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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
......@@ -73,10 +73,19 @@ int density_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(100);
bool volumetric_enabled = false;
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS(DEFAULT_NOMINAL_FILAMENT_DIA);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS(1.0);
// The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[3] = { 0 };
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[3] = { 0 };
// Software Endstops. Default to configured limits.
float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
float hotend_offset[3][HOTENDS];
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
uint8_t active_extruder = 0;
uint8_t previous_extruder = 0;
......@@ -359,6 +368,8 @@ void delay_ms(millis_t ms) {
void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
static void report_current_position();
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
float extrude_min_temp = EXTRUDE_MINTEMP;
#endif
......@@ -1140,84 +1151,154 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#endif //DUAL_X_CARRIAGE
void print_xyz(const char* prefix, const float x, const float y, const float z, bool eol = true) {
void print_xyz(const char* prefix, const float x, const float y, const float z) {
ECHO_T(prefix);
ECHO_MV(": (", x);
ECHO_MV(", ", y);
ECHO_MV(", ", z);
ECHO_M(")");
if (eol) ECHO_E;
ECHO_E;
}
void print_xyz(const char* prefix, const float xyz[], bool eol = true) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS], eol);
void print_xyz(const char* prefix, const float xyz[]) {
print_xyz(prefix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
static void set_axis_is_at_home(AxisEnum axis) {
#define DEBUG_POS(PREFIX, VAR) do{ ECHO_SM(INFO,PREFIX); print_xyz(" > " STRINGIFY(VAR), VAR); }while(0)
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
* they can prevent axes from moving past endstops and grinding.
*
* To keep doing their job as the coordinate system changes,
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
static void update_software_endstops(AxisEnum axis) {
float offs = home_offset[axis] + position_shift[axis];
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS) {
float dual_max_x = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
current_position[X_AXIS] = x_home_pos(active_extruder);
min_pos[X_AXIS] = X2_MIN_POS;
max_pos[X_AXIS] = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
sw_endstop_max[X_AXIS] = dual_max_x + offs;
return;
} else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
float xoff = home_offset[X_AXIS];
current_position[X_AXIS] = base_home_pos(X_AXIS) + xoff;
min_pos[X_AXIS] = base_min_pos(X_AXIS) + xoff;
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(hotend_offset[X_AXIS][1], X2_MAX_POS) - duplicate_hotend_x_offset);
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
return;
}
}
else
#endif
{
#if MECH(DELTA)
sw_endstop_min[axis] = base_min_pos(axis) + offs;
sw_endstop_max[axis] = base_max_pos[axis] + offs;
#else
sw_endstop_min[axis] = base_min_pos(axis) + offs;
sw_endstop_max[axis] = base_max_pos(axis) + offs;
#endif
}
}
/**
* Change the home offset for an axis, update the current
* position and the software endstops to retain the same
* relative distance to the new home.
*
* Since this changes the current_position, code should
* call sync_plan_position soon after this.
*/
static void set_home_offset(AxisEnum axis, float v) {
current_position[axis] += v - home_offset[axis];
home_offset[axis] = v;
update_software_endstops(axis);
}
static void set_axis_is_at_home(AxisEnum axis) {
if (DEBUGGING(INFO)) {
ECHO_SMT(INFO, "set_axis_is_at_home(", axis);
ECHO_EM(") >>>");
}
position_shift[axis] = 0;
#if ENABLED(DUAL_X_CARRIAGE)
if (axis == X_AXIS && (active_extruder != 0 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) {
if (active_extruder != 0)
current_position[X_AXIS] = x_home_pos(active_extruder);
else
current_position[X_AXIS] = base_home_pos(X_AXIS) + home_offset[X_AXIS];
update_software_endstops(X_AXIS);
return;
}
#endif
#if MECH(SCARA)
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[3];
for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
// ECHO_MV("homeposition[x]= ", homeposition[0]);
// ECHO_EMV("homeposition[y]= ", homeposition[1]);
// Works out real Home position angles using inverse kinematics,
// and calculates homing offset using forward kinematics
/**
* Works out real Homeposition angles using inverse kinematics,
* and calculates homing offset using forward kinematics
*/
calculate_delta(homeposition);
// ECHO_MV("base Theta= ", delta[X_AXIS]);
// ECHO_EMV(" base Psi+Theta=", delta[Y_AXIS]);
for (int i = 0; i < 2; i++) delta[i] -= home_offset[i];
// ECHO_MV("addhome X=", home_offset[X_AXIS]);
// ECHO_MV(" addhome Y=", home_offset[Y_AXIS]);
// ECHO_MV(" addhome Theta=", delta[X_AXIS]);
// ECHO_EMV(" addhome Psi+Theta=", delta[Y_AXIS]);
calculate_SCARA_forward_Transform(delta);
// ECHO_MV("Delta X=", delta[X_AXIS]);
// ECHO_EMV(" Delta Y=", delta[Y_AXIS]);
current_position[axis] = delta[axis];
// SCARA home positions are based on configuration since the actual limits are determined by the
// inverse kinematic transform.
