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Asynchronous M114 and (R)ealtime position option (#17032)

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Scott Lahteine
2020-03-02 21:52:53 -06:00
committed by GitHub
parent 5171e9da93
commit 3a07b4412d
8 changed files with 131 additions and 36 deletions
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56
Marlin/src/module/motion.cpp
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@ -206,17 +206,53 @@ xyz_pos_t cartes;
/**
* Output the current position to serial
*/
void report_current_position() {
const xyz_pos_t lpos = current_position.asLogical();
SERIAL_ECHOPAIR("X:", lpos.x, " Y:", lpos.y, " Z:", lpos.z, " E:", current_position.e);
inline void report_more_positions() {
stepper.report_positions();
#if IS_SCARA
scara_report_positions();
#endif
}
// Report the logical position for a given machine position
inline void report_logical_position(const xyze_pos_t &rpos) {
const xyze_pos_t lpos = rpos.asLogical();
SERIAL_ECHOPAIR_P(X_LBL, lpos.x, SP_Y_LBL, lpos.y, SP_Z_LBL, lpos.z, SP_E_LBL, lpos.e);
report_more_positions();
}
// Report the real current position according to the steppers.
// Forward kinematics and un-leveling are applied.
void report_real_position() {
get_cartesian_from_steppers();
xyze_pos_t npos = cartes;
npos.e = planner.get_axis_position_mm(E_AXIS);
#if HAS_POSITION_MODIFIERS
planner.unapply_modifiers(npos
#if HAS_LEVELING
, true
#endif
);
#endif
report_logical_position(npos);
}
// Report the logical current position according to the most recent G-code command
void report_current_position() { report_logical_position(current_position); }
/**
* Report the logical current position according to the most recent G-code command.
* The planner.position always corresponds to the last G-code too. This makes M114
* suitable for debugging kinematics and leveling while avoiding planner sync that
* definitively interrupts the printing flow.
*/
void report_current_position_projected() {
report_logical_position(current_position);
stepper.report_a_position(planner.position);
}
/**
* sync_plan_position
*
@ -241,11 +277,7 @@ void sync_plan_position_e() { planner.set_e_position_mm(current_position.e); }
*/
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
forward_kinematics_DELTA(
planner.get_axis_position_mm(A_AXIS),
planner.get_axis_position_mm(B_AXIS),
planner.get_axis_position_mm(C_AXIS)
);
forward_kinematics_DELTA(planner.get_axis_positions_mm());
#else
#if IS_SCARA
forward_kinematics_SCARA(
@ -663,11 +695,11 @@ void restore_feedrate_and_scaling() {
FORCE_INLINE void segment_idle(millis_t &next_idle_ms) {
const millis_t ms = millis();
thermalManager.manage_heater(); // This returns immediately if not really needed.
if (ELAPSED(ms, next_idle_ms)) {
next_idle_ms = ms + 200UL;
idle();
return idle();
}
thermalManager.manage_heater(); // Returns immediately on most calls
}
#if IS_KINEMATIC
@ -1324,7 +1356,7 @@ void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t
current_position[axis] = distance;
line_to_current_position(real_fr_mm_s);
#else
abce_pos_t target = { planner.get_axis_position_mm(A_AXIS), planner.get_axis_position_mm(B_AXIS), planner.get_axis_position_mm(C_AXIS), planner.get_axis_position_mm(E_AXIS) };
abce_pos_t target = planner.get_axis_positions_mm();
target[axis] = 0;
planner.set_machine_position_mm(target);
target[axis] = distance;