Merge pull request #4868 from thinkyhead/rc_autumn_fixups
Cleanups for the Autumn release
This commit is contained in:
Scott Lahteine
GitHub
commit
d0796fc54c
@ -1453,26 +1453,23 @@ inline float get_homing_bump_feedrate(AxisEnum axis) {
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return homing_feedrate_mm_s[axis] / hbd;
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}
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#if !IS_KINEMATIC
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//
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// line_to_current_position
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// Move the planner to the current position from wherever it last moved
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// (or from wherever it has been told it is located).
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//
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inline void line_to_current_position() {
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
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}
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//
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// line_to_current_position
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// Move the planner to the current position from wherever it last moved
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// (or from wherever it has been told it is located).
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//
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inline void line_to_current_position() {
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder);
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}
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//
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// line_to_destination
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// Move the planner, not necessarily synced with current_position
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//
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inline void line_to_destination(float fr_mm_s) {
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planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
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}
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inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
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#endif // !IS_KINEMATIC
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//
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// line_to_destination
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// Move the planner, not necessarily synced with current_position
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//
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inline void line_to_destination(float fr_mm_s) {
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planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder);
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}
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inline void line_to_destination() { line_to_destination(feedrate_mm_s); }
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inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
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inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
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@ -1485,12 +1482,19 @@ inline void set_destination_to_current() { memcpy(destination, current_position,
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination);
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#endif
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if ( current_position[X_AXIS] == destination[X_AXIS]
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&& current_position[Y_AXIS] == destination[Y_AXIS]
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&& current_position[Z_AXIS] == destination[Z_AXIS]
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&& current_position[E_AXIS] == destination[E_AXIS]
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) return;
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refresh_cmd_timeout();
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inverse_kinematics(destination);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], destination[E_AXIS], MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder);
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set_current_to_destination();
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}
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#endif
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#endif // IS_KINEMATIC
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/**
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* Plan a move to (X, Y, Z) and set the current_position
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@ -1557,16 +1561,12 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
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#endif
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}
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
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#endif
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#elif IS_SCARA
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set_destination_to_current();
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// If Z needs to raise, do it before moving XY
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if (current_position[Z_AXIS] < z) {
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if (destination[Z_AXIS] < z) {
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destination[Z_AXIS] = z;
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
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}
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@ -1576,7 +1576,7 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S);
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// If Z needs to lower, do it after moving XY
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if (current_position[Z_AXIS] > z) {
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if (destination[Z_AXIS] > z) {
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destination[Z_AXIS] = z;
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prepare_uninterpolated_move_to_destination(fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[Z_AXIS]);
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}
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@ -1607,6 +1607,10 @@ void do_blocking_move_to(const float &x, const float &y, const float &z, const f
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stepper.synchronize();
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feedrate_mm_s = old_feedrate_mm_s;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< do_blocking_move_to");
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#endif
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}
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void do_blocking_move_to_x(const float &x, const float &fr_mm_s/*=0.0*/) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_s);
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@ -1999,12 +2003,12 @@ static void clean_up_after_endstop_or_probe_move() {
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// Clear endstop flags
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endstops.hit_on_purpose();
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// Tell the planner where we actually are
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planner.sync_from_steppers();
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// Get Z where the steppers were interrupted
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set_current_from_steppers_for_axis(Z_AXIS);
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// Tell the planner where we actually are
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< do_probe_move", current_position);
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#endif
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@ -2122,8 +2126,13 @@ static void clean_up_after_endstop_or_probe_move() {
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/**
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* Reset calibration results to zero.
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*
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* TODO: Proper functions to disable / enable
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* bed leveling via a flag, correcting the
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* current position in each case.
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*/
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void reset_bed_level() {
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planner.abl_enabled = false;
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
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#endif
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@ -2131,7 +2140,6 @@ static void clean_up_after_endstop_or_probe_move() {
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planner.bed_level_matrix.set_to_identity();
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#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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memset(bed_level_grid, 0, sizeof(bed_level_grid));
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nonlinear_grid_spacing[X_AXIS] = nonlinear_grid_spacing[Y_AXIS] = 0;
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#endif
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}
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@ -2188,18 +2196,27 @@ static void clean_up_after_endstop_or_probe_move() {
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/**
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* Home an individual linear axis
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*/
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static void do_homing_move(AxisEnum axis, float where, float fr_mm_s=0.0) {
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static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.0) {
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#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
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bool deploy_bltouch = (axis == Z_AXIS && where < 0);
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if (deploy_bltouch) set_bltouch_deployed(true);
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#endif
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// Tell the planner we're at Z=0
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current_position[axis] = 0;
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sync_plan_position();
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current_position[axis] = where;
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
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#if IS_SCARA
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SYNC_PLAN_POSITION_KINEMATIC();
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current_position[axis] = distance;
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inverse_kinematics(current_position);
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planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
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#else
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sync_plan_position();
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current_position[axis] = distance;
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
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#endif
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stepper.synchronize();
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#if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)
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@ -2256,6 +2273,9 @@ static void homeaxis(AxisEnum axis) {
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if (axis == Z_AXIS) stepper.set_homing_flag(true);
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#endif
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// Fast move towards endstop until triggered
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do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
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// When homing Z with probe respect probe clearance
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const float bump = axis_home_dir * (
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#if HOMING_Z_WITH_PROBE
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@ -2264,12 +2284,13 @@ static void homeaxis(AxisEnum axis) {
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home_bump_mm(axis)
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);
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// 1. Fast move towards endstop until triggered
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// 2. Move away from the endstop by the axis HOME_BUMP_MM
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// 3. Slow move towards endstop until triggered
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do_homing_move(axis, 1.5 * max_length(axis) * axis_home_dir);
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do_homing_move(axis, -bump);
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do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
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// If a second homing move is configured...
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if (bump) {
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// Move away from the endstop by the axis HOME_BUMP_MM
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do_homing_move(axis, -bump);
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// Slow move towards endstop until triggered
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do_homing_move(axis, 2 * bump, get_homing_bump_feedrate(axis));
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}
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#if ENABLED(Z_DUAL_ENDSTOPS)
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if (axis == Z_AXIS) {
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@ -2849,7 +2870,8 @@ inline void gcode_G4() {
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// Move all carriages together linearly until an endstop is hit.