min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
} else {
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
}
else {
current_position[axis] = base_home_pos(axis) + home_offset[axis];
min_pos[axis] = base_min_pos(axis) + home_offset[axis];
max_pos[axis] = base_max_pos(axis) + home_offset[axis];
update_software_endstops(axis);
}
#elif MECH(DELTA)
current_position[axis] = base_home_pos[axis] + home_offset[axis];
min_pos[axis] = base_min_pos(axis) + home_offset[axis];
max_pos[axis] = base_max_pos[axis] + home_offset[axis];
update_software_endstops(axis);
#else
current_position[axis] = base_home_pos(axis) + home_offset[axis];
min_pos[axis] = base_min_pos(axis) + home_offset[axis];
max_pos[axis] = base_max_pos(axis) + home_offset[axis];
update_software_endstops(axis);
#endif
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_HOME_DIR < 0
if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset;
if (axis == Z_AXIS) {
current_position[Z_AXIS] -= zprobe_zoffset;
if (DEBUGGING(INFO))
ECHO_LMV(INFO, "> zprobe_zoffset==", zprobe_zoffset);
}
#endif
if (DEBUGGING(INFO)) {
ECHO_SMV(INFO, "set_axis_is_at_home ", (unsigned long)axis);
ECHO_MV(" > (home_offset[axis]==", home_offset[axis]);
print_xyz(") > current_position", current_position);
ECHO_LMV(INFO, " > home_offset[axis]==", home_offset[axis]);
DEBUG_POS("", current_position);
}
}
......@@ -1250,10 +1331,12 @@ inline void sync_plan_position() {
}
#if MECH(DELTA) || MECH(SCARA)
inline void sync_plan_position_delta() {
if (DEBUGGING(INFO)) DEBUG_POS(" > sync_plan_position_delta", current_position);
calculate_delta(current_position);
plan_set_position(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], current_position[E_AXIS]);
}
#endif
inline void sync_plan_position_e() { plan_set_e_position(current_position[E_AXIS]); }
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
......@@ -1312,6 +1395,12 @@ static void clean_up_after_endstop_move() {
#if ENABLED(AUTO_BED_LEVELING_GRID)
static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
if (DEBUGGING(INFO)) {
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
DEBUG_POS(">>> set_bed_level_equation_lsq", uncorrected_position);
DEBUG_POS(">>> set_bed_level_equation_lsq", current_position);
}
vector_3 planeNormal = vector_3(-plane_equation_coefficients[0], -plane_equation_coefficients[1], 1);
planeNormal.debug("planeNormal");
plan_bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
......@@ -1327,10 +1416,8 @@ static void clean_up_after_endstop_move() {
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("set_bed_level_equation_lsq > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS("set_bed_level_equation_lsq", current_position);
sync_plan_position();
}
......@@ -1357,10 +1444,8 @@ static void clean_up_after_endstop_move() {
current_position[Y_AXIS] = corrected_position.y;
current_position[Z_AXIS] = corrected_position.z;
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("set_bed_level_equation_3pts > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS("set_bed_level_equation_3pts", current_position);
sync_plan_position();
}
......@@ -1399,17 +1484,14 @@ static void clean_up_after_endstop_move() {
current_position[Z_AXIS] = st_get_axis_position_mm(Z_AXIS);
sync_plan_position();
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("run_z_probe > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS("run_z_probe", current_position);
}
static void deploy_z_probe() {
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("deploy_z_probe > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS("deploy_z_probe", current_position);
#if HAS(SERVO_ENDSTOPS)
// Engage Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) servo[servo_endstop_id[Z_AXIS]].move(servo_endstop_angle[Z_AXIS][0]);
......@@ -1417,10 +1499,9 @@ static void clean_up_after_endstop_move() {
}
static void stow_z_probe(bool doRaise = true) {
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("stow_z_probe > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS("stow_z_probe", current_position);
#if HAS(SERVO_ENDSTOPS)
// Retract Z Servo endstop if enabled
if (servo_endstop_id[Z_AXIS] >= 0) {
......@@ -1453,8 +1534,8 @@ static void clean_up_after_endstop_move() {
static float probe_pt(float x, float y, float z_before, ProbeAction probe_action = ProbeDeployAndStow, int verbose_level = 1) {
if (DEBUGGING(INFO)) {
ECHO_LM(INFO, "probe_pt >>>");
ECHO_SMV(INFO, "> ProbeAction:", (unsigned long)probe_action);
print_xyz(" > current_position", current_position);
ECHO_LMV(INFO, "> ProbeAction:", (unsigned long)probe_action);
DEBUG_POS("", current_position);
ECHO_SMV(INFO, "Z Raise to z_before ", z_before);
ECHO_EMV(" > do_blocking_move_to_z ", z_before);
}
......@@ -1463,7 +1544,7 @@ static void clean_up_after_endstop_move() {
do_blocking_move_to_z(z_before); // this also updates current_position
if (DEBUGGING(INFO)) {
ECHO_SMV(INFO, "> do_blocking_move_to_xy ", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
ECHO_SMV(INFO, " > do_blocking_move_to_xy ", x - (X_PROBE_OFFSET_FROM_EXTRUDER));
ECHO_EMV(", ", y - Y_PROBE_OFFSET_FROM_EXTRUDER);
}
......@@ -1581,10 +1662,8 @@ static void clean_up_after_endstop_move() {
line_to_destination();
st_synchronize();
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> TRIGGER ENDSTOP > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS(" > TRIGGER ENDSTOP", current_position);
#if ENABLED(Z_DUAL_ENDSTOPS)
if (axis == Z_AXIS) {
......@@ -1615,10 +1694,8 @@ static void clean_up_after_endstop_move() {
set_axis_is_at_home(axis);
sync_plan_position();
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> AFTER set_axis_is_at_home > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS(" > AFTER set_axis_is_at_home", current_position);
destination[axis] = current_position[axis];
feedrate = 0.0;
......@@ -1708,24 +1785,22 @@ static void clean_up_after_endstop_move() {
sync_plan_position();
destination[axis] = endstop_adj[axis];
if (DEBUGGING(INFO)) {
ECHO_SMV(INFO, "> endstop_adj = ", endstop_adj[axis]);
print_xyz(" > destination", destination);
ECHO_LMV(INFO, " > endstop_adj = ", endstop_adj[axis]);
DEBUG_POS("", destination);
}
line_to_destination();
st_synchronize();
enable_endstops(true); // Enable endstops for next homing move
}
if (DEBUGGING(INFO)) ECHO_LMV(INFO, "> endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
if (DEBUGGING(INFO)) ECHO_LMV(INFO, " > endstop_adj * axis_home_dir = ", endstop_adj[axis] * axis_home_dir);
// Set the axis position to its home position (plus home offsets)
set_axis_is_at_home(axis);
sync_plan_position();
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> AFTER set_axis_is_at_home > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS(" > AFTER set_axis_is_at_home", current_position);
destination[axis] = current_position[axis];
feedrate = 0.0;
......@@ -1737,9 +1812,9 @@ static void clean_up_after_endstop_move() {
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
void set_delta_constants() {
max_length[Z_AXIS] = max_pos[Z_AXIS] - Z_MIN_POS;
base_max_pos[Z_AXIS] = max_pos[Z_AXIS];
base_home_pos[Z_AXIS] = max_pos[Z_AXIS];
max_length[Z_AXIS] = sw_endstop_max[Z_AXIS] - Z_MIN_POS;
base_max_pos[Z_AXIS] = sw_endstop_max[Z_AXIS];
base_home_pos[Z_AXIS] = sw_endstop_max[Z_AXIS];
delta_diagonal_rod_1 = pow(delta_diagonal_rod + diagrod_adj[0], 2);
delta_diagonal_rod_2 = pow(delta_diagonal_rod + diagrod_adj[1], 2);
......@@ -1942,14 +2017,14 @@ static void clean_up_after_endstop_move() {
for(uint8_t i = 0; i < 3; i++) {
endstop_adj[i] -= high_endstop;
}
max_pos[Z_AXIS] -= high_endstop;
sw_endstop_max[Z_AXIS] -= high_endstop;
}
else if (high_endstop < 0) {
ECHO_LMV(DB, "Increment Build height by ", abs(high_endstop));
for(uint8_t i = 0; i < 3; i++) {
