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MarlinKimbra
Commit b7003494 authored by MagoKimbra's avatar MagoKimbra
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Update autobed level for DELTA

parent 3fc90cbf
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Showing with 241 additions and 264 deletions
MarlinKimbra/Configuration.h
View file @ b7003494
......@@ -27,11 +27,11 @@
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware.
#define STRING_VERSION "4.1.3"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
#define BUILD_VERSION "4.1.3 dev"
#define STRING_DISTRIBUTION_DATE __DATE__ " " __TIME__ // build date and time
#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line 2
#define STRING_SPLASH_LINE1 "v" BUILD_VERSION // will be shown during bootup in line 1
#define STRING_SPLASH_LINE2 STRING_DISTRIBUTION_DATE // will be shown during bootup in line 2
// SERIAL_PORT selects which serial port should be used for communication with the host.
// This allows the connection of wireless adapters (for instance) to non-default port pins.
......
MarlinKimbra/Configuration_Delta.h
View file @ b7003494
......@@ -31,15 +31,9 @@
//Uncomment to enable autocalibration debug messages
#define DEBUG_MESSAGES
//Amount to lift head after probing a point
#define AUTOCAL_PROBELIFT 3 // mm
// Precision for G30 delta autocalibration function
#define AUTOCALIBRATION_PRECISION 0.1 // mm
// Effective horizontal distance bridged by diagonal push rods.
#define DEFAULT_DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
// Z-Probe variables
// Start and end location values are used to deploy/retract the probe (will move from start to end and back again)
#define PROBING_FEEDRATE 1000 // Speed in mm/min for individual probe Use: G30 A F600
......@@ -48,8 +42,9 @@
#define Z_PROBE_DEPLOY_END_LOCATION {0, 0, 30, 0} // X, Y, Z, E end location for z-probe deployment sequence
#define Z_PROBE_RETRACT_START_LOCATION {0, 0, 30, 0} // X, Y, Z, E start location for z-probe retract sequence
#define Z_PROBE_RETRACT_END_LOCATION {0, 0, 30, 0} // X, Y, Z, E end location for z-probe retract sequence
#define Z_RAISE_BETWEEN_PROBINGS 2 // How much the extruder will be raised when travelling from between next probing points
#define Z_RAISE_BETWEEN_PROBINGS 3 // How much the nozzle will be raised when travelling from between next probing points
#define AUTOLEVEL_GRID 20 // Distance between autolevel Z probing points, should be less than print surface radius/3.
#define AUTO_BED_LEVELING_GRID_POINTS 9 // Works best with ACCURATE_BED_LEVELING_POINTS 5 or higher.
//===========================================================================
//=============================Mechanical Settings===========================
......
MarlinKimbra/Marlin.h
View file @ b7003494
......@@ -165,6 +165,7 @@ void ok_to_send();
void save_carriage_positions(int position_num);
void calculate_delta(float cartesian[3]);
void adjust_delta(float cartesian[3]);
void reset_bed_level();
void prepare_move_raw();
extern float delta[3];
extern float delta_tmp[3];
......
