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G33 changes from 1.1.x

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This commit is contained in:
Scott Lahteine
2017-09-24 02:18:15 -05:00
parent 1ab679b1d2
commit 6d5fcac54a
8 changed files with 132 additions and 132 deletions
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29
Marlin/src/module/configuration_store.cpp
View File

@ -36,13 +36,13 @@
*
*/
#define EEPROM_VERSION "V40"
#define EEPROM_VERSION "V41"
// Change EEPROM version if these are changed:
#define EEPROM_OFFSET 100
/**
* V39 EEPROM Layout:
* V41 EEPROM Layout:
*
* 100 Version (char x4)
* 104 EEPROM CRC16 (uint16_t)
@ -93,14 +93,14 @@
* 329 G29 S ubl.state.storage_slot (int8_t)
*
* DELTA: 48 bytes
* 348 M666 XYZ delta_endstop_adj (float x3)
* 348 M666 XYZ delta_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 B delta_calibration_radius (float)
* 376 M665 X delta_tower_angle_trim[A] (float)
* 380 M665 Y delta_tower_angle_trim[B] (float)
* --- M665 Z delta_tower_angle_trim[C] (float) is always 0.0
* 384 M665 Z delta_tower_angle_trim[C] (float)
*
* Z_DUAL_ENDSTOPS: 48 bytes
* 348 M666 Z endstops.z_endstop_adj (float)
@ -213,7 +213,7 @@ void MarlinSettings::postprocess() {
// Make sure delta kinematics are updated before refreshing the
// planner position so the stepper counts will be set correctly.
#if ENABLED(DELTA)
recalc_delta_settings(delta_radius, delta_diagonal_rod);
recalc_delta_settings(delta_radius, delta_diagonal_rod, delta_tower_angle_trim);
#endif
// Refresh steps_to_mm with the reciprocal of axis_steps_per_mm
@ -415,16 +415,16 @@ void MarlinSettings::postprocess() {
EEPROM_WRITE(storage_slot);
#endif // AUTO_BED_LEVELING_UBL
// 9 floats for DELTA / Z_DUAL_ENDSTOPS
// 10 floats for DELTA / Z_DUAL_ENDSTOPS
#if ENABLED(DELTA)
EEPROM_WRITE(delta_endstop_adj); // 3 floats
EEPROM_WRITE(delta_endstop_adj); // 3 floats
EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(delta_segments_per_second); // 1 float
EEPROM_WRITE(delta_calibration_radius); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 2 floats
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
dummy = 0.0f;
for (uint8_t q = 3; q--;) EEPROM_WRITE(dummy);
for (uint8_t q = 2; q--;) EEPROM_WRITE(dummy);
#elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_WRITE(endstops.z_endstop_adj); // 1 float
dummy = 0.0f;
@ -804,14 +804,14 @@ void MarlinSettings::postprocess() {
#endif // AUTO_BED_LEVELING_UBL
#if ENABLED(DELTA)
EEPROM_READ(delta_endstop_adj); // 3 floats
EEPROM_READ(delta_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_calibration_radius); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 2 floats
EEPROM_READ(delta_tower_angle_trim); // 3 floats
dummy = 0.0f;
for (uint8_t q=3; q--;) EEPROM_READ(dummy);
for (uint8_t q=2; q--;) EEPROM_READ(dummy);
#elif ENABLED(Z_DUAL_ENDSTOPS)
EEPROM_READ(endstops.z_endstop_adj); // 1 float
dummy = 0.0f;
@ -1199,8 +1199,7 @@ void MarlinSettings::reset() {
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_calibration_radius = DELTA_CALIBRATION_RADIUS;
delta_tower_angle_trim[A_AXIS] = dta[A_AXIS] - dta[C_AXIS];
delta_tower_angle_trim[B_AXIS] = dta[B_AXIS] - dta[C_AXIS];
COPY(delta_tower_angle_trim, dta);
home_offset[Z_AXIS] = 0;
#elif ENABLED(Z_DUAL_ENDSTOPS)
@ -1615,7 +1614,7 @@ void MarlinSettings::reset() {
SERIAL_ECHOPAIR(" B", LINEAR_UNIT(delta_calibration_radius));
SERIAL_ECHOPAIR(" X", LINEAR_UNIT(delta_tower_angle_trim[A_AXIS]));
SERIAL_ECHOPAIR(" Y", LINEAR_UNIT(delta_tower_angle_trim[B_AXIS]));
SERIAL_ECHOPAIR(" Z", 0.00);
SERIAL_ECHOPAIR(" Z", LINEAR_UNIT(delta_tower_angle_trim[C_AXIS]));
SERIAL_EOL();
#elif ENABLED(Z_DUAL_ENDSTOPS)
if (!forReplay) {

16
Marlin/src/module/delta.cpp
View File

@ -43,7 +43,7 @@ float delta_endstop_adj[ABC] = { 0 },
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[2];
delta_tower_angle_trim[ABC];
float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
@ -55,15 +55,15 @@ float delta_safe_distance_from_top();
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod) {
void recalc_delta_settings(const float radius, const float diagonal_rod, const float tower_angle_trim[ABC]) {
const float trt[ABC] = DELTA_RADIUS_TRIM_TOWER,
drt[ABC] = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + delta_tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + delta_tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = 0.0; // back middle tower
delta_tower[C_AXIS][Y_AXIS] = (radius + trt[C_AXIS]);
delta_tower[A_AXIS][X_AXIS] = cos(RADIANS(210 + tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]); // front left tower
delta_tower[A_AXIS][Y_AXIS] = sin(RADIANS(210 + tower_angle_trim[A_AXIS])) * (radius + trt[A_AXIS]);
delta_tower[B_AXIS][X_AXIS] = cos(RADIANS(330 + tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]); // front right tower
delta_tower[B_AXIS][Y_AXIS] = sin(RADIANS(330 + tower_angle_trim[B_AXIS])) * (radius + trt[B_AXIS]);
delta_tower[C_AXIS][X_AXIS] = cos(RADIANS( 90 + tower_angle_trim[C_AXIS])) * (radius + trt[C_AXIS]); // back middle tower
delta_tower[C_AXIS][Y_AXIS] = sin(RADIANS( 90 + tower_angle_trim[C_AXIS])) * (radius + trt[C_AXIS]);
delta_diagonal_rod_2_tower[A_AXIS] = sq(diagonal_rod + drt[A_AXIS]);
delta_diagonal_rod_2_tower[B_AXIS] = sq(diagonal_rod + drt[B_AXIS]);
delta_diagonal_rod_2_tower[C_AXIS] = sq(diagonal_rod + drt[C_AXIS]);

4
Marlin/src/module/delta.h
View File

@ -32,7 +32,7 @@ extern float delta_endstop_adj[ABC],
delta_diagonal_rod,
delta_segments_per_second,
delta_calibration_radius,
delta_tower_angle_trim[2];
delta_tower_angle_trim[ABC];
extern float delta_tower[ABC][2],
delta_diagonal_rod_2_tower[ABC],
@ -42,7 +42,7 @@ extern float delta_tower[ABC][2],
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod);
void recalc_delta_settings(const float radius, const float diagonal_rod, const float tower_angle_trim[ABC]);
/**
* Delta Inverse Kinematics

2
Marlin/src/module/motion.cpp
View File

@ -1134,7 +1134,7 @@ void homeaxis(const AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("delta_endstop_adj:");
#endif
do_homing_move(axis, delta_endstop_adj[axis] - 0.1);
do_homing_move(axis, delta_endstop_adj[axis] - 0.1 * Z_HOME_DIR);
}
#else