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Merge remote-tracking branch 'MarlinFirmware/Development' into Development

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Conflicts:
	Marlin/Marlin_main.cpp
This commit is contained in:
Chris Roadfeldt
2015-03-31 11:08:36 -05:00
parent 45ece5afb1 be593b600b
commit c89b8368ee
15 changed files with 93 additions and 212 deletions
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236
Marlin/Marlin_main.cpp
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@@ -226,21 +226,21 @@ float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
bool axis_known_position[3] = { false };
// Extruder offset
// Extruder offsets
#if EXTRUDERS > 1
#ifndef EXTRUDER_OFFSET_X
#define EXTRUDER_OFFSET_X 0
#define EXTRUDER_OFFSET_X { 0 }
#endif
#ifndef EXTRUDER_OFFSET_Y
#define EXTRUDER_OFFSET_Y 0
#define EXTRUDER_OFFSET_Y { 0 }
#endif
#ifndef DUAL_X_CARRIAGE
#define NUM_EXTRUDER_OFFSETS 2 // only in XY plane
#else
#define NUM_EXTRUDER_OFFSETS 3 // supports offsets in XYZ plane
#endif
#define _EXY { EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y }
float extruder_offset[EXTRUDERS][NUM_EXTRUDER_OFFSETS] = ARRAY_BY_EXTRUDERS(_EXY, _EXY, _EXY, _EXY);
float extruder_offset[][EXTRUDERS] = {
EXTRUDER_OFFSET_X,
EXTRUDER_OFFSET_Y
#ifdef DUAL_X_CARRIAGE
, { 0 } // supports offsets in XYZ plane
#endif
};
#endif
uint8_t active_extruder = 0;
@@ -935,7 +935,7 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
return (extruder_offset[1][X_AXIS] > 0) ? extruder_offset[1][X_AXIS] : X2_HOME_POS;
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
}
static int x_home_dir(int extruder) {
@@ -959,14 +959,14 @@ static void axis_is_at_home(int axis) {
if (active_extruder != 0) {
current_position[X_AXIS] = x_home_pos(active_extruder);
min_pos[X_AXIS] = X2_MIN_POS;
max_pos[X_AXIS] = max(extruder_offset[1][X_AXIS], X2_MAX_POS);
max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
float xoff = home_offset[X_AXIS];
current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[1][X_AXIS], X2_MAX_POS) - duplicate_extruder_x_offset);
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(extruder_offset[X_AXIS][1], X2_MAX_POS) - duplicate_extruder_x_offset);
return;
}
}
@@ -1055,7 +1055,7 @@ inline void sync_plan_position() {
//corrected_position.debug("position after");
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
current_position[Z_AXIS] = corrected_position.z;
sync_plan_position();
}
@@ -1084,7 +1084,7 @@ inline void sync_plan_position() {
vector_3 corrected_position = plan_get_position();
current_position[X_AXIS] = corrected_position.x;
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = zprobe_zoffset; // was: corrected_position.z
current_position[Z_AXIS] = corrected_position.z;
sync_plan_position();
}
@@ -1202,58 +1202,6 @@ inline void sync_plan_position() {
previous_millis_cmd = millis();
}
<<<<<<< HEAD
static void engage_z_probe() {
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
}
#elif defined(Z_PROBE_ALLEN_KEY)
feedrate = homing_feedrate[X_AXIS];
// Move to the start position to initiate deployment
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_DEPLOY_Z;
prepare_move_raw();
// Home X to touch the belt
feedrate = homing_feedrate[X_AXIS]/10;
destination[X_AXIS] = 0;
prepare_move_raw();
// Home Y for safety
feedrate = homing_feedrate[X_AXIS]/2;
destination[Y_AXIS] = 0;
prepare_move_raw();
st_synchronize();
// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
// it's own unique entity, then the following logic will need to be modified
// so it only uses the Z_PROBE
#if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop)
#endif
{
if (!Stopped)
{
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
=======
static void engage_z_probe() {
#ifdef SERVO_ENDSTOPS
@@ -1292,107 +1240,43 @@ static void engage_z_probe() {
st_synchronize();
#if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop) {
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop) {
if (!z_min_endstop) {
#endif
if (!Stopped) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
>>>>>>> MarlinFirmware/Development
}
Stop();
}
#endif // Z_PROBE_ALLEN_KEY
<<<<<<< HEAD
static void retract_z_probe() {
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1)
{
#if Z_RAISE_AFTER_PROBING > 0
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
st_synchronize();
#endif
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
}
#elif defined(Z_PROBE_ALLEN_KEY)
// Move up for safety
feedrate = homing_feedrate[X_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING;
prepare_move_raw();
// Move to the start position to initiate retraction
destination[X_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_X;
destination[Y_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Y;
destination[Z_AXIS] = Z_PROBE_ALLEN_KEY_RETRACT_Z;
prepare_move_raw();
// Move the nozzle down to push the probe into retracted position
feedrate = homing_feedrate[Z_AXIS]/10;
destination[Z_AXIS] = current_position[Z_AXIS] - Z_PROBE_ALLEN_KEY_RETRACT_DEPTH;
prepare_move_raw();