MarlinKimbra/Marlin_main.cpp
View file @ b7003494
......@@ -73,11 +73,10 @@
* Help us document these G-codes online:
* - http://reprap.org/wiki/G-code
* - https://github.com/MagoKimbra/MarlinKimbra/blob/master/Documentation/GCodes.md
*/
/**
*
* ------------------
* Implemented Codes
* --------------------------------------------------------------------------------------
* ------------------
*
* "G" Codes
*
......@@ -98,7 +97,7 @@
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
* -------------------------------------------------------------------------------------
*
* "M" Codes
*
* M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
......@@ -351,6 +350,7 @@ unsigned long printer_usage_seconds;
float delta_radius; // = DEFAULT_delta_radius;
float delta_diagonal_rod; // = DEFAULT_DELTA_DIAGONAL_ROD;
float delta_diagonal_rod_2;
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
float ac_prec = AUTOCALIBRATION_PRECISION;
float bed_radius = PRINTER_RADIUS;
float delta_tower1_x, delta_tower1_y;
......@@ -378,15 +378,8 @@ unsigned long printer_usage_seconds;
float z_probe_retract_start_location[] = Z_PROBE_RETRACT_START_LOCATION;
float z_probe_retract_end_location[] = Z_PROBE_RETRACT_END_LOCATION;
float endstop_adj[3] = { 0 };
static float bed_level[7][7] = {
{ 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0 },
{ 0, 0, 0, 0, 0, 0, 0 },
};
float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
int delta_grid_spacing[2] = { 0, 0 };
static float z_offset;
static float bed_level_x, bed_level_y, bed_level_z;
static float bed_level_c = 20; // used for inital bed probe safe distance (to avoid crashing into bed)
......@@ -398,16 +391,11 @@ unsigned long printer_usage_seconds;
#endif // DELTA
#ifdef SCARA
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
static float delta[3] = { 0 };
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
#if defined (DELTA_SEGMENTS_PER_SECOND)
float delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND;
#elif defined (SCARA_SEGMENTS_PER_SECOND)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
#endif
#if HAS_FILAMENT_SENSOR
//Variables for Filament Sensor input
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA; //Set nominal filament width, can be changed with M404
......@@ -690,7 +678,7 @@ void setup() {
setup_powerhold();
SERIAL_INIT(BAUDRATE);
ECHO_S(START);
ECHO_EM(START);
ECHO_S(DB);
// Check startup - does nothing if bootloader sets MCUSR to 0
......@@ -702,14 +690,14 @@ void setup() {
if (mcu & 32) ECHO_EM(MSG_SOFTWARE_RESET);
MCUSR = 0;
ECHO_EM(MSG_MARLIN " " STRING_VERSION);
ECHO_LM(DB, MSG_MARLIN " " BUILD_VERSION);
#ifdef STRING_VERSION_CONFIG_H
#ifdef STRING_DISTRIBUTION_DATE
#ifdef STRING_CONFIG_H_AUTHOR
ECHO_LM(DB, MSG_CONFIGURATION_VER STRING_VERSION_CONFIG_H MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
ECHO_EM(MSG_COMPILED __DATE__);
ECHO_LM(DB, MSG_CONFIGURATION_VER STRING_DISTRIBUTION_DATE MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
ECHO_LM(DB, MSG_COMPILED __DATE__);
#endif // STRING_CONFIG_H_AUTHOR
#endif // STRING_VERSION_CONFIG_H
#endif // STRING_DISTRIBUTION_DATE
ECHO_SMV(DB, MSG_FREE_MEMORY, freeMemory());
ECHO_EMV(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
......@@ -875,21 +863,20 @@ void get_command() {
fromsd[cmd_queue_index_w] = false;
#endif
if (strchr(command, 'N') != NULL) {
seen_pointer = strchr(command, 'N');
gcode_N = (strtol(seen_pointer + 1, NULL, 10));
char *npos = strchr(command, 'N');
char *apos = strchr(command, '*');
if (npos) {
gcode_N = strtol(npos + 1, NULL, 10);
if (gcode_N != gcode_LastN + 1 && strstr_P(command, PSTR("M110")) == NULL) {
gcode_line_error(PSTR(MSG_ERR_LINE_NO));
return;
}
if (strchr(command, '*') != NULL) {
byte checksum = 0;