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current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
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planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate_mm_s[X_AXIS], active_extruder);
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feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
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line_to_current_position();
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stepper.synchronize();
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endstops.hit_on_purpose(); // clear endstop hit flags
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@ -2902,22 +2924,20 @@ inline void gcode_G4() {
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destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
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destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
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#if HAS_BED_PROBE
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destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
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destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
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#endif
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if (position_is_reachable(
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destination
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#if HAS_BED_PROBE
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#if HOMING_Z_WITH_PROBE
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, true
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#endif
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)
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) {
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#if HOMING_Z_WITH_PROBE
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destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
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destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
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#endif
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
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#endif
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do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
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HOMEAXIS(Z);
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}
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@ -3133,19 +3153,13 @@ inline void gcode_G28() {
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#if ENABLED(MESH_G28_REST_ORIGIN)
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current_position[Z_AXIS] = 0.0;
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set_destination_to_current();
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feedrate_mm_s = homing_feedrate_mm_s[Z_AXIS];
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line_to_destination();
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line_to_destination(homing_feedrate_mm_s[Z_AXIS]);
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stepper.synchronize();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Rest Origin", current_position);
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#endif
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#else
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z -
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mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS))
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#if Z_HOME_DIR > 0
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+ Z_MAX_POS
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#endif
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;
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planner.unapply_leveling(current_position);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("MBL adjusted MESH_HOME_SEARCH_Z", current_position);
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#endif
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@ -3155,8 +3169,7 @@ inline void gcode_G28() {
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current_position[Z_AXIS] = pre_home_z;
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SYNC_PLAN_POSITION_KINEMATIC();
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mbl.set_active(true);
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current_position[Z_AXIS] = pre_home_z -
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mbl.get_z(RAW_CURRENT_POSITION(X_AXIS), RAW_CURRENT_POSITION(Y_AXIS));
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planner.unapply_leveling(current_position);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("MBL Home X or Y", current_position);
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#endif
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@ -3505,16 +3518,15 @@ inline void gcode_G28() {
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stepper.synchronize();
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// Disable auto bed leveling during G29
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bool auto_bed_leveling_was_enabled = planner.abl_enabled,
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abl_should_reenable = auto_bed_leveling_was_enabled;
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planner.abl_enabled = false;
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if (!dryrun) {
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// Reset the bed_level_matrix because leveling
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// needs to be done without leveling enabled.
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reset_bed_level();
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//
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// Re-orient the current position without leveling
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// based on where the steppers are positioned.
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//
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get_cartesian_from_steppers();
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memcpy(current_position, cartes, sizeof(cartes));
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@ -3525,9 +3537,12 @@ inline void gcode_G28() {
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setup_for_endstop_or_probe_move();
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// Deploy the probe. Probe will raise if needed.
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if (DEPLOY_PROBE()) return;
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if (DEPLOY_PROBE()) {
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planner.abl_enabled = abl_should_reenable;
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return;
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}
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float xProbe, yProbe, measured_z = 0;
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float xProbe = 0, yProbe = 0, measured_z = 0;
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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@ -3537,11 +3552,16 @@ inline void gcode_G28() {
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#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
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nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
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float zoffset = zprobe_zoffset;
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if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
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if (xGridSpacing != nonlinear_grid_spacing[X_AXIS] || yGridSpacing != nonlinear_grid_spacing[Y_AXIS]) {
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nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
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nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
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// Can't re-enable (on error) until the new grid is written
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abl_should_reenable = false;
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}
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#elif ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
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/**
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@ -3600,6 +3620,11 @@ inline void gcode_G28() {
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measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
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if (measured_z == NAN) {
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planner.abl_enabled = abl_should_reenable;
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return;
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}
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#if ENABLED(AUTO_BED_LEVELING_LINEAR_GRID)
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mean += measured_z;
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@ -3639,6 +3664,11 @@ inline void gcode_G28() {
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measured_z = points[i].z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
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}
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if (measured_z == NAN) {
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planner.abl_enabled = abl_should_reenable;
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return;
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}
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if (!dryrun) {
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vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
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if (planeNormal.z < 0) {
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@ -3647,12 +3677,23 @@ inline void gcode_G28() {
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planeNormal.z *= -1;
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}
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planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
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// Can't re-enable (on error) until the new grid is written
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abl_should_reenable = false;
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}
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#endif // AUTO_BED_LEVELING_3POINT
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// Raise to _Z_CLEARANCE_DEPLOY_PROBE. Stow the probe.
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if (STOW_PROBE()) return;
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if (STOW_PROBE()) {
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planner.abl_enabled = abl_should_reenable;
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return;
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}
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//
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// Unless this is a dry run, auto bed leveling will
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// definitely be enabled after this point
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//
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// Restore state after probing
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clean_up_after_endstop_or_probe_move();
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@ -3842,6 +3883,9 @@ inline void gcode_G28() {
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report_current_position();
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KEEPALIVE_STATE(IN_HANDLER);
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// Auto Bed Leveling is complete! Enable if possible.
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planner.abl_enabled = dryrun ? abl_should_reenable : true;
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}
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#endif // AUTO_BED_LEVELING_FEATURE
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@ -3925,6 +3969,8 @@ inline void gcode_G92() {
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SYNC_PLAN_POSITION_KINEMATIC();
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else if (didE)
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sync_plan_position_e();
|
||||
|
||||
report_current_position();
|
||||
}
|
||||
|
||||
#if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
|
||||
@ -4186,7 +4232,11 @@ inline void gcode_M42() {
|
||||
if (pin_number < 0) return;
|
||||
|
||||
for (uint8_t i = 0; i < COUNT(sensitive_pins); i++)
|
||||
if (pin_number == sensitive_pins[i]) return;
|
||||
if (pin_number == sensitive_pins[i]) {
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM(MSG_ERR_PROTECTED_PIN);
|
||||
return;
|
||||
}
|
||||
|
||||
pinMode(pin_number, OUTPUT);
|
||||
digitalWrite(pin_number, pin_status);
|
||||
@ -7736,7 +7786,7 @@ void ok_to_send() {
|
||||
|
||||
// Get the Z adjustment for non-linear bed leveling
|
||||
float nonlinear_z_offset(float cartesian[XYZ]) {
|
||||
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 0) return 0; // G29 not done!
