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

✨ Polargraph / Makelangelo kinematics (#22790)

Browse Source
This commit is contained in:
Dan Royer
2021-09-20 13:42:33 -07:00
committed by Scott Lahteine
parent 71b8a22d96
commit b3fd03198a
24 changed files with 304 additions and 104 deletions
Download Patch File Download Diff File Expand all files Collapse all files

171
Marlin/src/module/settings.cpp
View File

@ -36,7 +36,7 @@
*/
// Change EEPROM version if the structure changes
#define EEPROM_VERSION "V84"
#define EEPROM_VERSION "V85"
#define EEPROM_OFFSET 100
// Check the integrity of data offsets.
@ -279,17 +279,24 @@ typedef struct SettingsDataStruct {
bool bltouch_last_written_mode;
//
// DELTA / [XYZ]_DUAL_ENDSTOPS
// Kinematic Settings
//
#if ENABLED(DELTA)
float delta_height; // M666 H
abc_float_t delta_endstop_adj; // M666 X Y Z
float delta_radius, // M665 R
delta_diagonal_rod, // M665 L
segments_per_second; // M665 S
abc_float_t delta_tower_angle_trim, // M665 X Y Z
delta_diagonal_rod_trim; // M665 A B C
#elif HAS_EXTRA_ENDSTOPS
#if IS_KINEMATIC
float segments_per_second; // M665 S
#if ENABLED(DELTA)
float delta_height; // M666 H
abc_float_t delta_endstop_adj; // M666 X Y Z
float delta_radius, // M665 R
delta_diagonal_rod; // M665 L
abc_float_t delta_tower_angle_trim, // M665 X Y Z
delta_diagonal_rod_trim; // M665 A B C
#endif
#endif
//
// Extra Endstops offsets
//
#if HAS_EXTRA_ENDSTOPS
float x2_endstop_adj, // M666 X
y2_endstop_adj, // M666 Y
z2_endstop_adj, // M666 (S2) Z
@ -857,45 +864,49 @@ void MarlinSettings::postprocess() {
}
//
// DELTA Geometry or Dual Endstops offsets
// Kinematic Settings
//
#if IS_KINEMATIC
{
EEPROM_WRITE(segments_per_second);
#if ENABLED(DELTA)
_FIELD_TEST(delta_height);
EEPROM_WRITE(delta_height); // 1 float
EEPROM_WRITE(delta_endstop_adj); // 3 floats
EEPROM_WRITE(delta_radius); // 1 float
EEPROM_WRITE(delta_diagonal_rod); // 1 float
EEPROM_WRITE(segments_per_second); // 1 float
EEPROM_WRITE(delta_tower_angle_trim); // 3 floats
EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats
#elif HAS_EXTRA_ENDSTOPS
_FIELD_TEST(x2_endstop_adj);
// Write dual endstops in X, Y, Z order. Unused = 0.0
dummyf = 0;
EEPROM_WRITE(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_WRITE(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
#endif
}
#endif
//
// Extra Endstops offsets
//
#if HAS_EXTRA_ENDSTOPS
{
_FIELD_TEST(x2_endstop_adj);
// Write dual endstops in X, Y, Z order. Unused = 0.0
dummyf = 0;
EEPROM_WRITE(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_WRITE(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_WRITE(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_WRITE(dummyf);
#endif
}
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
EEPROM_WRITE(z_stepper_align.xy);
@ -1724,42 +1735,46 @@ void MarlinSettings::postprocess() {
}
//
// DELTA Geometry or Dual Endstops offsets
// Kinematic Segments-per-second
//
#if IS_KINEMATIC
{
EEPROM_READ(segments_per_second);
#if ENABLED(DELTA)
_FIELD_TEST(delta_height);
EEPROM_READ(delta_height); // 1 float
EEPROM_READ(delta_endstop_adj); // 3 floats
EEPROM_READ(delta_radius); // 1 float
EEPROM_READ(delta_diagonal_rod); // 1 float
EEPROM_READ(segments_per_second); // 1 float
EEPROM_READ(delta_tower_angle_trim); // 3 floats
EEPROM_READ(delta_diagonal_rod_trim); // 3 floats
#elif HAS_EXTRA_ENDSTOPS
_FIELD_TEST(x2_endstop_adj);
EEPROM_READ(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_READ(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_READ(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
#endif
}
#endif
//
// Extra Endstops offsets
//
#if HAS_EXTRA_ENDSTOPS
{
_FIELD_TEST(x2_endstop_adj);
EEPROM_READ(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float
EEPROM_READ(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3
EEPROM_READ(endstops.z3_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
#if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4
EEPROM_READ(endstops.z4_endstop_adj); // 1 float
#else
EEPROM_READ(dummyf);
#endif
}
#endif
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
EEPROM_READ(z_stepper_align.xy);
@ -2721,20 +2736,30 @@ void MarlinSettings::reset() {
//#endif
//
// Endstop Adjustments
// Kinematic settings
//
#if ENABLED(DELTA)
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_height = DELTA_HEIGHT;
delta_endstop_adj = adj;
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
segments_per_second = DELTA_SEGMENTS_PER_SECOND;
delta_tower_angle_trim = dta;
delta_diagonal_rod_trim = ddr;
#if IS_KINEMATIC
segments_per_second = (
TERN_(DELTA, DELTA_SEGMENTS_PER_SECOND)
TERN_(IS_SCARA, SCARA_SEGMENTS_PER_SECOND)
TERN_(POLARGRAPH, POLAR_SEGMENTS_PER_SECOND)
);
#if ENABLED(DELTA)
const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER;
delta_height = DELTA_HEIGHT;
delta_endstop_adj = adj;
delta_radius = DELTA_RADIUS;
delta_diagonal_rod = DELTA_DIAGONAL_ROD;
delta_tower_angle_trim = dta;
delta_diagonal_rod_trim = ddr;
#endif
#endif
//
// Endstop Adjustments
//
#if ENABLED(X_DUAL_ENDSTOPS)
#ifndef X2_ENDSTOP_ADJUSTMENT
#define X2_ENDSTOP_ADJUSTMENT 0
@ -3137,7 +3162,7 @@ void MarlinSettings::reset() {
TERN_(EDITABLE_SERVO_ANGLES, gcode.M281_report(forReplay));
//
// Delta / SCARA Kinematics
// Kinematic Settings
//
TERN_(IS_KINEMATIC, gcode.M665_report(forReplay));