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machinery
MarlinKimbra
Commits
1bdb8bb8
Commit
1bdb8bb8
authored
Feb 24, 2016
by
MagoKimbra
Browse files
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Merge remote-tracking branch 'refs/remotes/origin/master' into dev
parents
f1c9d953
14af5afb
Changes
11
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Showing
11 changed files
with
384 additions
and
433 deletions
+384
-433
Configuration_Feature.h
MK/Configuration_Feature.h
+1
-2
Pins.h
MK/Pins.h
+13
-13
MK_Main.cpp
MK/module/MK_Main.cpp
+239
-246
MK_Main.h
MK/module/MK_Main.h
+2
-2
conditionals.h
MK/module/conditionals.h
+1
-0
language.h
MK/module/language/language.h
+1
-1
ultralcd.cpp
MK/module/lcd/ultralcd.cpp
+2
-2
ultralcd.h
MK/module/lcd/ultralcd.h
+2
-1
stepper.cpp
MK/module/motion/stepper.cpp
+112
-155
stepper.h
MK/module/motion/stepper.h
+2
-2
temperature.cpp
MK/module/temperature/temperature.cpp
+9
-9
No files found.
MK/Configuration_Feature.h
View file @
1bdb8bb8
...
@@ -561,8 +561,7 @@
...
@@ -561,8 +561,7 @@
//#define ADVANCE
//#define ADVANCE
#define EXTRUDER_ADVANCE_K .0
#define EXTRUDER_ADVANCE_K .0
#define D_FILAMENT 2.85
#define D_FILAMENT 1.75
#define STEPS_MM_E 836
/*****************************************************************************************/
/*****************************************************************************************/
...
...
MK/Pins.h
View file @
1bdb8bb8
...
@@ -816,27 +816,27 @@
...
@@ -816,27 +816,27 @@
****************************************************************************************/
****************************************************************************************/
#if MB(RAMPS_13_HFB)
#if MB(RAMPS_13_HFB)
#define KNOWN_BOARD 1
#define KNOWN_BOARD 1
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
#if !defined(__AVR_ATmega1280__) && !defined(__AVR_ATmega2560__)
#error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
#error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
#endif
#endif
#define LARGE_FLASH true
#define LARGE_FLASH true
// X axis pins
// X axis pins
#define ORIG_X_STEP_PIN 54
#define ORIG_X_STEP_PIN 54
#define ORIG_X_DIR_PIN 55
#define ORIG_X_DIR_PIN 55
#define ORIG_X_ENABLE_PIN 38
#define ORIG_X_ENABLE_PIN 38
#define ORIG_X_MIN_PIN 3
#define ORIG_X_MIN_PIN 3
#define ORIG_X_MAX_PIN 2
#define ORIG_X_MAX_PIN 2
// Y axis pins
// Y axis pins
#define ORIG_Y_STEP_PIN 60
#define ORIG_Y_STEP_PIN 60
#define ORIG_Y_DIR_PIN 61
#define ORIG_Y_DIR_PIN 61
#define ORIG_Y_ENABLE_PIN 56
#define ORIG_Y_ENABLE_PIN 56
#define ORIG_Y_MIN_PIN 14
#define ORIG_Y_MIN_PIN 14
#define ORIG_Y_MAX_PIN 15
#define ORIG_Y_MAX_PIN 15
#define Y2_STEP_PIN 36
#define Y2_STEP_PIN 36
#define Y2_DIR_PIN 34
#define Y2_DIR_PIN 34
#define Y2_ENABLE_PIN 30
#define Y2_ENABLE_PIN 30
...
@@ -860,14 +860,14 @@
...
@@ -860,14 +860,14 @@
#define ORIG_E1_STEP_PIN 36
#define ORIG_E1_STEP_PIN 36
#define ORIG_E1_DIR_PIN 34
#define ORIG_E1_DIR_PIN 34
#define ORIG_E1_ENABLE_PIN 30
#define ORIG_E1_ENABLE_PIN 30
#define SDPOWER -1
#define SDPOWER -1
#define SDSS 53
#define SDSS 53
#define LED_PIN 13
#define LED_PIN 13
#define ORIG_FAN_PIN 9
#define ORIG_FAN_PIN 9
#define ORIG_PS_ON_PIN 12
#define ORIG_PS_ON_PIN 12
#define ORIG_HEATER_0_PIN 10 // Hotend 1
#define ORIG_HEATER_0_PIN 10 // Hotend 1
#define ORIG_HEATER_1_PIN -1
#define ORIG_HEATER_1_PIN -1
#define ORIG_HEATER_2_PIN -1
#define ORIG_HEATER_2_PIN -1
...
@@ -877,7 +877,7 @@
...
@@ -877,7 +877,7 @@
#define ORIG_TEMP_1_PIN 15 // ANALOG NUMBERING
#define ORIG_TEMP_1_PIN 15 // ANALOG NUMBERING
#define ORIG_TEMP_2_PIN -1 // ANALOG NUMBERING
#define ORIG_TEMP_2_PIN -1 // ANALOG NUMBERING
#define ORIG_TEMP_3_PIN -1 // ANALOG NUMBERING
#define ORIG_TEMP_3_PIN -1 // ANALOG NUMBERING
#define ORIG_HEATER_BED_PIN 8 // BED
#define ORIG_HEATER_BED_PIN 8 // BED
#define ORIG_TEMP_BED_PIN 14 // ANALOG NUMBERING
#define ORIG_TEMP_BED_PIN 14 // ANALOG NUMBERING
...
@@ -917,7 +917,7 @@
...
@@ -917,7 +917,7 @@
#define LCD_PINS_D6 27
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
#define LCD_PINS_D7 29
#endif // PANEL_ONE
#endif // PANEL_ONE
#if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER)
#if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER)
#define ORIG_BEEPER_PIN 37
#define ORIG_BEEPER_PIN 37
...
@@ -971,7 +971,7 @@
...
@@ -971,7 +971,7 @@
#define BTN_EN2 35
#define BTN_EN2 35
#define BTN_ENC 31 // the click
#define BTN_ENC 31 // the click
#endif
#endif
#if ENABLED(G3D_PANEL)
#if ENABLED(G3D_PANEL)
#define SD_DETECT_PIN 49
#define SD_DETECT_PIN 49
#else
#else
...
@@ -979,7 +979,7 @@
...
@@ -979,7 +979,7 @@
#endif
#endif
#endif
#endif
#else // old style panel with shift register
#else // old style panel with shift register
// arduino pin witch triggers an piezo beeper
// arduino pin witch triggers an piezo beeper
#define ORIG_BEEPER_PIN 33 // No Beeper added
#define ORIG_BEEPER_PIN 33 // No Beeper added
...
@@ -990,7 +990,7 @@
...
@@ -990,7 +990,7 @@
//#define SHIFT_LD 42
//#define SHIFT_LD 42
//#define SHIFT_OUT 40
//#define SHIFT_OUT 40
//#define SHIFT_EN 17
//#define SHIFT_EN 17
#define LCD_PINS_RS 16
#define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 17
#define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 23
#define LCD_PINS_D4 23
...
...
MK/module/MK_Main.cpp
View file @
1bdb8bb8
...
@@ -99,7 +99,7 @@ static millis_t max_inactive_time = 0;
...
@@ -99,7 +99,7 @@ static millis_t max_inactive_time = 0;
static
millis_t
stepper_inactive_time
=
DEFAULT_STEPPER_DEACTIVE_TIME
*
1000UL
;
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_start_ms
=
0
;
///< Print job start time
millis_t
print_job_stop_ms
=
0
;
///< Print job stop time
millis_t
print_job_stop_ms
=
0
;
///< Print job stop time
static
int8_t
target_extruder
;
static
u
int8_t
target_extruder
;
bool
no_wait_for_cooling
=
true
;
bool
no_wait_for_cooling
=
true
;
bool
target_direction
;
bool
target_direction
;
bool
software_endstops
=
true
;
bool
software_endstops
=
true
;
...
@@ -127,7 +127,7 @@ double printer_usage_filament;
...
@@ -127,7 +127,7 @@ double printer_usage_filament;
#endif
#endif
#if ENABLED(NPR2)
#if ENABLED(NPR2)
in
t
old_color
=
99
;
uint8_
t
old_color
=
99
;
#endif
#endif
#if ENABLED(RFID_MODULE)
#if ENABLED(RFID_MODULE)
...
@@ -182,9 +182,9 @@ double printer_usage_filament;
...
@@ -182,9 +182,9 @@ double printer_usage_filament;
float
tower_adj
[
6
]
=
{
0
};
float
tower_adj
[
6
]
=
{
0
};
float
delta_radius
;
// = DEFAULT_delta_radius;
float
delta_radius
;
// = DEFAULT_delta_radius;
float
delta_diagonal_rod
;
// = DEFAULT_DELTA_DIAGONAL_ROD;
float
delta_diagonal_rod
;
// = DEFAULT_DELTA_DIAGONAL_ROD;
float
DELTA_DIAGONAL_ROD1_2
;
float
delta_diagonal_rod_1
;
float
DELTA_DIAGONAL_ROD2
_2
;
float
delta_diagonal_rod
_2
;
float
DELTA_DIAGONAL_ROD3_2
;
float
delta_diagonal_rod_3
;
float
ac_prec
=
AUTOCALIBRATION_PRECISION
;
float
ac_prec
=
AUTOCALIBRATION_PRECISION
;
float
delta_tower1_x
,
delta_tower1_y
,
float
delta_tower1_x
,
delta_tower1_y
,
delta_tower2_x
,
delta_tower2_y
,
delta_tower2_x
,
delta_tower2_y
,
...
@@ -621,7 +621,7 @@ void setup() {
...
@@ -621,7 +621,7 @@ void setup() {
ECHO_EMV
(
SERIAL_PLANNER_BUFFER_BYTES
,
(
int
)
sizeof
(
block_t
)
*
BLOCK_BUFFER_SIZE
);
ECHO_EMV
(
SERIAL_PLANNER_BUFFER_BYTES
,
(
int
)
sizeof
(
block_t
)
*
BLOCK_BUFFER_SIZE
);
#if ENABLED(SDSUPPORT)
#if ENABLED(SDSUPPORT)
for
(
int8_t
i
=
0
;
i
<
BUFSIZE
;
i
++
)
fromsd
[
i
]
=
false
;
for
(
u
int8_t
i
=
0
;
i
<
BUFSIZE
;
i
++
)
fromsd
[
i
]
=
false
;
#endif
#endif
// loads custom configuration from SDCARD if available else uses defaults
// loads custom configuration from SDCARD if available else uses defaults
...
@@ -674,11 +674,11 @@ void setup() {
...
@@ -674,11 +674,11 @@ void setup() {
#if ENABLED(MIXING_EXTRUDER_FEATURE) && MIXING_VIRTUAL_TOOLS > 1
#if ENABLED(MIXING_EXTRUDER_FEATURE) && MIXING_VIRTUAL_TOOLS > 1
// Initialize mixing to 100% color 1
// Initialize mixing to 100% color 1
for
(
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
mixing_factor
[
i
]
=
(
i
==
0
)
?
1
:
0
;
mixing_factor
[
i
]
=
(
i
==
0
)
?
1
:
0
;
}
}
for
(
int8_t
t
=
0
;
t
<
MIXING_VIRTUAL_TOOL
S
;
t
++
)
{
for
(
uint8_t
t
=
0
;
t
<
EXTRUDER
S
;
t
++
)
{
for
(
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
mixing_virtual_tool_mix
[
t
][
i
]
=
mixing_factor
[
i
];
mixing_virtual_tool_mix
[
t
][
i
]
=
mixing_factor
[
i
];
}
}
}
}
...
@@ -1249,7 +1249,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1249,7 +1249,7 @@ static void clean_up_after_endstop_move() {
st_synchronize
();
st_synchronize
();
// Tell the planner where we ended up - Get this from the stepper handler
// 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
]);
plan_set_position
(
current_position
[
X_AXIS
],
current_position
[
Y_AXIS
],
zPosition
,
current_position
[
E_AXIS
]);
// move up the retract distance
// move up the retract distance
...
@@ -1267,7 +1267,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1267,7 +1267,7 @@ static void clean_up_after_endstop_move() {
endstops_hit_on_purpose
();
// clear endstop hit flags
endstops_hit_on_purpose
();
// clear endstop hit flags
// Get the current stepper position after bumping an endstop
// 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
();
sync_plan_position
();
if
(
debugLevel
&
DEBUG_INFO
)
{
if
(
debugLevel
&
DEBUG_INFO
)
{
...
@@ -1342,8 +1342,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1342,8 +1342,7 @@ static void clean_up_after_endstop_move() {
#if HASNT(Z_PROBE_SLED)
#if HASNT(Z_PROBE_SLED)
if
(
probe_action
&
ProbeDeploy
)
{
if
(
probe_action
&
ProbeDeploy
)
{
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"> ProbeDeploy"
);
ECHO_LM
(
INFO
,
"> ProbeDeploy"
);
deploy_z_probe
();
deploy_z_probe
();
}
}
#endif
#endif
...
@@ -1353,21 +1352,19 @@ static void clean_up_after_endstop_move() {
...
@@ -1353,21 +1352,19 @@ static void clean_up_after_endstop_move() {
#if HASNT(Z_PROBE_SLED)
#if HASNT(Z_PROBE_SLED)
if
(
probe_action
&
ProbeStow
)
{
if
(
probe_action
&
ProbeStow
)
{
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"> ProbeStow (stow_z_probe will do Z Raise)"
);
ECHO_LM
(
INFO
,
"> ProbeStow (stow_z_probe will do Z Raise)"
);
stow_z_probe
();
stow_z_probe
();
}
}
#endif
#endif
if
(
verbose_level
>
2
)
{
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_X
,
x
,
3
);
ECHO_MV
(
SERIAL_BED_LEVELLING_Y
,
y
,
3
);
ECHO_MV
(
SERIAL_BED_LEVELLING_Y
,
y
,
3
);
ECHO_EMV
(
SERIAL_BED_LEVELLING_Z
,
measured_z
,
3
);
ECHO_EMV
(
SERIAL_BED_LEVELLING_Z
,
measured_z
,
3
);
}
}
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< probe_pt"
);
ECHO_LM
(
INFO
,
"<<< probe_pt"
);
return
measured_z
;
return
measured_z
;
}
}
...