endstop_adj[i] -= high_endstop;
}
max_pos[Z_AXIS] -= high_endstop;
sw_endstop_max[Z_AXIS] -= high_endstop;
}
set_delta_constants();
......@@ -2542,10 +2617,9 @@ static void clean_up_after_endstop_move() {
}
void save_carriage_positions(int position_num) {
for(uint8_t i = 0; i < 3; i++) {
for(uint8_t i = 0; i < 3; i++)
saved_positions[position_num][i] = saved_position[i];
}
}
void home_delta_axis() {
saved_feedrate = feedrate;
......@@ -2591,10 +2665,9 @@ static void clean_up_after_endstop_move() {
}
void prepare_move_raw() {
if (DEBUGGING(DEBUG)) {
ECHO_S(DEB);
print_xyz("prepare_move_raw > destination", destination);
}
if (DEBUGGING(INFO))
DEBUG_POS("prepare_move_raw", destination);
refresh_cmd_timeout();
calculate_delta(destination);
plan_buffer_line(delta[TOWER_1], delta[TOWER_2], delta[TOWER_3], destination[E_AXIS], feedrate * feedrate_multiplier / 60 / 100.0, active_extruder, active_driver);
......@@ -3198,6 +3271,10 @@ inline void gcode_G28() {
setup_for_endstop_move();
/**
* Directly after a reset this is all 0. Later we get a hint if we have
* to raise z or not.
*/
set_destination_to_current();
bool come_back = code_seen('B');
......@@ -3228,8 +3305,10 @@ inline void gcode_G28() {
#endif
#if MECH(DELTA)
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
/**
* A delta can only safely home all axis at the same time
* all axis have to home at the same time
*/
// Pretend the current position is 0,0,0
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
......@@ -3252,10 +3331,8 @@ inline void gcode_G28() {
sync_plan_position_delta();
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("(DELTA) > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS("(DELTA)", current_position);
#else // NOT DELTA
......@@ -3264,18 +3341,16 @@ inline void gcode_G28() {
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
HOMEAXIS(Z);
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> HOMEAXIS(Z) > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS(" > HOMEAXIS(Z)", current_position);
#elif DISABLED(Z_SAFE_HOMING) && ENABLED(AUTO_BED_LEVELING_FEATURE) && Z_RAISE_BEFORE_HOMING > 0
// Raise Z before homing any other axes
destination[Z_AXIS] = -(Z_RAISE_BEFORE_HOMING) * home_dir(Z_AXIS); // Set destination away from bed
if (DEBUGGING(INFO)) {
ECHO_SMV(INFO, "Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
print_xyz(" > (home_all_axis || homeZ) > destination", destination);
ECHO_LMV(INFO, "Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
DEBUG_POS(" > (home_all_axis || homeZ)", destination);
}
feedrate = max_feedrate[Z_AXIS] * 60;
line_to_destination();
......@@ -3315,7 +3390,7 @@ inline void gcode_G28() {
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> QUICK_HOME > current_position 1", current_position);
DEBUG_POS(" > QUICK_HOME 1", current_position);
}
destination[X_AXIS] = current_position[X_AXIS];
......@@ -3333,7 +3408,7 @@ inline void gcode_G28() {
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> QUICK_HOME > current_position 2", current_position);
DEBUG_POS(" > QUICK_HOME 2", current_position);
}
}
#endif // QUICK_HOME
......@@ -3362,7 +3437,7 @@ inline void gcode_G28() {
#endif
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> homeX", current_position);
DEBUG_POS(" > homeX", current_position);
}
}
......@@ -3372,7 +3447,7 @@ inline void gcode_G28() {
HOMEAXIS(Y);
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> homeY", current_position);
DEBUG_POS(" > homeY", current_position);
}
}
#endif
......@@ -3472,10 +3547,8 @@ inline void gcode_G28() {
}
else if (home_all_axis || homeZ) {
HOMEAXIS(Z);
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> (home_all_axis || homeZ) > final", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS(" > (home_all_axis || homeZ) > final", current_position);
}
#elif ENABLED(Z_SAFE_HOMING) && ENABLED(AUTO_BED_LEVELING_FEATURE)// Z Safe mode activated.