byte count = 0;
if (apos) {
byte checksum = 0, count = 0;
while (command[count] != '*') checksum ^= command[count++];
seen_pointer = strchr(command, '*');
if (strtol(seen_pointer + 1, NULL, 10) != checksum) {
if (strtol(apos + 1, NULL, 10) != checksum) {
gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH));
return;
}
......@@ -903,27 +890,25 @@ void get_command() {
gcode_LastN = gcode_N;
// if no errors, continue parsing
}
else { // if we don't receive 'N' but still see '*'
if ((strchr(command, '*') != NULL)) {
gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
return;
}
else if (apos) { // No '*' without 'N'
gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false);
return;
}
if (strchr(command, 'G') != NULL) {
seen_pointer = strchr(command, 'G');
switch (strtol(seen_pointer + 1, NULL, 10)) {
case 0:
case 1:
case 2:
case 3:
if (IsStopped()) {
// Movement commands alert when stopped
if (IsStopped()) {
char *gpos = strchr(command, 'G');
if (gpos) {
int codenum = strtol(gpos + 1, NULL, 10);
switch (codenum) {
case 0:
case 1:
case 2:
case 3:
ECHO_LM(ER, MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
break;
default:
break;
break;
}
}
}
......@@ -968,7 +953,7 @@ void get_command() {
serial_count >= (MAX_CMD_SIZE - 1) || n == -1
) {
if (card.eof()) {
ECHO_LM(DB, MSG_FILE_PRINTED);
ECHO_EM(MSG_FILE_PRINTED);
print_job_stop_ms = millis();
char time[30];
millis_t t = (print_job_stop_ms - print_job_start_ms) / 1000;
......@@ -1082,13 +1067,13 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
static bool active_extruder_parked = false; // used in mode 1 & 2
static float raised_parked_position[NUM_AXIS]; // used in mode 1
static millis_t delayed_move_time = 0; // used in mode 1
static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_hotend_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2
static float duplicate_extruder_temp_offset = 0; // used in mode 2
bool extruder_duplication_enabled = false; // used in mode 2
#endif //DUAL_X_CARRIAGE
static void axis_is_at_home(int axis) {
static void axis_is_at_home(AxisEnum axis) {
#ifdef DUAL_X_CARRIAGE
if (axis == X_AXIS) {
......@@ -1102,7 +1087,7 @@ static void axis_is_at_home(int axis) {
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_extruder_x_offset);
max_pos[X_AXIS] = min(base_max_pos(X_AXIS) + xoff, max(hotend_offset[X_AXIS][1], X2_MAX_POS) - duplicate_hotend_x_offset);
return;
}
}
......@@ -1115,25 +1100,25 @@ static void axis_is_at_home(int axis) {
float homeposition[3];
for (int i = 0; i < 3; i++) homeposition[i] = base_home_pos(i);
// ECHO_SMV(DB, "homeposition[x]= ", homeposition[0]);
// ECHO_EMV("homeposition[y]= ", homeposition[1]);
// Works out real Homeposition angles using inverse kinematics,
// 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
calculate_delta(homeposition);
// ECHO_SMV(DB,"base Theta= ", delta[X_AXIS]);
// 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_SMV(DB,"addhome X=", home_offset[X_AXIS]);
// 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_SMV(DB,"Delta X=", delta[X_AXIS]);
// ECHO_MV("Delta X=", delta[X_AXIS]);
// ECHO_EMV(" Delta Y=", delta[Y_AXIS]);
current_position[axis] = delta[axis];
......@@ -1159,7 +1144,7 @@ static void axis_is_at_home(int axis) {
#endif
#if defined(ENABLE_AUTO_BED_LEVELING) && Z_HOME_DIR < 0
if (axis == Z_AXIS) current_position[Z_AXIS] += zprobe_zoffset;
if (axis == Z_AXIS) current_position[Z_AXIS] -= zprobe_zoffset;
#endif
}
......@@ -1167,23 +1152,18 @@ static void axis_is_at_home(int axis) {
* Some planner shorthand inline functions
*/
inline void set_homing_bump_feedrate(AxisEnum axis) {
const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
#ifdef DELTA
const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
