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Patched up, cleaned up

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This commit is contained in:
Scott Lahteine
2016-09-26 01:30:34 -05:00
parent 2911aa7ffa
commit a2864ab7fe
6 changed files with 257 additions and 254 deletions
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286
Marlin/Marlin_main.cpp
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@ -117,7 +117,7 @@
* G30 - Single Z probe, probes bed at current XY location.
* G31 - Dock sled (Z_PROBE_SLED only)
* G32 - Undock sled (Z_PROBE_SLED only)
* G38 - Probe target - similar to G28 except it uses the Z_Probe for all three axis
* G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
@ -277,9 +277,9 @@
TWIBus i2c;
#endif
#ifdef G38_2_3
bool G38_flag = false; // init G38 flags
bool G38_flag_pass = false;
#if ENABLED(G38_2_3)
bool G38_move = false,
G38_endstop_hit = false;
#endif
bool Running = true;
@ -1343,7 +1343,7 @@ static void set_home_offset(AxisEnum axis, float v) {
* SCARA should wait until all XY homing is done before setting the XY
* current_position to home, because neither X nor Y is at home until
* both are at home. Z can however be homed individually.
*
*
*/
static void set_axis_is_at_home(AxisEnum axis) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2331,146 +2331,6 @@ static void clean_up_after_endstop_or_probe_move() {
#endif // AUTO_BED_LEVELING_BILINEAR
#ifdef G38_2_3
#define G38_minimum_move 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
bool check_move() //checks that at least one of the axis in the command line has an actual move
// motion planner only does moves of 0.001mm and larger
{
bool move_flag = false;
for(int8_t i=0; i < 3; i++) {
/* debug used to determine prints
SERIAL_PROTOCOLPGM("axis: ");
SERIAL_PROTOCOL(axis_codes[i]);
SERIAL_PROTOCOLPGM(" code_seen : ");
SERIAL_PROTOCOL(code_seen(axis_codes[i]));
SERIAL_PROTOCOLPGM(" destination : ");
SERIAL_PROTOCOL(destination[i]);
SERIAL_PROTOCOLPGM(" current : ");
SERIAL_PROTOCOL(current_position[i]);
SERIAL_PROTOCOLPGM(" dif x 1000 : ");
SERIAL_PROTOCOLLN((destination[i] - current_position[i]) * 1000);
*/
if (code_seen(axis_codes[i]) && (fabs(destination[i] - current_position[i]) >= G38_minimum_move)) move_flag = true ;
/*
?? 0.0275mm produced a move on my machine along with an updated current position.
0.0265mm did NOT produce a move and did NOT change the current position
this is very different than the 0.001 in the planner.
0.001" is .0254mm so maybe the 0.0275 observed comes from digital storage limitations/conversion/rounding
*/
}
return move_flag;
}
static void G38_run_probe(bool *G38_pass_fail) {
G38_flag = true; //tell the interrupt handler that we're doing a G38 probe
*G38_pass_fail = false;
#ifdef X_HOME_BUMP_MM
#ifdef Y_HOME_BUMP_MM
#ifdef Z_HOME_BUMP_MM
float G38_X_retract_mm = home_bump_mm(X_AXIS);
float G38_Y_retract_mm = home_bump_mm(Y_AXIS);
float G38_Z_retract_mm = home_bump_mm(Z_AXIS);
#else
float G38_X_retract_mm = 5;
float G38_Y_retract_mm = 5;
float G38_Z_retract_mm = 2;
#endif
#endif
#endif
// only retract the axis if the axis is in the command
if( (!code_seen('X') || (code_value_axis_units(X_AXIS) == 0))) G38_X_retract_mm = 0;
if( (!code_seen('Y') || (code_value_axis_units(Y_AXIS) == 0))) G38_Y_retract_mm = 0;
if( (!code_seen('Z') || (code_value_axis_units(Z_AXIS) == 0))) G38_Z_retract_mm = 0;
// change the direction of the retract if needed
if ((destination[X_AXIS] - current_position[X_AXIS])>0) G38_X_retract_mm = -G38_X_retract_mm;
if ((destination[Y_AXIS] - current_position[Y_AXIS])>0) G38_Y_retract_mm = -G38_Y_retract_mm;
if ((destination[Z_AXIS] - current_position[Z_AXIS])>0) G38_Z_retract_mm = -G38_Z_retract_mm;
stepper.synchronize(); // wait until the machine is idle
bool save_endstops = endstops.enabled; //remember state of endstops so we can retore them at the end
endstops.enable(true);
// move until you reach the destination or hit an endstop or hit the target
// it's an error unless have hit the target
G38_flag_pass = false;
*G38_pass_fail = false;
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate_mm_s, active_extruder);
stepper.synchronize();
// we have to let the planner know where we are right now as it is not where we said to go.
// and we need to update current_position[axis]
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS] , current_position[Z_AXIS] , current_position[E_AXIS]);
*G38_pass_fail = G38_flag_pass ; // only care if hit target on the first move
if (*G38_pass_fail) { // no sense in doing the remaining moves if we didn't hit the endstop
// move away the retract distance
float xPosition = current_position[X_AXIS] + G38_X_retract_mm;
float yPosition = current_position[Y_AXIS] + G38_Y_retract_mm;
float zPosition = current_position[Z_AXIS] + G38_Z_retract_mm;
// disable endstops on retract otherwise sometimes can't get away
endstops.enable(false);
G38_flag = false;
planner.buffer_line(xPosition, yPosition , zPosition , current_position[E_AXIS], feedrate_mm_s/4, active_extruder);
stepper.synchronize();
// move back slowly
xPosition -= G38_X_retract_mm * 2;
yPosition -= G38_Y_retract_mm * 2;
zPosition -= G38_Z_retract_mm * 2;
// enable endstops on move back
endstops.enable(true);
G38_flag = true;
planner.buffer_line(xPosition, yPosition , zPosition , current_position[E_AXIS], feedrate_mm_s/4, active_extruder);
stepper.synchronize();
// we have to let the planner know where we are right now as it is not where we said to go.