......@@ -3497,9 +3570,9 @@ inline void gcode_G28() {
feedrate = xy_travel_speed;
if (DEBUGGING(INFO)) {
ECHO_SMV(INFO, "Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
print_xyz(" > home_all_axis > current_position", current_position, false);
print_xyz(" > home_all_axis > destination", destination);
ECHO_LMV(INFO, "Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
DEBUG_POS(" > home_all_axis", current_position);
DEBUG_POS(" > home_all_axis", destination);
}
// This could potentially move X, Y, Z all together
......@@ -3534,8 +3607,8 @@ inline void gcode_G28() {
if (DEBUGGING(INFO)) {
ECHO_SMV(INFO, "Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
print_xyz(" > homeZ > current_position", current_position, false);
print_xyz(" > homeZ > destination", destination);
DEBUG_POS(" > homeZ", current_position);
DEBUG_POS(" > homeZ", destination);
}
line_to_destination();
......@@ -3570,8 +3643,8 @@ inline void gcode_G28() {
if (DEBUGGING(INFO)) {
ECHO_SMV(INFO, "Raise Z (before homing) by ", (float)Z_RAISE_BEFORE_HOMING);
print_xyz(" > home_all_axis > current_position", current_position, false);
print_xyz(" > home_all_axis > destination", destination);
DEBUG_POS(" > home_all_axis", current_position);
DEBUG_POS(" > home_all_axis", destination);
}
// This could potentially move X, Y, Z all together
......@@ -3639,6 +3712,7 @@ inline void gcode_G28() {
#endif
if (DEBUGGING(INFO)) ECHO_LM(INFO, "<<< gcode_G28");
report_current_position();
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
......@@ -3858,10 +3932,8 @@ inline void gcode_G28() {
} // xProbe
} // yProbe
if (DEBUGGING(INFO)) {
ECHO_S(INFO);
print_xyz("> probing complete > current_position", current_position);
}
if (DEBUGGING(INFO))
DEBUG_POS(" > probing complete", current_position);
clean_up_after_endstop_move();
......@@ -4013,7 +4085,7 @@ inline void gcode_G28() {
sync_plan_position();
if (DEBUGGING(INFO))
print_xyz("> corrected Z in G29", current_position);
DEBUG_POS(" > corrected Z in G29", current_position);
}
// Sled assembly for Cartesian bots
......@@ -4036,6 +4108,7 @@ inline void gcode_G28() {
KEEPALIVE_STATE(IN_HANDLER);
if (DEBUGGING(INFO)) ECHO_LM(INFO, "<<< gcode_G29");
report_current_position();
}
#if HASNT(Z_PROBE_SLED)
......@@ -4103,6 +4176,7 @@ inline void gcode_G28() {
KEEPALIVE_STATE(IN_HANDLER);
if (DEBUGGING(INFO)) ECHO_LM(INFO, "<<< gcode_G29");
report_current_position();
}
/* G30: Delta AutoCalibration
......@@ -4320,6 +4394,7 @@ inline void gcode_G28() {
KEEPALIVE_STATE(IN_HANDLER);
if (DEBUGGING(INFO)) ECHO_LM(INFO, "<<< gcode_G30");
report_current_position();
}
#endif // DELTA && Z_PROBE_ENDSTOP
......@@ -4393,19 +4468,25 @@ inline void gcode_G61() {
* G92: Set current position to given X Y Z E
*/
inline void gcode_G92() {
if (!code_seen(axis_codes[E_AXIS]))
st_synchronize();
bool didE = code_seen(axis_codes[E_AXIS]);
if (!didE) st_synchronize();
bool didXYZ = false;
for (int i = 0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
float v = current_position[i] = code_value();
if (i == E_AXIS)
plan_set_e_position(v);
else
float p = current_position[i],
v = code_value();
current_position[i] = v;
if (i != E_AXIS) {
position_shift[i] += v - p; // Offset the coordinate space
update_software_endstops((AxisEnum)i);
didXYZ = true;
}
}
}
if (didXYZ) {
#if MECH(DELTA) || MECH(SCARA)
sync_plan_position_delta();
......@@ -4413,6 +4494,9 @@ inline void gcode_G92() {
sync_plan_position();