|
||||
if (planner.abl_enabled) return;
|
||||
|
||||
int half_x = (ABL_GRID_POINTS_X - 1) / 2,
|
||||
half_y = (ABL_GRID_POINTS_Y - 1) / 2;
|
||||
@ -7846,15 +7896,19 @@ void ok_to_send() {
|
||||
) \
|
||||
)
|
||||
|
||||
#define DELTA_RAW_IK() do { \
|
||||
delta[A_AXIS] = DELTA_Z(1); \
|
||||
delta[B_AXIS] = DELTA_Z(2); \
|
||||
delta[C_AXIS] = DELTA_Z(3); \
|
||||
} while(0)
|
||||
|
||||
#define DELTA_LOGICAL_IK() do { \
|
||||
const float raw[XYZ] = { \
|
||||
RAW_X_POSITION(logical[X_AXIS]), \
|
||||
RAW_Y_POSITION(logical[Y_AXIS]), \
|
||||
RAW_Z_POSITION(logical[Z_AXIS]) \
|
||||
}; \
|
||||
delta[A_AXIS] = DELTA_Z(1); \
|
||||
delta[B_AXIS] = DELTA_Z(2); \
|
||||
delta[C_AXIS] = DELTA_Z(3); \
|
||||
DELTA_RAW_IK(); \
|
||||
} while(0)
|
||||
|
||||
#define DELTA_DEBUG() do { \
|
||||
@ -8012,7 +8066,7 @@ void get_cartesian_from_steppers() {
|
||||
void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
get_cartesian_from_steppers();
|
||||
#if PLANNER_LEVELING
|
||||
planner.unapply_leveling(cartes[X_AXIS], cartes[Y_AXIS], cartes[Z_AXIS]);
|
||||
planner.unapply_leveling(cartes);
|
||||
#endif
|
||||
if (axis == ALL_AXES)
|
||||
memcpy(current_position, cartes, sizeof(cartes));
|
||||
@ -8091,101 +8145,123 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
* This calls planner.buffer_line several times, adding
|
||||
* small incremental moves for DELTA or SCARA.
|
||||
*/
|
||||
inline bool prepare_kinematic_move_to(float logical[NUM_AXIS]) {
|
||||
inline bool prepare_kinematic_move_to(float ltarget[NUM_AXIS]) {
|
||||
|
||||
// Get the top feedrate of the move in the XY plane
|
||||
float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s);
|
||||
|
||||
// If the move is only in Z don't split up the move.
|
||||
// This shortcut cannot be used if planar bed leveling
|
||||
// is in use, but is fine with mesh-based bed leveling
|
||||
if (logical[X_AXIS] == current_position[X_AXIS] && logical[Y_AXIS] == current_position[Y_AXIS]) {
|
||||
inverse_kinematics(logical);
|
||||
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
|
||||
// If the move is only in Z/E don't split up the move
|
||||
if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) {
|
||||
inverse_kinematics(ltarget);
|
||||
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
|
||||
return true;
|
||||
}
|
||||
|
||||
// Get the distance moved in XYZ
|
||||
// Get the cartesian distances moved in XYZE
|
||||
float difference[NUM_AXIS];
|
||||
LOOP_XYZE(i) difference[i] = logical[i] - current_position[i];
|
||||
LOOP_XYZE(i) difference[i] = ltarget[i] - current_position[i];
|
||||
|
||||
// Get the linear distance in XYZ
|
||||
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
|
||||
|
||||
// If the move is very short, check the E move distance
|
||||
if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = abs(difference[E_AXIS]);
|
||||
|
||||
// No E move either? Game over.
|
||||
if (UNEAR_ZERO(cartesian_mm)) return false;
|
||||
|
||||
// Minimum number of seconds to move the given distance
|
||||
float seconds = cartesian_mm / _feedrate_mm_s;
|
||||
|
||||
// The number of segments-per-second times the duration
|
||||
// gives the number of segments we should produce
|
||||
// gives the number of segments
|
||||
uint16_t segments = delta_segments_per_second * seconds;
|
||||
|
||||
// For SCARA minimum segment size is 0.5mm
|
||||
#if IS_SCARA
|
||||
NOMORE(segments, cartesian_mm * 2);
|
||||
#endif
|
||||
|
||||
// At least one segment is required
|
||||
NOLESS(segments, 1);
|
||||
|
||||
// Each segment produces this much of the move
|
||||
float inv_segments = 1.0 / segments,
|
||||
segment_distance[XYZE] = {
|
||||
difference[X_AXIS] * inv_segments,
|
||||
difference[Y_AXIS] * inv_segments,
|
||||
difference[Z_AXIS] * inv_segments,
|
||||
difference[E_AXIS] * inv_segments
|
||||
// The approximate length of each segment
|
||||
float segment_distance[XYZE] = {
|
||||
difference[X_AXIS] / segments,
|
||||
difference[Y_AXIS] / segments,
|
||||
difference[Z_AXIS] / segments,
|
||||
difference[E_AXIS] / segments
|
||||
};
|
||||
|
||||
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
|
||||
// SERIAL_ECHOPAIR(" seconds=", seconds);
|
||||
// SERIAL_ECHOLNPAIR(" segments=", segments);
|
||||
|
||||
// Send all the segments to the planner
|
||||
// Drop one segment so the last move is to the exact target.
|
||||
// If there's only 1 segment, loops will be skipped entirely.
|
||||
--segments;
|
||||
|
||||
#if ENABLED(DELTA) && ENABLED(USE_RAW_KINEMATICS)
|
||||
// Using "raw" coordinates saves 6 float subtractions
|
||||
// per segment, saving valuable CPU cycles
|
||||
|
||||
#define DELTA_E raw[E_AXIS]
|
||||
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) raw[i] += ADDEND;
|
||||
#define DELTA_IK() do { \
|
||||
delta[A_AXIS] = DELTA_Z(1); \
|
||||
delta[B_AXIS] = DELTA_Z(2); \
|
||||
delta[C_AXIS] = DELTA_Z(3); \
|
||||
} while(0)
|
||||
#if ENABLED(USE_RAW_KINEMATICS)
|
||||
|
||||
// Get the raw current position as starting point
|
||||
float raw[ABC] = {
|
||||
float raw[XYZE] = {
|
||||
RAW_CURRENT_POSITION(X_AXIS),
|
||||
RAW_CURRENT_POSITION(Y_AXIS),
|
||||
RAW_CURRENT_POSITION(Z_AXIS)
|
||||
RAW_CURRENT_POSITION(Z_AXIS),
|
||||
current_position[E_AXIS]
|
||||
};
|
||||
|
||||
#define DELTA_VAR raw
|
||||
|
||||
// Delta can inline its kinematics
|
||||
#if ENABLED(DELTA)
|
||||
#define DELTA_IK() DELTA_RAW_IK()
|
||||
#else
|
||||
#define DELTA_IK() inverse_kinematics(raw)
|
||||
#endif
|
||||
|
||||
#else
|
||||
|
||||
#define DELTA_E logical[E_AXIS]
|
||||
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) logical[i] += ADDEND;
|
||||
// Get the logical current position as starting point
|
||||
float logical[XYZE];
|
||||
memcpy(logical, current_position, sizeof(logical));
|
||||
|
||||
#define DELTA_VAR logical
|
||||
|
||||
// Delta can inline its kinematics
|
||||
#if ENABLED(DELTA)
|
||||
#define DELTA_IK() DELTA_LOGICAL_IK()
|
||||
#else
|
||||
#define DELTA_IK() inverse_kinematics(logical)
|
||||
#endif
|
||||
|
||||
// Get the logical current position as starting point
|
||||
LOOP_XYZE(i) logical[i] = current_position[i];
|
||||
|
||||
#endif
|
||||
|
||||
#if ENABLED(USE_DELTA_IK_INTERPOLATION)
|
||||
|
||||
// Get the starting delta for interpolation
|
||||
if (segments >= 2) inverse_kinematics(logical);
|
||||
// Only interpolate XYZ. Advance E normally.
