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MarlinKimbra
Commit 14af5afb authored by MagoKimbra's avatar MagoKimbra
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Update v4_2_6

parent d5cef6c9
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Showing with 417 additions and 469 deletions
MK/Configuration_Feature.h
View file @ 14af5afb
......@@ -561,8 +561,7 @@
//#define ADVANCE
#define EXTRUDER_ADVANCE_K .0
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
#define D_FILAMENT 1.75
/*****************************************************************************************/
......
MK/module/MK_Main.cpp
View file @ 14af5afb
......@@ -99,7 +99,7 @@ static millis_t max_inactive_time = 0;
static millis_t stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME * 1000UL;
millis_t print_job_start_ms = 0; ///< Print job start time
millis_t print_job_stop_ms = 0; ///< Print job stop time
static int8_t target_extruder;
static uint8_t target_extruder;
bool no_wait_for_cooling = true;
bool target_direction;
bool software_endstops = true;
......@@ -127,7 +127,7 @@ double printer_usage_filament;
#endif
#if ENABLED(NPR2)
int old_color = 99;
uint8_t old_color = 99;
#endif
#if ENABLED(RFID_MODULE)
......@@ -182,9 +182,9 @@ double printer_usage_filament;
float tower_adj[6] = { 0 };
float delta_radius; // = DEFAULT_delta_radius;
float delta_diagonal_rod; // = DEFAULT_DELTA_DIAGONAL_ROD;
float DELTA_DIAGONAL_ROD1_2;
float DELTA_DIAGONAL_ROD2_2;
float DELTA_DIAGONAL_ROD3_2;
float delta_diagonal_rod_1;
float delta_diagonal_rod_2;
float delta_diagonal_rod_3;
float ac_prec = AUTOCALIBRATION_PRECISION;
float delta_tower1_x, delta_tower1_y,
delta_tower2_x, delta_tower2_y,
......@@ -621,7 +621,7 @@ void setup() {
ECHO_EMV(SERIAL_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
#if ENABLED(SDSUPPORT)
for (int8_t i = 0; i < BUFSIZE; i++) fromsd[i] = false;
for (uint8_t i = 0; i < BUFSIZE; i++) fromsd[i] = false;
#endif
// loads custom configuration from SDCARD if available else uses defaults
......@@ -674,11 +674,11 @@ void setup() {
#if ENABLED(MIXING_EXTRUDER_FEATURE) && MIXING_VIRTUAL_TOOLS > 1
// Initialize mixing to 100% color 1
for (int8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
mixing_factor[i] = (i == 0) ? 1 : 0;
}
for (int8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++) {
for (int8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
for (uint8_t t = 0; t < EXTRUDERS; t++) {
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
}
}
......@@ -1249,7 +1249,7 @@ static void clean_up_after_endstop_move() {
st_synchronize();
// Tell the planner where we ended up - Get this from the stepper handler
zPosition = st_get_position_mm(Z_AXIS);
zPosition = st_get_axis_position_mm(Z_AXIS);
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
// move up the retract distance
......@@ -1267,7 +1267,7 @@ static void clean_up_after_endstop_move() {
endstops_hit_on_purpose(); // clear endstop hit flags
// Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
sync_plan_position();
if (debugLevel & DEBUG_INFO) {
......@@ -1342,8 +1342,7 @@ static void clean_up_after_endstop_move() {
#if HASNT(Z_PROBE_SLED)
if (probe_action & ProbeDeploy) {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "> ProbeDeploy");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "> ProbeDeploy");
deploy_z_probe();
}
#endif
......@@ -1353,21 +1352,19 @@ static void clean_up_after_endstop_move() {
#if HASNT(Z_PROBE_SLED)
if (probe_action & ProbeStow) {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "> ProbeStow (stow_z_probe will do Z Raise)");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "> ProbeStow (stow_z_probe will do Z Raise)");
stow_z_probe();
}
#endif
if (verbose_level > 2) {
ECHO_SM(INFO, SERIAL_BED_LEVELLING_BED);
ECHO_SM(DB, SERIAL_BED_LEVELLING_BED);
ECHO_MV(SERIAL_BED_LEVELLING_X, x, 3);
ECHO_MV(SERIAL_BED_LEVELLING_Y, y, 3);
ECHO_EMV(SERIAL_BED_LEVELLING_Z, measured_z, 3);
}
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< probe_pt");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< probe_pt");
return measured_z;
}
......@@ -1511,8 +1508,7 @@ static void clean_up_after_endstop_move() {
// Deploy a probe if there is one, and homing towards the bed
if (axis == Z_AXIS) {
if (axis_home_dir < 0) {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "> SERVO_LEVELING > stow_z_probe");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "> SERVO_LEVELING > stow_z_probe");
stow_z_probe();
}
}
......@@ -1522,8 +1518,7 @@ static void clean_up_after_endstop_move() {
#if HAS(SERVO_ENDSTOPS)
// Retract Servo endstop if enabled
if (servo_endstop_id[axis] >= 0) {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "> SERVO_ENDSTOPS > Stow with servo.move()");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "> SERVO_ENDSTOPS > Stow with servo.move()");
servo[servo_endstop_id[axis]].move(servo_endstop_angle[axis][1]);
}
#endif
......@@ -1592,8 +1587,7 @@ static void clean_up_after_endstop_move() {
enable_endstops(true); // Enable endstops for next homing move
}
if (debugLevel & DEBUG_INFO)
ECHO_LMV(INFO, "> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
if (debugLevel & DEBUG_INFO) ECHO_LMV(INFO, "> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
// Set the axis position to its home position (plus home offsets)
set_axis_is_at_home(axis);
......@@ -1623,9 +1617,9 @@ static void clean_up_after_endstop_move() {
base_max_pos[Z_AXIS] = max_pos[Z_AXIS];
base_home_pos[Z_AXIS] = max_pos[Z_AXIS];
DELTA_DIAGONAL_ROD1_2 = pow(delta_diagonal_rod + diagrod_adj[0], 2);
DELTA_DIAGONAL_ROD2_2 = pow(delta_diagonal_rod + diagrod_adj[1], 2);
DELTA_DIAGONAL_ROD3_2 = pow(delta_diagonal_rod + diagrod_adj[2], 2);
delta_diagonal_rod_1 = pow(delta_diagonal_rod + diagrod_adj[0], 2);
delta_diagonal_rod_2 = pow(delta_diagonal_rod + diagrod_adj[1], 2);
delta_diagonal_rod_3 = pow(delta_diagonal_rod + diagrod_adj[2], 2);
// Effective X/Y positions of the three vertical towers.
delta_tower1_x = (delta_radius + tower_adj[3]) * cos((210 + tower_adj[0]) * M_PI/180); // front left tower
......@@ -1636,6 +1630,11 @@ static void clean_up_after_endstop_move() {
delta_tower3_y = (delta_radius + tower_adj[5]) * sin((90 + tower_adj[2]) * M_PI/180);
}
bool Equal_AB(const float A, const float B, const float prec = 0.002) {
if (abs(A - B) <= prec) return true;
return false;
}
static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
if (bed_level[x][y] != 0.0) {
return; // Don't overwrite good values.
......@@ -1682,8 +1681,7 @@ static void clean_up_after_endstop_move() {
// Reset calibration results to zero.