// and we need to update current_position[axis]
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS] , current_position[Z_AXIS] , current_position[E_AXIS]);
}
// clean_up_after_endstop_move();
endstops.enable(save_endstops); //restore endstops to same state as when we started
endstops.hit_on_purpose();
G38_flag = false; //tell the interrupt handler that we're done
}
#endif //G38_2_3
/**
* Home an individual linear axis
*/
@ -4306,25 +4166,93 @@ inline void gcode_G28() {
#endif // HAS_BED_PROBE
#ifdef G38_2_3
inline void gcode_G38(float code_num) {
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) || ENABLED(Z_MIN_PROBE_ENDSTOP) //must have valid Z_MIN_PROBE definition for this command to work
if ((code_num == 38.2 || code_num == 38.3 ) && (code_seen('X') || code_seen('Y') || code_seen('Z'))) {
gcode_get_destination(); // For X Y Z E F
if (check_move()) { // see if the commanded movement will result in a physical movement
bool G38_pass_fail = false;
G38_run_probe(&G38_pass_fail);
if (!G38_pass_fail && (code_num == 38.2) ) SERIAL_PROTOCOLLNPGM(" ERROR - failed to reach target ");
}
}
}
#else
SERIAL_PROTOCOLLNPGM(" ERROR - Z_MIN_PROBE must be enabled ");
}
#endif
#endif //G38_2_3
#if ENABLED(G38_2_3)
static bool G38_run_probe() {
bool G38_pass_fail = false;
// Get direction of move and retract
float retract_mm[XYZ];
LOOP_XYZ(i) {
float dist = destination[i] - current_position[i];
retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm(i) * (dist > 0 ? -1 : 1);
}
stepper.synchronize(); // wait until the machine is idle
// Move until destination reached or target hit
endstops.enable(true);
G38_move = true;
G38_endstop_hit = false;
prepare_move_to_destination();
stepper.synchronize();
G38_move = false;
endstops.hit_on_purpose();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
// Only do remaining moves if target was hit
if (G38_endstop_hit) {
G38_pass_fail = true;
// Move away by the retract distance
set_destination_to_current();
LOOP_XYZ(i) destination[i] += retract_mm[i];
endstops.enable(false);
prepare_move_to_destination();
stepper.synchronize();
feedrate_mm_s /= 4;
// Bump the target more slowly
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
endstops.enable(true);
G38_move = true;
prepare_move_to_destination();
stepper.synchronize();
G38_move = false;
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
}
endstops.hit_on_purpose();
endstops.not_homing();
return G38_pass_fail;
}
/**
* G38.2 - probe toward workpiece, stop on contact, signal error if failure
* G38.3 - probe toward workpiece, stop on contact
*
* Like G28 except uses Z min endstop for all axes
*/
inline void gcode_G38(bool is_38_2) {
// Get X Y Z E F
gcode_get_destination();
setup_for_endstop_or_probe_move();
// If any axis has enough movement, do the move
LOOP_XYZ(i)
if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
// If G38.2 fails throw an error
if (!G38_run_probe() && is_38_2) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Failed to reach target");
}
break;
}
clean_up_after_endstop_or_probe_move();
}
#endif // G38_2_3
/**
* G92: Set current position to given X Y Z E
@ -7447,23 +7375,32 @@ void process_next_command() {
// Skip spaces to get the numeric part
while (*cmd_ptr == ' ') cmd_ptr++;
// Allow for decimal point in command
#if ENABLED(G38_2_3)
uint8_t subcode = 0;
#endif
uint16_t codenum = 0; // define ahead of goto
// Bail early if there's no code
bool code_is_good = NUMERIC(*cmd_ptr);
if (!code_is_good) goto ExitUnknownCommand;
#ifdef G38_2_3
double codenum_float;
codenum_float = atof(cmd_ptr); //allow for decimal point in command
#endif
// Get and skip the code number
do {
codenum = (codenum * 10) + (*cmd_ptr - '0');
cmd_ptr++;
} while (NUMERIC(*cmd_ptr));
// Allow for decimal point in command
#if ENABLED(G38_2_3)
if (*cmd_ptr == '.') {
cmd_ptr++;
while (NUMERIC(*cmd_ptr))
subcode = (subcode * 10) + (*cmd_ptr++ - '0');
}
#endif
// Skip all spaces to get to the first argument, or nul
while (*cmd_ptr == ' ') cmd_ptr++;
@ -7564,12 +7501,13 @@ void process_next_command() {
#endif // Z_PROBE_SLED
#endif // HAS_BED_PROBE
#ifdef G38_2_3
case 38: //G38.2 & G38.3
gcode_G38(codenum_float);
#if ENABLED(G38_2_3)
case 38: // G38.2 & G38.3
if (subcode == 2 || subcode == 3)
gcode_G38(subcode == 2);
break;
#endif
#endif
case 90: // G90
relative_mode = false;
break;
@ -9078,7 +9016,7 @@ void prepare_move_to_destination() {
* Morgan SCARA Inverse Kinematics. Results in delta[].
*
* See http://forums.reprap.org/read.php?185,283327
*
*
* Maths and first version by QHARLEY.
* Integrated into Marlin and slightly restructured by Joachim Cerny.
*/