|
||||
#define DELTA_NEXT(ADDEND) LOOP_XYZ(i) DELTA_VAR[i] += ADDEND;
|
||||
|
||||
// Get the starting delta if interpolation is possible
|
||||
if (segments >= 2) DELTA_IK();
|
||||
|
||||
// Loop using decrement
|
||||
for (uint16_t s = segments + 1; --s;) {
|
||||
if (s > 1) {
|
||||
// Are there at least 2 moves left?
|
||||
if (s >= 2) {
|
||||
// Save the previous delta for interpolation
|
||||
float prev_delta[ABC] = { delta[A_AXIS], delta[B_AXIS], delta[C_AXIS] };
|
||||
|
||||
// Get the delta 2 segments ahead (rather than the next)
|
||||
DELTA_NEXT(segment_distance[i] + segment_distance[i]);
|
||||
|
||||
// Advance E normally
|
||||
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
|
||||
|
||||
// Get the exact delta for the move after this
|
||||
DELTA_IK();
|
||||
|
||||
// Move to the interpolated delta position first
|
||||
@ -8193,33 +8269,43 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
|
||||
(prev_delta[A_AXIS] + delta[A_AXIS]) * 0.5,
|
||||
(prev_delta[B_AXIS] + delta[B_AXIS]) * 0.5,
|
||||
(prev_delta[C_AXIS] + delta[C_AXIS]) * 0.5,
|
||||
logical[E_AXIS], _feedrate_mm_s, active_extruder
|
||||
DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder
|
||||
);
|
||||
|
||||
// Advance E once more for the next move
|
||||
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
|
||||
|
||||
// Do an extra decrement of the loop
|
||||
--s;
|
||||
}
|
||||
else {
|
||||
// Get the last segment delta (only when segments is odd)
|
||||
DELTA_NEXT(segment_distance[i])
|
||||
// Get the last segment delta. (Used when segments is odd)
|
||||
DELTA_NEXT(segment_distance[i]);
|
||||
DELTA_VAR[E_AXIS] += segment_distance[E_AXIS];
|
||||
DELTA_IK();
|
||||
}
|
||||
|
||||
// Move to the non-interpolated position
|
||||
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_E, _feedrate_mm_s, active_extruder);
|
||||
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
#define DELTA_NEXT(ADDEND) LOOP_XYZE(i) DELTA_VAR[i] += ADDEND;
|
||||
|
||||
// For non-interpolated delta calculate every segment
|
||||
for (uint16_t s = segments + 1; --s;) {
|
||||
DELTA_NEXT(segment_distance[i])
|
||||
DELTA_NEXT(segment_distance[i]);
|
||||
DELTA_IK();
|
||||
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder);
|
||||
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], DELTA_VAR[E_AXIS], _feedrate_mm_s, active_extruder);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// Since segment_distance is only approximate,
|
||||
// the final move must be to the exact destination.
|
||||
inverse_kinematics(ltarget);
|
||||
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], _feedrate_mm_s, active_extruder);
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -8554,7 +8640,7 @@ void prepare_move_to_destination() {
|
||||
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
|
||||
|
||||
/*
|
||||
SERIAL_ECHOPAIR("Angle a=", a);
|
||||
SERIAL_ECHOPAIR("SCARA FK Angle a=", a);
|
||||
SERIAL_ECHOPAIR(" b=", b);
|
||||
SERIAL_ECHOPAIR(" a_sin=", a_sin);
|
||||
SERIAL_ECHOPAIR(" a_cos=", a_cos);
|
||||
|
||||
@ -48,7 +48,7 @@
|
||||
#error "You are using an old Configuration_adv.h file, update it before building Marlin."
|
||||
#endif
|
||||
|
||||
/**
|
||||
/**
|
||||
* Warnings for old configurations
|
||||
*/
|
||||
#if WATCH_TEMP_PERIOD > 500
|
||||
@ -450,6 +450,13 @@
|
||||
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Homing Bump
|
||||
*/
|
||||
#if X_HOME_BUMP_MM < 0 || Y_HOME_BUMP_MM < 0 || Z_HOME_BUMP_MM < 0
|
||||
#error "[XYZ]_HOME_BUMP_MM must be greater than or equal to 0."