void reset_bed_level() {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "reset_bed_level");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "reset_bed_level");
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
bed_level[x][y] = 0.0;
......@@ -1692,7 +1690,6 @@ static void clean_up_after_endstop_move() {
}
void deploy_z_probe() {
#if HAS(SERVO_ENDSTOPS)
// Engage Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
......@@ -1751,7 +1748,6 @@ static void clean_up_after_endstop_move() {
}
void apply_endstop_adjustment(float x_endstop, float y_endstop, float z_endstop) {
memcpy(saved_endstop_adj, endstop_adj, sizeof(saved_endstop_adj));
endstop_adj[X_AXIS] += x_endstop;
endstop_adj[Y_AXIS] += y_endstop;
......@@ -1812,21 +1808,34 @@ static void clean_up_after_endstop_move() {
} while (((x_done == false) or (y_done == false) or (z_done == false)));
float high_endstop = 0;
float low_endstop = 0;
for (int8_t i = 0; i < 3; i++) {
float low_endstop = 99;
for (uint8_t i = 0; i < 3; i++) {
if (endstop_adj[i] > high_endstop) high_endstop = endstop_adj[i];
if (endstop_adj[i] < low_endstop) low_endstop = endstop_adj[i];
if (abs(endstop_adj[i]) < low_endstop) low_endstop = endstop_adj[i];
}
if (debugLevel & DEBUG_INFO) {
ECHO_SMV(INFO, "High endstop: ", high_endstop, 4);
ECHO_EMV(" Low endstop: ", low_endstop, 4);
}
if (high_endstop > 0) {
ECHO_LMV(DB, "Reducing Build height by ", high_endstop);
for(int8_t i = 0; i < 3; i++) {
for(uint8_t i = 0; i < 3; i++) {
endstop_adj[i] -= high_endstop;
}
max_pos[Z_AXIS] -= high_endstop;
set_delta_constants();
}
else if (low_endstop < 0) {
ECHO_LMV(DB, "Increment Build height by ", abs(low_endstop));
for(uint8_t i = 0; i < 3; i++) {
endstop_adj[i] -= low_endstop;
}
max_pos[Z_AXIS] -= low_endstop;
}
set_delta_constants();
bed_safe_z = 20;
}
......@@ -1840,7 +1849,7 @@ static void clean_up_after_endstop_move() {
float xy_diff, yz_diff, xz_diff;
float low_opp, high_opp;
for (int8_t i = 0; i < 6; i++) saved_tower_adj[i] = tower_adj[i];
for (uint8_t i = 0; i < 6; i++) saved_tower_adj[i] = tower_adj[i];
err_tower = 0;
......@@ -1864,9 +1873,10 @@ static void clean_up_after_endstop_move() {
xy_equal = false;
xz_equal = false;
yz_equal = false;
if (abs(x_diff - y_diff) <= ac_prec) xy_equal = true;
if (abs(x_diff - z_diff) <= ac_prec) xz_equal = true;
if (abs(y_diff - z_diff) <= ac_prec) yz_equal = true;
if (Equal_AB(x_diff, y_diff, ac_prec)) xy_equal = true;
if (Equal_AB(x_diff, z_diff, ac_prec)) xz_equal = true;
if (Equal_AB(y_diff, z_diff, ac_prec)) yz_equal = true;
ECHO_SM(DB, "xy_equal = ");
if (xy_equal == true) ECHO_EM("true"); else ECHO_EM("false");
ECHO_SM(DB, "xz_equal = ");
......@@ -1883,7 +1893,7 @@ static void clean_up_after_endstop_move() {
ECHO_LMV(DB, "Opp Range = ", high_opp - low_opp, 5);
if (high_opp - low_opp <= ac_prec) {
if (Equal_AB(high_opp, low_opp, ac_prec)) {
ECHO_LM(DB, "Opposite Points within Limits - Adjustment not required");
t1_err = false;
t2_err = false;
......@@ -1894,9 +1904,9 @@ static void clean_up_after_endstop_move() {
if ((t1_err == true) and (t2_err == true) and (t3_err == true)) {
if ((xy_equal == false) or (xz_equal == false) or (yz_equal == false)) {
// Errors not equal .. select the tower that needs to be adjusted
if (abs(high_diff - x_diff) < 0.00001) err_tower = 1;
if (abs(high_diff - y_diff) < 0.00001) err_tower = 2;
if (abs(high_diff - z_diff) < 0.00001) err_tower = 3;
if (Equal_AB(high_diff, x_diff, 0.00001)) err_tower = 1;
if (Equal_AB(high_diff, y_diff, 0.00001)) err_tower = 2;
if (Equal_AB(high_diff, z_diff, 0.00001)) err_tower = 3;
ECHO_SMV(DB, "Tower ", err_tower);
ECHO_EM(" has largest error");
}
......@@ -1908,12 +1918,10 @@ static void clean_up_after_endstop_move() {
}
}
/*
// Two tower errors
if ((t1_err == true) and (t2_err == true) and (t3_err == false)) err_tower = 3;
if ((t1_err == true) and (t2_err == false) and (t3_err == true)) err_tower = 2;
if ((t1_err == false) and (t2_err == true) and (t3_err == true)) err_tower = 1;
*/
// Single tower error
if ((t1_err == true) and (t2_err == false) and (t3_err == false)) err_tower = 1;
......@@ -1955,27 +1963,27 @@ static void clean_up_after_endstop_move() {
//Set return value to indicate if anything has been changed (0 = no change)
int retval = 0;
for (int8_t i = 0; i < 6; i++) if (saved_tower_adj[i] != tower_adj[i]) retval++;
for (uint8_t i = 0; i < 6; i++) if (saved_tower_adj[i] != tower_adj[i]) retval++;
return retval;
}
int adj_deltaradius() {
bool adj_deltaradius() {
float adj_r;
float prev_c;
int c_nochange_count = 0;
uint8_t c_nochange_count = 0;
float nochange_r;
bed_level_c = probe_bed(0.0, 0.0);
if ((bed_level_c >= -ac_prec / 2) and (bed_level_c <= ac_prec / 2)) {
if ((bed_level_c >= -ac_prec) and (bed_level_c <= ac_prec)) {
ECHO_LM(DB, "Delta Radius OK");
return 0;
return false;
}
else {
ECHO_LM(DB, "Adjusting Delta Radius");
//set inital direction and magnitude for delta radius adjustment
adj_r = 0.1;
if (bed_level_c > 0) adj_r = -0.1;
// set initial direction and magnitude for delta radius adjustment
adj_r = 0.5;
if (bed_level_c > 0) adj_r = -0.5;
bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];
......@@ -1988,14 +1996,14 @@ static void clean_up_after_endstop_move() {
//Show progress
ECHO_SMV(DB, "r:", delta_radius, 4);
ECHO_MV(" (adj:", adj_r, 4);
ECHO_EMV(") c:",bed_level_c, 4);
ECHO_MV(" (adj:", adj_r, 6);
ECHO_EMV(") c:", bed_level_c, 4);
//Adjust delta radius
if (((adj_r > 0) and (bed_level_c < prev_c)) or ((adj_r < 0) and (bed_level_c > prev_c))) adj_r = -(adj_r / 2);
//Count iterations with no change to c probe point
if (bed_level_c == prev_c) c_nochange_count ++;
if (Equal_AB(bed_level_c, prev_c)) c_nochange_count ++;
if (c_nochange_count == 1) nochange_r = delta_radius;
} while(((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)) and (c_nochange_count < 3));
......@@ -2005,7 +2013,7 @@ static void clean_up_after_endstop_move() {
set_delta_constants();
bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];
}
return 1;
return true;
}
}
......@@ -2068,7 +2076,7 @@ static void clean_up_after_endstop_move() {
adj_target = target + temp;
if (((bed_level_ox < adj_target) and (adj_t1_Radius > 0)) or ((bed_level_ox > adj_target) and (adj_t1_Radius < 0))) adj_t1_Radius = -(adj_t1_Radius / 2);
if (bed_level_ox == adj_target) t1_done = true;
if ((bed_level_ox + 0.0001 > prev_bed_level) and (bed_level_ox - 0.0001 < prev_bed_level) and (adj_target + 0.0001 > prev_target) and (adj_target - 0.0001 < prev_target)) nochange_count ++;
if (Equal_AB(bed_level_ox, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
t1_done = true;
......@@ -2095,7 +2103,7 @@ static void clean_up_after_endstop_move() {
adj_target = target + temp;
if (((bed_level_oy < adj_target) and (adj_t2_Radius > 0)) or ((bed_level_oy > adj_target) and (adj_t2_Radius < 0))) adj_t2_Radius = -(adj_t2_Radius / 2);
if (bed_level_oy == adj_target) t2_done = true;
if ((bed_level_oy + 0.0001 > prev_bed_level) and (bed_level_oy - 0.0001 < prev_bed_level) and (adj_target + 0.0001 > prev_target) and (adj_target - 0.0001 < prev_target)) nochange_count ++;
if (Equal_AB(bed_level_oy, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
t2_done = true;
......@@ -2122,7 +2130,7 @@ static void clean_up_after_endstop_move() {
adj_target = target + temp;
if (((bed_level_oz < adj_target) and (adj_t3_Radius > 0)) or ((bed_level_oz > adj_target) and (adj_t3_Radius < 0))) adj_t3_Radius = -(adj_t3_Radius / 2);
if (bed_level_oz == adj_target) t3_done = true;
if ((bed_level_oz + 0.0001 > prev_bed_level) and (bed_level_oz - 0.0001 < prev_bed_level) and (adj_target + 0.0001 > prev_target) and (adj_target - 0.0001 < prev_target)) nochange_count ++;
if (Equal_AB(bed_level_oz, prev_bed_level) and Equal_AB(adj_target, prev_target)) nochange_count ++;
