Commit 75844245 authored by MagoKimbra's avatar MagoKimbra

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

parents da47ee66 3b1f52de
...@@ -43,9 +43,9 @@ ...@@ -43,9 +43,9 @@
#include "module/language/language.h" #include "module/language/language.h"
#include "module/MK_Main.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/planner.h"
#include "module/motion/stepper_indirection.h"
#include "module/motion/stepper.h"
#include "module/motion/vector_3.h" #include "module/motion/vector_3.h"
#include "module/motion/qr_solve.h" #include "module/motion/qr_solve.h"
#include "module/motion/cartesian_correction.h" #include "module/motion/cartesian_correction.h"
......
...@@ -6284,7 +6284,7 @@ inline void gcode_M400() { st_synchronize(); } ...@@ -6284,7 +6284,7 @@ inline void gcode_M400() { st_synchronize(); }
ECHO_MV(",\"active\":", degTargetBed(), 1); ECHO_MV(",\"active\":", degTargetBed(), 1);
ECHO_M(",\"state\":"); ECHO_M(",\"state\":");
ECHO_M(degTargetBed() > 0 ? "2" : "1"); ECHO_M(degTargetBed() > 0 ? "2" : "1");
ECHO_MV("},"); ECHO_M("},");
#endif #endif
ECHO_M("\"heads\": {\"current\":["); ECHO_M("\"heads\": {\"current\":[");
firstOccurrence = true; firstOccurrence = true;
......
...@@ -799,12 +799,14 @@ ISR(TIMER1_COMPA_vect) { ...@@ -799,12 +799,14 @@ ISR(TIMER1_COMPA_vect) {
else if (step_events_completed > (unsigned long)current_block->decelerate_after) { else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if (step_rate <= acc_step_rate) { // Still decelerating? if (step_rate <= acc_step_rate) {
step_rate = acc_step_rate - step_rate; step_rate = acc_step_rate - step_rate; // Decelerate from acceleration end point.
// lower limit
NOLESS(step_rate, current_block->final_rate); NOLESS(step_rate, current_block->final_rate);
} }
else else {
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
}
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(step_rate); timer = calc_timer(step_rate);
......
/* /**
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
Part of Grbl * Part of Grbl
*
Copyright (c) 2009-2011 Simen Svale Skogsrud * Copyright (c) 2009-2011 Simen Svale Skogsrud
*
Grbl is free software: you can redistribute it and/or modify * Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. * (at your option) any later version.
*
Grbl is distributed in the hope that it will be useful, * Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. * 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/>.
*/
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 #ifndef STEPPER_H
#define STEPPER_H #define STEPPER_H
#include "planner.h" /**
#include "stepper_indirection.h"
/**
* Axis indices as enumerated constants * Axis indices as enumerated constants
* *
* A_AXIS and B_AXIS are used by COREXY printers * 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. * 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 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}; 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) #if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
extern bool abort_on_endstop_hit; extern bool abort_on_endstop_hit;
#endif #endif
// Initialize and start the stepper motor subsystem // Initialize and start the stepper motor subsystem
void st_init(); void st_init();
// Block until all buffered steps are executed // Block until all buffered steps are executed
void st_synchronize(); void st_synchronize();
// Set the stepper direction of each axis // Set the stepper direction of each axis
void set_stepper_direction(bool onlye = false); void set_stepper_direction(bool onlye = false);
// Set current position in steps // Set current position in steps
void st_set_position(const long &x, const long &y, const long &z, const long &e); void st_set_position(const long &x, const long &y, const long &z, const long &e);
void st_set_e_position(const long &e); void st_set_e_position(const long &e);
// Get current position in steps // Get current position in steps
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_axis_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();
void enable_endstops(bool check); // Enable/disable endstop checking void enable_endstops(bool check); // Enable/disable endstop checking
void checkStepperErrors(); //Print errors detected by the stepper void checkStepperErrors(); //Print errors detected by the stepper
void enable_all_steppers(); void enable_all_steppers();
void disable_all_steppers(); void disable_all_steppers();
void finishAndDisableSteppers(); void finishAndDisableSteppers();
extern block_t *current_block; // A pointer to the block currently being traced extern block_t *current_block; // A pointer to the block currently being traced
void quickStop(); void quickStop();
void digitalPotWrite(int address, int value); void digitalPotWrite(int address, int value);
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2); void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
void microstep_mode(uint8_t driver, uint8_t stepping); void microstep_mode(uint8_t driver, uint8_t stepping);
void digipot_init(); void digipot_init();
void digipot_current(uint8_t driver, int current); void digipot_current(uint8_t driver, int current);
void microstep_init(); void microstep_init();
void microstep_readings(); void microstep_readings();
#if ENABLED(Z_DUAL_ENDSTOPS) #if ENABLED(Z_DUAL_ENDSTOPS)
void In_Homing_Process(bool state); void In_Homing_Process(bool state);
void Lock_z_motor(bool state); void Lock_z_motor(bool state);
void Lock_z2_motor(bool state); void Lock_z2_motor(bool state);
#endif #endif
#if ENABLED(BABYSTEPPING) #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 void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif #endif
#if ENABLED(NPR2) // Multiextruder #if ENABLED(NPR2) // Multiextruder
void colorstep(long csteps, const bool direction); void colorstep(long csteps, const bool direction);
#endif #endif
#endif // STEPPER_H #endif // STEPPER_H
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