@@ -1511,8 +1508,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1511,8 +1508,7 @@ static void clean_up_after_endstop_move() {
// Deploy a probe if there is one, and homing towards the bed
// Deploy a probe if there is one, and homing towards the bed
if
(
axis
==
Z_AXIS
)
{
if
(
axis
==
Z_AXIS
)
{
if
(
axis_home_dir
<
0
)
{
if
(
axis_home_dir
<
0
)
{
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"> SERVO_LEVELING > stow_z_probe"
);
ECHO_LM
(
INFO
,
"> SERVO_LEVELING > stow_z_probe"
);
stow_z_probe
();
stow_z_probe
();
}
}
}
}
...
@@ -1522,8 +1518,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1522,8 +1518,7 @@ static void clean_up_after_endstop_move() {
#if HAS(SERVO_ENDSTOPS)
#if HAS(SERVO_ENDSTOPS)
// Retract Servo endstop if enabled
// Retract Servo endstop if enabled
if
(
servo_endstop_id
[
axis
]
>=
0
)
{
if
(
servo_endstop_id
[
axis
]
>=
0
)
{
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"> SERVO_ENDSTOPS > Stow with servo.move()"
);
ECHO_LM
(
INFO
,
"> SERVO_ENDSTOPS > Stow with servo.move()"
);
servo
[
servo_endstop_id
[
axis
]].
move
(
servo_endstop_angle
[
axis
][
1
]);
servo
[
servo_endstop_id
[
axis
]].
move
(
servo_endstop_angle
[
axis
][
1
]);
}
}
#endif
#endif
...
@@ -1592,8 +1587,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1592,8 +1587,7 @@ static void clean_up_after_endstop_move() {
enable_endstops
(
true
);
// Enable endstops for next homing move
enable_endstops
(
true
);
// Enable endstops for next homing move
}
}
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LMV
(
INFO
,
"> endstop_adj * axis_home_dir = "
,
endstop_adj
[
axis
]
*
axis_home_dir
);
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 the axis position to its home position (plus home offsets)
set_axis_is_at_home
(
axis
);
set_axis_is_at_home
(
axis
);
...
@@ -1623,9 +1617,9 @@ static void clean_up_after_endstop_move() {
...
@@ -1623,9 +1617,9 @@ static void clean_up_after_endstop_move() {
base_max_pos
[
Z_AXIS
]
=
max_pos
[
Z_AXIS
];
base_max_pos
[
Z_AXIS
]
=
max_pos
[
Z_AXIS
];
base_home_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_rod_1
=
pow
(
delta_diagonal_rod
+
diagrod_adj
[
0
],
2
);
DELTA_DIAGONAL_ROD2
_2
=
pow
(
delta_diagonal_rod
+
diagrod_adj
[
1
],
2
);
delta_diagonal_rod
_2
=
pow
(
delta_diagonal_rod
+
diagrod_adj
[
1
],
2
);
DELTA_DIAGONAL_ROD3_2
=
pow
(
delta_diagonal_rod
+
diagrod_adj
[
2
],
2
);
delta_diagonal_rod_3
=
pow
(
delta_diagonal_rod
+
diagrod_adj
[
2
],
2
);
// Effective X/Y positions of the three vertical towers.
// 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
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() {
...
@@ -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
);
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
)
{
static
void
extrapolate_one_point
(
int
x
,
int
y
,
int
xdir
,
int
ydir
)
{
if
(
bed_level
[
x
][
y
]
!=
0.0
)
{
if
(
bed_level
[
x
][
y
]
!=
0.0
)
{
return
;
// Don't overwrite good values.
return
;
// Don't overwrite good values.
...
@@ -1682,8 +1681,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1682,8 +1681,7 @@ static void clean_up_after_endstop_move() {
// Reset calibration results to zero.
// Reset calibration results to zero.
void
reset_bed_level
()
{
void
reset_bed_level
()
{
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"reset_bed_level"
);
ECHO_LM
(
INFO
,
"reset_bed_level"
);
for
(
int
y
=
0
;
y
<
AUTO_BED_LEVELING_GRID_POINTS
;
y
++
)
{
for
(
int
y
=
0
;
y
<
AUTO_BED_LEVELING_GRID_POINTS
;
y
++
)
{
for
(
int
x
=
0
;
x
<
AUTO_BED_LEVELING_GRID_POINTS
;
x
++
)
{
for
(
int
x
=
0
;
x
<
AUTO_BED_LEVELING_GRID_POINTS
;
x
++
)
{
bed_level
[
x
][
y
]
=
0.0
;
bed_level
[
x
][
y
]
=
0.0
;
...
@@ -1692,7 +1690,6 @@ static void clean_up_after_endstop_move() {
...
@@ -1692,7 +1690,6 @@ static void clean_up_after_endstop_move() {
}
}
void
deploy_z_probe
()
{
void
deploy_z_probe
()
{
#if HAS(SERVO_ENDSTOPS)
#if HAS(SERVO_ENDSTOPS)
// Engage Z Servo endstop if enabled
// 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
]);
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() {
...
@@ -1751,7 +1748,6 @@ static void clean_up_after_endstop_move() {
}
}
void
apply_endstop_adjustment
(
float
x_endstop
,
float
y_endstop
,
float
z_endstop
)
{
void
apply_endstop_adjustment
(
float
x_endstop
,
float
y_endstop
,
float
z_endstop
)
{
memcpy
(
saved_endstop_adj
,
endstop_adj
,
sizeof
(
saved_endstop_adj
));
memcpy
(
saved_endstop_adj
,
endstop_adj
,
sizeof
(
saved_endstop_adj
));
endstop_adj
[
X_AXIS
]
+=
x_endstop
;
endstop_adj
[
X_AXIS
]
+=
x_endstop
;
endstop_adj
[
Y_AXIS
]
+=
y_endstop
;
endstop_adj
[
Y_AXIS
]
+=
y_endstop
;
...
@@ -1812,20 +1808,33 @@ static void clean_up_after_endstop_move() {
...
@@ -1812,20 +1808,33 @@ static void clean_up_after_endstop_move() {
}
while
(((
x_done
==
false
)
or
(
y_done
==
false
)
or
(
z_done
==
false
)));
}
while
(((
x_done
==
false
)
or
(
y_done
==
false
)
or
(
z_done
==
false
)));
float
high_endstop
=
0
;
float
high_endstop
=
0
;
float
low_endstop
=
0
;
float
low_endstop
=
99
;
for
(
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
if
(
endstop_adj
[
i
]
>
high_endstop
)
high_endstop
=
endstop_adj
[
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
)
{
if
(
high_endstop
>
0
)
{
ECHO_LMV
(
DB
,
"Reducing Build height by "
,
high_endstop
);
ECHO_LMV
(
DB
,
"Reducing Build height by "
,
high_endstop
);
for
(
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
endstop_adj
[
i
]
-=
high_endstop
;
endstop_adj
[
i
]
-=
high_endstop
;
}
}
max_pos
[
Z_AXIS
]
-=
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
;
bed_safe_z
=
20
;
}
}
...
@@ -1840,7 +1849,7 @@ static void clean_up_after_endstop_move() {
...
@@ -1840,7 +1849,7 @@ static void clean_up_after_endstop_move() {
float
xy_diff
,
yz_diff
,
xz_diff
;
float
xy_diff
,
yz_diff
,
xz_diff
;
float
low_opp
,
high_opp
;
float
low_opp
,
high_opp
;
for
(
int8_t
i
=
0
;
i
<
6
;
i
++
)
saved_tower_adj
[
i
]
=
tower_adj
[
i
];
for
(
u
int8_t
i
=
0
;
i
<
6
;
i
++
)
saved_tower_adj
[
i
]
=
tower_adj
[
i
];
err_tower
=
0
;
err_tower
=
0
;
...
@@ -1864,9 +1873,10 @@ static void clean_up_after_endstop_move() {
...
@@ -1864,9 +1873,10 @@ static void clean_up_after_endstop_move() {
xy_equal
=
false
;
xy_equal
=
false
;
xz_equal
=
false
;
xz_equal
=
false
;
yz_equal
=
false
;
yz_equal
=
false
;
if
(
abs
(
x_diff
-
y_diff
)
<=
ac_prec
)
xy_equal
=
true
;
if
(
Equal_AB
(
x_diff
,
y_diff
,
ac_prec
))
xy_equal
=
true
;
if
(
abs
(
x_diff
-
z_diff
)
<=
ac_prec
)
xz_equal
=
true
;
if
(
Equal_AB
(
x_diff
,
z_diff
,
ac_prec
))
xz_equal
=
true
;
if
(
abs
(
y_diff
-
z_diff
)
<=
ac_prec
)
yz_equal
=
true
;
if
(
Equal_AB
(
y_diff
,
z_diff
,
ac_prec
))
yz_equal
=
true
;
ECHO_SM
(
DB
,
"xy_equal = "
);
ECHO_SM
(
DB
,
"xy_equal = "
);
if
(
xy_equal
==
true
)
ECHO_EM
(
"true"
);
else
ECHO_EM
(
"false"
);
if
(
xy_equal
==
true
)
ECHO_EM
(
"true"
);
else
ECHO_EM
(
"false"
);
ECHO_SM
(
DB
,
"xz_equal = "
);
ECHO_SM
(
DB
,
"xz_equal = "
);
...
@@ -1883,20 +1893,20 @@ static void clean_up_after_endstop_move() {
...
@@ -1883,20 +1893,20 @@ static void clean_up_after_endstop_move() {
ECHO_LMV
(
DB
,
"Opp Range = "
,
high_opp
-
low_opp
,
5
);
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"
);
ECHO_LM
(
DB
,
"Opposite Points within Limits - Adjustment not required"
);
t1_err
=
false
;
t1_err
=
false
;
t2_err
=
false
;
t2_err
=
false
;
t3_err
=
false
;
t3_err
=
false
;
}
}
// All Towers have errors
// All Towers have errors
if
((
t1_err
==
true
)
and
(
t2_err
==
true
)
and
(
t3_err
==
true
))
{
if
((
t1_err
==
true
)
and
(
t2_err
==
true
)
and
(
t3_err
==
true
))
{
if
((
xy_equal
==
false
)
or
(
xz_equal
==
false
)
or
(
yz_equal
==
false
))
{
if
((
xy_equal
==
false
)
or
(
xz_equal
==
false
)
or
(
yz_equal
==
false
))
{
// Errors not equal .. select the tower that needs to be adjusted
// Errors not equal .. select the tower that needs to be adjusted
if
(
abs
(
high_diff
-
x_diff
)
<
0.00001
)
err_tower
=
1
;
if
(
Equal_AB
(
high_diff
,
x_diff
,
0.00001
)
)
err_tower
=
1
;
if
(
abs
(
high_diff
-
y_diff
)
<
0.00001
)
err_tower
=
2
;
if
(
Equal_AB
(
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
,
z_diff
,
0.00001
)
)
err_tower
=
3
;
ECHO_SMV
(
DB
,
"Tower "
,
err_tower
);
ECHO_SMV
(
DB
,
"Tower "
,
err_tower
);
ECHO_EM
(
" has largest error"
);
ECHO_EM
(
" has largest error"
);
}
}
...
@@ -1908,12 +1918,10 @@ static void clean_up_after_endstop_move() {
...
@@ -1908,12 +1918,10 @@ static void clean_up_after_endstop_move() {
}
}
}
}
/*
// Two tower errors
// 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
==
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
==
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
;
if
((
t1_err
==
false
)
and
(
t2_err
==
true
)
and
(
t3_err
==
true
))
err_tower
=
1
;
*/
// Single tower error
// Single tower error
if
((
t1_err
==
true
)
and
(
t2_err
==
false
)
and
(
t3_err
==
false
))
err_tower
=
1
;
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() {
...
@@ -1955,27 +1963,27 @@ static void clean_up_after_endstop_move() {
//Set return value to indicate if anything has been changed (0 = no change)
//Set return value to indicate if anything has been changed (0 = no change)
int
retval
=
0
;
int
retval
=
0
;
for
(
int8_t
i
=
0
;
i
<
6
;
i
++
)
if
(
saved_tower_adj
[
i
]
!=
tower_adj
[
i
])
retval
++
;
for
(
u
int8_t
i
=
0
;
i
<
6
;
i
++
)
if
(
saved_tower_adj
[
i
]
!=
tower_adj
[
i
])
retval
++
;
return
retval
;
return
retval
;
}
}
int
adj_deltaradius
()
{
bool
adj_deltaradius
()
{
float
adj_r
;
float
adj_r
;
float
prev_c
;
float
prev_c
;
in
t
c_nochange_count
=
0
;
uint8_
t
c_nochange_count
=
0
;
float
nochange_r
;
float
nochange_r
;
bed_level_c
=
probe_bed
(
0.0
,
0.0
);
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"
);
ECHO_LM
(
DB
,
"Delta Radius OK"
);
return
0
;
return
false
;
}
}
else
{
else
{
ECHO_LM
(
DB
,
"Adjusting Delta Radius"
);
ECHO_LM
(
DB
,
"Adjusting Delta Radius"
);
//
set init
al direction and magnitude for delta radius adjustment
//
set initi
al direction and magnitude for delta radius adjustment
adj_r
=
0.
1
;
adj_r
=
0.
5
;
if
(
bed_level_c
>
0
)
adj_r
=
-
0.
1
;
if
(
bed_level_c
>
0
)
adj_r
=
-
0.
5
;
bed_safe_z
=
Z_RAISE_BETWEEN_PROBINGS
-
z_probe_offset
[
Z_AXIS
];
bed_safe_z
=
Z_RAISE_BETWEEN_PROBINGS
-
z_probe_offset
[
Z_AXIS
];
...
@@ -1988,14 +1996,14 @@ static void clean_up_after_endstop_move() {
...
@@ -1988,14 +1996,14 @@ static void clean_up_after_endstop_move() {
//Show progress
//Show progress
ECHO_SMV
(
DB
,
"r:"
,
delta_radius
,
4
);
ECHO_SMV
(
DB
,
"r:"
,
delta_radius
,
4
);
ECHO_MV
(
" (adj:"
,
adj_r
,
4
);
ECHO_MV
(
" (adj:"
,
adj_r
,
6
);
ECHO_EMV
(
") c:"
,
bed_level_c
,
4
);
ECHO_EMV
(
") c:"
,
bed_level_c
,
4
);
//Adjust delta radius
//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
);
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
//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
;
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
));
}
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() {
...
@@ -2005,7 +2013,7 @@ static void clean_up_after_endstop_move() {
set_delta_constants
();
set_delta_constants
();
bed_safe_z
=
Z_RAISE_BETWEEN_PROBINGS
-
z_probe_offset
[
Z_AXIS
];
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() {
...
@@ -2068,7 +2076,7 @@ static void clean_up_after_endstop_move() {
adj_target
=
target
+
temp
;
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
)
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
==
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
)
{
if
(
nochange_count
>
1
)
{
ECHO_LM
(
DB
,
"Stuck in Loop.. Exiting"
);
ECHO_LM
(
DB
,
"Stuck in Loop.. Exiting"
);
t1_done
=
true
;
t1_done
=
true
;
...
@@ -2095,7 +2103,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2095,7 +2103,7 @@ static void clean_up_after_endstop_move() {
adj_target
=
target
+
temp
;
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
)
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
==
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
)
{
if
(
nochange_count
>
1
)
{
ECHO_LM
(
DB
,
"Stuck in Loop.. Exiting"
);
ECHO_LM
(
DB
,
"Stuck in Loop.. Exiting"
);
t2_done
=
true
;
t2_done
=
true
;
...
@@ -2122,7 +2130,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2122,7 +2130,7 @@ static void clean_up_after_endstop_move() {
adj_target
=
target
+
temp
;
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
)
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
==
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
)
{
if
(
nochange_count
>
1
)
{
ECHO_LM
(
DB
,
"Stuck in Loop.. Exiting"
);
ECHO_LM
(
DB
,
"Stuck in Loop.. Exiting"
);
t3_done
=
true
;
t3_done
=
true
;
...
@@ -2132,7 +2140,6 @@ static void clean_up_after_endstop_move() {
...
@@ -2132,7 +2140,6 @@ static void clean_up_after_endstop_move() {
ECHO_MV
(
" tower radius adj:"
,
tower_adj
[
5
],
6
);
ECHO_MV
(
" tower radius adj:"
,
tower_adj
[
5
],
6
);
if
(
t3_done
==
true
)
ECHO_EM
(
" done:true"
);
else
ECHO_EM
(
" done:false"
);
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
));
}
while
((
t1_done
==
false
)
or
(
t2_done
==
false
)
or
(
t3_done
==
false
));
}
}
...
@@ -2142,7 +2149,6 @@ static void clean_up_after_endstop_move() {
...
@@ -2142,7 +2149,6 @@ static void clean_up_after_endstop_move() {
float
adj_prv
;
float
adj_prv
;
do
{
do
{
tower_adj
[
tower
-
1
]
+=
adj_val
;
tower_adj
[
tower
-
1
]
+=
adj_val
;
set_delta_constants
();
set_delta_constants
();
...
@@ -2178,7 +2184,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2178,7 +2184,7 @@ static void clean_up_after_endstop_move() {
adj_val
=
-
adj_mag
;
adj_val
=
-
adj_mag
;
}
}
//Show Adjustments made
//
Show Adjustments made
if
(
tower
==
1
)
{
if
(
tower
==
1
)
{
ECHO_SMV
(
DB
,
"oy:"
,
bed_level_oy
,
4
);
ECHO_SMV
(
DB
,
"oy:"
,
bed_level_oy
,
4
);
ECHO_MV
(
" oz:"
,
bed_level_oz
,
4
);
ECHO_MV
(
" oz:"
,
bed_level_oz
,
4
);
...
@@ -2227,7 +2233,7 @@ static void clean_up_after_endstop_move() {
...
@@ -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
((
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
;
if
((
abs
(
adj_val
)
<
0.001
)
and
(
adj_val
!=
0
))
adj_val
=
0
;
ECHO_SMV
(
DB
,
"target:"
,
target
,
4
);
ECHO_SMV
(
DB
,
"target:"
,
target
,
4
);
...
@@ -2260,9 +2266,9 @@ static void clean_up_after_endstop_move() {
...
@@ -2260,9 +2266,9 @@ static void clean_up_after_endstop_move() {
sync_plan_position_delta
();
sync_plan_position_delta
();
// Save tower carriage positions for G30 diagnostic reports
// Save tower carriage positions for G30 diagnostic reports
saved_position
[
X_AXIS
]
=
st_get_position_mm
(
X_AXIS
);
saved_position
[
X_AXIS
]
=
st_get_
axis_
position_mm
(
X_AXIS
);
saved_position
[
Y_AXIS
]
=
st_get_position_mm
(
Y_AXIS
);
saved_position
[
Y_AXIS
]
=
st_get_
axis_
position_mm
(
Y_AXIS
);
saved_position
[
Z_AXIS
]
=
st_get_position_mm
(
Z_AXIS
);
saved_position
[
Z_AXIS
]
=
st_get_
axis_
position_mm
(
Z_AXIS
);
destination
[
Z_AXIS
]
=
mm
+
Z_RAISE_BETWEEN_PROBINGS
;
destination
[
Z_AXIS
]
=
mm
+
Z_RAISE_BETWEEN_PROBINGS
;
prepare_move_raw
();
prepare_move_raw
();
...
@@ -2318,8 +2324,8 @@ static void clean_up_after_endstop_move() {
...
@@ -2318,8 +2324,8 @@ static void clean_up_after_endstop_move() {
bed_level
[
xCount
][
yCount
]
=
probe_bed
(
xProbe
,
yProbe
);
bed_level
[
xCount
][
yCount
]
=
probe_bed
(
xProbe
,
yProbe
);
idle
();
idle
();
}
//xProbe
}
//
xProbe
}
//yProbe
}
//
yProbe
extrapolate_unprobed_bed_level
();
extrapolate_unprobed_bed_level
();
print_bed_level
();
print_bed_level
();
...
@@ -2350,7 +2356,9 @@ static void clean_up_after_endstop_move() {
...
@@ -2350,7 +2356,9 @@ static void clean_up_after_endstop_move() {
if
(
probe_bed_array
[
i
]
>=
0
)
ECHO_M
(
" "
);
if
(
probe_bed_array
[
i
]
>=
0
)
ECHO_M
(
" "
);
ECHO_VM
(
probe_bed_array
[
i
],
" "
,
4
);
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
;
bed_safe_z
=
probe_z
+
5
;
...
@@ -2358,17 +2366,16 @@ static void clean_up_after_endstop_move() {
...
@@ -2358,17 +2366,16 @@ static void clean_up_after_endstop_move() {
}
}
void
bed_probe_all
()
{
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
;
feedrate
=
AUTOCAL_TRAVELRATE
*
60
;
destination
[
Z_AXIS
]
=
bed_safe_z
;
destination
[
Z_AXIS
]
=
bed_safe_z
;
prepare_move_raw
();
prepare_move_raw
();
st_synchronize
();
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
);
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
);
bed_level_z
=
probe_bed
(
0.0
,
bed_radius
);
save_carriage_positions
(
1
);
save_carriage_positions
(
1
);
bed_level_oy
=
probe_bed
(
-
SIN_60
*
bed_radius
,
COS_60
*
bed_radius
);
bed_level_oy
=
probe_bed
(
-
SIN_60
*
bed_radius
,
COS_60
*
bed_radius
);
...
@@ -2386,7 +2393,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2386,7 +2393,7 @@ static void clean_up_after_endstop_move() {
}
}
void
calibration_report
()
{
void
calibration_report
()
{
//Display Report
//
Display Report
ECHO_LM
(
DB
,
"|
\t
Z-Tower
\t\t\t
Endstop Offsets"
);
ECHO_LM
(
DB
,
"|
\t
Z-Tower
\t\t\t
Endstop Offsets"
);
ECHO_SM
(
DB
,
"|
\t
"
);
ECHO_SM
(
DB
,
"|
\t
"
);
...
@@ -2431,7 +2438,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2431,7 +2438,7 @@ static void clean_up_after_endstop_move() {
}
}
void
save_carriage_positions
(
int
position_num
)
{
void
save_carriage_positions
(
int
position_num
)
{
for
(
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
saved_positions
[
position_num
][
i
]
=
saved_position
[
i
];
saved_positions
[
position_num
][
i
]
=
saved_position
[
i
];
}
}
}
}
...
@@ -2491,15 +2498,15 @@ static void clean_up_after_endstop_move() {
...
@@ -2491,15 +2498,15 @@ static void clean_up_after_endstop_move() {
}
}
void
calculate_delta
(
float
cartesian
[
3
])
{
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_x
-
cartesian
[
X_AXIS
])
-
sq
(
delta_tower1_y
-
cartesian
[
Y_AXIS
])
-
sq
(
delta_tower1_y
-
cartesian
[
Y_AXIS
])
)
+
cartesian
[
Z_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_x
-
cartesian
[
X_AXIS
])
-
sq
(
delta_tower2_y
-
cartesian
[
Y_AXIS
])
-
sq
(
delta_tower2_y
-
cartesian
[
Y_AXIS
])
)
+
cartesian
[
Z_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_x
-
cartesian
[
X_AXIS
])
-
sq
(
delta_tower3_y
-
cartesian
[
Y_AXIS
])
-
sq
(
delta_tower3_y
-
cartesian
[
Y_AXIS
])
)
+
cartesian
[
Z_AXIS
];
)
+
cartesian
[
Z_AXIS
];
...
@@ -2549,7 +2556,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2549,7 +2556,7 @@ static void clean_up_after_endstop_move() {
#if ENABLED(COLOR_MIXING_EXTRUDER)
#if ENABLED(COLOR_MIXING_EXTRUDER)
void
normalize_mix
()
{
void
normalize_mix
()
{
float
mix_total
=
0.0
;
float
mix_total
=
0.0
;
for
(
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
float
v
=
mixing_factor
[
i
];
float
v
=
mixing_factor
[
i
];
if
(
v
<
0
)
v
=
mixing_factor
[
i
]
=
0
;
if
(
v
<
0
)
v
=
mixing_factor
[
i
]
=
0
;
mix_total
+=
v
;
mix_total
+=
v
;
...
@@ -2559,7 +2566,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2559,7 +2566,7 @@ static void clean_up_after_endstop_move() {
if
(
mix_total
<
0.9999
||
mix_total
>
1.0001
)
{
if
(
mix_total
<
0.9999
||
mix_total
>
1.0001
)
{
ECHO_EM
(
"Warning: Mix factors must add up to 1.0. Scaling."
);
ECHO_EM
(
"Warning: Mix factors must add up to 1.0. Scaling."
);
float
mix_scale
=
1.0
/
mix_total
;
float
mix_scale
=
1.0
/
mix_total
;
for
(
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
mixing_factor
[
i
]
*=
mix_scale
;
mixing_factor
[
i
]
*=
mix_scale
;
}
}
}
}
...
@@ -2570,7 +2577,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2570,7 +2577,7 @@ static void clean_up_after_endstop_move() {
// The total "must" be 1.0 (but it will be normalized)
// The total "must" be 1.0 (but it will be normalized)
void
gcode_get_mix
()
{
void
gcode_get_mix
()
{
const
char
*
mixing_codes
=
"ABCDHI"
;
const
char
*
mixing_codes
=
"ABCDHI"
;
for
(
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
mixing_factor
[
i
]
=
code_seen
(
mixing_codes
[
i
])
?
code_value
()
:
0
;
mixing_factor
[
i
]
=
code_seen
(
mixing_codes
[
i
])
?
code_value
()
:
0
;
}
}
normalize_mix
();
normalize_mix
();
...
@@ -2666,8 +2673,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2666,8 +2673,7 @@ static void clean_up_after_endstop_move() {
* offset[in] The additional distance to move to adjust docking location
* offset[in] The additional distance to move to adjust docking location
*/
*/
static
void
dock_sled
(
bool
dock
,
int
offset
=
0
)
{
static
void
dock_sled
(
bool
dock
,
int
offset
=
0
)
{
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LMV
(
INFO
,
"dock_sled"
,
dock
);
ECHO_LMV
(
INFO
,
"dock_sled"
,
dock
);
if
(
axis_known_position
&
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
))
!=
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
)))
{
if
(
axis_known_position
&
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
))
!=
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
)))
{
LCD_MESSAGEPGM
(
MSG_POSITION_UNKNOWN
);
LCD_MESSAGEPGM
(
MSG_POSITION_UNKNOWN
);
...
@@ -2704,7 +2710,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2704,7 +2710,7 @@ static void clean_up_after_endstop_move() {
ECHO_MV
(
" /"
,
degTargetBed
(),
1
);
ECHO_MV
(
" /"
,
degTargetBed
(),
1
);
#endif
#endif
#if HOTENDS > 1
#if HOTENDS > 1
for
(
int8_t
h
=
0
;
h
<
HOTENDS
;
++
h
)
{
for
(
u
int8_t
h
=
0
;
h
<
HOTENDS
;
++
h
)
{
ECHO_MV
(
" T"
,
h
);
ECHO_MV
(
" T"
,
h
);
ECHO_MV
(
":"
,
degHotend
(
h
),
1
);
ECHO_MV
(
":"
,
degHotend
(
h
),
1
);
ECHO_MV
(
" /"
,
degTargetHotend
(
h
),
1
);
ECHO_MV
(
" /"
,
degTargetHotend
(
h
),
1
);
...
@@ -2725,7 +2731,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2725,7 +2731,7 @@ static void clean_up_after_endstop_move() {
ECHO_V
(
getHeaterPower
(
target_extruder
));
ECHO_V
(
getHeaterPower
(
target_extruder
));
#endif
#endif
#if HOTENDS > 1
#if HOTENDS > 1
for
(
int8_t
h
=
0
;
h
<
HOTENDS
;
++
h
)
{
for
(
u
int8_t
h
=
0
;
h
<
HOTENDS
;
++
h
)
{
ECHO_MV
(
" "
SERIAL_AT
,
h
);
ECHO_MV
(
" "
SERIAL_AT
,
h
);
ECHO_C
(
':'
);
ECHO_C
(
':'
);
#if ENABLED(HOTEND_WATTS)
#if ENABLED(HOTEND_WATTS)
...
@@ -2740,7 +2746,7 @@ static void clean_up_after_endstop_move() {
...
@@ -2740,7 +2746,7 @@ static void clean_up_after_endstop_move() {
ECHO_MV
(
" ADC B:"
,
degBed
(),
1
);
ECHO_MV
(
" ADC B:"
,
degBed
(),
1
);
ECHO_MV
(
"C->"
,
rawBedTemp
()
/
OVERSAMPLENR
,
0
);
ECHO_MV
(
"C->"
,
rawBedTemp
()
/
OVERSAMPLENR
,
0
);
#endif
#endif
for
(
int8_t
cur_hotend
=
0
;
cur_hotend
<
HOTENDS
;
++
cur_hotend
)
{
for
(
u
int8_t
cur_hotend
=
0
;
cur_hotend
<
HOTENDS
;
++
cur_hotend
)
{
ECHO_MV
(
" T"
,
cur_hotend
);
ECHO_MV
(
" T"
,
cur_hotend
);
ECHO_MV
(
":"
,
degHotend
(
cur_hotend
),
1
);
ECHO_MV
(
":"
,
degHotend
(
cur_hotend
),
1
);
ECHO_MV
(
"C->"
,
rawHotendTemp
(
cur_hotend
)
/
OVERSAMPLENR
,
0
);
ECHO_MV
(
"C->"
,
rawHotendTemp
(
cur_hotend
)
/
OVERSAMPLENR
,
0
);
...
@@ -2765,7 +2771,7 @@ inline void wait_heater() {
...
@@ -2765,7 +2771,7 @@ inline void wait_heater() {
(
residency_start_ms
>=
0
&&
(((
millis_t
)
(
millis
()
-
residency_start_ms
))
<
(
TEMP_RESIDENCY_TIME
*
1000UL
))))
)
(
residency_start_ms
>=
0
&&
(((
millis_t
)
(
millis
()
-
residency_start_ms
))
<
(
TEMP_RESIDENCY_TIME
*
1000UL
))))
)
#else
#else
while
(
target_direction
?
(
isHeatingHotend
(
target_extruder
))
:
(
isCoolingHotend
(
target_extruder
)
&&
(
no_wait_for_cooling
==
false
))
)
while
(
target_direction
?
(
isHeatingHotend
(
target_extruder
))
:
(
isCoolingHotend
(
target_extruder
)
&&
(
no_wait_for_cooling
==
false
))
)
#endif //TEMP_RESIDENCY_TIME
#endif //
TEMP_RESIDENCY_TIME
{
// while loop
{
// while loop
if
(
millis
()
>
temp_ms
+
1000UL
)
{
//Print temp & remaining time every 1s while waiting
if
(
millis
()
>
temp_ms
+
1000UL
)
{
//Print temp & remaining time every 1s while waiting
...
@@ -2798,7 +2804,7 @@ inline void wait_heater() {
...
@@ -2798,7 +2804,7 @@ inline void wait_heater() {
{
{
residency_start_ms
=
millis
();
residency_start_ms
=
millis
();
}
}
#endif //TEMP_RESIDENCY_TIME
#endif //
TEMP_RESIDENCY_TIME
}
}
LCD_MESSAGEPGM
(
MSG_HEATING_COMPLETE
);
LCD_MESSAGEPGM
(
MSG_HEATING_COMPLETE
);
...
@@ -2994,9 +3000,7 @@ inline void gcode_G4() {
...
@@ -2994,9 +3000,7 @@ inline void gcode_G4() {
*
*
*/
*/
inline
void
gcode_G28
()
{
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!
// Wait for planner moves to finish!
st_synchronize
();
st_synchronize
();
...
@@ -3205,7 +3209,7 @@ inline void gcode_G28() {
...
@@ -3205,7 +3209,7 @@ inline void gcode_G28() {
refresh_cmd_timeout
();
refresh_cmd_timeout
();
enable_endstops
(
true
);
enable_endstops
(
true
);
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
destination
[
i
]
=
current_position
[
i
];
destination
[
i
]
=
current_position
[
i
];
}
}
feedrate
=
0.0
;
feedrate
=
0.0
;
...
@@ -3291,8 +3295,7 @@ inline void gcode_G28() {
...
@@ -3291,8 +3295,7 @@ inline void gcode_G28() {
}
}
#elif ENABLED(Z_SAFE_HOMING) && ENABLED(AUTO_BED_LEVELING_FEATURE)// Z Safe mode activated.
#elif ENABLED(Z_SAFE_HOMING) && ENABLED(AUTO_BED_LEVELING_FEATURE)// Z Safe mode activated.
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"> Z_SAFE_HOMING >>>"
);
ECHO_LM
(
INFO
,
"> Z_SAFE_HOMING >>>"
);
if
(
home_all_axis
)
{
if
(
home_all_axis
)
{
...
@@ -3367,8 +3370,7 @@ inline void gcode_G28() {
...
@@ -3367,8 +3370,7 @@ inline void gcode_G28() {
ECHO_LM
(
DB
,
MSG_POSITION_UNKNOWN
);
ECHO_LM
(
DB
,
MSG_POSITION_UNKNOWN
);
}
}
}
}
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< Z_SAFE_HOMING"
);
ECHO_LM
(
INFO
,
"<<< Z_SAFE_HOMING"
);
#elif ENABLED(Z_SAFE_HOMING)
#elif ENABLED(Z_SAFE_HOMING)
if
(
home_all_axis
||
homeZ
)
{
if
(
home_all_axis
||
homeZ
)
{
...
@@ -3402,10 +3404,9 @@ inline void gcode_G28() {
...
@@ -3402,10 +3404,9 @@ inline void gcode_G28() {
ECHO_LM
(
ER
,
MSG_POSITION_UNKNOWN
);
ECHO_LM
(
ER
,
MSG_POSITION_UNKNOWN
);
}
}
}
}
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< Z_SAFE_HOMING"
);
ECHO_LM
(
INFO
,
"<<< Z_SAFE_HOMING"
);
#endif // Z_SAFE_HOMING
#endif //Z_SAFE_HOMING
#endif // Z_HOME_DIR < 0
#endif //Z_HOME_DIR < 0
sync_plan_position
();
sync_plan_position
();
...
@@ -3448,8 +3449,7 @@ inline void gcode_G28() {
...
@@ -3448,8 +3449,7 @@ inline void gcode_G28() {
gfx_cursor_to
(
current_position
[
X_AXIS
],
current_position
[
Y_AXIS
],
current_position
[
Z_AXIS
]);
gfx_cursor_to
(
current_position
[
X_AXIS
],
current_position
[
Y_AXIS
],
current_position
[
Z_AXIS
]);
#endif
#endif
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< gcode_G28"
);
ECHO_LM
(
INFO
,
"<<< gcode_G28"
);
}
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
...
@@ -3497,9 +3497,7 @@ inline void gcode_G28() {
...
@@ -3497,9 +3497,7 @@ inline void gcode_G28() {
*
*
*/
*/
inline
void
gcode_G29
()
{
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
// Don't allow auto-leveling without homing first
if
(
axis_known_position
&
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
))
!=
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
)))
{
if
(
axis_known_position
&
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
))
!=
(
BIT
(
X_AXIS
)
|
BIT
(
Y_AXIS
)))
{
...
@@ -3580,10 +3578,10 @@ inline void gcode_G28() {
...
@@ -3580,10 +3578,10 @@ inline void gcode_G28() {
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
// make sure the bed_level_rotation_matrix is identity or the planner will get it wrong
plan_bed_level_matrix
.
set_to_identity
();
plan_bed_level_matrix
.
set_to_identity
();
//vector_3 corrected_position = plan_get_position_mm();
//
vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
//
corrected_position.debug("position before G29");
vector_3
uncorrected_position
=
plan_get_position
();
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
[
X_AXIS
]
=
uncorrected_position
.
x
;
current_position
[
Y_AXIS
]
=
uncorrected_position
.
y
;
current_position
[
Y_AXIS
]
=
uncorrected_position
.
y
;
current_position
[
Z_AXIS
]
=
uncorrected_position
.
z
;
current_position
[
Z_AXIS
]
=
uncorrected_position
.
z
;
...
@@ -3668,9 +3666,8 @@ inline void gcode_G28() {
...
@@ -3668,9 +3666,8 @@ inline void gcode_G28() {
probePointCounter
++
;
probePointCounter
++
;
idle
();
idle
();
}
// xProbe
}
//xProbe
}
// yProbe
}
//yProbe
if
(
debugLevel
&
DEBUG_INFO
)
{
if
(
debugLevel
&
DEBUG_INFO
)
{
ECHO_S
(
INFO
);
ECHO_S
(
INFO
);
...
@@ -3754,12 +3751,11 @@ inline void gcode_G28() {
...
@@ -3754,12 +3751,11 @@ inline void gcode_G28() {
}
// yy
}
// yy
ECHO_E
;
ECHO_E
;
}
}
}
//do_topography_map
}
//
do_topography_map
#else // !AUTO_BED_LEVELING_GRID
#else // !AUTO_BED_LEVELING_GRID
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"> 3-point Leveling"
);
ECHO_LM
(
INFO
,
"> 3-point Leveling"
);
// Actions for each probe
// Actions for each probe
ProbeAction
p1
,
p2
,
p3
;
ProbeAction
p1
,
p2
,
p3
;
...
@@ -3787,7 +3783,7 @@ inline void gcode_G28() {
...
@@ -3787,7 +3783,7 @@ inline void gcode_G28() {
float
x_tmp
=
current_position
[
X_AXIS
]
+
X_PROBE_OFFSET_FROM_EXTRUDER
,
float
x_tmp
=
current_position
[
X_AXIS
]
+
X_PROBE_OFFSET_FROM_EXTRUDER
,
y_tmp
=
current_position
[
Y_AXIS
]
+
Y_PROBE_OFFSET_FROM_EXTRUDER
,
y_tmp
=
current_position
[
Y_AXIS
]
+
Y_PROBE_OFFSET_FROM_EXTRUDER
,
z_tmp
=
current_position
[
Z_AXIS
],
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
)
{
if
(
debugLevel
&
DEBUG_INFO
)
{
ECHO_LMV
(
INFO
,
"> BEFORE apply_rotation_xyz > z_tmp = "
,
z_tmp
);
ECHO_LMV
(
INFO
,
"> BEFORE apply_rotation_xyz > z_tmp = "
,
z_tmp
);
...
@@ -3841,8 +3837,7 @@ inline void gcode_G28() {
...
@@ -3841,8 +3837,7 @@ inline void gcode_G28() {
st_synchronize
();
st_synchronize
();
#endif
#endif
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< gcode_G29"
);
ECHO_LM
(
INFO
,
"<<< gcode_G29"
);
}
}
#if HASNT(Z_PROBE_SLED)
#if HASNT(Z_PROBE_SLED)
...
@@ -3850,9 +3845,7 @@ inline void gcode_G28() {
...
@@ -3850,9 +3845,7 @@ inline void gcode_G28() {
* G30: Do a single Z probe at the current XY
* G30: Do a single Z probe at the current XY
*/
*/
inline
void
gcode_G30
()
{
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)
#if HAS(SERVO_ENDSTOPS)
raise_z_for_servo
();
raise_z_for_servo
();
...
@@ -3880,8 +3873,7 @@ inline void gcode_G28() {
...
@@ -3880,8 +3873,7 @@ inline void gcode_G28() {
stow_z_probe
();
// Retract Z Servo endstop if available
stow_z_probe
();
// Retract Z Servo endstop if available
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< gcode_G30"
);
ECHO_LM
(
INFO
,
"<<< gcode_G30"
);
}
}
#endif // !Z_PROBE_SLED
#endif // !Z_PROBE_SLED
#endif // AUTO_BED_LEVELING_FEATURE
#endif // AUTO_BED_LEVELING_FEATURE
...
@@ -3893,8 +3885,7 @@ inline void gcode_G28() {
...
@@ -3893,8 +3885,7 @@ inline void gcode_G28() {
*/
*/
inline
void
gcode_G29
()
{
inline
void
gcode_G29
()
{
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"gcode_G29 >>>"
);
ECHO_LM
(
INFO
,
"gcode_G29 >>>"
);
if
(
code_seen
(
'D'
))
{
if
(
code_seen
(
'D'
))
{
print_bed_level
();
print_bed_level
();
...
@@ -3911,8 +3902,7 @@ inline void gcode_G28() {
...
@@ -3911,8 +3902,7 @@ inline void gcode_G28() {
retract_z_probe
();
retract_z_probe
();
clean_up_after_endstop_move
();
clean_up_after_endstop_move
();
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< gcode_G29"
);
ECHO_LM
(
INFO
,
"<<< gcode_G29"
);
}
}
/* G30: Delta AutoCalibration
/* G30: Delta AutoCalibration
...
@@ -3922,17 +3912,15 @@ inline void gcode_G28() {
...
@@ -3922,17 +3912,15 @@ inline void gcode_G28() {
*
*
*/
*/
inline
void
gcode_G30
()
{
inline
void
gcode_G30
()
{
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"gcode_G30 >>>"
);
if
(
debugLevel
&
DEBUG_INFO
)
// Zero the bed level array
ECHO_LM
(
INFO
,
"gcode_G30 >>>"
);
//Zero the bed level array
reset_bed_level
();
reset_bed_level
();
if
(
code_seen
(
'C'
))
{
if
(
code_seen
(
'C'
))
{
//Show carriage positions
//
Show carriage positions
ECHO_LM
(
DB
,
"Carriage Positions for last scan: "
);
ECHO_LM
(
DB
,
"Carriage Positions for last scan: "
);
for
(
int8_t
i
=
0
;
i
<
7
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
7
;
i
++
)
{
ECHO_SMV
(
DB
,
"["
,
saved_positions
[
i
][
X_AXIS
]);
ECHO_SMV
(
DB
,
"["
,
saved_positions
[
i
][
X_AXIS
]);
ECHO_MV
(
", "
,
saved_positions
[
i
][
Y_AXIS
]);
ECHO_MV
(
", "
,
saved_positions
[
i
][
Y_AXIS
]);
ECHO_MV
(
", "
,
saved_positions
[
i
][
Z_AXIS
]);
ECHO_MV
(
", "
,
saved_positions
[
i
][
Z_AXIS
]);
...
@@ -3942,7 +3930,7 @@ inline void gcode_G28() {
...
@@ -3942,7 +3930,7 @@ inline void gcode_G28() {
}
}
if
(
code_seen
(
'X'
)
and
code_seen
(
'Y'
))
{
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
x
=
code_seen
(
'X'
)
?
code_value
()
:
0.00
;
float
y
=
code_seen
(
'Y'
)
?
code_value
()
:
0.00
;
float
y
=
code_seen
(
'Y'
)
?
code_value
()
:
0.00
;
float
probe_value
;
float
probe_value
;
...
@@ -3979,10 +3967,10 @@ inline void gcode_G28() {
...
@@ -3979,10 +3967,10 @@ inline void gcode_G28() {
deploy_z_probe
();
deploy_z_probe
();
bed_safe_z
=
current_position
[
Z_AXIS
];
bed_safe_z
=
current_position
[
Z_AXIS
];
//Probe all points
//
Probe all points
bed_probe_all
();
bed_probe_all
();
//Show calibration report
//
Show calibration report
calibration_report
();
calibration_report
();
if
(
code_seen
(
'E'
))
{
if
(
code_seen
(
'E'
))
{
...
@@ -3996,14 +3984,14 @@ inline void gcode_G28() {
...
@@ -3996,14 +3984,14 @@ inline void gcode_G28() {
bed_probe_all
();
bed_probe_all
();
calibration_report
();
calibration_report
();
}
while
((
bed_level_x
<
=
-
ac_prec
)
or
(
bed_level_x
>=
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_y
<
-
ac_prec
)
or
(
bed_level_y
>
ac_prec
)
or
(
bed_level_z
<
=
-
ac_prec
)
or
(
bed_level_z
>=
ac_prec
));
or
(
bed_level_z
<
-
ac_prec
)
or
(
bed_level_z
>
ac_prec
));
ECHO_LM
(
DB
,
"Endstop adjustment complete"
);
ECHO_LM
(
DB
,
"Endstop adjustment complete"
);
}
}
if
(
code_seen
(
'R'
))
{
if
(
code_seen
(
'R'
))
{
int
iteration
=
0
;
int
iteration
=
0
;
do
{
do
{
iteration
++
;
iteration
++
;
...
@@ -4018,12 +4006,12 @@ inline void gcode_G28() {
...
@@ -4018,12 +4006,12 @@ inline void gcode_G28() {
ECHO_LM
(
DB
,
"Checking delta radius"
);
ECHO_LM
(
DB
,
"Checking delta radius"
);
adj_deltaradius
();
adj_deltaradius
();
}
while
((
bed_level_c
<
=
-
ac_prec
)
or
(
bed_level_c
>=
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_x
<
-
ac_prec
)
or
(
bed_level_x
>
ac_prec
)
or
(
bed_level_y
<
=
-
ac_prec
)
or
(
bed_level_y
>=
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_z
<
-
ac_prec
)
or
(
bed_level_z
>
ac_prec
));
}
}
if
(
code_seen
(
'I'
))
{
if
(
code_seen
(
'I'
))
{
ECHO_LMV
(
DB
,
"Adjusting Tower Delta for tower"
,
code_value
());
ECHO_LMV
(
DB
,
"Adjusting Tower Delta for tower"
,
code_value
());
adj_tower_delta
(
code_value
());
adj_tower_delta
(
code_value
());
...
@@ -4044,7 +4032,7 @@ inline void gcode_G28() {
...
@@ -4044,7 +4032,7 @@ inline void gcode_G28() {
if
(
code_seen
(
'A'
))
{
if
(
code_seen
(
'A'
))
{
int
iteration
=
0
;
int
iteration
=
0
;
int
dr_adjusted
;
boolean
dr_adjusted
;
do
{
do
{
do
{
do
{
...
@@ -4062,7 +4050,7 @@ inline void gcode_G28() {
...
@@ -4062,7 +4050,7 @@ inline void gcode_G28() {
dr_adjusted
=
adj_deltaradius
();
dr_adjusted
=
adj_deltaradius
();
}
}
else
else
dr_adjusted
=
0
;
dr_adjusted
=
false
;
if
(
debugLevel
&
DEBUG_DEBUG
)
{
if
(
debugLevel
&
DEBUG_DEBUG
)
{
ECHO_LMV
(
DB
,
"bed_level_c="
,
bed_level_c
,
4
);
ECHO_LMV
(
DB
,
"bed_level_c="
,
bed_level_c
,
4
);
...
@@ -4070,15 +4058,17 @@ inline void gcode_G28() {
...
@@ -4070,15 +4058,17 @@ inline void gcode_G28() {
ECHO_LMV
(
DB
,
"bed_level_y="
,
bed_level_y
,
4
);
ECHO_LMV
(
DB
,
"bed_level_y="
,
bed_level_y
,
4
);
ECHO_LMV
(
DB
,
"bed_level_z="
,
bed_level_z
,
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
)
idle
();
or
(
bed_level_y
<=
-
ac_prec
)
or
(
bed_level_y
>=
ac_prec
)
}
while
((
bed_level_c
<
-
ac_prec
)
or
(
bed_level_c
>
ac_prec
)
or
(
bed_level_z
<=
-
ac_prec
)
or
(
bed_level_z
>=
ac_prec
)
or
(
bed_level_x
<
-
ac_prec
)
or
(
bed_level_x
>
ac_prec
)
or
(
dr_adjusted
!=
0
));
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
((
bed_level_ox
<=
-
ac_prec
)
or
(
bed_level_ox
>=
ac_prec
)
or
or
(
dr_adjusted
));
(
bed_level_oy
<=
-
ac_prec
)
or
(
bed_level_oy
>=
ac_prec
)
or
(
bed_level_oz
<=
-
ac_prec
)
or
(
bed_level_oz
>=
ac_prec
))
{
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.."
);
ECHO_LM
(
DB
,
"Checking for tower geometry errors.."
);
if
(
fix_tower_errors
()
!=
0
)
{
if
(
fix_tower_errors
()
!=
0
)
{
// Tower positions have been changed .. home to endstops
// Tower positions have been changed .. home to endstops
...
@@ -4089,7 +4079,7 @@ inline void gcode_G28() {
...
@@ -4089,7 +4079,7 @@ inline void gcode_G28() {
else
{
else
{
ECHO_LM
(
DB
,
"Checking DiagRod Length"
);
ECHO_LM
(
DB
,
"Checking DiagRod Length"
);
if
(
adj_diagrod_length
()
!=
0
)
{
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"
);
ECHO_LM
(
DB
,
"Diagonal Rod Length changed .. Homing Endstops"
);
home_delta_axis
();
home_delta_axis
();
bed_safe_z
=
Z_RAISE_BETWEEN_PROBINGS
-
z_probe_offset
[
Z_AXIS
];
bed_safe_z
=
Z_RAISE_BETWEEN_PROBINGS
-
z_probe_offset
[
Z_AXIS
];
...
@@ -4109,26 +4099,25 @@ inline void gcode_G28() {
...
@@ -4109,26 +4099,25 @@ inline void gcode_G28() {
ECHO_LMV
(
DB
,
"bed_level_oy="
,
bed_level_oy
,
4
);
ECHO_LMV
(
DB
,
"bed_level_oy="
,
bed_level_oy
,
4
);
ECHO_LMV
(
DB
,
"bed_level_oz="
,
bed_level_oz
,
4
);
ECHO_LMV
(
DB
,
"bed_level_oz="
,
bed_level_oz
,
4
);
}
}
}
while
((
bed_level_c
<
=
-
ac_prec
)
or
(
bed_level_c
>=
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_x
<
-
ac_prec
)
or
(
bed_level_x
>
ac_prec
)
or
(
bed_level_y
<
=
-
ac_prec
)
or
(
bed_level_y
>=
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_z
<
-
ac_prec
)
or
(
bed_level_z
>
ac_prec
)
or
(
bed_level_ox
<
=
-
ac_prec
)
or
(
bed_level_ox
>=
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_oy
<
-
ac_prec
)
or
(
bed_level_oy
>
ac_prec
)
or
(
bed_level_oz
<
=
-
ac_prec
)
or
(
bed_level_oz
>=
ac_prec
));
or
(
bed_level_oz
<
-
ac_prec
)
or
(
bed_level_oz
>
ac_prec
));
ECHO_LM
(
DB
,
"Autocalibration Complete"
);
ECHO_LM
(
DB
,
"Autocalibration Complete"
);
}
}
retract_z_probe
();
retract_z_probe
();
//reset LCD alert message
//
reset LCD alert message
lcd_reset_alert_level
();
lcd_reset_alert_level
();
clean_up_after_endstop_move
();
clean_up_after_endstop_move
();
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< gcode_G30"
);
ECHO_LM
(
INFO
,
"<<< gcode_G30"
);
}
}
#endif // DELTA && Z_PROBE_ENDSTOP
#endif // DELTA && Z_PROBE_ENDSTOP
...
@@ -4181,7 +4170,7 @@ inline void gcode_G61() {
...
@@ -4181,7 +4170,7 @@ inline void gcode_G61() {
if
(
next_feedrate
>
0.0
)
feedrate
=
next_feedrate
;
if
(
next_feedrate
>
0.0
)
feedrate
=
next_feedrate
;
}
}
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
code_seen
(
axis_codes
[
i
]))
{
destination
[
i
]
=
(
float
)
code_value
()
+
stored_position
[
slot
][
i
];
destination
[
i
]
=
(
float
)
code_value
()
+
stored_position
[
slot
][
i
];
}
}
...
@@ -4193,7 +4182,7 @@ inline void gcode_G61() {
...
@@ -4193,7 +4182,7 @@ inline void gcode_G61() {
}
}
ECHO_E
;
ECHO_E
;
//finish moves
//
finish moves
prepare_move
();
prepare_move
();
st_synchronize
();
st_synchronize
();
}
}
...
@@ -4507,9 +4496,7 @@ inline void gcode_M42() {
...
@@ -4507,9 +4496,7 @@ inline void gcode_M42() {
* regenerated.
* regenerated.
*/
*/
inline
void
gcode_M48
()
{
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
];
double
sum
=
0.0
,
mean
=
0.0
,
sigma
=
0.0
,
sample_set
[
50
];
uint8_t
verbose_level
=
1
,
n_samples
=
10
,
n_legs
=
0
;
uint8_t
verbose_level
=
1
,
n_samples
=
10
,
n_legs
=
0
;
...
@@ -4533,10 +4520,10 @@ inline void gcode_M42() {
...
@@ -4533,10 +4520,10 @@ inline void gcode_M42() {
}
}
}
}
double
X_current
=
st_get_position_mm
(
X_AXIS
),
double
X_current
=
st_get_
axis_
position_mm
(
X_AXIS
),
Y_current
=
st_get_position_mm
(
Y_AXIS
),
Y_current
=
st_get_
axis_
position_mm
(
Y_AXIS
),
Z_current
=
st_get_position_mm
(
Z_AXIS
),
Z_current
=
st_get_
axis_
position_mm
(
Z_AXIS
),
E_current
=
st_get_position_mm
(
E_AXIS
),
E_current
=
st_get_
axis_
position_mm
(
E_AXIS
),
X_probe_location
=
X_current
,
Y_probe_location
=
Y_current
,
X_probe_location
=
X_current
,
Y_probe_location
=
Y_current
,
Z_start_location
=
Z_current
+
Z_RAISE_BEFORE_PROBING
;
Z_start_location
=
Z_current
+
Z_RAISE_BEFORE_PROBING
;
...
@@ -4587,10 +4574,10 @@ inline void gcode_M42() {
...
@@ -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
);
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
();
st_synchronize
();
current_position
[
X_AXIS
]
=
X_current
=
st_get_position_mm
(
X_AXIS
);
current_position
[
X_AXIS
]
=
X_current
=
st_get_
axis_
position_mm
(
X_AXIS
);
current_position
[
Y_AXIS
]
=
Y_current
=
st_get_position_mm
(
Y_AXIS
);
current_position
[
Y_AXIS
]
=
Y_current
=
st_get_
axis_
position_mm
(
Y_AXIS
);
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
);
current_position
[
E_AXIS
]
=
E_current
=
st_get_position_mm
(
E_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.
// OK, do the initial probe to get us close to the bed.
...
@@ -4602,12 +4589,12 @@ inline void gcode_M42() {
...
@@ -4602,12 +4589,12 @@ inline void gcode_M42() {
setup_for_endstop_move
();
setup_for_endstop_move
();
run_z_probe
();
run_z_probe
();
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
);
Z_start_location
=
st_get_position_mm
(
Z_AXIS
)
+
Z_RAISE_BEFORE_PROBING
;
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
);
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
();
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
();
if
(
deploy_probe_for_each_reading
)
stow_z_probe
();
...
@@ -4707,8 +4694,7 @@ inline void gcode_M42() {
...
