bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Merge pull request #4667 from thinkyhead/rc_M211_sw_endstop_switch

Browse Source 
M211: Enable/Disable Software Endstops
This commit is contained in:
Scott Lahteine
2016-08-21 06:44:00 -05:00
committed by GitHub
parent f9e3347d6f 14a03727e1
commit 27b80b1dd1
9 changed files with 154 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files

160
Marlin/Marlin_main.cpp
View File

@@ -205,6 +205,7 @@
* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
* M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
Every normal extrude-only move will be classified as retract depending on the direction.
* M211 - Enable, Disable, and/or Report software endstops: [S<bool>]
* M218 - Set a tool offset: T<index> X<offset> Y<offset>
* M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
* M221 - Set Flow Percentage: S<percent>
@@ -285,8 +286,8 @@ uint8_t marlin_debug_flags = DEBUG_NONE;
float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
bool axis_known_position[3] = { false };
bool axis_homed[3] = { false };
bool axis_known_position[XYZ] = { false };
bool axis_homed[XYZ] = { false };
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
@@ -326,15 +327,18 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[3] = { 0 };
float position_shift[XYZ] = { 0 };
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[3] = { 0 };
float home_offset[XYZ] = { 0 };
// Software Endstops. Default to configured limits.
float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
// Software Endstops are based on the configured limits.
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
bool soft_endstops_enabled = true;
#endif
float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
#if FAN_COUNT > 0
int fanSpeeds[FAN_COUNT] = { 0 };
@@ -458,11 +462,11 @@ static uint8_t target_extruder;
#define TOWER_2 Y_AXIS
#define TOWER_3 Z_AXIS
float delta[3];
float cartesian_position[3] = { 0 };
float delta[ABC];
float cartesian_position[XYZ] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
float endstop_adj[3] = { 0 };
float endstop_adj[ABC] = { 0 };
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
@@ -491,8 +495,8 @@ static uint8_t target_extruder;
#if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
float delta[3];
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
float delta[ABC];
float axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
@@ -1411,7 +1415,7 @@ DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] = \
static const PROGMEM type array##_P[XYZ] = \
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
@@ -1477,21 +1481,21 @@ void update_software_endstops(AxisEnum axis) {
if (axis == X_AXIS) {
float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
sw_endstop_max[X_AXIS] = dual_max_x + offs;
soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
soft_endstop_max[X_AXIS] = dual_max_x + offs;
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
return;
}
}
else
#endif
{
sw_endstop_min[axis] = base_min_pos(axis) + offs;
sw_endstop_max[axis] = base_max_pos(axis) + offs;
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1499,16 +1503,15 @@ void update_software_endstops(AxisEnum axis) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]);
SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]);
SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
SERIAL_ECHOPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
SERIAL_EOL;
}
#endif
#if ENABLED(DELTA)
if (axis == Z_AXIS) {
delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top();
}
if (axis == Z_AXIS)
delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
#endif
}
@@ -1552,7 +1555,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[3];
float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
@@ -1574,8 +1577,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
soft_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
soft_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
}
else
#endif
@@ -3323,7 +3326,7 @@ inline void gcode_G28() {
switch (state) {
case MeshReport:
if (mbl.has_mesh()) {
SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? "On" : "Off");
SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
@@ -5554,24 +5557,40 @@ inline void gcode_M206() {
*/
inline void gcode_M209() {
if (code_seen('S')) {
int t = code_value_int();
switch (t) {
case 0:
autoretract_enabled = false;
break;
case 1:
autoretract_enabled = true;
break;
default:
unknown_command_error();
return;
}
autoretract_enabled = code_value_bool();
for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
}
}
#endif // FWRETRACT
/**
* M211: Enable, Disable, and/or Report software endstops
*
* Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
*/
inline void gcode_M211() {
SERIAL_ECHO_START;
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
if (code_seen('S')) soft_endstops_enabled = code_value_bool();
#endif
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": ");
serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
#else
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": " MSG_OFF);
#endif
SERIAL_ECHOPGM(" " MSG_SOFT_MIN ": ");
SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
SERIAL_ECHOPGM(" " MSG_SOFT_MAX ": ");
SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
SERIAL_EOL;
}
#if HOTENDS > 1
/**
@@ -6175,7 +6194,7 @@ inline void gcode_M428() {
bool err = false;
LOOP_XYZ(i) {
if (axis_homed[i]) {
float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
diff = current_position[i] - LOGICAL_POSITION(base, i);
if (diff > -20 && diff < 20) {
set_home_offset((AxisEnum)i, home_offset[i] - diff);
@@ -6499,8 +6518,7 @@ inline void gcode_M503() {
stepper.synchronize();
extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
SERIAL_EOL;
SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
}
#endif // M605
@@ -7495,6 +7513,10 @@ void process_next_command() {
break;
#endif // FWRETRACT
case 211: // M211 - Enable, Disable, and/or Report software endstops
gcode_M211();
break;
#if HOTENDS > 1
case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
gcode_M218();
@@ -7749,18 +7771,22 @@ void ok_to_send() {
SERIAL_EOL;
}
void clamp_to_software_endstops(float target[3]) {
if (min_software_endstops) {
NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]);
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
void clamp_to_software_endstops(float target[XYZ]) {
#if ENABLED(min_software_endstops)
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
#if ENABLED(max_software_endstops)
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
}
if (max_software_endstops) {
NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
}
}
#endif
#if ENABLED(DELTA)
@@ -7776,9 +7802,9 @@ void clamp_to_software_endstops(float target[3]) {
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
}
void inverse_kinematics(const float in_cartesian[3]) {
void inverse_kinematics(const float in_cartesian[XYZ]) {
const float cartesian[3] = {
const float cartesian[XYZ] = {
RAW_X_POSITION(in_cartesian[X_AXIS]),
RAW_Y_POSITION(in_cartesian[Y_AXIS]),
RAW_Z_POSITION(in_cartesian[Z_AXIS])
@@ -7808,7 +7834,7 @@ void clamp_to_software_endstops(float target[3]) {
}
float delta_safe_distance_from_top() {
float cartesian[3] = {
float cartesian[XYZ] = {
LOGICAL_X_POSITION(0),
LOGICAL_Y_POSITION(0),
LOGICAL_Z_POSITION(0)
@@ -7889,20 +7915,20 @@ void clamp_to_software_endstops(float target[3]) {
cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
};
void forward_kinematics_DELTA(float point[3]) {
forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
void set_cartesian_from_steppers() {
forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS),
stepper.get_axis_position_mm(Y_AXIS),
stepper.get_axis_position_mm(Z_AXIS));
forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS));
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[3]) {
void adjust_delta(float cartesian[XYZ]) {
if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
@@ -8375,8 +8401,8 @@ void prepare_move_to_destination() {
#if ENABLED(SCARA)
void forward_kinematics_SCARA(float f_scara[3]) {
// Perform forward kinematics, and place results in delta[3]
void forward_kinematics_SCARA(float f_scara[ABC]) {
// Perform forward kinematics, and place results in delta[]
// 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;
@@ -8401,9 +8427,9 @@ void prepare_move_to_destination() {
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
void inverse_kinematics(const float cartesian[3]) {
void inverse_kinematics(const float cartesian[XYZ]) {
// Inverse kinematics.
// Perform SCARA IK and place results in delta[3].
// Perform SCARA IK and place results in delta[].
// The maths and first version were done by QHARLEY.
// Integrated, tweaked by Joachim Cerny in June 2014.