// Move up for safety
feedrate = homing_feedrate[Z_AXIS]/2;
destination[Z_AXIS] = current_position[Z_AXIS] + Z_PROBE_ALLEN_KEY_RETRACT_DEPTH * 2;
prepare_move_raw();
// Home XY for safety
feedrate = homing_feedrate[X_AXIS]/2;
destination[X_AXIS] = 0;
destination[Y_AXIS] = 0;
prepare_move_raw();
st_synchronize();
// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
// it's own unique entity, then the following logic will need to be modified
// so it only uses the Z_PROBE
#if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop)
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop)
#endif
{
if (!Stopped)
{
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE");
=======
}
static void retract_z_probe(const float z_after=Z_RAISE_AFTER_PROBING) {
static void retract_z_probe() {
#ifdef SERVO_ENDSTOPS
// Retract Z Servo endstop if enabled
if (servo_endstops[Z_AXIS] >= 0) {
if (z_after > 0) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_after);
#if Z_RAISE_AFTER_PROBING > 0
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
st_synchronize();
>>>>>>> MarlinFirmware/Development
}
#endif
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
@@ -1430,11 +1314,13 @@ static void retract_z_probe() {
st_synchronize();
// If Z_PROBE_AND_ENDSTOP is changed to completely break it's bonds from Z_MIN_ENDSTOP and become
// it's own unique entity, then the following logic will need to be modified
// so it only uses the Z_PROBE
#if defined(Z_PROBE_AND_ENDSTOP)
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop) {
#else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (!z_min_endstop) {
#endif
if (!Stopped) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
@@ -1467,8 +1353,15 @@ static void retract_z_probe() {
run_z_probe();
float measured_z = current_position[Z_AXIS];
#if Z_RAISE_BETWEEN_PROBINGS > 0
if (retract_action == ProbeStay) {
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BETWEEN_PROBINGS);
st_synchronize();
}
#endif
#if !defined(Z_PROBE_SLED) && !defined(Z_PROBE_ALLEN_KEY)
if (retract_action & ProbeRetract) retract_z_probe(z_before);
if (retract_action & ProbeRetract) retract_z_probe();
#endif
if (verbose_level > 2) {
@@ -1583,23 +1476,6 @@ static void homeaxis(int axis) {
#endif // Z_PROBE_SLED
<<<<<<< HEAD
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled and we are not using Z_PROBE_AND_ENDSTOP unless we are using Z_SAFE_HOMING
#ifdef SERVO_ENDSTOPS && (defined (Z_SAFE_HOMING) || ! defined (Z_PROBE_AND_ENDSTOP))
#if SERVO_LEVELING
if (axis==Z_AXIS) {
engage_z_probe();
}
else
#endif
if (servo_endstops[axis] > -1) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
}
#endif
#endif // Z_PROBE_SLED
=======
>>>>>>> MarlinFirmware/Development
#ifdef Z_DUAL_ENDSTOPS
if (axis == Z_AXIS) In_Homing_Process(true);
#endif
@@ -3921,23 +3797,23 @@ inline void gcode_M206() {
inline void gcode_M218() {
if (setTargetedHotend(218)) return;
if (code_seen('X')) extruder_offset[tmp_extruder][X_AXIS] = code_value();
if (code_seen('Y')) extruder_offset[tmp_extruder][Y_AXIS] = code_value();
if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value();
if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value();
#ifdef DUAL_X_CARRIAGE
if (code_seen('Z')) extruder_offset[tmp_extruder][Z_AXIS] = code_value();
if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value();
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) {
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[tmp_extruder][X_AXIS]);
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[tmp_extruder][Y_AXIS]);
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
#ifdef DUAL_X_CARRIAGE
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[tmp_extruder][Z_AXIS]);
SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
#endif
}
SERIAL_EOL;
@@ -4628,13 +4504,13 @@ inline void gcode_M503() {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[0][X_AXIS]);
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[0][Y_AXIS]);
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
SERIAL_ECHO(" ");
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_ECHO(",");
SERIAL_ECHOLN(extruder_offset[1][Y_AXIS]);
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
break;
case DXC_FULL_CONTROL_MODE:
case DXC_AUTO_PARK_MODE:
@@ -4769,11 +4645,11 @@ inline void gcode_T() {
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] = current_position[Y_AXIS] -
extruder_offset[active_extruder][Y_AXIS] +
extruder_offset[tmp_extruder][Y_AXIS];
extruder_offset[Y_AXIS][active_extruder] +
extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] = current_position[Z_AXIS] -
extruder_offset[active_extruder][Z_AXIS] +
extruder_offset[tmp_extruder][Z_AXIS];
extruder_offset[Z_AXIS][active_extruder] +
extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
@@ -4803,7 +4679,7 @@ inline void gcode_T() {
#else // !DUAL_X_CARRIAGE
// Offset extruder (only by XY)
for (int i=X_AXIS; i<=Y_AXIS; i++)
current_position[i] += extruder_offset[tmp_extruder][i] - extruder_offset[active_extruder][i];
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE