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MarlinKimbra
Commit 2fafa5fb authored by MagoKimbra's avatar MagoKimbra
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Fix endstop software and more

parent 9bb65516
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Showing with 370 additions and 233 deletions
MK/Configuration_Store.cpp
View file @ 2fafa5fb
......@@ -45,7 +45,7 @@
* M666 XYZ endstop_adj (x3)
* M666 R delta_radius
* M666 D delta_diagonal_rod
* M666 H Z max_pos
* M666 H Z sw_endstop_max
* M666 ABCIJK tower_adj (x6)
* M666 UVW diagrod_adj (x3)
* M666 P XYZ XYZ probe_offset (x3)
......@@ -166,7 +166,7 @@ void Config_StoreSettings() {
EEPROM_WRITE_VAR(i, endstop_adj);
EEPROM_WRITE_VAR(i, delta_radius);
EEPROM_WRITE_VAR(i, delta_diagonal_rod);
EEPROM_WRITE_VAR(i, max_pos);
EEPROM_WRITE_VAR(i, sw_endstop_max);
EEPROM_WRITE_VAR(i, tower_adj);
EEPROM_WRITE_VAR(i, diagrod_adj);
EEPROM_WRITE_VAR(i, z_probe_offset);
......@@ -315,7 +315,7 @@ void Config_RetrieveSettings() {
EEPROM_READ_VAR(i, endstop_adj);
EEPROM_READ_VAR(i, delta_radius);
EEPROM_READ_VAR(i, delta_diagonal_rod);
EEPROM_READ_VAR(i, max_pos);
EEPROM_READ_VAR(i, sw_endstop_max);
EEPROM_READ_VAR(i, tower_adj);
EEPROM_READ_VAR(i, diagrod_adj);
EEPROM_READ_VAR(i, z_probe_offset);
......@@ -542,7 +542,6 @@ void Config_ResetDefault() {
diagrod_adj[0] = TOWER_A_DIAGROD_ADJ;
diagrod_adj[1] = TOWER_B_DIAGROD_ADJ;
diagrod_adj[2] = TOWER_C_DIAGROD_ADJ;
max_pos[2] = MANUAL_Z_HOME_POS;
z_probe_offset[0] = X_PROBE_OFFSET_FROM_EXTRUDER;
z_probe_offset[1] = Y_PROBE_OFFSET_FROM_EXTRUDER;
z_probe_offset[2] = Z_PROBE_OFFSET_FROM_EXTRUDER;
......@@ -741,7 +740,7 @@ void Config_ResetDefault() {
ECHO_MV(" W", diagrod_adj[2], 3);
ECHO_MV(" R", delta_radius);
ECHO_MV(" D", delta_diagonal_rod);
ECHO_EMV(" H", max_pos[2]);
ECHO_EMV(" H", sw_endstop_max[2]);
if (!forReplay) {
ECHO_LM(CFG, "Endstop Offsets:");
......
MK/module/MK_Main.cpp
View file @ 2fafa5fb
This diff is collapsed.
MK/module/MK_Main.h
View file @ 2fafa5fb
......@@ -128,8 +128,8 @@ extern float current_position[NUM_AXIS];
extern float destination[NUM_AXIS];
extern float home_offset[3];
extern float hotend_offset[3][HOTENDS];
extern float min_pos[3];
extern float max_pos[3];
extern float sw_endstop_min[3];
extern float sw_endstop_max[3];
extern float zprobe_zoffset;
extern uint8_t axis_known_position;
extern uint8_t axis_was_homed;
......
MK/module/macros.h
View file @ 2fafa5fb
......@@ -69,4 +69,8 @@
// Macro for debugging
#define DEBUGGING(F) (mk_debug_flags & (DEBUG_## F))
// Macro for String
#define STRINGIFY_(n) #n
#define STRINGIFY(n) STRINGIFY_(n)
#endif //__MACROS_H
MK/module/motion/planner.h
View file @ 2fafa5fb
......@@ -50,7 +50,7 @@
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
long steps[NUM_AXIS]; // Step count along each axis
unsigned long steps[NUM_AXIS]; // Step count along each axis
#if ENABLED(COLOR_MIXING_EXTRUDER)
unsigned long mix_event_count[DRIVER_EXTRUDERS]; // Step count for each stepper in a mixing extruder
......
MK/module/motion/stepper.cpp
View file @ 2fafa5fb
......@@ -56,7 +56,7 @@ static unsigned int cleaning_buffer_counter;
#endif
// Counter variables for the Bresenham line tracer
static long counter_x, counter_y, counter_z, counter_e;
static long counter_X, counter_Y, counter_Z, counter_E;
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#if ENABLED(ADVANCE)
......@@ -657,7 +657,7 @@ ISR(TIMER1_COMPA_vect) {
// Initialize Bresenham counters to 1/2 the ceiling
long new_count = -(current_block->step_event_count >> 1);
counter_x = counter_y = counter_z = counter_e = new_count;
counter_X = counter_Y = counter_Z = counter_E = new_count;
#if ENABLED(COLOR_MIXING_EXTRUDER)
for (uint8_t i = 0; i < DRIVER_EXTRUDERS; i++)
......@@ -694,9 +694,9 @@ ISR(TIMER1_COMPA_vect) {
MKSERIAL.checkRx(); // Check for serial chars.