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Make sure Z_SAFE_HOMING point is reachable
|
||||
*/
|
||||
|
||||
@ -151,6 +151,7 @@
|
||||
#define MSG_ERR_M421_PARAMETERS "M421 requires XYZ or IJZ parameters"
|
||||
#define MSG_ERR_MESH_XY "Mesh XY or IJ cannot be resolved"
|
||||
#define MSG_ERR_ARC_ARGS "G2/G3 bad parameters"
|
||||
#define MSG_ERR_PROTECTED_PIN "Protected Pin"
|
||||
#define MSG_ERR_M428_TOO_FAR "Too far from reference point"
|
||||
#define MSG_ERR_M303_DISABLED "PIDTEMP disabled"
|
||||
#define MSG_M119_REPORT "Reporting endstop status"
|
||||
|
||||
@ -98,6 +98,10 @@ float Planner::min_feedrate_mm_s,
|
||||
Planner::max_e_jerk,
|
||||
Planner::min_travel_feedrate_mm_s;
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
bool Planner::abl_enabled = false; // Flag that auto bed leveling is enabled
|
||||
#endif
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
|
||||
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
|
||||
#endif
|
||||
@ -135,8 +139,8 @@ Planner::Planner() { init(); }
|
||||
|
||||
void Planner::init() {
|
||||
block_buffer_head = block_buffer_tail = 0;
|
||||
memset(position, 0, sizeof(position)); // clear position
|
||||
LOOP_XYZE(i) previous_speed[i] = 0.0;
|
||||
memset(position, 0, sizeof(position));
|
||||
memset(previous_speed, 0, sizeof(previous_speed));
|
||||
previous_nominal_speed = 0.0;
|
||||
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
|
||||
bed_level_matrix.set_to_identity();
|
||||
@ -524,6 +528,11 @@ void Planner::check_axes_activity() {
|
||||
#if PLANNER_LEVELING
|
||||
|
||||
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
if (!abl_enabled) return;
|
||||
#endif
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
if (mbl.active())
|
||||
@ -561,28 +570,34 @@ void Planner::check_axes_activity() {
|
||||
#endif
|
||||
}
|
||||
|
||||
void Planner::unapply_leveling(float &lx, float &ly, float &lz) {
|
||||
void Planner::unapply_leveling(float logical[XYZ]) {
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
if (!abl_enabled) return;
|
||||
#endif
|
||||
|
||||
#if ENABLED(MESH_BED_LEVELING)
|
||||
|
||||
if (mbl.active())
|
||||
lz -= mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
|
||||
logical[Z_AXIS] -= mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]));
|
||||
|
||||
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
|
||||
|
||||
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
|
||||
|
||||
float dx = lx - (X_TILT_FULCRUM), dy = ly - (Y_TILT_FULCRUM), dz = lz;
|
||||
float dx = RAW_X_POSITION(logical[X_AXIS]) - (X_TILT_FULCRUM),
|
||||
dy = RAW_Y_POSITION(logical[Y_AXIS]) - (Y_TILT_FULCRUM),
|
||||
dz = RAW_Z_POSITION(logical[Z_AXIS]);
|
||||
|
||||
apply_rotation_xyz(inverse, dx, dy, dz);
|
||||
|
||||
lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
|
||||
ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
|
||||
lz = LOGICAL_Z_POSITION(dz);
|
||||
logical[X_AXIS] = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
|
||||
logical[Y_AXIS] = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
|
||||
logical[Z_AXIS] = LOGICAL_Z_POSITION(dz);
|
||||
|
||||
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
|
||||
|
||||
float tmp[XYZ] = { lx, ly, 0 };
|
||||
lz -= nonlinear_z_offset(tmp);
|
||||
logical[Z_AXIS] -= nonlinear_z_offset(logical);
|
||||
|
||||
#endif
|
||||
}
|
||||
@ -625,30 +640,29 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
|
||||
dz = target[Z_AXIS] - position[Z_AXIS];
|
||||
|
||||
/*
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPGM("Planner ", x);
|
||||
SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
|
||||
SERIAL_CHAR(' ');
|
||||
#if IS_KINEMATIC
|
||||
SERIAL_ECHOPAIR("A:", x);
|
||||
SERIAL_ECHOPAIR("A:", lx);
|
||||
SERIAL_ECHOPAIR(" (", dx);
|
||||
SERIAL_ECHOPAIR(") B:", y);
|
||||
SERIAL_ECHOPAIR(") B:", ly);
|
||||
#else
|
||||
SERIAL_ECHOPAIR("X:", x);
|
||||
SERIAL_ECHOPAIR("X:", lx);
|
||||
SERIAL_ECHOPAIR(" (", dx);
|
||||
SERIAL_ECHOPAIR(") Y:", y);
|
||||
SERIAL_ECHOPAIR(") Y:", ly);
|
||||
#endif
|
||||
SERIAL_ECHOPAIR(" (", dy);
|
||||
#elif ENABLED(DELTA)
|
||||
SERIAL_ECHOPAIR(") C:", z);
|
||||
#if ENABLED(DELTA)
|
||||
SERIAL_ECHOPAIR(") C:", lz);
|
||||
#else
|
||||
SERIAL_ECHOPAIR(") Z:", z);
|
||||
SERIAL_ECHOPAIR(") Z:", lz);
|
||||
#endif
|
||||
SERIAL_ECHOPAIR(" (", dz);
|
||||
SERIAL_ECHOLNPGM(")");
|
||||
//*/
|
||||
|
||||
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
|
||||
if (DEBUGGING(DRYRUN))
|
||||
position[E_AXIS] = target[E_AXIS];
|
||||
if (DEBUGGING(DRYRUN)) position[E_AXIS] = target[E_AXIS];
|
||||
|
||||
long de = target[E_AXIS] - position[E_AXIS];
|
||||
|
||||
@ -1131,7 +1145,7 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
|
||||
block->recalculate_flag = true; // Always calculate trapezoid for new block
|
||||
|
||||
// Update previous path unit_vector and nominal speed
|
||||
LOOP_XYZE(i) previous_speed[i] = current_speed[i];
|
||||
memcpy(previous_speed, current_speed, sizeof(previous_speed));
|
||||
previous_nominal_speed = block->nominal_speed;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
@ -1177,8 +1191,8 @@ void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, co
|
||||
// Move buffer head
|
||||
block_buffer_head = next_buffer_head;
|
||||
|
||||
// Update position
|
||||
LOOP_XYZE(i) position[i] = target[i];
|
||||
// Update the position (only when a move was queued)
|
||||
memcpy(position, target, sizeof(position));
|
||||
|
||||
recalculate();
|
||||
|
||||
@ -1204,7 +1218,14 @@ void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
|
||||
stepper.set_position(nx, ny, nz, ne);
|
||||
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
|
||||
|
||||
LOOP_XYZE(i) previous_speed[i] = 0.0;
|
||||
memset(previous_speed, 0, sizeof(previous_speed));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sync from the stepper positions. (e.g., after an interrupted move)
|
||||
*/
|
||||
void Planner::sync_from_steppers() {
|
||||
LOOP_XYZE(i) position[i] = stepper.position((AxisEnum)i);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -137,6 +137,7 @@ class Planner {
|
||||
static float min_travel_feedrate_mm_s;
|
||||
|
||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
|
||||
static bool abl_enabled; // Flag that bed leveling is enabled
|
||||
static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
|
||||
#endif
|
||||
|
||||
@ -218,7 +219,7 @@ class Planner {
|
||||
* as it will be given to the planner and steppers.
|
||||
*/
|
||||
static void apply_leveling(float &lx, float &ly, float &lz);
|
||||
static void unapply_leveling(float &lx, float &ly, float &lz);
|
||||
static void unapply_leveling(float logical[XYZ]);
|
||||
|
||||
#endif
|
||||
|
||||
@ -242,6 +243,11 @@ class Planner {
|
||||
*/
|
||||
static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
|
||||
|
||||
/**
|
||||
* Sync from the stepper positions. (e.g., after an interrupted move)
|
||||
*/
|
||||
static void sync_from_steppers();
|
||||
|
||||
/**
|
||||
* Set the E position (mm) of the planner (and the E stepper)
|
||||
*/
|
||||
|
||||
@ -357,316 +357,314 @@ void Stepper::isr() {
|
||||
}
|
||||
else {
|
||||
OCR1A = 2000; // 1kHz.