#endif
}
else if (didE) {
sync_plan_position_e();
}
}
#if ENABLED(ULTIPANEL)
......@@ -4908,7 +4992,8 @@ inline void gcode_M42() {
if (verbose_level > 0) ECHO_EMV("Mean: ", mean, 6);
ECHO_EMV("Standard Deviation: ", sigma, 6);
if (DEBUGGING(INFO)) ECHO_LM(INFO, "<<< gcode_M28");
if (DEBUGGING(INFO)) ECHO_LM(INFO, "<<< gcode_M48");
report_current_position();
}
#endif // AUTO_BED_LEVELING_FEATURE && Z_PROBE_REPEATABILITY_TEST
......@@ -5470,61 +5555,7 @@ inline void gcode_M112() { kill(PSTR(MSG_KILLED)); }
/**
* M114: Output current position to serial port
*/
inline void gcode_M114() {
ECHO_MV( "X:", current_position[X_AXIS]);
ECHO_MV(" Y:", current_position[Y_AXIS]);
ECHO_MV(" Z:", current_position[Z_AXIS]);
ECHO_MV(" E:", current_position[E_AXIS]);
CRITICAL_SECTION_START;
extern volatile long count_position[NUM_AXIS];
long xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
zpos = count_position[Z_AXIS];
CRITICAL_SECTION_END;
#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 MECH(SCARA)
// MESSAGE for Host
ECHO_SMV(OK, " SCARA Theta:", delta[X_AXIS]);
ECHO_EMV(" Psi+Theta:", delta[Y_AXIS]);
ECHO_SMV(DB, "SCARA Cal - Theta:", delta[X_AXIS] + home_offset[X_AXIS]);
ECHO_EMV(" Psi+Theta (90):", delta[Y_AXIS]-delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
ECHO_SMV(DB, "SCARA 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
}
inline void gcode_M114() { report_current_position(); }
/**
* M115: Capabilities string
......@@ -5935,13 +5966,16 @@ inline void gcode_M205() {
inline void gcode_M206() {
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
home_offset[i] = code_value();
set_home_offset((AxisEnum)i, code_value());
}
}
#if MECH(SCARA)
if (code_seen('T')) home_offset[X_AXIS] = code_value(); // Theta
if (code_seen('P')) home_offset[Y_AXIS] = code_value(); // Psi
if (code_seen('T')) set_home_offset(X_AXIS, code_value()); // Theta
if (code_seen('P')) set_home_offset(Y_AXIS, code_value()); // Psi
#endif
sync_plan_position();
report_current_position();
}
#if ENABLED(FWRETRACT)
......@@ -6790,26 +6824,21 @@ inline void gcode_M410() { quickStop(); }
*/
inline void gcode_M428() {
bool err = false;
float new_offs[3], new_pos[3];
memcpy(new_pos, current_position, sizeof(new_pos));
memcpy(new_offs, home_offset, sizeof(new_offs));
for (uint8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (TEST(axis_known_position, i)) {
#if MECH(DELTA)
float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos[i] : 0,
float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos[i] : 0, diff = current_position[i] - base;
#else
float base = (new_pos[i] > (min_pos[i] + max_pos[i]) / 2) ? base_home_pos(i) : 0,
float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0, diff = current_position[i] - base;
#endif
diff = new_pos[i] - base;
if (diff > -20 && diff < 20) {
new_offs[i] -= diff;
new_pos[i] = base;
set_home_offset((AxisEnum)i, home_offset[i] - diff);
}
else {
ECHO_LM(ER, SERIAL_ERR_M428_TOO_FAR);
LCD_ALERTMESSAGEPGM("Err: Too far!");
#if HAS(BUZZER)
enqueue_and_echo_commands_P(PSTR("M300 S40 P200"));
buzz(200, 40);
#endif
err = true;
break;
......@@ -6818,17 +6847,17 @@ inline void gcode_M428() {
}
if (!err) {
memcpy(current_position, new_pos, sizeof(new_pos));
memcpy(home_offset, new_offs, sizeof(new_offs));
#if MECH(DELTA) || MECH(SCARA)
sync_plan_position_delta();
#else
sync_plan_position();
#endif
report_current_position();
ECHO_LM(DB, "Offset applied.");