if (nochange_count > 1) {
ECHO_LM(DB, "Stuck in Loop.. Exiting");
t3_done = true;
......@@ -2132,7 +2140,6 @@ static void clean_up_after_endstop_move() {
ECHO_MV(" tower radius adj:", tower_adj[5], 6);
if (t3_done == true) ECHO_EM(" done:true"); else ECHO_EM(" done:false");
}
} while ((t1_done == false) or (t2_done == false) or (t3_done == false));
}
......@@ -2142,7 +2149,6 @@ static void clean_up_after_endstop_move() {
float adj_prv;
do {
tower_adj[tower - 1] += adj_val;
set_delta_constants();
......@@ -2178,7 +2184,7 @@ static void clean_up_after_endstop_move() {
adj_val = -adj_mag;
}
//Show Adjustments made
// Show Adjustments made
if (tower == 1) {
ECHO_SMV(DB, "oy:", bed_level_oy, 4);
ECHO_MV(" oz:", bed_level_oz, 4);
......@@ -2227,7 +2233,7 @@ static void clean_up_after_endstop_move() {
if ((bed_level_c - 0.005 < target) and (bed_level_c + 0.005 > target)) adj_val = 0;
//If adj magnatude is very small.. quit adjusting
// If adj magnatude is very small.. quit adjusting
if ((abs(adj_val) < 0.001) and (adj_val != 0)) adj_val = 0;
ECHO_SMV(DB, "target:", target, 4);
......@@ -2260,9 +2266,9 @@ static void clean_up_after_endstop_move() {
sync_plan_position_delta();
// Save tower carriage positions for G30 diagnostic reports
saved_position[X_AXIS] = st_get_position_mm(X_AXIS);
saved_position[Y_AXIS] = st_get_position_mm(Y_AXIS);
saved_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
saved_position[X_AXIS] = st_get_axis_position_mm(X_AXIS);
saved_position[Y_AXIS] = st_get_axis_position_mm(Y_AXIS);
saved_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
destination[Z_AXIS] = mm + Z_RAISE_BETWEEN_PROBINGS;
prepare_move_raw();
......@@ -2318,8 +2324,8 @@ static void clean_up_after_endstop_move() {
bed_level[xCount][yCount] = probe_bed(xProbe, yProbe);
idle();
} //xProbe
} //yProbe
} // xProbe
} // yProbe
extrapolate_unprobed_bed_level();
print_bed_level();
......@@ -2350,7 +2356,9 @@ static void clean_up_after_endstop_move() {
if (probe_bed_array[i] >= 0) ECHO_M(" ");
ECHO_VM(probe_bed_array[i], " ", 4);
}
ECHO_EMV("mean ", probe_z, 4);
ECHO_M("mean");
if (probe_z >= 0) ECHO_M(" ");
ECHO_EV(probe_z, 4);
}
bed_safe_z = probe_z + 5;
......@@ -2358,17 +2366,16 @@ static void clean_up_after_endstop_move() {
}
void bed_probe_all() {
//Do inital move to safe z level above bed
// Do inital move to safe z level above bed
feedrate = AUTOCAL_TRAVELRATE * 60;
destination[Z_AXIS] = bed_safe_z;
prepare_move_raw();
st_synchronize();
//Initial throwaway probe.. used to stabilize probe
// Initial throwaway probe.. used to stabilize probe
bed_level_c = probe_bed(0.0, 0.0);
//save_carriage_positions(0);
//Probe all bed positions & store carriage positions
// Probe all bed positions & store carriage positions
bed_level_z = probe_bed(0.0, bed_radius);
save_carriage_positions(1);
bed_level_oy = probe_bed(-SIN_60 * bed_radius, COS_60 * bed_radius);
......@@ -2386,7 +2393,7 @@ static void clean_up_after_endstop_move() {
}
void calibration_report() {
//Display Report
// Display Report
ECHO_LM(DB, "|\tZ-Tower\t\t\tEndstop Offsets");
ECHO_SM(DB, "| \t");
......@@ -2431,7 +2438,7 @@ static void clean_up_after_endstop_move() {
}
void save_carriage_positions(int position_num) {
for(int8_t i = 0; i < 3; i++) {
for(uint8_t i = 0; i < 3; i++) {
saved_positions[position_num][i] = saved_position[i];
}
}
......@@ -2491,15 +2498,15 @@ static void clean_up_after_endstop_move() {
}
void calculate_delta(float cartesian[3]) {
delta[X_AXIS] = sqrt(DELTA_DIAGONAL_ROD1_2
delta[X_AXIS] = sqrt(delta_diagonal_rod_1
- sq(delta_tower1_x - cartesian[X_AXIS])
- sq(delta_tower1_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Y_AXIS] = sqrt(DELTA_DIAGONAL_ROD2_2
delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
- sq(delta_tower2_x - cartesian[X_AXIS])
- sq(delta_tower2_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Z_AXIS] = sqrt(DELTA_DIAGONAL_ROD3_2
delta[Z_AXIS] = sqrt(delta_diagonal_rod_3
- sq(delta_tower3_x - cartesian[X_AXIS])
- sq(delta_tower3_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
......@@ -2549,7 +2556,7 @@ static void clean_up_after_endstop_move() {
#if ENABLED(COLOR_MIXING_EXTRUDER)
void normalize_mix() {
float mix_total = 0.0;
for (int8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
float v = mixing_factor[i];
if (v < 0) v = mixing_factor[i] = 0;
mix_total += v;
......@@ -2559,7 +2566,7 @@ static void clean_up_after_endstop_move() {
if (mix_total < 0.9999 || mix_total > 1.0001) {
ECHO_EM("Warning: Mix factors must add up to 1.0. Scaling.");
float mix_scale = 1.0 / mix_total;
for (int8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
mixing_factor[i] *= mix_scale;
}
}
......@@ -2570,7 +2577,7 @@ static void clean_up_after_endstop_move() {
// The total "must" be 1.0 (but it will be normalized)
void gcode_get_mix() {
const char* mixing_codes = "ABCDHI";
for (int8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
mixing_factor[i] = code_seen(mixing_codes[i]) ? code_value() : 0;
}
normalize_mix();
......@@ -2666,8 +2673,7 @@ static void clean_up_after_endstop_move() {
* offset[in] The additional distance to move to adjust docking location
*/
static void dock_sled(bool dock, int offset=0) {
if (debugLevel & DEBUG_INFO)
ECHO_LMV(INFO, "dock_sled", dock);
if (debugLevel & DEBUG_INFO) ECHO_LMV(INFO, "dock_sled", dock);
if (axis_known_position & (BIT(X_AXIS)|BIT(Y_AXIS)) != (BIT(X_AXIS)|BIT(Y_AXIS))) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
......@@ -2704,7 +2710,7 @@ static void clean_up_after_endstop_move() {
ECHO_MV(" /", degTargetBed(), 1);
#endif
#if HOTENDS > 1
for (int8_t h = 0; h < HOTENDS; ++h) {
for (uint8_t h = 0; h < HOTENDS; ++h) {
ECHO_MV(" T", h);
ECHO_MV(":", degHotend(h), 1);
ECHO_MV(" /", degTargetHotend(h), 1);
......@@ -2725,7 +2731,7 @@ static void clean_up_after_endstop_move() {
ECHO_V(getHeaterPower(target_extruder));
#endif
#if HOTENDS > 1
for (int8_t h = 0; h < HOTENDS; ++h) {
for (uint8_t h = 0; h < HOTENDS; ++h) {
ECHO_MV(" " SERIAL_AT, h);
ECHO_C(':');
#if ENABLED(HOTEND_WATTS)
......@@ -2740,7 +2746,7 @@ static void clean_up_after_endstop_move() {
ECHO_MV(" ADC B:", degBed(), 1);
ECHO_MV("C->", rawBedTemp() / OVERSAMPLENR, 0);
#endif
for (int8_t cur_hotend = 0; cur_hotend < HOTENDS; ++cur_hotend) {
for (uint8_t cur_hotend = 0; cur_hotend < HOTENDS; ++cur_hotend) {
ECHO_MV(" T", cur_hotend);
ECHO_MV(":", degHotend(cur_hotend), 1);
ECHO_MV("C->", rawHotendTemp(cur_hotend) / OVERSAMPLENR, 0);
......@@ -2765,7 +2771,7 @@ inline void wait_heater() {
(residency_start_ms >= 0 && (((millis_t) (millis() - residency_start_ms)) < (TEMP_RESIDENCY_TIME * 1000UL)))) )
#else
while ( target_direction ? (isHeatingHotend(target_extruder)) : (isCoolingHotend(target_extruder)&&(no_wait_for_cooling==false)) )
#endif //TEMP_RESIDENCY_TIME
#endif // TEMP_RESIDENCY_TIME
{ // while loop
if (millis() > temp_ms + 1000UL) { //Print temp & remaining time every 1s while waiting
......@@ -2798,7 +2804,7 @@ inline void wait_heater() {
{
residency_start_ms = millis();
}
#endif //TEMP_RESIDENCY_TIME
#endif // TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
......@@ -2994,9 +3000,7 @@ inline void gcode_G4() {
*
*/
inline void gcode_G28() {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "gcode_G28 >>>");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "gcode_G28 >>>");
// Wait for planner moves to finish!
st_synchronize();
......@@ -3205,7 +3209,7 @@ inline void gcode_G28() {
refresh_cmd_timeout();
enable_endstops(true);
for(int8_t i = 0; i < NUM_AXIS; i++) {
for(uint8_t i = 0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0.0;
......@@ -3291,8 +3295,7 @@ inline void gcode_G28() {
}
#elif ENABLED(Z_SAFE_HOMING) && ENABLED(AUTO_BED_LEVELING_FEATURE)// Z Safe mode activated.
