Merge remote-tracking branch 'refs/remotes/origin/master' into dev

MK/base.h

@@ -43,9 +43,9 @@
 
 #include "module/language/language.h"
 #include "module/MK_Main.h"
-#include "module/motion/stepper.h"
-#include "module/motion/stepper_indirection.h"
 #include "module/motion/planner.h"
+#include "module/motion/stepper_indirection.h"
+#include "module/motion/stepper.h"
 #include "module/motion/vector_3.h"
 #include "module/motion/qr_solve.h"
 #include "module/motion/cartesian_correction.h"

MK/module/MK_Main.cpp

@@ -6284,7 +6284,7 @@ inline void gcode_M400() { st_synchronize(); }
       ECHO_MV(",\"active\":", degTargetBed(), 1);
       ECHO_M(",\"state\":");
       ECHO_M(degTargetBed() > 0 ? "2" : "1");
-      ECHO_MV("},");
+      ECHO_M("},");
     #endif
     ECHO_M("\"heads\": {\"current\":[");
     firstOccurrence = true;

MK/module/motion/stepper.cpp

@@ -799,12 +799,14 @@ ISR(TIMER1_COMPA_vect) {
     else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
       MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
 
-      if (step_rate <= acc_step_rate) { // Still decelerating?
-        step_rate = acc_step_rate - step_rate;
+      if (step_rate <= acc_step_rate) {
+        step_rate = acc_step_rate - step_rate; // Decelerate from acceleration end point.
+        // lower limit
         NOLESS(step_rate, current_block->final_rate);
       }
-      else
+      else {
         step_rate = current_block->final_rate;
+      }
 
       // step_rate to timer interval
       timer = calc_timer(step_rate);

MK/module/motion/stepper.h

-/*
-  stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
-  Part of Grbl
-
-  Copyright (c) 2009-2011 Simen Svale Skogsrud
-
-  Grbl is free software: you can redistribute it and/or modify
-  it under the terms of the GNU General Public License as published by
-  the Free Software Foundation, either version 3 of the License, or
-  (at your option) any later version.
-
-  Grbl is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-  GNU General Public License for more details.
-
-  You should have received a copy of the GNU General Public License
-  along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef STEPPER_H
-#define STEPPER_H 
-
-#include "planner.h"
-#include "stepper_indirection.h"
-
 /**
- * Axis indices as enumerated constants
+ * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
+ * Part of Grbl
+ *
+ * Copyright (c) 2009-2011 Simen Svale Skogsrud
+ *
+ * Grbl is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Grbl is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
  *
- * A_AXIS and B_AXIS are used by COREXY printers
- * X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
+ * You should have received a copy of the GNU General Public License
+ * along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
  */
-enum AxisEnum {X_AXIS=0, A_AXIS=0, Y_AXIS=1, B_AXIS=1, Z_AXIS=2, C_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5, Z_HEAD=5};
-enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8, E_MIN=9};
-
-#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
-  extern bool abort_on_endstop_hit;
-#endif
-
-// Initialize and start the stepper motor subsystem
-void st_init();
-
-// Block until all buffered steps are executed
-void st_synchronize();
 
-// Set the stepper direction of each axis
-void set_stepper_direction(bool onlye = false);
 
-// Set current position in steps
-void st_set_position(const long &x, const long &y, const long &z, const long &e);
-void st_set_e_position(const long &e);
-
-// Get current position in steps
-long st_get_position(uint8_t axis);
-
-// Get current position in mm
-float st_get_axis_position_mm(AxisEnum axis);
-
-// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
-// to notify the subsystem that it is time to go to work.
-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 endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
-
-void enable_endstops(bool check); // Enable/disable endstop checking
-
-void checkStepperErrors(); //Print errors detected by the stepper
-
-void enable_all_steppers();
-void disable_all_steppers();
-void finishAndDisableSteppers();
-
-extern block_t *current_block;  // A pointer to the block currently being traced
-
-void quickStop();
-
-void digitalPotWrite(int address, int value);
-void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
-void microstep_mode(uint8_t driver, uint8_t stepping);
-void digipot_init();
-void digipot_current(uint8_t driver, int current);
-void microstep_init();
-void microstep_readings();
-
-#if ENABLED(Z_DUAL_ENDSTOPS)
-  void In_Homing_Process(bool state);
-  void Lock_z_motor(bool state);
-  void Lock_z2_motor(bool state);
-#endif
-
-#if ENABLED(BABYSTEPPING)
-  void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
-#endif
-
-#if ENABLED(NPR2) // Multiextruder
-  void colorstep(long csteps, const bool direction);
-#endif
+#ifndef STEPPER_H
+  #define STEPPER_H 
+  
+  /**
+   * Axis indices as enumerated constants
+   *
+   * A_AXIS and B_AXIS are used by COREXY printers
+   * X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
+   */
+  enum AxisEnum {X_AXIS=0, A_AXIS=0, Y_AXIS=1, B_AXIS=1, Z_AXIS=2, C_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5, Z_HEAD=5};
+  enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8, E_MIN=9};
+  
+  #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
+    extern bool abort_on_endstop_hit;
+  #endif
+
+  // Initialize and start the stepper motor subsystem
+  void st_init();
+
+  // Block until all buffered steps are executed
+  void st_synchronize();
+
+  // Set the stepper direction of each axis
+  void set_stepper_direction(bool onlye = false);
+
+  // Set current position in steps
+  void st_set_position(const long &x, const long &y, const long &z, const long &e);
+  void st_set_e_position(const long &e);
+
+  // Get current position in steps
+  long st_get_position(uint8_t axis);
+
+  // Get current position in mm
+  float st_get_axis_position_mm(AxisEnum axis);
+
+  // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
+  // to notify the subsystem that it is time to go to work.
+  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 endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();
+
+  void enable_endstops(bool check); // Enable/disable endstop checking
+
+  void checkStepperErrors(); //Print errors detected by the stepper
+
+  void enable_all_steppers();
+  void disable_all_steppers();
+  void finishAndDisableSteppers();
+
+  extern block_t *current_block;  // A pointer to the block currently being traced
+
+  void quickStop();
+
+  void digitalPotWrite(int address, int value);
+  void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
+  void microstep_mode(uint8_t driver, uint8_t stepping);
+  void digipot_init();
+  void digipot_current(uint8_t driver, int current);
+  void microstep_init();
+  void microstep_readings();
+
+  #if ENABLED(Z_DUAL_ENDSTOPS)
+    void In_Homing_Process(bool state);
+    void Lock_z_motor(bool state);
+    void Lock_z2_motor(bool state);
+  #endif
+
+  #if ENABLED(BABYSTEPPING)
+    void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
+  #endif
+
+  #if ENABLED(NPR2) // Multiextruder
+    void colorstep(long csteps, const bool direction);
+  #endif
 
 #endif // STEPPER_H