@@ -4707,8 +4694,7 @@ inline void gcode_M42() {
if
(
verbose_level
>
0
)
ECHO_EMV
(
"Mean: "
,
mean
,
6
);
if
(
verbose_level
>
0
)
ECHO_EMV
(
"Mean: "
,
mean
,
6
);
ECHO_EMV
(
"Standard Deviation: "
,
sigma
,
6
);
ECHO_EMV
(
"Standard Deviation: "
,
sigma
,
6
);
if
(
debugLevel
&
DEBUG_INFO
)
if
(
debugLevel
&
DEBUG_INFO
)
ECHO_LM
(
INFO
,
"<<< gcode_M28"
);
ECHO_LM
(
INFO
,
"<<< gcode_M28"
);
}
}
#endif // AUTO_BED_LEVELING_FEATURE && Z_PROBE_REPEATABILITY_TEST
#endif // AUTO_BED_LEVELING_FEATURE && Z_PROBE_REPEATABILITY_TEST
...
@@ -4842,7 +4828,7 @@ inline void gcode_M85() {
...
@@ -4842,7 +4828,7 @@ inline void gcode_M85() {
inline
void
gcode_M92
()
{
inline
void
gcode_M92
()
{
if
(
setTargetedExtruder
(
92
))
return
;
if
(
setTargetedExtruder
(
92
))
return
;
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
i
==
E_AXIS
)
if
(
i
==
E_AXIS
)
axis_steps_per_unit
[
i
+
target_extruder
]
=
code_value
();
axis_steps_per_unit
[
i
+
target_extruder
]
=
code_value
();
...
@@ -5140,51 +5126,59 @@ inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
...
@@ -5140,51 +5126,59 @@ inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
* M114: Output current position to serial port
* M114: Output current position to serial port
*/
*/
inline
void
gcode_M114
()
{
inline
void
gcode_M114
()
{
//MESSAGE for Host
ECHO_MV
(
"X:"
,
current_position
[
X_AXIS
]);
ECHO_SMV
(
OK
,
"X:"
,
current_position
[
X_AXIS
]);
ECHO_MV
(
" Y:"
,
current_position
[
Y_AXIS
]);
ECHO_MV
(
" Y:"
,
current_position
[
Y_AXIS
]);
ECHO_MV
(
" Z:"
,
current_position
[
Z_AXIS
]);
ECHO_MV
(
" Z:"
,
current_position
[
Z_AXIS
]);
ECHO_MV
(
" E:"
,
current_position
[
E_AXIS
]);
ECHO_MV
(
" E:"
,
current_position
[
E_AXIS
]);
ECHO_MV
(
SERIAL_COUNT_X
,
st_get_position_mm
(
X_AXIS
));
CRITICAL_SECTION_START
;
ECHO_MV
(
" Y:"
,
st_get_position_mm
(
Y_AXIS
));
extern
volatile
long
count_position
[
NUM_AXIS
];
ECHO_EMV
(
" Z:"
,
st_get_position_mm
(
Z_AXIS
));
long
xpos
=
count_position
[
X_AXIS
],
ypos
=
count_position
[
Y_AXIS
],
zpos
=
count_position
[
Z_AXIS
];
CRITICAL_SECTION_END
;
#if MECH(SCARA)
#if MECH(COREXY) || MECH(COREXZ)
//MESSAGE for Host
ECHO_M
(
MSG_COUNT_A
);
ECHO_SMV
(
OK
,
" SCARA Theta:"
,
delta
[
X_AXIS
]);
#elif MECH(DELTA)
ECHO_EMV
(
" Psi+Theta:"
,
delta
[
Y_AXIS
]);
ECHO_M
(
MSG_COUNT_ALPHA
);
#else
ECHO_M
(
MSG_COUNT_X
);
#endif
ECHO_V
(
xpos
);
ECHO_SMV
(
DB
,
"SCARA Cal - Theta:"
,
delta
[
X_AXIS
]
+
home_offset
[
X_AXIS
]);
#if ENABLED(COREXY)
ECHO_EMV
(
" Psi+Theta (90):"
,
delta
[
Y_AXIS
]
-
delta
[
X_AXIS
]
-
90
+
home_offset
[
Y_AXIS
]);
ECHO_M
(
" B:"
);
#elif MECH(DELTA)
ECHO_M
(
" Beta:"
);
#else
ECHO_M
(
" Y:"
);
#endif
ECHO_V
(
ypos
);
ECHO_SMV
(
DB
,
"SCARA step Cal - Theta:"
,
delta
[
X_AXIS
]
/
90
*
axis_steps_per_unit
[
X_AXIS
]);
#if ENABLED(COREXZ)
ECHO_EMV
(
" Psi+Theta:"
,
(
delta
[
Y_AXIS
]
-
delta
[
X_AXIS
])
/
90
*
axis_steps_per_unit
[
Y_AXIS
]);
ECHO_M
(
" C:"
);
#elif MECH(DELTA)
ECHO_M
(
" Teta:"
);
#else
ECHO_M
(
" Z:"
);
#endif
#endif
ECHO_V
(
zpos
);
if
(
code_seen
(
'V'
))
{
ECHO_E
;
//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
]);
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 User
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
]);
#if MECH(SCARA)
ECHO_EMV
(
" Psi+Theta (90):"
,
delta
[
Y_AXIS
]
-
delta
[
X_AXIS
]
-
90
+
home_offset
[
Y_AXIS
]);
// MESSAGE for Host
ECHO_SMV
(
OK
,
" SCARA Theta:"
,
delta
[
X_AXIS
]);
ECHO_EMV
(
" Psi+Theta:"
,
delta
[
Y_AXIS
]);
ECHO_SMV
(
DB
,
"SCARA step Cal - Theta:"
,
delta
[
X_AXIS
]
/
90
*
axis_steps_per_unit
[
X_AXIS
]);
ECHO_SMV
(
DB
,
"SCARA Cal - Theta:"
,
delta
[
X_AXIS
]
+
home_offset
[
X_AXIS
]);
ECHO_EMV
(
" Psi+Theta:"
,
(
delta
[
Y_AXIS
]
-
delta
[
X_AXIS
])
/
90
*
axis_steps_per_unit
[
Y_AXIS
]);
ECHO_EMV
(
" Psi+Theta (90):"
,
delta
[
Y_AXIS
]
-
delta
[
X_AXIS
]
-
90
+
home_offset
[
Y_AXIS
]);
#endif
}
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() {
...
@@ -5418,7 +5412,7 @@ inline void gcode_M140() {
int
tool_index
=
code_seen
(
'S'
)
?
code_value_short
()
:
0
;
int
tool_index
=
code_seen
(
'S'
)
?
code_value_short
()
:
0
;
if
(
tool_index
<
MIXING_VIRTUAL_TOOLS
)
{
if
(
tool_index
<
MIXING_VIRTUAL_TOOLS
)
{
normalize_mix
();
normalize_mix
();
for
(
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
DRIVER_EXTRUDERS
;
i
++
)
{
mixing_virtual_tool_mix
[
tool_index
][
i
]
=
mixing_factor
[
i
];
mixing_virtual_tool_mix
[
tool_index
][
i
]
=
mixing_factor
[
i
];
}
}
}
}
...
@@ -5501,7 +5495,7 @@ inline void gcode_M200() {
...
@@ -5501,7 +5495,7 @@ inline void gcode_M200() {
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*/
*/
inline
void
gcode_M201
()
{
inline
void
gcode_M201
()
{
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
code_seen
(
axis_codes
[
i
]))
{
max_acceleration_units_per_sq_second
[
i
]
=
code_value
();
max_acceleration_units_per_sq_second
[
i
]
=
code_value
();
}
}
...
@@ -5512,7 +5506,7 @@ inline void gcode_M201() {
...
@@ -5512,7 +5506,7 @@ inline void gcode_M201() {
#if 0 // Not used for Sprinter/grbl gen6
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
inline void gcode_M202() {
for(int8_t i = 0; i < NUM_AXIS; i++) {
for(
u
int8_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];
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() {
...
@@ -5529,7 +5523,7 @@ inline void gcode_M201() {
inline
void
gcode_M203
()
{
inline
void
gcode_M203
()
{
if
(
setTargetedExtruder
(
203
))
return
;
if
(
setTargetedExtruder
(
203
))
return
;
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
i
==
E_AXIS
)
if
(
i
==
E_AXIS
)
max_feedrate
[
i
+
target_extruder
]
=
code_value
();
max_feedrate
[
i
+
target_extruder
]
=
code_value
();
...
@@ -5595,7 +5589,7 @@ inline void gcode_M205() {
...
@@ -5595,7 +5589,7 @@ inline void gcode_M205() {
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
*/
inline
void
gcode_M206
()
{
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
]))
{
if
(
code_seen
(
axis_codes
[
i
]))
{
home_offset
[
i
]
=
code_value
();
home_offset
[
i
]
=
code_value
();
}
}
...
@@ -6034,7 +6028,7 @@ inline void gcode_M226() {
...
@@ -6034,7 +6028,7 @@ inline void gcode_M226() {
* M365: SCARA calibration: Scaling factor, X, Y, Z axis
* M365: SCARA calibration: Scaling factor, X, Y, Z axis
*/
*/
inline
void
gcode_M365
()
{
inline
void
gcode_M365
()
{
for
(
int8_t
i
=
X_AXIS
;
i
<=
Z_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
X_AXIS
;
i
<=
Z_AXIS
;
i
++
)
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
code_seen
(
axis_codes
[
i
]))
{
axis_scaling
[
i
]
=
code_value
();
axis_scaling
[
i
]
=
code_value
();
}
}
...
@@ -6199,7 +6193,7 @@ inline void gcode_M428() {
...
@@ -6199,7 +6193,7 @@ inline void gcode_M428() {
float
new_offs
[
3
],
new_pos
[
3
];
float
new_offs
[
3
],
new_pos
[
3
];
memcpy
(
new_pos
,
current_position
,
sizeof
(
new_pos
));
memcpy
(
new_pos
,
current_position
,
sizeof
(
new_pos
));
memcpy
(
new_offs
,
home_offset
,
sizeof
(
new_offs
));
memcpy
(
new_offs
,
home_offset
,
sizeof
(
new_offs
));
for
(
int8_t
i
=
X_AXIS
;
i
<=
Z_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
X_AXIS
;
i
<=
Z_AXIS
;
i
++
)
{
if
(
TEST
(
axis_known_position
,
i
))
{
if
(
TEST
(
axis_known_position
,
i
))
{
#if MECH(DELTA)
#if MECH(DELTA)
float
base
=
(
new_pos
[
i
]
>
(
min_pos
[
i
]
+
max_pos
[
i
])
/
2
)
?
base_home_pos
[
i
]
:
0
,
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() {
...
@@ -6407,7 +6401,7 @@ inline void gcode_M503() {
uint8_t
cnt
=
0
;
uint8_t
cnt
=
0
;
int
old_target_temperature
[
HOTENDS
]
=
{
0
};
int
old_target_temperature
[
HOTENDS
]
=
{
0
};
for
(
int8_t
e
=
0
;
e
<
HOTENDS
;
e
++
)
{
for
(
u
int8_t
e
=
0
;
e
<
HOTENDS
;
e
++
)
{
old_target_temperature
[
e
]
=
target_temperature
[
e
];
old_target_temperature
[
e
]
=
target_temperature
[
e
];
}
}
int
old_target_temperature_bed
=
target_temperature_bed
;
int
old_target_temperature_bed
=
target_temperature_bed
;
...
@@ -6427,7 +6421,7 @@ inline void gcode_M503() {
...
@@ -6427,7 +6421,7 @@ inline void gcode_M503() {
}
}
if
(
beep
)
{
if
(
beep
)
{
#if HAS(BUZZER)
#if HAS(BUZZER)
for
(
int8_t
i
=
0
;
i
<
3
;
i
++
)
buzz
(
100
,
1000
);
for
(
u
int8_t
i
=
0
;
i
<
3
;
i
++
)
buzz
(
100
,
1000
);
#endif
#endif
last_set
=
millis
();
last_set
=
millis
();
beep
=
false
;
beep
=
false
;
...
@@ -6440,7 +6434,7 @@ inline void gcode_M503() {
...
@@ -6440,7 +6434,7 @@ inline void gcode_M503() {
if
(
sleep
)
{
if
(
sleep
)
{
enable_all_steppers
();
// Enable all stepper
enable_all_steppers
();
// Enable all stepper
for
(
int8_t
e
=
0
;
e
<
HOTENDS
;
e
++
)
{
for
(
u
int8_t
e
=
0
;
e
<
HOTENDS
;
e
++
)
{
setTargetHotend
(
old_target_temperature
[
e
],
e
);
setTargetHotend
(
old_target_temperature
[
e
],
e
);
no_wait_for_cooling
=
true
;
no_wait_for_cooling
=
true
;
wait_heater
();
wait_heater
();
...
@@ -6597,7 +6591,7 @@ inline void gcode_M503() {
...
@@ -6597,7 +6591,7 @@ inline void gcode_M503() {
if
(
code_seen
(
'P'
))
{
if
(
code_seen
(
'P'
))
{
boolean
axis_done
=
false
;
boolean
axis_done
=
false
;
float
p_val
=
code_value
();
float
p_val
=
code_value
();
for
(
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
if
(
code_seen
(
axis_codes
[
i
]))
{
if
(
code_seen
(
axis_codes
[
i
]))
{
z_probe_offset
[
i
]
=
code_value
();
z_probe_offset
[
i
]
=
code_value
();
axis_done
=
true
;
axis_done
=
true
;
...
@@ -6606,7 +6600,7 @@ inline void gcode_M503() {
...
@@ -6606,7 +6600,7 @@ inline void gcode_M503() {
if
(
axis_done
==
false
)
z_probe_offset
[
Z_AXIS
]
=
p_val
;
if
(
axis_done
==
false
)
z_probe_offset
[
Z_AXIS
]
=
p_val
;
}
}
else
{
else
{
for
(
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
3
;
i
++
)
{
if
(
code_seen
(
axis_codes
[
i
]))
endstop_adj
[
i
]
=
code_value
();
if
(
code_seen
(
axis_codes
[
i
]))
endstop_adj
[
i
]
=
code_value
();
}
}
}
}
...
@@ -6711,7 +6705,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
...