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
if (current_block) {
|
||||
// Update endstops state, if enabled
|
||||
if (endstops.enabled
|
||||
#if HAS_BED_PROBE
|
||||
|| endstops.z_probe_enabled
|
||||
#endif
|
||||
) endstops.update();
|
||||
|
||||
// Update endstops state, if enabled
|
||||
if (endstops.enabled
|
||||
#if HAS_BED_PROBE
|
||||
|| endstops.z_probe_enabled
|
||||
#endif
|
||||
) endstops.update();
|
||||
|
||||
// Take multiple steps per interrupt (For high speed moves)
|
||||
bool all_steps_done = false;
|
||||
for (int8_t i = 0; i < step_loops; i++) {
|
||||
#ifndef USBCON
|
||||
customizedSerial.checkRx(); // Check for serial chars.
|
||||
#endif
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
if (counter_E > 0) {
|
||||
counter_E -= current_block->step_event_count;
|
||||
#if DISABLED(MIXING_EXTRUDER)
|
||||
// Don't step E here for mixing extruder
|
||||
count_position[E_AXIS] += count_direction[E_AXIS];
|
||||
motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
|
||||
#endif
|
||||
}
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Step mixing steppers proportionally
|
||||
bool dir = motor_direction(E_AXIS);
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
counter_m[j] += current_block->steps[E_AXIS];
|
||||
if (counter_m[j] > 0) {
|
||||
counter_m[j] -= current_block->mix_event_count[j];
|
||||
dir ? --e_steps[j] : ++e_steps[j];
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Mixing extruders apply advance lead proportionally
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
e_steps[j] += steps;
|
||||
current_adv_steps[j] += steps;
|
||||
}
|
||||
#else
|
||||
// For most extruders, advance the single E stepper
|
||||
e_steps[TOOL_E_INDEX] += delta_adv_steps;
|
||||
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
|
||||
#endif
|
||||
}
|
||||
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
// Always count the unified E axis
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
if (counter_E > 0) {
|
||||
counter_E -= current_block->step_event_count;
|
||||
#if DISABLED(MIXING_EXTRUDER)
|
||||
// Don't step E here for mixing extruder
|
||||
motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
|
||||
#endif
|
||||
}
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
|
||||
// Step mixing steppers proportionally
|
||||
bool dir = motor_direction(E_AXIS);
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
counter_m[j] += current_block->steps[E_AXIS];
|
||||
if (counter_m[j] > 0) {
|
||||
counter_m[j] -= current_block->mix_event_count[j];
|
||||
dir ? --e_steps[j] : ++e_steps[j];
|
||||
}
|
||||
}
|
||||
|
||||
#endif // MIXING_EXTRUDER
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
#define _COUNTER(AXIS) counter_## AXIS
|
||||
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
|
||||
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
|
||||
|
||||
// Advance the Bresenham counter; start a pulse if the axis needs a step
|
||||
#define PULSE_START(AXIS) \
|
||||
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
|
||||
if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
|
||||
|
||||
// Stop an active pulse, reset the Bresenham counter, update the position
|
||||
#define PULSE_STOP(AXIS) \
|
||||
if (_COUNTER(AXIS) > 0) { \
|
||||
_COUNTER(AXIS) -= current_block->step_event_count; \
|
||||
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
|
||||
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
|
||||
}
|
||||
|
||||
// If a minimum pulse time was specified get the CPU clock
|
||||
#if MINIMUM_STEPPER_PULSE > 0
|
||||
static uint32_t pulse_start;
|
||||
pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
#if HAS_X_STEP
|
||||
PULSE_START(X);
|
||||
#endif
|
||||
#if HAS_Y_STEP
|
||||
PULSE_START(Y);
|
||||
#endif
|
||||
#if HAS_Z_STEP
|
||||
PULSE_START(Z);
|
||||
#endif
|
||||
|
||||
// For non-advance use linear interpolation for E also
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Keep updating the single E axis
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
// Tick the counters used for this mix
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
// Step mixing steppers (proportionally)
|
||||
counter_m[j] += current_block->steps[E_AXIS];
|
||||
// Step when the counter goes over zero
|
||||
if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
|
||||
}
|
||||
#else // !MIXING_EXTRUDER
|
||||
PULSE_START(E);
|
||||
#endif
|
||||
#endif // !ADVANCE && !LIN_ADVANCE
|
||||
|
||||
// For a minimum pulse time wait before stopping pulses
|
||||
#if MINIMUM_STEPPER_PULSE > 0
|
||||
#define CYCLES_EATEN_BY_CODE 10
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < (MINIMUM_STEPPER_PULSE * (F_CPU / 1000000UL)) - CYCLES_EATEN_BY_CODE) { /* nada */ }
|
||||
#endif
|
||||
|
||||
#if HAS_X_STEP
|
||||
PULSE_STOP(X);
|
||||
#endif
|
||||
#if HAS_Y_STEP
|
||||
PULSE_STOP(Y);
|
||||
#endif
|
||||
#if HAS_Z_STEP
|
||||
PULSE_STOP(Z);
|
||||
#endif
|
||||
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Always step the single E axis
|
||||
if (counter_E > 0) {
|
||||
counter_E -= current_block->step_event_count;
|
||||
count_position[E_AXIS] += count_direction[E_AXIS];
|
||||
}
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
if (counter_m[j] > 0) {
|
||||
counter_m[j] -= current_block->mix_event_count[j];
|
||||
En_STEP_WRITE(j, INVERT_E_STEP_PIN);
|
||||
}
|
||||
}
|
||||
#else // !MIXING_EXTRUDER
|
||||
PULSE_STOP(E);
|
||||
#endif
|
||||
#endif // !ADVANCE && !LIN_ADVANCE
|
||||
|
||||
if (++step_events_completed >= current_block->step_event_count) {
|
||||
all_steps_done = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
// If we have esteps to execute, fire the next advance_isr "now"
|
||||
if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
|
||||
// Take multiple steps per interrupt (For high speed moves)
|
||||
bool all_steps_done = false;
|
||||
for (int8_t i = 0; i < step_loops; i++) {
|
||||
#ifndef USBCON
|
||||
customizedSerial.checkRx(); // Check for serial chars.