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "> Z_SAFE_HOMING >>>");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "> Z_SAFE_HOMING >>>");
if (home_all_axis) {
......@@ -3367,8 +3370,7 @@ inline void gcode_G28() {
ECHO_LM(DB, MSG_POSITION_UNKNOWN);
}
}
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< Z_SAFE_HOMING");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< Z_SAFE_HOMING");
#elif ENABLED(Z_SAFE_HOMING)
if (home_all_axis || homeZ) {
......@@ -3402,10 +3404,9 @@ inline void gcode_G28() {
ECHO_LM(ER, MSG_POSITION_UNKNOWN);
}
}
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< Z_SAFE_HOMING");
#endif //Z_SAFE_HOMING
#endif //Z_HOME_DIR < 0
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< Z_SAFE_HOMING");
#endif // Z_SAFE_HOMING
#endif // Z_HOME_DIR < 0
sync_plan_position();
......@@ -3448,8 +3449,7 @@ inline void gcode_G28() {
gfx_cursor_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
#endif
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< gcode_G28");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< gcode_G28");
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
......@@ -3497,9 +3497,7 @@ inline void gcode_G28() {
*
*/
inline void gcode_G29() {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "gcode_G29 >>>");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "gcode_G29 >>>");
// Don't allow auto-leveling without homing first
if (axis_known_position & (BIT(X_AXIS)|BIT(Y_AXIS)) != (BIT(X_AXIS)|BIT(Y_AXIS))) {
......@@ -3580,10 +3578,10 @@ inline void gcode_G28() {
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
plan_bed_level_matrix.set_to_identity();
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
// vector_3 corrected_position = plan_get_position_mm();
// corrected_position.debug("position before G29");
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position during G29");
// uncorrected_position.debug("position during G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
......@@ -3668,9 +3666,8 @@ inline void gcode_G28() {
probePointCounter++;
idle();
} //xProbe
} //yProbe
} // xProbe
} // yProbe
if (debugLevel & DEBUG_INFO) {
ECHO_S(INFO);
......@@ -3754,12 +3751,11 @@ inline void gcode_G28() {
} // yy
ECHO_E;
}
} //do_topography_map
} // do_topography_map
#else // !AUTO_BED_LEVELING_GRID
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "> 3-point Leveling");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "> 3-point Leveling");
// Actions for each probe
ProbeAction p1, p2, p3;
......@@ -3787,7 +3783,7 @@ inline void gcode_G28() {
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
z_tmp = current_position[Z_AXIS],
real_z = st_get_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
real_z = st_get_axis_position_mm(Z_AXIS); //get the real Z (since plan_get_position is now correcting the plane)
if (debugLevel & DEBUG_INFO) {
ECHO_LMV(INFO, "> BEFORE apply_rotation_xyz > z_tmp = ", z_tmp);
......@@ -3841,8 +3837,7 @@ inline void gcode_G28() {
st_synchronize();
#endif
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< gcode_G29");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< gcode_G29");
}
#if HASNT(Z_PROBE_SLED)
......@@ -3850,9 +3845,7 @@ inline void gcode_G28() {
* G30: Do a single Z probe at the current XY
*/
inline void gcode_G30() {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "gcode_G30 >>>");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "gcode_G30 >>>");
#if HAS(SERVO_ENDSTOPS)
raise_z_for_servo();
......@@ -3880,8 +3873,7 @@ inline void gcode_G28() {
stow_z_probe(); // Retract Z Servo endstop if available
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< gcode_G30");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< gcode_G30");
}
#endif // !Z_PROBE_SLED
#endif // AUTO_BED_LEVELING_FEATURE
......@@ -3893,8 +3885,7 @@ inline void gcode_G28() {
*/
inline void gcode_G29() {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "gcode_G29 >>>");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "gcode_G29 >>>");
if (code_seen('D')) {
print_bed_level();
......@@ -3911,8 +3902,7 @@ inline void gcode_G28() {
retract_z_probe();
clean_up_after_endstop_move();
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< gcode_G29");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< gcode_G29");
}
/* G30: Delta AutoCalibration
......@@ -3922,17 +3912,15 @@ inline void gcode_G28() {
*
*/
inline void gcode_G30() {
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "gcode_G30 >>>");
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "gcode_G30 >>>");
//Zero the bed level array
// Zero the bed level array
reset_bed_level();
if (code_seen('C')) {
//Show carriage positions
// Show carriage positions
ECHO_LM(DB, "Carriage Positions for last scan: ");
for(int8_t i = 0; i < 7; i++) {
for(uint8_t i = 0; i < 7; i++) {
ECHO_SMV(DB, "[", saved_positions[i][X_AXIS]);
ECHO_MV(", ", saved_positions[i][Y_AXIS]);
ECHO_MV(", ", saved_positions[i][Z_AXIS]);
......@@ -3942,7 +3930,7 @@ inline void gcode_G28() {
}
if (code_seen('X') and code_seen('Y')) {
//Probe specified X,Y point
// Probe specified X,Y point
float x = code_seen('X') ? code_value():0.00;
float y = code_seen('Y') ? code_value():0.00;
float probe_value;
......@@ -3979,10 +3967,10 @@ inline void gcode_G28() {
deploy_z_probe();
bed_safe_z = current_position[Z_AXIS];
//Probe all points
// Probe all points
bed_probe_all();
//Show calibration report
// Show calibration report
calibration_report();
if (code_seen('E')) {
......@@ -3996,9 +3984,9 @@ inline void gcode_G28() {
bed_probe_all();
calibration_report();
} while ((bed_level_x <= -ac_prec) or (bed_level_x >= ac_prec)
or (bed_level_y <= -ac_prec) or (bed_level_y >= ac_prec)
or (bed_level_z <= -ac_prec) or (bed_level_z >= ac_prec));
} while ((bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec));
ECHO_LM(DB, "Endstop adjustment complete");
}
......@@ -4018,10 +4006,10 @@ inline void gcode_G28() {
ECHO_LM(DB, "Checking delta radius");
adj_deltaradius();
} while ((bed_level_c <= -ac_prec) or (bed_level_c >= ac_prec)
or (bed_level_x <= -ac_prec) or (bed_level_x >= ac_prec)
or (bed_level_y <= -ac_prec) or (bed_level_y >= ac_prec)
or (bed_level_z <= -ac_prec) or (bed_level_z >= ac_prec));
} while ((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)
or (bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec));
}
if (code_seen('I')) {
......@@ -4044,7 +4032,7 @@ inline void gcode_G28() {
if (code_seen('A')) {
int iteration = 0;
int dr_adjusted;
boolean dr_adjusted;
do {
do {
......@@ -4062,7 +4050,7 @@ inline void gcode_G28() {
dr_adjusted = adj_deltaradius();
}
else
dr_adjusted = 0;
dr_adjusted = false;
if (debugLevel & DEBUG_DEBUG) {
ECHO_LMV(DB, "bed_level_c=", bed_level_c, 4);
......@@ -4070,15 +4058,17 @@ inline void gcode_G28() {
ECHO_LMV(DB, "bed_level_y=", bed_level_y, 4);
ECHO_LMV(DB, "bed_level_z=", bed_level_z, 4);
}
} while ((bed_level_c <= -ac_prec) or (bed_level_c >= ac_prec)
or (bed_level_x <= -ac_prec) or (bed_level_x >= ac_prec)
or (bed_level_y <= -ac_prec) or (bed_level_y >= ac_prec)
or (bed_level_z <= -ac_prec) or (bed_level_z >= ac_prec)
or (dr_adjusted != 0));
if ((bed_level_ox <= -ac_prec) or (bed_level_ox >= ac_prec) or
(bed_level_oy <= -ac_prec) or (bed_level_oy >= ac_prec) or
(bed_level_oz <= -ac_prec) or (bed_level_oz >= ac_prec)) {
idle();
} while ((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)
or (bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec)
or (dr_adjusted));
if ((bed_level_ox < -ac_prec) or (bed_level_ox > ac_prec) or
(bed_level_oy < -ac_prec) or (bed_level_oy > ac_prec) or
(bed_level_oz < -ac_prec) or (bed_level_oz > ac_prec)) {
ECHO_LM(DB, "Checking for tower geometry errors..");
if (fix_tower_errors() != 0 ) {
// Tower positions have been changed .. home to endstops
......@@ -4089,7 +4079,7 @@ inline void gcode_G28() {
else {
ECHO_LM(DB, "Checking DiagRod Length");
if (adj_diagrod_length() != 0) {
//If diag rod length has been changed .. home to endstops
// If diag rod length has been changed .. home to endstops
ECHO_LM(DB, "Diagonal Rod Length changed .. Homing Endstops");
home_delta_axis();
bed_safe_z = Z_RAISE_BETWEEN_PROBINGS - z_probe_offset[Z_AXIS];
......@@ -4109,26 +4099,25 @@ inline void gcode_G28() {
ECHO_LMV(DB, "bed_level_oy=", bed_level_oy, 4);
ECHO_LMV(DB, "bed_level_oz=", bed_level_oz, 4);
}
} while((bed_level_c <= -ac_prec) or (bed_level_c >= ac_prec)
or (bed_level_x <= -ac_prec) or (bed_level_x >= ac_prec)
or (bed_level_y <= -ac_prec) or (bed_level_y >= ac_prec)
or (bed_level_z <= -ac_prec) or (bed_level_z >= ac_prec)
or (bed_level_ox <= -ac_prec) or (bed_level_ox >= ac_prec)
or (bed_level_oy <= -ac_prec) or (bed_level_oy >= ac_prec)
or (bed_level_oz <= -ac_prec) or (bed_level_oz >= ac_prec));
} while((bed_level_c < -ac_prec) or (bed_level_c > ac_prec)
or (bed_level_x < -ac_prec) or (bed_level_x > ac_prec)
or (bed_level_y < -ac_prec) or (bed_level_y > ac_prec)
or (bed_level_z < -ac_prec) or (bed_level_z > ac_prec)
or (bed_level_ox < -ac_prec) or (bed_level_ox > ac_prec)
or (bed_level_oy < -ac_prec) or (bed_level_oy > ac_prec)
or (bed_level_oz < -ac_prec) or (bed_level_oz > ac_prec));
ECHO_LM(DB, "Autocalibration Complete");
}
retract_z_probe();
//reset LCD alert message
// reset LCD alert message
lcd_reset_alert_level();
clean_up_after_endstop_move();
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< gcode_G30");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< gcode_G30");
}
#endif // DELTA && Z_PROBE_ENDSTOP
......@@ -4181,7 +4170,7 @@ inline void gcode_G61() {
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
for(int8_t i = 0; i < NUM_AXIS; i++) {
for(uint8_t i = 0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) {
destination[i] = (float)code_value() + stored_position[slot][i];
}
......@@ -4193,7 +4182,7 @@ inline void gcode_G61() {
}
ECHO_E;
//finish moves
// finish moves
prepare_move();
st_synchronize();
}
......@@ -4507,9 +4496,7 @@ inline void gcode_M42() {
* regenerated.