#if ENABLED(ADVANCE)
counter_e += current_block->steps[E_AXIS];
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
counter_E += current_block->steps[E_AXIS];
if (counter_E > 0) {
counter_E -= current_block->step_event_count;
#if DISABLED(COLOR_MIXING_EXTRUDER)
// Don't step E for mixing extruder
e_steps[current_block->active_driver] += TEST(out_bits, E_AXIS) ? -1 : 1;
......@@ -715,13 +715,13 @@ ISR(TIMER1_COMPA_vect) {
#endif // !COLOR_MIXING_EXTRUDER
#endif // ADVANCE
#define _COUNTER(axis) counter_## axis
#define _COUNTER(AXIS) counter_## AXIS
#define _APPLY_STEP(AXIS) AXIS ##_APPLY_STEP
#define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN
#define STEP_START(axis, AXIS) \
_COUNTER(axis) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(axis) > 0) _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0);
#define STEP_START(AXIS) \
_COUNTER(AXIS) += current_block->steps[_AXIS(AXIS)]; \
if (_COUNTER(AXIS) > 0) _APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS),0);
#define STEP_START_MIXING \
for (uint8_t j = 0; j < DRIVER_EXTRUDERS; j++) { \
......@@ -729,9 +729,9 @@ ISR(TIMER1_COMPA_vect) {
if (counter_m[j] > 0) En_STEP_WRITE(j, !INVERT_E_STEP_PIN); \
}
#define STEP_END(axis, AXIS) \
if (_COUNTER(axis) > 0) { \
_COUNTER(axis) -= current_block->step_event_count; \
#define STEP_END(AXIS) \
if (_COUNTER(AXIS) > 0) { \
_COUNTER(AXIS) -= current_block->step_event_count; \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
_APPLY_STEP(AXIS)(_INVERT_STEP_PIN(AXIS),0); \
}
......@@ -744,11 +744,11 @@ ISR(TIMER1_COMPA_vect) {
} \
}
STEP_START(x, X);
STEP_START(y, Y);
STEP_START(z, Z);
STEP_START(X);
STEP_START(Y);
STEP_START(Z);
#if DISABLED(ADVANCE)
STEP_START(e, E);
STEP_START(E);
#if ENABLED(COLOR_MIXING_EXTRUDER)
STEP_START_MIXING;
#endif
......@@ -758,11 +758,11 @@ ISR(TIMER1_COMPA_vect) {
HAL::delayMicroseconds(STEPPER_HIGH_LOW_DELAY);
#endif
STEP_END(x, X);
STEP_END(y, Y);
STEP_END(z, Z);
STEP_END(X);
STEP_END(Y);
STEP_END(Z);
#if DISABLED(ADVANCE)
STEP_END(e, E);
STEP_END(E);
#if ENABLED(COLOR_MIXING_EXTRUDER)
STEP_END_MIXING;
#endif
......@@ -1187,11 +1187,45 @@ void st_init() {
*/
void st_synchronize() { while (blocks_queued()) idle(); }
/**
* Set the stepper positions directly in steps
*
* The input is based on the typical per-axis XYZ steps.
* For CORE machines XYZ needs to be translated to ABC.
*
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
void st_set_position(const long& x, const long& y, const long& z, const long& e) {
CRITICAL_SECTION_START;
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
#if MECH(COREXY)
// corexy positioning
count_position[A_AXIS] = x + COREX_YZ_FACTOR * y;
count_position[B_AXIS] = x - COREX_YZ_FACTOR * y;
count_position[Z_AXIS] = z;
#elif MECH(COREYX)
// coreyx positioning
count_position[A_AXIS] = y + COREX_YZ_FACTOR * x;
count_position[B_AXIS] = y - COREX_YZ_FACTOR * x;
count_position[Z_AXIS] = z;
#elif MECH(COREXZ)
// corexz planning
count_position[A_AXIS] = x + COREX_YZ_FACTOR * z;
count_position[Y_AXIS] = y;
count_position[C_AXIS] = x - COREX_YZ_FACTOR * z;
#elif MECH(COREZX)
// corezx planning
count_position[A_AXIS] = z + COREX_YZ_FACTOR * x;
count_position[Y_AXIS] = y;
count_position[C_AXIS] = z - COREX_YZ_FACTOR * x;
#else
// default non-h-bot planning
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
count_position[Z_AXIS] = z;
#endif
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
......@@ -1263,6 +1297,43 @@ void quickStop() {
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
void report_positions() {
CRITICAL_SECTION_START;
long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
#if MECH(COREXY) || MECH(COREYX) || MECH(COREXZ) || MECH(COREZX)
ECHO_M(SERIAL_COUNT_A);
#elif MECH(DELTA)
ECHO_M(SERIAL_COUNT_ALPHA);
#else
ECHO_M(SERIAL_COUNT_X);
#endif
ECHO_V(xpos);
#if MECH(COREXY) || MECH(COREYX)
ECHO_M(" B:");
#elif MECH(DELTA)
ECHO_M(" Beta:");
#else
ECHO_M(" Y:");
#endif
ECHO_V(ypos);
#if MECH(COREXZ) || MECH(COREZX)
ECHO_M(" C:");
#elif MECH(DELTA)
ECHO_M(" Teta:");
#else
ECHO_M(" Z:");
#endif
ECHO_V(zpos);
ECHO_E;
}
#if ENABLED(NPR2)
void colorstep(long csteps,const bool direction) {
enable_e1();
......
MK/module/motion/stepper.h
View file @ 2fafa5fb
......@@ -64,6 +64,11 @@
// to notify the subsystem that it is time to go to work.
void st_wake_up();
//
// Report the positions of the steppers, in steps
//
void report_positions();
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();
......
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