_tower[C_AXIS][Y_AXIS] - delta_tower[A_AXIS][Y_AXIS], z3 - z1 }; // Use the dot product to find the component of this vector on the X axis. float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2]; @@ -9318,15 +9308,15 @@ void ok_to_send() { // We now have the d, i and j values defined in Wikipedia. // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew - float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2), - Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j, - Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew)); + float Xnew = (delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[B_AXIS] + sq(d)) / (d * 2), + Ynew = ((delta_diagonal_rod_2_tower[A_AXIS] - delta_diagonal_rod_2_tower[C_AXIS] + HYPOT2(i, j)) / 2 - i * Xnew) / j, + Znew = sqrt(delta_diagonal_rod_2_tower[A_AXIS] - HYPOT2(Xnew, Ynew)); // Start from the origin of the old coordinates and add vectors in the // old coords that represent the Xnew, Ynew and Znew to find the point // in the old system. - cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew; - cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew; + cartes[X_AXIS] = delta_tower[A_AXIS][X_AXIS] + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew; + cartes[Y_AXIS] = delta_tower[A_AXIS][Y_AXIS] + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew; cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew; } diff --git a/Marlin/configuration_store.cpp b/Marlin/configuration_store.cpp index 5fed29b9ad..0d31bee5db 100644 --- a/Marlin/configuration_store.cpp +++ b/Marlin/configuration_store.cpp @@ -84,17 +84,17 @@ * 308 G29 L F bilinear_start (int x2) * 312 bed_level_grid[][] (float x9, up to float x256) +988 * - * DELTA (if deltabot): 48 bytes - * 348 M666 XYZ endstop_adj (float x3) - * 360 M665 R delta_radius (float) - * 364 M665 L delta_diagonal_rod (float) - * 368 M665 S delta_segments_per_second (float) - * 372 M665 A delta_diagonal_rod_trim_tower_1 (float) - * 376 M665 B delta_diagonal_rod_trim_tower_2 (float) - * 380 M665 C delta_diagonal_rod_trim_tower_3 (float) - * 384 M665 I delta_tower_angle_trim_1 (float) - * 388 M665 J delta_tower_angle_trim_2 (float) - * 392 M665 K delta_tower_angle_trim_3 (float) + * DELTA (if deltabot): 48 bytes + * 348 M666 XYZ endstop_adj (float x3) + * 360 M665 R delta_radius (float) + * 364 M665 L delta_diagonal_rod (float) + * 368 M665 S delta_segments_per_second (float) + * 372 M665 A delta_diagonal_rod_trim[A] (float) + * 376 M665 B delta_diagonal_rod_trim[B] (float) + * 380 M665 C delta_diagonal_rod_trim[C] (float) + * 384 M665 I delta_tower_angle_trim[A] (float) + * 388 M665 J delta_tower_angle_trim[B] (float) + * 392 M665 K delta_tower_angle_trim[C] (float) * * Z_DUAL_ENDSTOPS (if not deltabot): 48 bytes * 348 M666 Z z_endstop_adj (float) @@ -357,14 +357,10 @@ void Config_Postprocess() { EEPROM_WRITE(delta_radius); // 1 float EEPROM_WRITE(delta_diagonal_rod); // 1 float EEPROM_WRITE(delta_segments_per_second); // 1 float - EEPROM_WRITE(delta_diagonal_rod_trim_tower_1); // 1 float - EEPROM_WRITE(delta_diagonal_rod_trim_tower_2); // 1 float - EEPROM_WRITE(delta_diagonal_rod_trim_tower_3); // 1 float - EEPROM_WRITE(delta_tower_angle_trim_1); // 1 float - EEPROM_WRITE(delta_tower_angle_trim_2); // 1 float - EEPROM_WRITE(delta_tower_angle_trim_3); // 1 float + EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats + EEPROM_WRITE(delta_tower_angle_trim); // 3 floats #elif ENABLED(Z_DUAL_ENDSTOPS) - EEPROM_WRITE(z_endstop_adj); // 1 float + EEPROM_WRITE(z_endstop_adj); // 1 float dummy = 0.0f; for (uint8_t q = 11; q--;) EEPROM_WRITE(dummy); #else @@ -681,16 +677,12 @@ void Config_Postprocess() { } #if ENABLED(DELTA) - EEPROM_READ(endstop_adj); // 3 floats - EEPROM_READ(delta_radius); // 1 float - EEPROM_READ(delta_diagonal_rod); // 1 float - EEPROM_READ(delta_segments_per_second); // 1 float - EEPROM_READ(delta_diagonal_rod_trim_tower_1); // 1 float - EEPROM_READ(delta_diagonal_rod_trim_tower_2); // 1 float - EEPROM_READ(delta_diagonal_rod_trim_tower_3); // 1 float - EEPROM_READ(delta_tower_angle_trim_1); // 1 float - EEPROM_READ(delta_tower_angle_trim_2); // 1 float - EEPROM_READ(delta_tower_angle_trim_3); // 1 float + EEPROM_READ(endstop_adj); // 3 floats + EEPROM_READ(delta_radius); // 1 float + EEPROM_READ(delta_diagonal_rod); // 1 float + EEPROM_READ(delta_segments_per_second); // 1 float + EEPROM_READ(delta_diagonal_rod_trim); // 3 floats + EEPROM_READ(delta_tower_angle_trim); // 3 floats #elif ENABLED(Z_DUAL_ENDSTOPS) EEPROM_READ(z_endstop_adj); dummy = 0.0f; @@ -909,19 +901,15 @@ void Config_ResetDefault() { #endif #if ENABLED(DELTA) - const float adj[ABC] = DELTA_ENDSTOP_ADJ; - endstop_adj[A_AXIS] = adj[A_AXIS]; - endstop_adj[B_AXIS] = adj[B_AXIS]; - endstop_adj[C_AXIS] = adj[C_AXIS]; + const float adj[ABC] = DELTA_ENDSTOP_ADJ, + drt[ABC] = { DELTA_DIAGONAL_ROD_TRIM_TOWER_1, DELTA_DIAGONAL_ROD_TRIM_TOWER_2, DELTA_DIAGONAL_ROD_TRIM_TOWER_3 }, + dta[ABC] = { DELTA_TOWER_ANGLE_TRIM_1, DELTA_TOWER_ANGLE_TRIM_2, DELTA_TOWER_ANGLE_TRIM_3 }; + COPY(endstop_adj, adj); delta_radius = DELTA_RADIUS; delta_diagonal_rod = DELTA_DIAGONAL_ROD; delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; - delta_diagonal_rod_trim_tower_1 = DELTA_DIAGONAL_ROD_TRIM_TOWER_1; - delta_diagonal_rod_trim_tower_2 = DELTA_DIAGONAL_ROD_TRIM_TOWER_2; - delta_diagonal_rod_trim_tower_3 = DELTA_DIAGONAL_ROD_TRIM_TOWER_3; - delta_tower_angle_trim_1 = DELTA_TOWER_ANGLE_TRIM_1; - delta_tower_angle_trim_2 = DELTA_TOWER_ANGLE_TRIM_2; - delta_tower_angle_trim_3 = DELTA_TOWER_ANGLE_TRIM_3; + COPY(delta_diagonal_rod_trim, drt); + COPY(delta_tower_angle_trim, dta); #elif ENABLED(Z_DUAL_ENDSTOPS) z_endstop_adj = 0; #endif @@ -1198,12 +1186,12 @@ void Config_ResetDefault() { SERIAL_ECHOPAIR(" M665 L", delta_diagonal_rod); SERIAL_ECHOPAIR(" R", delta_radius); SERIAL_ECHOPAIR(" S", delta_segments_per_second); - SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim_tower_1); - SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim_tower_2); - SERIAL_ECHOPAIR(" C", delta_diagonal_rod_trim_tower_3); - SERIAL_ECHOPAIR(" I", delta_tower_angle_trim_1); - SERIAL_ECHOPAIR(" J", delta_tower_angle_trim_2); - SERIAL_ECHOPAIR(" K", delta_tower_angle_trim_3); + SERIAL_ECHOPAIR(" A", delta_diagonal_rod_trim[A_AXIS]); + SERIAL_ECHOPAIR(" B", delta_diagonal_rod_trim[B_AXIS]); + SERIAL_ECHOPAIR(" C", delta_diagonal_rod_trim[C_AXIS]); + SERIAL_ECHOPAIR(" I", delta_tower_angle_trim[A_AXIS]); + SERIAL_ECHOPAIR(" J", delta_tower_angle_trim[B_AXIS]); + SERIAL_ECHOPAIR(" K", delta_tower_angle_trim[C_AXIS]); SERIAL_EOL; #elif ENABLED(Z_DUAL_ENDSTOPS) CONFIG_ECHO_START;