*/
inline void gcode_M48() {
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "gcode_M48 >>>");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "gcode_M48 >>>");
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
uint8_t verbose_level = 1, n_samples = 10, n_legs = 0;
......@@ -4533,10 +4520,10 @@ inline void gcode_M42() {
}
}
double X_current = st_get_position_mm(X_AXIS),
Y_current = st_get_position_mm(Y_AXIS),
Z_current = st_get_position_mm(Z_AXIS),
E_current = st_get_position_mm(E_AXIS),
double X_current = st_get_axis_position_mm(X_AXIS),
Y_current = st_get_axis_position_mm(Y_AXIS),
Z_current = st_get_axis_position_mm(Z_AXIS),
E_current = st_get_axis_position_mm(E_AXIS),
X_probe_location = X_current, Y_probe_location = Y_current,
Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING;
......@@ -4587,10 +4574,10 @@ inline void gcode_M42() {
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, E_current, homing_feedrate[X_AXIS]/60, active_extruder, active_driver);
st_synchronize();
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = E_current = st_get_position_mm(E_AXIS);
current_position[X_AXIS] = X_current = st_get_axis_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_axis_position_mm(Z_AXIS);
current_position[E_AXIS] = E_current = st_get_axis_position_mm(E_AXIS);
//
// OK, do the initial probe to get us close to the bed.
......@@ -4602,12 +4589,12 @@ inline void gcode_M42() {
setup_for_endstop_move();
run_z_probe();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
current_position[Z_AXIS] = Z_current = st_get_axis_position_mm(Z_AXIS);
Z_start_location = st_get_axis_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, E_current, homing_feedrate[X_AXIS]/60, active_extruder, active_driver);
st_synchronize();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[Z_AXIS] = Z_current = st_get_axis_position_mm(Z_AXIS);
if (deploy_probe_for_each_reading) stow_z_probe();
......@@ -4707,8 +4694,7 @@ inline void gcode_M42() {
if (verbose_level > 0) ECHO_EMV("Mean: ", mean, 6);
ECHO_EMV("Standard Deviation: ", sigma, 6);
if (debugLevel & DEBUG_INFO)
ECHO_LM(INFO, "<<< gcode_M28");
if (debugLevel & DEBUG_INFO) ECHO_LM(INFO, "<<< gcode_M28");
}
#endif // AUTO_BED_LEVELING_FEATURE && Z_PROBE_REPEATABILITY_TEST
......@@ -4842,7 +4828,7 @@ inline void gcode_M85() {
inline void gcode_M92() {
if (setTargetedExtruder(92)) return;
for(int8_t i = 0; i < NUM_AXIS; i++) {
for(uint8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS)
axis_steps_per_unit[i + target_extruder] = code_value();
......@@ -5140,51 +5126,59 @@ inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
* M114: Output current position to serial port
*/
inline void gcode_M114() {
//MESSAGE for Host
ECHO_SMV(OK, "X:", current_position[X_AXIS]);
ECHO_MV( "X:", current_position[X_AXIS]);
ECHO_MV(" Y:", current_position[Y_AXIS]);
ECHO_MV(" Z:", current_position[Z_AXIS]);
ECHO_MV(" E:", current_position[E_AXIS]);
ECHO_MV(SERIAL_COUNT_X, st_get_position_mm(X_AXIS));
ECHO_MV(" Y:", st_get_position_mm(Y_AXIS));
ECHO_EMV(" Z:", st_get_position_mm(Z_AXIS));
#if MECH(SCARA)
//MESSAGE for Host
ECHO_SMV(OK, " SCARA Theta:", delta[X_AXIS]);
ECHO_EMV(" Psi+Theta:", delta[Y_AXIS]);
CRITICAL_SECTION_START;
extern volatile long count_position[NUM_AXIS];
long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
ECHO_SMV(DB, "SCARA Cal - Theta:", delta[X_AXIS]+home_offset[X_AXIS]);
ECHO_EMV(" Psi+Theta (90):", delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);
#if MECH(COREXY) || MECH(COREXZ)
ECHO_M(MSG_COUNT_A);
#elif MECH(DELTA)
ECHO_M(MSG_COUNT_ALPHA);
#else
ECHO_M(MSG_COUNT_X);
#endif
ECHO_V(xpos);
ECHO_SMV(DB, "SCARA step Cal - Theta:", delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
ECHO_EMV(" Psi+Theta:", (delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
#if ENABLED(COREXY)
ECHO_M(" B:");
#elif MECH(DELTA)
ECHO_M(" Beta:");
#else
ECHO_M(" Y:");
#endif
ECHO_V(ypos);
if (code_seen('V')) {
//MESSAGE for user
ECHO_SMV(DB, "X:", current_position[X_AXIS]);
ECHO_MV(" Y:", current_position[Y_AXIS]);
ECHO_MV(" Z:", current_position[Z_AXIS]);
ECHO_MV(" E:", current_position[E_AXIS]);
#if ENABLED(COREXZ)
ECHO_M(" C:");
#elif MECH(DELTA)
ECHO_M(" Teta:");
#else
ECHO_M(" Z:");
#endif
ECHO_V(zpos);
ECHO_MV(SERIAL_COUNT_X, st_get_position_mm(X_AXIS));
ECHO_MV(" Y:", st_get_position_mm(Y_AXIS));
ECHO_EMV(" Z:", st_get_position_mm(Z_AXIS));
ECHO_E;
#if MECH(SCARA)
//MESSAGE for User
// MESSAGE for Host
ECHO_SMV(OK, " SCARA Theta:", delta[X_AXIS]);
ECHO_EMV(" Psi+Theta:", delta[Y_AXIS]);
ECHO_SMV(DB, "SCARA Cal - Theta:", delta[X_AXIS]+home_offset[X_AXIS]);
ECHO_EMV(" Psi+Theta (90):", delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);
ECHO_SMV(DB, "SCARA Cal - Theta:", delta[X_AXIS] + home_offset[X_AXIS]);
ECHO_EMV(" Psi+Theta (90):", delta[Y_AXIS]-delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
ECHO_SMV(DB, "SCARA step Cal - Theta:", delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
ECHO_EMV(" Psi+Theta:", (delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
ECHO_SMV(DB, "SCARA step Cal - Theta:", delta[X_AXIS] / 90 * axis_steps_per_unit[X_AXIS]);
ECHO_EMV(" Psi+Theta:", (delta[Y_AXIS]-delta[X_AXIS]) / 90 * axis_steps_per_unit[Y_AXIS]);
ECHO_E;
#endif
}
}
/**
......@@ -5418,7 +5412,7 @@ inline void gcode_M140() {
int tool_index = code_seen('S') ? code_value_short() : 0;
if (tool_index < MIXING_VIRTUAL_TOOLS) {
normalize_mix();
for (int8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++) {
mixing_virtual_tool_mix[tool_index][i] = mixing_factor[i];
}
}
......@@ -5501,7 +5495,7 @@ inline void gcode_M200() {
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*/
inline void gcode_M201() {
for (int8_t i = 0; i < NUM_AXIS; i++) {
for (uint8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
max_acceleration_units_per_sq_second[i] = code_value();
}
......@@ -5512,7 +5506,7 @@ inline void gcode_M201() {
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
for(int8_t i = 0; i < NUM_AXIS; i++) {
for(uint8_t i = 0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
}
......@@ -5529,7 +5523,7 @@ inline void gcode_M201() {
inline void gcode_M203() {
if (setTargetedExtruder(203)) return;
for(int8_t i = 0; i < NUM_AXIS; i++) {
for(uint8_t i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS)
max_feedrate[i + target_extruder] = code_value();
......@@ -5595,7 +5589,7 @@ inline void gcode_M205() {
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
for (int8_t i=X_AXIS; i <= Z_AXIS; i++) {
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
home_offset[i] = code_value();
}
......@@ -6034,7 +6028,7 @@ inline void gcode_M226() {
* M365: SCARA calibration: Scaling factor, X, Y, Z axis
*/
inline void gcode_M365() {
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
axis_scaling[i] = code_value();
}