|
||||
#endif
|
||||
|
||||
// Calculate new timer value
|
||||
uint16_t timer, step_rate;
|
||||
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
||||
acc_step_rate += current_block->initial_rate;
|
||||
|
||||
// upper limit
|
||||
NOMORE(acc_step_rate, current_block->nominal_rate);
|
||||
|
||||
// step_rate to timer interval
|
||||
timer = calc_timer(acc_step_rate);
|
||||
OCR1A = timer;
|
||||
acceleration_time += timer;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
|
||||
#else
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
#endif
|
||||
}
|
||||
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
advance += advance_rate * step_loops;
|
||||
//NOLESS(advance, current_block->advance);
|
||||
|
||||
long advance_whole = advance >> 8,
|
||||
advance_factor = advance_whole - old_advance;
|
||||
|
||||
// Do E steps + advance steps
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// ...for mixing steppers proportionally
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
#else
|
||||
// ...for the active extruder
|
||||
e_steps[TOOL_E_INDEX] += advance_factor;
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
if (counter_E > 0) {
|
||||
counter_E -= current_block->step_event_count;
|
||||
#if DISABLED(MIXING_EXTRUDER)
|
||||
// Don't step E here for mixing extruder
|
||||
count_position[E_AXIS] += count_direction[E_AXIS];
|
||||
motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
|
||||
#endif
|
||||
|
||||
old_advance = advance_whole;
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
|
||||
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
||||
|
||||
if (step_rate < acc_step_rate) { // Still decelerating?
|
||||
step_rate = acc_step_rate - step_rate;
|
||||
NOLESS(step_rate, current_block->final_rate);
|
||||
}
|
||||
else
|
||||
step_rate = current_block->final_rate;
|
||||
|
||||
// step_rate to timer interval
|
||||
timer = calc_timer(step_rate);
|
||||
OCR1A = timer;
|
||||
deceleration_time += timer;
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Step mixing steppers proportionally
|
||||
bool dir = motor_direction(E_AXIS);
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
counter_m[j] += current_block->steps[E_AXIS];
|
||||
if (counter_m[j] > 0) {
|
||||
counter_m[j] -= current_block->mix_event_count[j];
|
||||
dir ? --e_steps[j] : ++e_steps[j];
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
if (current_block->use_advance_lead) {
|
||||
int delta_adv_steps = (((long)extruder_advance_k * current_estep_rate[TOOL_E_INDEX]) >> 9) - current_adv_steps[TOOL_E_INDEX];
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Mixing extruders apply advance lead proportionally
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
int steps = delta_adv_steps * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
e_steps[j] += steps;
|
||||
current_adv_steps[j] += steps;
|
||||
}
|
||||
#else
|
||||
// For most extruders, advance the single E stepper
|
||||
e_steps[TOOL_E_INDEX] += delta_adv_steps;
|
||||
current_adv_steps[TOOL_E_INDEX] += delta_adv_steps;
|
||||
#endif
|
||||
}
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
current_estep_rate[j] = ((uint32_t)step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
|
||||
#else
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
#endif
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
// Always count the unified E axis
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
if (counter_E > 0) {
|
||||
counter_E -= current_block->step_event_count;
|
||||
#if DISABLED(MIXING_EXTRUDER)
|
||||
// Don't step E here for mixing extruder
|
||||
motor_direction(E_AXIS) ? --e_steps[TOOL_E_INDEX] : ++e_steps[TOOL_E_INDEX];
|
||||
#endif
|
||||
}
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
|
||||
// Step mixing steppers proportionally
|
||||
bool dir = motor_direction(E_AXIS);
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
counter_m[j] += current_block->steps[E_AXIS];
|
||||
if (counter_m[j] > 0) {
|
||||
counter_m[j] -= current_block->mix_event_count[j];
|
||||
dir ? --e_steps[j] : ++e_steps[j];
|
||||
}
|
||||
}
|
||||
|
||||
#elif ENABLED(ADVANCE)
|
||||
#endif // MIXING_EXTRUDER
|
||||
|
||||
advance -= advance_rate * step_loops;
|
||||
NOLESS(advance, final_advance);
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
// Do E steps + advance steps
|
||||
long advance_whole = advance >> 8,
|
||||
advance_factor = advance_whole - old_advance;
|
||||
#define _COUNTER(AXIS) counter_## AXIS
|
||||
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
|
||||
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
|
||||
|
||||
// Advance the Bresenham counter; start a pulse if the axis needs a step
|
||||
#define PULSE_START(AXIS) \
|
||||
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
|
||||
if (_COUNTER(AXIS) > 0) { _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0); }
|
||||
|
||||
// Stop an active pulse, reset the Bresenham counter, update the position
|
||||
#define PULSE_STOP(AXIS) \
|
||||
if (_COUNTER(AXIS) > 0) { \
|
||||
_COUNTER(AXIS) -= current_block->step_event_count; \
|
||||
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
|
||||
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
|
||||
}
|
||||
|
||||
// If a minimum pulse time was specified get the CPU clock
|
||||
#if MINIMUM_STEPPER_PULSE > 0
|
||||
static uint32_t pulse_start;
|
||||
pulse_start = TCNT0;
|
||||
#endif
|
||||
|
||||
#if HAS_X_STEP
|
||||
PULSE_START(X);
|
||||
#endif
|
||||
#if HAS_Y_STEP
|
||||
PULSE_START(Y);
|
||||
#endif
|
||||
#if HAS_Z_STEP
|
||||
PULSE_START(Z);
|
||||
#endif
|
||||
|
||||
// For non-advance use linear interpolation for E also
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Keep updating the single E axis
|
||||
counter_E += current_block->steps[E_AXIS];
|
||||
// Tick the counters used for this mix
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
// Step mixing steppers (proportionally)
|
||||
counter_m[j] += current_block->steps[E_AXIS];
|
||||
// Step when the counter goes over zero
|
||||
if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN);
|
||||
}
|
||||
#else // !MIXING_EXTRUDER
|
||||
PULSE_START(E);
|
||||
#endif
|
||||
#endif // !ADVANCE && !LIN_ADVANCE