@@ -6711,7 +6705,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
// T0-T15: Switch virtual tool by changing the mix
// T0-T15: Switch virtual tool by changing the mix
if
(
tmp_extruder
<
MIXING_VIRTUAL_TOOLS
)
{
if
(
tmp_extruder
<
MIXING_VIRTUAL_TOOLS
)
{
good_extruder
=
true
;
good_extruder
=
true
;
for
(
int8_t
j
=
0
;
j
<
DRIVER_EXTRUDERS
;
j
++
)
{
for
(
u
int8_t
j
=
0
;
j
<
DRIVER_EXTRUDERS
;
j
++
)
{
mixing_factor
[
j
]
=
mixing_virtual_tool_mix
[
tmp_extruder
][
j
];
mixing_factor
[
j
]
=
mixing_virtual_tool_mix
[
tmp_extruder
][
j
];
}
}
ECHO_LMV
(
DB
,
SERIAL_ACTIVE_COLOR
,
(
int
)
tmp_extruder
);
ECHO_LMV
(
DB
,
SERIAL_ACTIVE_COLOR
,
(
int
)
tmp_extruder
);
...
@@ -7553,13 +7547,12 @@ void clamp_to_software_endstops(float target[3]) {
...
@@ -7553,13 +7547,12 @@ void clamp_to_software_endstops(float target[3]) {
#if MECH(DELTA) || MECH(SCARA)
#if MECH(DELTA) || MECH(SCARA)
inline
bool
prepare_move_delta
(
float
target
[
NUM_AXIS
])
{
inline
bool
prepare_move_delta
(
float
target
[
NUM_AXIS
])
{
float
difference
[
NUM_AXIS
];
float
difference
[
NUM_AXIS
];
float
addDistance
[
NUM_AXIS
];
float
addDistance
[
NUM_AXIS
];
float
fractions
[
NUM_AXIS
];
float
fractions
[
NUM_AXIS
];
float
frfm
=
feedrate
/
60
*
feedrate_multiplier
/
100.0
;
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
(
u
int8_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
]));
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
]);
if
(
cartesian_mm
<
0.000001
)
cartesian_mm
=
abs
(
difference
[
E_AXIS
]);
...
@@ -7581,26 +7574,26 @@ void clamp_to_software_endstops(float target[3]) {
...
@@ -7581,26 +7574,26 @@ void clamp_to_software_endstops(float target[3]) {
if
(
steps
==
0
)
{
if
(
steps
==
0
)
{
steps
=
1
;
steps
=
1
;
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
fractions
[
i
]
=
difference
[
i
];
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
fractions
[
i
]
=
difference
[
i
];
}
}
else
{
else
{
fTemp
=
1
/
float
(
steps
);
fTemp
=
1
/
float
(
steps
);
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
fractions
[
i
]
=
difference
[
i
]
*
fTemp
;
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
fractions
[
i
]
=
difference
[
i
]
*
fTemp
;
}
}
// For number of steps, for each step add one fraction
// For number of steps, for each step add one fraction
// First, set initial target to current position
// First, set initial target to current position
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
addDistance
[
i
]
=
0.0
;
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
addDistance
[
i
]
=
0.0
;
#endif
#endif
for
(
int
s
=
1
;
s
<=
steps
;
s
++
)
{
for
(
int
s
=
1
;
s
<=
steps
;
s
++
)
{
#if ENABLED(DELTA_SEGMENTS_PER_SECOND)
#if ENABLED(DELTA_SEGMENTS_PER_SECOND)
float
fraction
=
float
(
s
)
/
float
(
steps
);
float
fraction
=
float
(
s
)
/
float
(
steps
);
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
target
[
i
]
=
current_position
[
i
]
+
difference
[
i
]
*
fraction
;
target
[
i
]
=
current_position
[
i
]
+
difference
[
i
]
*
fraction
;
#else
#else
for
(
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
for
(
u
int8_t
i
=
0
;
i
<
NUM_AXIS
;
i
++
)
{
addDistance
[
i
]
+=
fractions
[
i
];
addDistance
[
i
]
+=
fractions
[
i
];
target
[
i
]
=
current_position
[
i
]
+
addDistance
[
i
];
target
[
i
]
=
current_position
[
i
]
+
addDistance
[
i
];
}
}
...
@@ -7981,7 +7974,7 @@ void plan_arc(
...
@@ -7981,7 +7974,7 @@ void plan_arc(
float
max_temp
=
0.0
;
float
max_temp
=
0.0
;
if
(
millis
()
>
next_status_led_update_ms
)
{
if
(
millis
()
>
next_status_led_update_ms
)
{
next_status_led_update_ms
+=
500
;
// Update every 0.5s
next_status_led_update_ms
+=
500
;
// Update every 0.5s
for
(
int8_t
cur_hotend
=
0
;
cur_hotend
<
HOTENDS
;
++
cur_hotend
)
for
(
u
int8_t
cur_hotend
=
0
;
cur_hotend
<
HOTENDS
;
++
cur_hotend
)
max_temp
=
max
(
max
(
max_temp
,
degHotend
(
cur_hotend
)),
degTargetHotend
(
cur_hotend
));
max_temp
=
max
(
max
(
max_temp
,
degHotend
(
cur_hotend
)),
degTargetHotend
(
cur_hotend
));
#if HAS(TEMP_BED)
#if HAS(TEMP_BED)
max_temp
=
max
(
max
(
max_temp
,
degTargetBed
()),
degBed
());
max_temp
=
max
(
max
(
max_temp
,
degTargetBed
()),
degBed
());
...
@@ -8182,7 +8175,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
...
@@ -8182,7 +8175,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#endif
#endif
#if ENABLED(RFID_MODULE)
#if ENABLED(RFID_MODULE)
for
(
int8_t
e
=
0
;
e
<
EXTRUDERS
;
e
++
)
{
for
(
u
int8_t
e
=
0
;
e
<
EXTRUDERS
;
e
++
)
{
if
(
Spool_must_read
[
e
])
{
if
(
Spool_must_read
[
e
])
{
if
(
RFID522
.
getID
(
e
))
{
if
(
RFID522
.
getID
(
e
))
{
Spool_ID
[
e
]
=
RFID522
.
RfidDataID
[
e
].
Spool_ID
;
Spool_ID
[
e
]
=
RFID522
.
RfidDataID
[
e
].
Spool_ID
;
...
@@ -8374,6 +8367,6 @@ float calculate_volumetric_multiplier(float diameter) {
...
@@ -8374,6 +8367,6 @@ float calculate_volumetric_multiplier(float diameter) {
}
}
void
calculate_volumetric_multipliers
()
{
void
calculate_volumetric_multipliers
()
{
for
(
int8_t
e
=
0
;
e
<
EXTRUDERS
;
e
++
)
for
(
u
int8_t
e
=
0
;
e
<
EXTRUDERS
;
e
++
)
volumetric_multiplier
[
e
]
=
calculate_volumetric_multiplier
(
filament_size
[
e
]);
volumetric_multiplier
[
e
]
=
calculate_volumetric_multiplier
(
filament_size
[
e
]);
}
}
MK/module/MK_Main.h
View file @
1bdb8bb8
...
@@ -89,7 +89,7 @@ void refresh_cmd_timeout();
...
@@ -89,7 +89,7 @@ void refresh_cmd_timeout();
extern
void
delay_ms
(
millis_t
ms
);
extern
void
delay_ms
(
millis_t
ms
);
#if ENABLED(FAST_PWM_FAN)
#if ENABLED(FAST_PWM_FAN)
void
setPwmFrequency
(
uint8_t
pin
,
in
t
val
);
void
setPwmFrequency
(
uint8_t
pin
,
uint8_
t
val
);
#endif
#endif
extern
float
homing_feedrate
[];
extern
float
homing_feedrate
[];
...
@@ -120,7 +120,7 @@ extern uint8_t axis_was_homed;
...
@@ -120,7 +120,7 @@ extern uint8_t axis_was_homed;
#endif
#endif
#if ENABLED(NPR2)
#if ENABLED(NPR2)
extern
in
t
old_color
;
// old color for system NPR2
extern
uint8_
t
old_color
;
// old color for system NPR2
#endif
#endif
#if MECH(DELTA)
#if MECH(DELTA)
...
...
MK/module/conditionals.h
View file @
1bdb8bb8
...
@@ -234,6 +234,7 @@
...
@@ -234,6 +234,7 @@
*/
*/
#if ENABLED(DONDOLO)
#if ENABLED(DONDOLO)
#undef SINGLENOZZLE
#undef SINGLENOZZLE
#undef ADVANCE
#undef DRIVER_EXTRUDERS
#undef DRIVER_EXTRUDERS
#define DRIVER_EXTRUDERS 1
#define DRIVER_EXTRUDERS 1
#endif
#endif
...
...
MK/module/language/language.h
View file @
1bdb8bb8
...
@@ -102,7 +102,7 @@
...
@@ -102,7 +102,7 @@
#define SERIAL_ACTIVE_COLOR "Active Color: "
#define SERIAL_ACTIVE_COLOR "Active Color: "
#define MSG_COUNT_X " Count X:"
#define MSG_COUNT_X " Count X:"
#define MSG_COUNT_A " Count A:"
#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_MIN "x_min: "
#define SERIAL_X_MAX "x_max: "
#define SERIAL_X_MAX "x_max: "
#define SERIAL_Y_MIN "y_min: "
#define SERIAL_Y_MIN "y_min: "
...
...
MK/module/lcd/ultralcd.cpp
View file @
1bdb8bb8
...
@@ -2084,7 +2084,7 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
...
@@ -2084,7 +2084,7 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
WRITE
(
SHIFT_LD
,
HIGH
);
WRITE
(
SHIFT_LD
,
HIGH
);
for
(
int8_t
i
=
0
;
i
<
8
;
i
++
)
{
for
(
int8_t
i
=
0
;
i
<
8
;
i
++
)
{
newbutton_reprapworld_keypad
>>=
1
;
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
,
HIGH
);
WRITE
(
SHIFT_CLK
,
LOW
);
WRITE
(
SHIFT_CLK
,
LOW
);
}
}
...
@@ -2097,7 +2097,7 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
...
@@ -2097,7 +2097,7 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
unsigned
char
tmp_buttons
=
0
;
unsigned
char
tmp_buttons
=
0
;
for
(
int8_t
i
=
0
;
i
<
8
;
i
++
)
{
for
(
int8_t
i
=
0
;
i
<
8
;
i
++
)
{
newbutton
>>=
1
;
newbutton
>>=
1
;
if
(
READ
(
SHIFT_OUT
))
newbutton
|=
BIT
(
7
);
if
(
READ
(
SHIFT_OUT
))
BITSET
(
newbutton
,
7
);
WRITE
(
SHIFT_CLK
,
HIGH
);
WRITE
(
SHIFT_CLK
,
HIGH
);
WRITE
(
SHIFT_CLK
,
LOW
);
WRITE
(
SHIFT_CLK
,
LOW
);
}
}
...
...
MK/module/lcd/ultralcd.h
View file @
1bdb8bb8
...
@@ -120,7 +120,8 @@
...
@@ -120,7 +120,8 @@
#define EN_B BIT(BLEN_B)
#define EN_B BIT(BLEN_B)
#define EN_A BIT(BLEN_A)
#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
#endif//NEWPANEL
char
*
itostr2
(
const
uint8_t
&
x
);
char
*
itostr2
(
const
uint8_t
&
x
);
...
...
MK/module/motion/stepper.cpp
View file @
1bdb8bb8
...
@@ -265,26 +265,26 @@ void checkHitEndstops() {
...
@@ -265,26 +265,26 @@ void checkHitEndstops() {
ECHO_SM
(
DB
,
SERIAL_ENDSTOPS_HIT
);
ECHO_SM
(
DB
,
SERIAL_ENDSTOPS_HIT
);
#endif
#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
]);
ECHO_MV
(
SERIAL_ENDSTOP_X
,
(
float
)
endstops_trigsteps
[
X_AXIS
]
/
axis_steps_per_unit
[
X_AXIS
]);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_XS
);
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
]);
ECHO_MV
(
SERIAL_ENDSTOP_Y
,
(
float
)
endstops_trigsteps
[
Y_AXIS
]
/
axis_steps_per_unit
[
Y_AXIS
]);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_YS
);
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
]);
ECHO_MV
(
SERIAL_ENDSTOP_Z
,
(
float
)
endstops_trigsteps
[
Z_AXIS
]
/
axis_steps_per_unit
[
Z_AXIS
]);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_ZS
);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_ZS
);
}
}
#if ENABLED(Z_PROBE_ENDSTOP)
#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
]);
ECHO_MV
(
SERIAL_ENDSTOP_PROBE
,
(
float
)
endstops_trigsteps
[
Z_AXIS
]
/
axis_steps_per_unit
[
Z_AXIS
]);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_ZPS
);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_ZPS
);
}
}
#endif
#endif
#if ENABLED(NPR2)
#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
]);
ECHO_MV
(
SERIAL_ENDSTOP_E
,
(
float
)
endstops_trigsteps
[
E_AXIS
]
/
axis_steps_per_unit
[
E_AXIS
]);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_ES
);
LCD_MESSAGEPGM
(
MSG_ENDSTOPS_HIT
MSG_ENDSTOP_ES
);
}
}
...
@@ -307,6 +307,14 @@ void checkHitEndstops() {
...
@@ -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
;
}
void
enable_endstops
(
bool
check
)
{
check_endstops
=
check
;
}
// Check endstops
// Check endstops
...
@@ -322,7 +330,7 @@ inline void update_endstops() {
...
@@ -322,7 +330,7 @@ inline void update_endstops() {
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING
#define _AXIS(AXIS) AXIS ##_AXIS
#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
#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX
// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
// SET_ENDSTOP_BIT: set the current endstop bits for an endstop to its status
...
@@ -332,23 +340,38 @@ inline void update_endstops() {
...