......@@ -6199,7 +6193,7 @@ inline void gcode_M428() {
float new_offs[3], new_pos[3];
memcpy(new_pos, current_position, sizeof(new_pos));
memcpy(new_offs, home_offset, sizeof(new_offs));
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (TEST(axis_known_position, i)) {
#if MECH(DELTA)
float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos[i] : 0,
......@@ -6407,7 +6401,7 @@ inline void gcode_M503() {
uint8_t cnt = 0;
int old_target_temperature[HOTENDS] = { 0 };
for (int8_t e = 0; e < HOTENDS; e++) {
for (uint8_t e = 0; e < HOTENDS; e++) {
old_target_temperature[e] = target_temperature[e];
}
int old_target_temperature_bed = target_temperature_bed;
......@@ -6427,7 +6421,7 @@ inline void gcode_M503() {
}
if (beep) {
#if HAS(BUZZER)
for(int8_t i = 0; i < 3; i++) buzz(100, 1000);
for(uint8_t i = 0; i < 3; i++) buzz(100, 1000);
#endif
last_set = millis();
beep = false;
......@@ -6440,7 +6434,7 @@ inline void gcode_M503() {
if (sleep) {
enable_all_steppers(); // Enable all stepper
for(int8_t e = 0; e < HOTENDS; e++) {
for(uint8_t e = 0; e < HOTENDS; e++) {
setTargetHotend(old_target_temperature[e], e);
no_wait_for_cooling = true;
wait_heater();
......@@ -6597,7 +6591,7 @@ inline void gcode_M503() {
if (code_seen('P')) {
boolean axis_done = false;
float p_val = code_value();
for (int8_t i = 0; i < 3; i++) {
for (uint8_t i = 0; i < 3; i++) {
if (code_seen(axis_codes[i])) {
z_probe_offset[i] = code_value();
axis_done = true;
......@@ -6606,7 +6600,7 @@ inline void gcode_M503() {
if (axis_done == false) z_probe_offset[Z_AXIS] = p_val;
}
else {
for(int8_t i = 0; i < 3; i++) {
for(uint8_t i = 0; i < 3; i++) {
if (code_seen(axis_codes[i])) endstop_adj[i] = code_value();
}
}
......@@ -6711,7 +6705,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
// T0-T15: Switch virtual tool by changing the mix
if (tmp_extruder < MIXING_VIRTUAL_TOOLS) {
good_extruder = true;
for (int8_t j = 0; j < DRIVER_EXTRUDERS; j++) {
for (uint8_t j = 0; j < DRIVER_EXTRUDERS; j++) {
mixing_factor[j] = mixing_virtual_tool_mix[tmp_extruder][j];
}
ECHO_LMV(DB, SERIAL_ACTIVE_COLOR, (int)tmp_extruder);
......@@ -7553,13 +7547,12 @@ void clamp_to_software_endstops(float target[3]) {
#if MECH(DELTA) || MECH(SCARA)
inline bool prepare_move_delta(float target[NUM_AXIS]) {
float difference[NUM_AXIS];
float addDistance[NUM_AXIS];
float fractions[NUM_AXIS];
float frfm = feedrate / 60 * feedrate_multiplier / 100.0;
for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
for (uint8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
......@@ -7581,26 +7574,26 @@ void clamp_to_software_endstops(float target[3]) {
if (steps == 0) {
steps = 1;
for (int8_t i = 0; i < NUM_AXIS; i++) fractions[i] = difference[i];
for (uint8_t i = 0; i < NUM_AXIS; i++) fractions[i] = difference[i];
}
else {
fTemp = 1 / float(steps);
for (int8_t i = 0; i < NUM_AXIS; i++) fractions[i] = difference[i] * fTemp;
for (uint8_t i = 0; i < NUM_AXIS; i++) fractions[i] = difference[i] * fTemp;
}
// For number of steps, for each step add one fraction
// First, set initial target to current position
for (int8_t i = 0; i < NUM_AXIS; i++) addDistance[i] = 0.0;
for (uint8_t i = 0; i < NUM_AXIS; i++) addDistance[i] = 0.0;
#endif
for (int s = 1; s <= steps; s++) {
#if ENABLED(DELTA_SEGMENTS_PER_SECOND)
float fraction = float(s) / float(steps);
for (int8_t i = 0; i < NUM_AXIS; i++)
for (uint8_t i = 0; i < NUM_AXIS; i++)
target[i] = current_position[i] + difference[i] * fraction;
#else
for (int8_t i = 0; i < NUM_AXIS; i++) {
for (uint8_t i = 0; i < NUM_AXIS; i++) {
addDistance[i] += fractions[i];
target[i] = current_position[i] + addDistance[i];
}
......@@ -7981,7 +7974,7 @@ void plan_arc(
float max_temp = 0.0;
if (millis() > next_status_led_update_ms) {
next_status_led_update_ms += 500; // Update every 0.5s
for (int8_t cur_hotend = 0; cur_hotend < HOTENDS; ++cur_hotend)
for (uint8_t cur_hotend = 0; cur_hotend < HOTENDS; ++cur_hotend)
max_temp = max(max(max_temp, degHotend(cur_hotend)), degTargetHotend(cur_hotend));
#if HAS(TEMP_BED)
max_temp = max(max(max_temp, degTargetBed()), degBed());
......@@ -8182,7 +8175,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#endif
#if ENABLED(RFID_MODULE)
for (int8_t e = 0; e < EXTRUDERS; e++) {
for (uint8_t e = 0; e < EXTRUDERS; e++) {
if (Spool_must_read[e]) {
if (RFID522.getID(e)) {
Spool_ID[e] = RFID522.RfidDataID[e].Spool_ID;
......@@ -8374,6 +8367,6 @@ float calculate_volumetric_multiplier(float diameter) {
}
void calculate_volumetric_multipliers() {
for (int8_t e = 0; e < EXTRUDERS; e++)
for (uint8_t e = 0; e < EXTRUDERS; e++)
volumetric_multiplier[e] = calculate_volumetric_multiplier(filament_size[e]);
}
MK/module/MK_Main.h
View file @ 14af5afb
......@@ -89,7 +89,7 @@ void refresh_cmd_timeout();
extern void delay_ms(millis_t ms);
#if ENABLED(FAST_PWM_FAN)
void setPwmFrequency(uint8_t pin, int val);
void setPwmFrequency(uint8_t pin, uint8_t val);
#endif
extern float homing_feedrate[];
......@@ -120,7 +120,7 @@ extern uint8_t axis_was_homed;
#endif
#if ENABLED(NPR2)
extern int old_color; // old color for system NPR2
extern uint8_t old_color; // old color for system NPR2
#endif
#if MECH(DELTA)
......
MK/module/conditionals.h
View file @ 14af5afb
......@@ -234,6 +234,7 @@
*/
#if ENABLED(DONDOLO)
#undef SINGLENOZZLE
#undef ADVANCE
#undef DRIVER_EXTRUDERS
#define DRIVER_EXTRUDERS 1
#endif
......
MK/module/language/language.h
View file @ 14af5afb
......@@ -102,7 +102,7 @@
#define SERIAL_ACTIVE_COLOR "Active Color: "
#define MSG_COUNT_X " Count X:"
#define MSG_COUNT_A " Count A:"
#define MSG_COUNT_ALPHA " Count Alpha: "
#define MSG_COUNT_ALPHA " Count Alpha:"
#define SERIAL_X_MIN "x_min: "
#define SERIAL_X_MAX "x_max: "
#define SERIAL_Y_MIN "y_min: "
......
MK/module/lcd/ultralcd.cpp
View file @ 14af5afb
......@@ -2084,7 +2084,7 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
WRITE(SHIFT_LD, HIGH);
for (int8_t i = 0; i < 8; i++) {
newbutton_reprapworld_keypad >>= 1;
if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= BIT(7);
if (READ(SHIFT_OUT)) BITSET(newbutton_reprapworld_keypad, 7);
WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW);
}
......@@ -2097,7 +2097,7 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
unsigned char tmp_buttons = 0;
for (int8_t i = 0; i < 8; i++) {
newbutton >>= 1;
if (READ(SHIFT_OUT)) newbutton |= BIT(7);
if (READ(SHIFT_OUT)) BITSET(newbutton, 7);
WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW);
}
......
MK/module/lcd/ultralcd.h
View file @ 14af5afb
......@@ -120,7 +120,8 @@
#define EN_B BIT(BLEN_B)
#define EN_A BIT(BLEN_A)
#define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
#define LCD_CLICKED (buttons&(B_MI|B_ST))
#endif//NEWPANEL
char* itostr2(const uint8_t& x);
......
MK/module/motion/planner.cpp
View file @ 14af5afb
......@@ -205,12 +205,11 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks.