|
||||
|
||||
// For a minimum pulse time wait before stopping pulses
|
||||
#if MINIMUM_STEPPER_PULSE > 0
|
||||
#define CYCLES_EATEN_BY_CODE 10
|
||||
while ((uint32_t)(TCNT0 - pulse_start) < (MINIMUM_STEPPER_PULSE * (F_CPU / 1000000UL)) - CYCLES_EATEN_BY_CODE) { /* nada */ }
|
||||
#endif
|
||||
|
||||
#if HAS_X_STEP
|
||||
PULSE_STOP(X);
|
||||
#endif
|
||||
#if HAS_Y_STEP
|
||||
PULSE_STOP(Y);
|
||||
#endif
|
||||
#if HAS_Z_STEP
|
||||
PULSE_STOP(Z);
|
||||
#endif
|
||||
|
||||
#if DISABLED(ADVANCE) && DISABLED(LIN_ADVANCE)
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// Always step the single E axis
|
||||
if (counter_E > 0) {
|
||||
counter_E -= current_block->step_event_count;
|
||||
count_position[E_AXIS] += count_direction[E_AXIS];
|
||||
}
|
||||
MIXING_STEPPERS_LOOP(j) {
|
||||
if (counter_m[j] > 0) {
|
||||
counter_m[j] -= current_block->mix_event_count[j];
|
||||
En_STEP_WRITE(j, INVERT_E_STEP_PIN);
|
||||
}
|
||||
}
|
||||
#else // !MIXING_EXTRUDER
|
||||
PULSE_STOP(E);
|
||||
#endif
|
||||
#endif // !ADVANCE && !LIN_ADVANCE
|
||||
|
||||
if (++step_events_completed >= current_block->step_event_count) {
|
||||
all_steps_done = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
// If we have esteps to execute, fire the next advance_isr "now"
|
||||
if (e_steps[TOOL_E_INDEX]) OCR0A = TCNT0 + 2;
|
||||
#endif
|
||||
|
||||
// Calculate new timer value
|
||||
uint16_t timer, step_rate;
|
||||
if (step_events_completed <= (uint32_t)current_block->accelerate_until) {
|
||||
|
||||
MultiU24X32toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
||||
acc_step_rate += current_block->initial_rate;
|
||||
|
||||
// upper limit
|
||||
NOMORE(acc_step_rate, current_block->nominal_rate);
|
||||
|
||||
// step_rate to timer interval
|
||||
timer = calc_timer(acc_step_rate);
|
||||
OCR1A = timer;
|
||||
acceleration_time += timer;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
current_estep_rate[j] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
|
||||
#else
|
||||
e_steps[TOOL_E_INDEX] += advance_factor;
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)acc_step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
#endif
|
||||
}
|
||||
|
||||
old_advance = advance_whole;
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
advance += advance_rate * step_loops;
|
||||
//NOLESS(advance, current_block->advance);
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
|
||||
|
||||
eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
|
||||
long advance_whole = advance >> 8,
|
||||
advance_factor = advance_whole - old_advance;
|
||||
|
||||
// Do E steps + advance steps
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
// ...for mixing steppers proportionally
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
#else
|
||||
// ...for the active extruder
|
||||
e_steps[TOOL_E_INDEX] += advance_factor;
|
||||
#endif
|
||||
|
||||
OCR1A = OCR1A_nominal;
|
||||
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
||||
step_loops = step_loops_nominal;
|
||||
}
|
||||
old_advance = advance_whole;
|
||||
|
||||
NOLESS(OCR1A, TCNT1 + 16);
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
// If current block is finished, reset pointer
|
||||
if (all_steps_done) {
|
||||
current_block = NULL;
|
||||
planner.discard_current_block();
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else if (step_events_completed > (uint32_t)current_block->decelerate_after) {
|
||||
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
|
||||
|
||||
if (step_rate < acc_step_rate) { // Still decelerating?
|
||||
step_rate = acc_step_rate - step_rate;
|
||||
NOLESS(step_rate, current_block->final_rate);
|
||||
}
|
||||
else
|
||||
step_rate = current_block->final_rate;
|
||||
|
||||
// step_rate to timer interval
|
||||
timer = calc_timer(step_rate);
|
||||
OCR1A = timer;
|
||||
deceleration_time += timer;
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead) {
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
current_estep_rate[j] = ((uint32_t)step_rate * current_block->e_speed_multiplier8 * current_block->step_event_count / current_block->mix_event_count[j]) >> 8;
|
||||
#else
|
||||
current_estep_rate[TOOL_E_INDEX] = ((uint32_t)step_rate * current_block->e_speed_multiplier8) >> 8;
|
||||
#endif
|
||||
}
|
||||
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
advance -= advance_rate * step_loops;
|
||||
NOLESS(advance, final_advance);
|
||||
|
||||
// Do E steps + advance steps
|
||||
long advance_whole = advance >> 8,
|
||||
advance_factor = advance_whole - old_advance;
|
||||
|
||||
#if ENABLED(MIXING_EXTRUDER)
|
||||
MIXING_STEPPERS_LOOP(j)
|
||||
e_steps[j] += advance_factor * current_block->step_event_count / current_block->mix_event_count[j];
|
||||
#else
|
||||
e_steps[TOOL_E_INDEX] += advance_factor;
|
||||
#endif
|
||||
|
||||
old_advance = advance_whole;
|
||||
|
||||
#endif // ADVANCE or LIN_ADVANCE
|
||||
|
||||
#if ENABLED(ADVANCE) || ENABLED(LIN_ADVANCE)
|
||||
eISR_Rate = (timer >> 2) * step_loops / abs(e_steps[TOOL_E_INDEX]);
|
||||
#endif
|
||||
}
|
||||
else {
|
||||
|
||||
#if ENABLED(LIN_ADVANCE)
|
||||
|
||||
if (current_block->use_advance_lead)
|
||||
current_estep_rate[TOOL_E_INDEX] = final_estep_rate;
|
||||
|
||||
eISR_Rate = (OCR1A_nominal >> 2) * step_loops_nominal / abs(e_steps[TOOL_E_INDEX]);
|
||||
|
||||
#endif
|
||||
|
||||
OCR1A = OCR1A_nominal;
|
||||
// ensure we're running at the correct step rate, even if we just came off an acceleration
|
||||
step_loops = step_loops_nominal;
|
||||
}
|
||||
|
||||
NOLESS(OCR1A, TCNT1 + 16);
|
||||
|
||||
// If current block is finished, reset pointer
|
||||
if (all_steps_done) {
|
||||
current_block = NULL;
|
||||
planner.discard_current_block();
|
||||
}
|
||||
}
|
||||
|
||||
@ -936,6 +934,9 @@ void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
|
||||
* derive the current XYZ position later on.
|
||||
*/
|
||||
void Stepper::set_position(const long& x, const long& y, const long& z, const long& e) {
|
||||
|
||||
synchronize(); // Bad to set stepper counts in the middle of a move
|
||||
|
||||
CRITICAL_SECTION_START;
|
||||
|
||||
#if ENABLED(COREXY)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user