@@ -332,23 +340,38 @@ inline void update_endstops() {
// TEST_ENDSTOP: test the old and the current status of an endstop
// 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 TEST_ENDSTOP(ENDSTOP) (TEST(current_endstop_bits, ENDSTOP) && TEST(old_endstop_bits, ENDSTOP))
#define UPDATE_ENDSTOP(AXIS,MINMAX) \
#if ENABLED(COREXY) || ENABLED(COREXZ)
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)]; \
_ENDSTOP_HIT(AXIS); \
step_events_completed = current_block->step_event_count; \
}
#if MECH(COREXY)
#define _SET_TRIGSTEPS(AXIS) do { \
// Head direction in -X axis for CoreXY bots.
CRITICAL_SECTION_START; \
// If DeltaX == -DeltaY, the movement is only in Y axis
float axis_pos = count_position[_AXIS(AXIS)]; \
if
((
current_block
->
steps
[
A_AXIS
]
!=
current_block
->
steps
[
B_AXIS
])
||
(
TEST
(
out_bits
,
A_AXIS
)
==
TEST
(
out_bits
,
B_AXIS
)))
{
if (_AXIS(AXIS) == A_AXIS) \
if
(
TEST
(
out_bits
,
X_HEAD
))
axis_pos = (axis_pos + count_position[CORE_AXIS_2]) / 2; \
#elif MECH(COREXZ)
else if (_AXIS(AXIS) == CORE_AXIS_2) \
// Head direction in -X axis for CoreXZ bots.
axis_pos = (count_position[A_AXIS] - axis_pos) / 2; \
// If DeltaX == -DeltaZ, the movement is only in Z axis
CRITICAL_SECTION_END; \
if
((
current_block
->
steps
[
A_AXIS
]
!=
current_block
->
steps
[
C_AXIS
])
||
(
TEST
(
out_bits
,
A_AXIS
)
==
TEST
(
out_bits
,
C_AXIS
)))
{
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) { \
_SET_TRIGSTEPS(AXIS); \
_ENDSTOP_HIT(AXIS); \
step_events_completed = current_block->step_event_count; \
} \
} while(0)
#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
))
if
(
TEST
(
out_bits
,
X_HEAD
))
#else
#else
if
(
TEST
(
out_bits
,
X_AXIS
))
// stepping along -X axis (regular Cartesian bot)
if
(
TEST
(
out_bits
,
X_AXIS
))
// stepping along -X axis (regular Cartesian bot)
...
@@ -424,7 +447,7 @@ inline void update_endstops() {
...
@@ -424,7 +447,7 @@ inline void update_endstops() {
if
(
z_test
&&
current_block
->
steps
[
Z_AXIS
]
>
0
)
{
// z_test = Z_MIN || Z2_MIN
if
(
z_test
&&
current_block
->
steps
[
Z_AXIS
]
>
0
)
{
// z_test = Z_MIN || Z2_MIN
endstops_trigsteps
[
Z_AXIS
]
=
count_position
[
Z_AXIS
];
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...
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
;
step_events_completed
=
current_block
->
step_event_count
;
}
}
...
@@ -440,7 +463,7 @@ inline void update_endstops() {
...
@@ -440,7 +463,7 @@ inline void update_endstops() {
if
(
TEST_ENDSTOP
(
Z_PROBE
))
{
if
(
TEST_ENDSTOP
(
Z_PROBE
))
{
endstops_trigsteps
[
Z_AXIS
]
=
count_position
[
Z_AXIS
];
endstops_trigsteps
[
Z_AXIS
]
=
count_position
[
Z_AXIS
];
endstop_hit_bits
|=
BIT
(
Z_PROBE
);
BITSET
(
endstop_hit_bits
,
Z_PROBE
);
}
}
#endif
#endif
}
}
...
@@ -460,7 +483,7 @@ inline void update_endstops() {
...
@@ -460,7 +483,7 @@ inline void update_endstops() {
if
(
z_test
&&
current_block
->
steps
[
Z_AXIS
]
>
0
)
{
// t_test = Z_MAX || Z2_MAX
if
(
z_test
&&
current_block
->
steps
[
Z_AXIS
]
>
0
)
{
// t_test = Z_MAX || Z2_MAX
endstops_trigsteps
[
Z_AXIS
]
=
count_position
[
Z_AXIS
];
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...
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
;
step_events_completed
=
current_block
->
step_event_count
;
}
}
...
@@ -551,33 +574,20 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
...
@@ -551,33 +574,20 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
*/
*/
void
set_stepper_direction
(
bool
onlye
)
{
void
set_stepper_direction
(
bool
onlye
)
{
if
(
!
onlye
)
{
#define SET_STEP_DIR(AXIS) \
if
(
TEST
(
out_bits
,
X_AXIS
))
{
// A_AXIS
if (TEST(out_bits, AXIS ##_AXIS)) { \
X_APPLY_DIR
(
INVERT_X_DIR
,
0
);
AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR, false); \
count_direction
[
X_AXIS
]
=
-
1
;
count_direction[AXIS ##_AXIS] = -1; \
}
} \
else
{
else { \
X_APPLY_DIR
(
!
INVERT_X_DIR
,
0
);
AXIS ##_APPLY_DIR(!INVERT_## AXIS ##_DIR, false); \
count_direction
[
X_AXIS
]
=
1
;
count_direction[AXIS ##_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
;
}
}
if
(
TEST
(
out_bits
,
Z_AXIS
))
{
// C_AXIS
if
(
!
onlye
)
{
Z_APPLY_DIR
(
INVERT_Z_DIR
,
0
);
SET_STEP_DIR
(
X
);
// A
count_direction
[
Z_AXIS
]
=
-
1
;
SET_STEP_DIR
(
Y
);
// B
}
SET_STEP_DIR
(
Z
);
// C
else
{
Z_APPLY_DIR
(
!
INVERT_Z_DIR
,
0
);
count_direction
[
Z_AXIS
]
=
1
;
}
}
}
#if DISABLED(ADVANCE)
#if DISABLED(ADVANCE)
...
@@ -836,110 +846,39 @@ ISR(TIMER1_COMPA_vect) {
...
@@ -836,110 +846,39 @@ ISR(TIMER1_COMPA_vect) {
ISR
(
TIMER0_COMPA_vect
)
{
ISR
(
TIMER0_COMPA_vect
)
{
old_OCR0A
+=
52
;
// ~10kHz interrupt (250000 / 26 = 9615kHz)
old_OCR0A
+=
52
;
// ~10kHz interrupt (250000 / 26 = 9615kHz)
OCR0A
=
old_OCR0A
;
OCR0A
=
old_OCR0A
;
// Set E direction (Depends on E direction + advance)
for
(
unsigned
char
i
=
0
;
i
<
4
;
i
++
)
{
#define STEP_E_ONCE(INDEX) \
if
(
e_steps
[
0
]
!=
0
)
{
if (e_steps[INDEX] != 0) { \
E0_STEP_WRITE
(
INVERT_E_STEP_PIN
);
E## INDEX ##_STEP_WRITE(INVERT_E_STEP_PIN); \
if
(
e_steps
[
0
]
<
0
)
{
if (e_steps[INDEX] < 0) { \
#if ENABLED(DONDOLO)
E## INDEX ##_DIR_WRITE(INVERT_E## INDEX ##_DIR); \
if
(
active_extruder
==
0
)
e_steps[INDEX]++; \
E0_DIR_WRITE
(
INVERT_E0_DIR
);
} \
else
else if (e_steps[INDEX] > 0) { \
E0_DIR_WRITE
(
!
INVERT_E0_DIR
);
E## INDEX ##_DIR_WRITE(!INVERT_E## INDEX ##_DIR); \
#else
e_steps[INDEX]--; \
E0_DIR_WRITE
(
INVERT_E0_DIR
);
} \
#endif
E## INDEX ##_STEP_WRITE(!INVERT_E_STEP_PIN); \
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
);
}
}
}
// 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 DRIVER_EXTRUDERS > 1
if
(
e_steps
[
1
]
!=
0
)
{
STEP_E_ONCE
(
1
);
E1_STEP_WRITE
(
INVERT_E_STEP_PIN
);
#if DRIVER_EXTRUDERS > 2
if
(
e_steps
[
1
]
<
0
)
{
STEP_E_ONCE
(
2
);
E1_DIR_WRITE
(
INVERT_E1_DIR
);
#if DRIVER_EXTRUDERS > 3
e_steps
[
1
]
++
;
STEP_E_ONCE
(
3
);
E1_STEP_WRITE
(
!
INVERT_E_STEP_PIN
);
#if DRIVER_EXTRUDERS > 4
}
STEP_E_ONCE
(
4
);
else
if
(
e_steps
[
1
]
>
0
)
{
#if DRIVER_EXTRUDERS > 5
E1_DIR_WRITE
(
!
INVERT_E1_DIR
);
STEP_E_ONCE
(
5
);
e_steps
[
1
]
--
;
#endif // DRIVER_EXTRUDERS > 5
E1_STEP_WRITE
(
!
INVERT_E_STEP_PIN
);
#endif // DRIVER_EXTRUDERS > 4
}
#endif // DRIVER_EXTRUDERS > 3
}
#endif // DRIVER_EXTRUDERS > 2
#endif
#endif // DRIVER_EXTRUDERS > 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
#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
#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
#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
}
}
}
}
#endif // ADVANCE
#endif // ADVANCE
...
@@ -1248,14 +1187,32 @@ void st_set_e_position(const long& e) {
...
@@ -1248,14 +1187,32 @@ void st_set_e_position(const long& e) {
}
}
long
st_get_position
(
uint8_t
axis
)
{
long
st_get_position
(
uint8_t
axis
)
{
long
count_pos
;
CRITICAL_SECTION_START
;
CRITICAL_SECTION_START
;
count_pos
=
count_position
[
axis
];
long
count_pos
=
count_position
[
axis
];
CRITICAL_SECTION_END
;
CRITICAL_SECTION_END
;
return
count_pos
;
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
))
/
2.0
f
;
}
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
()
{
void
enable_all_steppers
()
{
enable_x
();
enable_x
();
...
...
MK/module/motion/stepper.h
View file @
1bdb8bb8
...
@@ -117,12 +117,12 @@ void st_set_e_position(const long &e);
...
@@ -117,12 +117,12 @@ void st_set_e_position(const long &e);
long
st_get_position
(
uint8_t
axis
);
long
st_get_position
(
uint8_t
axis
);
// Get current position in mm
// 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
// 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.
// to notify the subsystem that it is time to go to work.
void
st_wake_up
();
void
st_wake_up
();
void
checkHitEndstops
();
//call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
void
checkHitEndstops
();
//call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
void
endstops_hit_on_purpose
();
//avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
void
endstops_hit_on_purpose
();
//avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
...
...
MK/module/temperature/temperature.cpp
View file @
1bdb8bb8
...
@@ -1006,9 +1006,9 @@ void tp_init() {
...
@@ -1006,9 +1006,9 @@ void tp_init() {
#endif // HEATER_0_USES_MAX6675
#endif // HEATER_0_USES_MAX6675
#ifdef DIDR2
#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
#else
#define ANALOG_SELECT(pin) do{
DIDR0 |= BIT(
pin); }while(0)
#define ANALOG_SELECT(pin) do{
BITSET(DIDR0,
pin); }while(0)
#endif
#endif
// Set analog inputs
// Set analog inputs
...
@@ -1084,10 +1084,10 @@ void tp_init() {
...
@@ -1084,10 +1084,10 @@ void tp_init() {
// Use timer0 for temperature measurement
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
// Interleave temperature interrupt with millies interrupt
OCR0B
=
128
;
OCR0B
=
128
;
TIMSK0
|=
BIT
(
OCIE0B
);
BITSET
(
TIMSK0
,
OCIE0B
);
// Wait for temperature measurement to settle
// Wait for temperature measurement to settle
delay
_ms
(
250
);
delay
(
250
);
#define TEMP_MIN_ROUTINE(NR) \
#define TEMP_MIN_ROUTINE(NR) \
minttemp[NR] = HEATER_ ## NR ## _MINTEMP; \
minttemp[NR] = HEATER_ ## NR ## _MINTEMP; \
...
@@ -1279,9 +1279,9 @@ void disable_all_heaters() {
...
@@ -1279,9 +1279,9 @@ void disable_all_heaters() {
max6675_temp
=
0
;
max6675_temp
=
0
;
#ifdef PRR
#ifdef PRR
PRR
&=
~
BIT
(
PRSPI
);
BITCLR
(
PRR
,
PRSPI
);
#elif defined(PRR0)
#elif defined(PRR0)
PRR0
&=
~
BIT
(
PRSPI
);
BITCLR
(
PRR0
,
PRSPI
);
#endif
#endif
SPCR
=
BIT
(
MSTR
)
|
BIT
(
SPE
)
|
BIT
(
SPR0
);
SPCR
=
BIT
(
MSTR
)
|
BIT
(
SPE
)
|
BIT
(
SPR0
);
...
@@ -1295,13 +1295,13 @@ void disable_all_heaters() {
...
@@ -1295,13 +1295,13 @@ void disable_all_heaters() {
// read MSB
// read MSB
SPDR
=
0
;
SPDR
=
0
;
for
(;
(
SPSR
&
BIT
(
SPIF
))
==
0
;);
for
(;
!
TEST
(
SPSR
,
SPIF
)
;);
max6675_temp
=
SPDR
;
max6675_temp
=
SPDR
;
max6675_temp
<<=
8
;
max6675_temp
<<=
8
;
// read LSB
// read LSB
SPDR
=
0
;
SPDR
=
0
;
for
(;
(
SPSR
&
BIT
(
SPIF
))
==
0
;);
for
(;
!
TEST
(
SPSR
,
SPIF
)
;);
max6675_temp
|=
SPDR
;
max6675_temp
|=
SPDR
;
// disable TT_MAX6675
// disable TT_MAX6675
...
@@ -1649,7 +1649,7 @@ ISR(TIMER0_COMPB_vect) {
...
@@ -1649,7 +1649,7 @@ ISR(TIMER0_COMPB_vect) {
#endif // SLOW_PWM_HEATERS
#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
#ifdef MUX5
#define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else
#else
...
...
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