//inline float junction_jerk(block_t *before, block_t *after) {
// inline float junction_jerk(block_t *before, block_t *after) {
// return sqrt(
// pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
//}
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t* previous, block_t* current, block_t* next) {
if (!current) return;
......@@ -359,7 +358,6 @@ void plan_init() {
previous_nominal_speed = 0.0;
}
#if ENABLED(AUTOTEMP)
void getHighESpeed() {
static float oldt = 0;
......@@ -479,7 +477,6 @@ void check_axes_activity() {
#endif
}
float junction_deviation = 0.1;
// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
......@@ -606,7 +603,7 @@ float junction_deviation = 0.1;
// For a mixing extruder, get steps for each
#if ENABLED(COLOR_MIXING_EXTRUDER)
for (int8_t i = 0; i < DRIVER_EXTRUDERS; i++)
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++)
block->mix_steps[i] = block->steps[E_AXIS] * mixing_factor[i];
#endif
......@@ -618,23 +615,23 @@ float junction_deviation = 0.1;
// Compute direction bits for this block
uint8_t dirb = 0;
#if MECH(COREXY)
if (dx < 0) dirb |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) dirb |= BIT(Y_HEAD); // ...and Y
if (dz < 0) dirb |= BIT(Z_AXIS);
if (da < 0) dirb |= BIT(A_AXIS); // Motor A direction
if (db < 0) dirb |= BIT(B_AXIS); // Motor B direction
if (dx < 0) BITSET(dirb, X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) BITSET(dirb, Y_HEAD); // ...and Y
if (dz < 0) BITSET(dirb, Z_AXIS);
if (da < 0) BITSET(dirb, A_AXIS); // Motor A direction
if (db < 0) BITSET(dirb, B_AXIS); // Motor B direction
#elif MECH(COREXZ)
if (dx < 0) dirb |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) dirb |= BIT(Y_AXIS);
if (dz < 0) dirb |= BIT(Z_HEAD); // ...and Z
if (da < 0) dirb |= BIT(A_AXIS); // Motor A direction
if (dc < 0) dirb |= BIT(C_AXIS); // Motor B direction
if (dx < 0) BITSET(dirb, X_HEAD); // Save the real Extruder (head) direction in X Axis
if (dy < 0) BITSET(dirb, Y_AXIS);
if (dz < 0) BITSET(dirb, Z_HEAD); // ...and Z
if (da < 0) BITSET(dirb, A_AXIS); // Motor A direction
if (dc < 0) BITSET(dirb, C_AXIS); // Motor B direction
#else
if (dx < 0) dirb |= BIT(X_AXIS);
if (dy < 0) dirb |= BIT(Y_AXIS);
if (dz < 0) dirb |= BIT(Z_AXIS);
if (dx < 0) BITSET(dirb, X_AXIS);
if (dy < 0) BITSET(dirb, Y_AXIS);
if (dz < 0) BITSET(dirb, Z_AXIS);
#endif
if (de < 0) dirb |= BIT(E_AXIS);
if (de < 0) BITSET(dirb, E_AXIS);
block->direction_bits = dirb;
block->active_driver = driver;
......@@ -875,14 +872,14 @@ float junction_deviation = 0.1;
ys1 = axis_segment_time[Y_AXIS][1],
ys2 = axis_segment_time[Y_AXIS][2];
if ((direction_change & BIT(X_AXIS)) != 0) {
if (TEST(direction_change, X_AXIS)) {
xs2 = axis_segment_time[X_AXIS][2] = xs1;
xs1 = axis_segment_time[X_AXIS][1] = xs0;
xs0 = 0;
}
xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
if ((direction_change & BIT(Y_AXIS)) != 0) {
if (TEST(direction_change, Y_AXIS)) {
ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
ys0 = 0;
......@@ -1058,7 +1055,7 @@ float junction_deviation = 0.1;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
//position.debug("in plan_get position");
//plan_bed_level_matrix.debug("in plan_get_position");
......@@ -1076,7 +1073,7 @@ float junction_deviation = 0.1;
#else
void plan_set_position(const float& x, const float& y, const float& z, const float& e)
#endif // AUTO_BED_LEVELING_FEATURE
{
{
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif
......@@ -1089,8 +1086,8 @@ float junction_deviation = 0.1;
st_set_position(nx, ny, nz, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
}
for (uint8_t i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
}
void plan_set_e_position(const float& e) {
position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS + active_extruder]);
......@@ -1100,6 +1097,6 @@ void plan_set_e_position(const float& e) {
// Calculate the steps/s^2 acceleration rates, based on the mm/s^s
void reset_acceleration_rates() {
for (int i = 0; i < 3 + EXTRUDERS; i++)
for (uint8_t i = 0; i < 3 + EXTRUDERS; i++)
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
MK/module/motion/stepper.cpp
View file @ 14af5afb
......@@ -265,26 +265,26 @@ void checkHitEndstops() {
ECHO_SM(DB, SERIAL_ENDSTOPS_HIT);
#endif
if (endstop_hit_bits & BIT(X_MIN)) {
if (TEST(endstop_hit_bits, X_MIN)) {
ECHO_MV(SERIAL_ENDSTOP_X, (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_XS);
}
if (endstop_hit_bits & BIT(Y_MIN)) {
if (TEST(endstop_hit_bits, Y_MIN)) {
ECHO_MV(SERIAL_ENDSTOP_Y, (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_YS);
}
if (endstop_hit_bits & BIT(Z_MIN)) {
if (TEST(endstop_hit_bits, Z_MIN)) {
ECHO_MV(SERIAL_ENDSTOP_Z, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZS);
}
#if ENABLED(Z_PROBE_ENDSTOP)
if (endstop_hit_bits & BIT(Z_PROBE)) {
if (TEST(endstop_hit_bits, Z_PROBE)) {
ECHO_MV(SERIAL_ENDSTOP_PROBE, (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ZPS);
}
#endif
#if ENABLED(NPR2)
if (endstop_hit_bits & BIT(E_MIN)) {
if (TEST(endstop_hit_bits, E_MIN)) {
ECHO_MV(SERIAL_ENDSTOP_E, (float)endstops_trigsteps[E_AXIS] / axis_steps_per_unit[E_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT MSG_ENDSTOP_ES);
}
......@@ -307,6 +307,14 @@ void checkHitEndstops() {
}
}
#if ENABLED(COREXY) || ENABLED(COREXZ)
#if ENABLED(COREXY)
#define CORE_AXIS_2 B_AXIS
#else
#define CORE_AXIS_2 C_AXIS
#endif
#endif
void enable_endstops(bool check) { check_endstops = check; }
// Check endstops
......@@ -322,7 +330,7 @@ inline void update_endstops() {
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _AXIS(AXIS) AXIS ##_AXIS
#define _ENDSTOP_HIT(AXIS) endstop_hit_bits |= BIT(_ENDSTOP(AXIS, MIN))
#define _ENDSTOP_HIT(AXIS) BITSET(endstop_hit_bits, _ENDSTOP(AXIS, MIN))
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
......@@ -332,23 +340,38 @@ inline void update_endstops() {
// TEST_ENDSTOP: test the old and the current status of an endstop
#define TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
#define UPDATE_ENDSTOP(AXIS,MINMAX) \
#if ENABLED(COREXY) || ENABLED(COREXZ)
#define _SET_TRIGSTEPS(AXIS) do { \
CRITICAL_SECTION_START; \
float axis_pos = count_position[_AXIS(AXIS)]; \
if (_AXIS(AXIS) == A_AXIS) \
axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2; \
else if (_AXIS(AXIS) == CORE_AXIS_2) \
axis_pos = (count_position[A_AXIS] - axis_pos) / 2; \
CRITICAL_SECTION_END; \
endstops_trigsteps[_AXIS(AXIS)] = axis_pos; \
} while(0)
#else
#define _SET_TRIGSTEPS(AXIS) endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]
#endif // COREXY || COREXZ
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
SET_ENDSTOP_BIT(AXIS, MINMAX); \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && (current_block->steps[_AXIS(AXIS)] > 0)) { \
endstops_trigsteps[_AXIS(AXIS)] = count_position[_AXIS(AXIS)]; \
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && current_block->steps[_AXIS(AXIS)] > 0) { \
_SET_TRIGSTEPS(AXIS); \
_ENDSTOP_HIT(AXIS); \
step_events_completed = current_block->step_event_count; \
}
} \
} while(0)
#if MECH(COREXY)
// Head direction in -X axis for CoreXY bots.
// If DeltaX == -DeltaY, the movement is only in Y axis
if ((current_block->steps[A_AXIS] != current_block->steps[B_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS))) {
if (TEST(out_bits, X_HEAD))
#elif MECH(COREXZ)
// Head direction in -X axis for CoreXZ bots.
// If DeltaX == -DeltaZ, the movement is only in Z axis
if ((current_block->steps[A_AXIS] != current_block->steps[C_AXIS]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, C_AXIS))) {
#if ENABLED(COREXY) || ENABLED(COREXZ)
// Head direction in -X axis for CoreXY and CoreXZ bots.