LCD_MESSAGEPGM("Offset applied.");
#if HAS(BUZZER)
enqueue_and_echo_commands_P(PSTR("M300 S659 P200\nM300 S698 P200"));
buzz(200, 659);
buzz(200, 698);
#endif
}
}
......@@ -7186,7 +7215,7 @@ inline void gcode_M503() {
set_delta_constants();
}
if (code_seen('H')) {
max_pos[Z_AXIS]= code_value();
sw_endstop_max[Z_AXIS]= code_value();
set_delta_constants();
}
if (code_seen('P')) {
......@@ -7224,7 +7253,7 @@ inline void gcode_M503() {
ECHO_LMV(CFG, "W (Tower C Diagonal Rod Correction): ", diagrod_adj[2], 3);
ECHO_LMV(CFG, "R (Delta Radius): ", delta_radius);
ECHO_LMV(CFG, "D (Diagonal Rod Length): ", delta_diagonal_rod);
ECHO_LMV(CFG, "H (Z-Height): ", max_pos[Z_AXIS]);
ECHO_LMV(CFG, "H (Z-Height): ", sw_endstop_max[Z_AXIS]);
}
}
#endif
......@@ -7689,11 +7718,11 @@ void process_next_command() {
#endif //FWRETRACT
case 28: //G28: Home all axes, one at a time
gcode_G28(); gcode_M114(); break;
gcode_G28(); break;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29(); gcode_M114(); break;
gcode_G29(); break;
#if HASNT(Z_PROBE_SLED)
case 30: // G30 Single Z Probe
gcode_G30(); break;
......@@ -7706,7 +7735,7 @@ void process_next_command() {
#if MECH(DELTA) && ENABLED(Z_PROBE_ENDSTOP)
case 29: // G29 Detailed Z-Probe, probes the bed at more points.
gcode_G29(); gcode_M114(); break;
gcode_G29(); break;
case 30: // G30 Delta AutoCalibration
gcode_G30(); break;
#endif // DELTA && Z_PROBE_ENDSTOP
......@@ -8170,24 +8199,53 @@ void ok_to_send() {
void clamp_to_software_endstops(float target[3]) {
if (SOFTWARE_MIN_ENDSTOPS && software_endstops) {
NOLESS(target[X_AXIS], min_pos[X_AXIS]);
NOLESS(target[Y_AXIS], min_pos[Y_AXIS]);
NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
float negative_z_offset = 0;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
if (zprobe_zoffset < 0) negative_z_offset += zprobe_zoffset;
if (home_offset[Z_AXIS] < 0) negative_z_offset += home_offset[Z_AXIS];
if (home_offset[Z_AXIS] < 0) {
if (DEBUGGING(INFO))
ECHO_LMV(INFO, "> clamp_to_software_endstops > Add home_offset[Z_AXIS]:", home_offset[Z_AXIS]);
negative_z_offset += home_offset[Z_AXIS];
}
#endif
NOLESS(target[Z_AXIS], min_pos[Z_AXIS] + negative_z_offset);
NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS] + negative_z_offset);
}
if (SOFTWARE_MAX_ENDSTOPS && software_endstops) {
NOMORE(target[X_AXIS], max_pos[X_AXIS]);
NOMORE(target[Y_AXIS], max_pos[Y_AXIS]);
NOMORE(target[Z_AXIS], max_pos[Z_AXIS]);
NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
}
}
/**
* Output the current position to serial
*/
static void report_current_position() {
ECHO_MV( "X:", current_position[X_AXIS]);
ECHO_MV(" Y:", current_position[Y_AXIS]);
ECHO_MV(" Z:", current_position[Z_AXIS]);
ECHO_MV(" E:", current_position[E_AXIS]);
report_positions();
#if MECH(SCARA)
// MESSAGE for Host
ECHO_SMV(OK, " SCARA Theta:", delta[X_AXIS]);
ECHO_EMV(" Psi+Theta:", delta[Y_AXIS]);
ECHO_SMV(DB, "SCARA Cal - Theta:", delta[X_AXIS] + home_offset[X_AXIS]);
ECHO_EMV(" Psi+Theta (90):", delta[Y_AXIS]-delta[X_AXIS] - 90 + home_offset[Y_AXIS]);
ECHO_SMV(DB, "SCARA 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
}
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
FORCE_INLINE void prevent_dangerous_extrude(float &curr_e, float &dest_e) {
......
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;
#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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