// If Delta1 == -Delta2, the movement is only in Y or Z axis
if ((current_block->steps[A_AXIS] != current_block->steps[CORE_AXIS_2]) || (TEST(out_bits, A_AXIS) == TEST(out_bits, CORE_AXIS_2))) {
if (TEST(out_bits, X_HEAD))
#else
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular Cartesian bot)
......@@ -424,7 +447,7 @@ inline void update_endstops() {
if (z_test && current_block->steps[Z_AXIS] > 0) { // z_test = Z_MIN || Z2_MIN
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_MIN);
BITSET(endstop_hit_bits, Z_MIN);
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
step_events_completed = current_block->step_event_count;
}
......@@ -440,7 +463,7 @@ inline void update_endstops() {
if (TEST_ENDSTOP(Z_PROBE)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_PROBE);
BITSET(endstop_hit_bits, Z_PROBE);
}
#endif
}
......@@ -460,7 +483,7 @@ inline void update_endstops() {
if (z_test && current_block->steps[Z_AXIS] > 0) { // t_test = Z_MAX || Z2_MAX
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_hit_bits |= BIT(Z_MIN);
BITSET(endstop_hit_bits, Z_MIN);
if (!performing_homing || (z_test == 0x3)) //if not performing home or if both endstops were trigged during homing...
step_events_completed = current_block->step_event_count;
}
......@@ -551,33 +574,20 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
*/
void set_stepper_direction(bool onlye) {
if (!onlye) {
if (TEST(out_bits, X_AXIS)) { // A_AXIS
X_APPLY_DIR(INVERT_X_DIR, 0);
count_direction[X_AXIS] = -1;
}
else {
X_APPLY_DIR(!INVERT_X_DIR, 0);
count_direction[X_AXIS] = 1;
}
if (TEST(out_bits, Y_AXIS)) { // B_AXIS
Y_APPLY_DIR(INVERT_Y_DIR, 0);
count_direction[Y_AXIS] = -1;
}
else {
Y_APPLY_DIR(!INVERT_Y_DIR, 0);
count_direction[Y_AXIS] = 1;
#define SET_STEP_DIR(AXIS) \
if (TEST(out_bits, AXIS ##_AXIS)) { \
AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR, false); \
count_direction[AXIS ##_AXIS] = -1; \
} \
else { \
AXIS ##_APPLY_DIR(!INVERT_## AXIS ##_DIR, false); \
count_direction[AXIS ##_AXIS] = 1; \
}
if (TEST(out_bits, Z_AXIS)) { // C_AXIS
Z_APPLY_DIR(INVERT_Z_DIR, 0);
count_direction[Z_AXIS] = -1;
}
else {
Z_APPLY_DIR(!INVERT_Z_DIR, 0);
count_direction[Z_AXIS] = 1;
}
if (!onlye) {
SET_STEP_DIR(X); // A
SET_STEP_DIR(Y); // B
SET_STEP_DIR(Z); // C
}
#if DISABLED(ADVANCE)
......@@ -836,110 +846,39 @@ ISR(TIMER1_COMPA_vect) {
ISR(TIMER0_COMPA_vect) {
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
OCR0A = old_OCR0A;
// Set E direction (Depends on E direction + advance)
for (unsigned char i = 0; i < 4; i++) {
if (e_steps[0] != 0) {
E0_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[0] < 0) {
#if ENABLED(DONDOLO)
if (active_extruder == 0)
E0_DIR_WRITE(INVERT_E0_DIR);
else
E0_DIR_WRITE(!INVERT_E0_DIR);
#else
E0_DIR_WRITE(INVERT_E0_DIR);
#endif
e_steps[0]++;
E0_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[0] > 0) {
#if ENABLED(DONDOLO)
if (active_extruder == 0)
E0_DIR_WRITE(!INVERT_E0_DIR);
else
E0_DIR_WRITE(INVERT_E0_DIR);
#else
E0_DIR_WRITE(!INVERT_E0_DIR);
#endif
e_steps[0]--;
E0_STEP_WRITE(!INVERT_E_STEP_PIN);
}
#define STEP_E_ONCE(INDEX) \
if (e_steps[INDEX] != 0) { \
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
if (e_steps[INDEX] < 0) { \
E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]++; \
} \
else if (e_steps[INDEX] > 0) { \
E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
e_steps[INDEX]--; \
} \
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
}
// Step all E steppers that have steps, up to 4 steps per interrupt
for (uint8_t i = 0; i < 4; i++) {
STEP_E_ONCE(0);
#if DRIVER_EXTRUDERS > 1
if (e_steps[1] != 0) {
E1_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[1] < 0) {
E1_DIR_WRITE(INVERT_E1_DIR);
e_steps[1]++;
E1_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[1] > 0) {
E1_DIR_WRITE(!INVERT_E1_DIR);
e_steps[1]--;
E1_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
STEP_E_ONCE(1);
#if DRIVER_EXTRUDERS > 2
if (e_steps[2] != 0) {
E2_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[2] < 0) {
E2_DIR_WRITE(INVERT_E2_DIR);
e_steps[2]++;
E2_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[2] > 0) {
E2_DIR_WRITE(!INVERT_E2_DIR);
e_steps[2]--;
E2_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
STEP_E_ONCE(2);
#if DRIVER_EXTRUDERS > 3
if (e_steps[3] != 0) {
E3_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[3] < 0) {
E3_DIR_WRITE(INVERT_E3_DIR);
e_steps[3]++;
E3_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[3] > 0) {
E3_DIR_WRITE(!INVERT_E3_DIR);
e_steps[3]--;
E3_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
STEP_E_ONCE(3);
#if DRIVER_EXTRUDERS > 4
if (e_steps[4] != 0) {
E4_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[4] < 0) {
E4_DIR_WRITE(INVERT_E4_DIR);
e_steps[4]++;
E4_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[4] > 0) {
E4_DIR_WRITE(!INVERT_E4_DIR);
e_steps[4]--;
E4_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
STEP_E_ONCE(4);
#if DRIVER_EXTRUDERS > 5
if (e_steps[5] != 0) {
E5_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[5] < 0) {
E5_DIR_WRITE(INVERT_E5_DIR);
e_steps[5]++;
E5_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[5] > 0) {
E5_DIR_WRITE(!INVERT_E5_DIR);
e_steps[5]--;
E5_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
STEP_E_ONCE(5);
#endif // DRIVER_EXTRUDERS > 5
#endif // DRIVER_EXTRUDERS > 4
#endif // DRIVER_EXTRUDERS > 3
#endif // DRIVER_EXTRUDERS > 2
#endif // DRIVER_EXTRUDERS > 1
}
}
#endif // ADVANCE
......@@ -1248,14 +1187,32 @@ void st_set_e_position(const long& e) {
}
long st_get_position(uint8_t axis) {
long count_pos;
CRITICAL_SECTION_START;
count_pos = count_position[axis];
long count_pos = count_position[axis];
CRITICAL_SECTION_END;
return count_pos;
}
float st_get_position_mm(AxisEnum axis) { return st_get_position(axis) / axis_steps_per_unit[axis]; }
float st_get_axis_position_mm(AxisEnum axis) {
float axis_pos;
#if ENABLED(COREXY) | ENABLED(COREXZ)
if (axis == X_AXIS || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
long pos1 = count_position[A_AXIS],
pos2 = count_position[CORE_AXIS_2];
CRITICAL_SECTION_END;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
axis_pos = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
}
else
axis_pos = st_get_position(axis);
#else
axis_pos = st_get_position(axis);
#endif
return axis_pos / axis_steps_per_unit[axis];
}
void enable_all_steppers() {
enable_x();
......
MK/module/motion/stepper.h
View file @ 14af5afb
......@@ -117,7 +117,7 @@ void st_set_e_position(const long &e);
long st_get_position(uint8_t axis);
// Get current position in mm
float st_get_position_mm(AxisEnum axis);
float st_get_axis_position_mm(AxisEnum axis);
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
......
MK/module/temperature/temperature.cpp
View file @ 14af5afb
......@@ -1006,9 +1006,9 @@ void tp_init() {
#endif // HEATER_0_USES_MAX6675
#ifdef DIDR2
#define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= BIT(pin); else DIDR2 |= BIT(pin - 8); }while(0)
#define ANALOG_SELECT(pin) do{ if (pin < 8) BITSET(DIDR0, pin); else BITSET(DIDR2, pin - 8); }while(0)
#else
#define ANALOG_SELECT(pin) do{ DIDR0 |= BIT(pin); }while(0)
#define ANALOG_SELECT(pin) do{ BITSET(DIDR0, pin); }while(0)
#endif
// Set analog inputs
......@@ -1084,10 +1084,10 @@ void tp_init() {
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
TIMSK0 |= BIT(OCIE0B);
BITSET(TIMSK0, OCIE0B);
// Wait for temperature measurement to settle
delay_ms(250);
delay(250);
#define TEMP_MIN_ROUTINE(NR) \
minttemp[NR] = HEATER_ ## NR ## _MINTEMP; \
......@@ -1279,9 +1279,9 @@ void disable_all_heaters() {
max6675_temp = 0;
#ifdef PRR
PRR &= ~BIT(PRSPI);
BITCLR(PRR, PRSPI);
#elif defined(PRR0)
PRR0 &= ~BIT(PRSPI);
BITCLR(PRR0, PRSPI);
#endif
SPCR = BIT(MSTR) | BIT(SPE) | BIT(SPR0);
......@@ -1295,13 +1295,13 @@ void disable_all_heaters() {
// read MSB
SPDR = 0;
for (; (SPSR & BIT(SPIF)) == 0;);
for (; !TEST(SPSR, SPIF););
max6675_temp = SPDR;
max6675_temp <<= 8;
// read LSB
SPDR = 0;
for (; (SPSR & BIT(SPIF)) == 0;);
for (; !TEST(SPSR, SPIF););
max6675_temp |= SPDR;
// disable TT_MAX6675
......@@ -1649,7 +1649,7 @@ ISR(TIMER0_COMPB_vect) {
#endif // SLOW_PWM_HEATERS
#define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); ADCSRA |= BIT(ADSC)
#define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); BITSET(ADCSRA, ADSC)
#ifdef MUX5
#define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else
......
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