if (homing_bump_divisor[X_AXIS] >= 1)
feedrate = homing_feedrate[axis] / homing_bump_divisor[X_AXIS];
else {
feedrate = homing_feedrate[axis] / 10;
ECHO_LM(ER, MSG_ERR_HOMING_DIV);
}
#else // No DELTA
const int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
if (homing_bump_divisor[axis] >= 1)
feedrate = homing_feedrate[axis] / homing_bump_divisor[axis];
else {
feedrate = homing_feedrate[axis] / 10;
ECHO_LM(ER, MSG_ERR_HOMING_DIV);
}
#endif // No DELTA
#endif
else {
feedrate = homing_feedrate[axis] / 10;
ECHO_LM(ER, MSG_ERR_HOMING_DIV);
}
}
inline void line_to_current_position() {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder, active_driver);
......@@ -1217,8 +1197,22 @@ static void setup_for_endstop_move() {
enable_endstops(true);
}
static void clean_up_after_endstop_move() {
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
endstops_hit_on_purpose(); // clear endstop hit flags
refresh_cmd_timeout();
}
#if defined(CARTESIAN) || defined(COREXY) || defined(COREXZ) || defined(SCARA)
/**
* Plan a move to (X, Y, Z) and set the current_position
* The final current_position may not be the one that was requested
*/
static void do_blocking_move_to(float x, float y, float z) {
float oldFeedRate = feedrate;
feedrate = homing_feedrate[Z_AXIS];
......@@ -1236,7 +1230,7 @@ static void setup_for_endstop_move() {
feedrate = oldFeedRate;
}
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef AUTO_BED_LEVELING_GRID
static void set_bed_level_equation_lsq(double *plane_equation_coefficients) {
......@@ -1323,15 +1317,6 @@ static void setup_for_endstop_move() {
sync_plan_position();
}
static void clean_up_after_endstop_move() {
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
}
static void deploy_z_probe() {
#if NUM_SERVOS > 0
// Engage Z Servo endstop if enabled
......@@ -1623,6 +1608,59 @@ static void setup_for_endstop_move() {
delta_tower3_y = (delta_radius + tower_adj[5]) * sin((90 + tower_adj[2]) * M_PI/180);
}
static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
if (bed_level[x][y] != 0.0) {
return; // Don't overwrite good values.
}
float a = 2*bed_level[x+xdir][y] - bed_level[x+xdir*2][y]; // Left to right.
float b = 2*bed_level[x][y+ydir] - bed_level[x][y+ydir*2]; // Front to back.
float c = 2*bed_level[x+xdir][y+ydir] - bed_level[x+xdir*2][y+ydir*2]; // Diagonal.
float median = c; // Median is robust (ignores outliers).
if (a < b) {
if (b < c) median = b;
if (c < a) median = a;
} else { // b <= a
if (c < b) median = b;
if (a < c) median = a;
}
bed_level[x][y] = median;
}
// Fill in the unprobed points (corners of circular print surface)
// using linear extrapolation, away from the center.
static void extrapolate_unprobed_bed_level() {
int half = (AUTO_BED_LEVELING_GRID_POINTS-1)/2;
for (int y = 0; y <= half; y++) {
for (int x = 0; x <= half; x++) {
if (x + y < 3) continue;
extrapolate_one_point(half-x, half-y, x>1?+1:0, y>1?+1:0);
extrapolate_one_point(half+x, half-y, x>1?-1:0, y>1?+1:0);
extrapolate_one_point(half-x, half+y, x>1?+1:0, y>1?-1:0);
extrapolate_one_point(half+x, half+y, x>1?-1:0, y>1?-1:0);
}
}
}
// Print calibration results for plotting or manual frame adjustment.
static void print_bed_level() {
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
ECHO_S(DB);
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
ECHO_VM(bed_level[x][y], " ", 3);
}
ECHO_E;
}
}
// Reset calibration results to zero.
void reset_bed_level() {
for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
bed_level[x][y] = 0.0;
}
}
}
void deploy_z_probe() {
#if NUM_SERVOS > 0
......@@ -1741,52 +1779,46 @@ static void setup_for_endstop_move() {
void calibrate_print_surface(float z_offset) {
float probe_bed_z, probe_z, probe_h, probe_l;
int probe_count;
for (int y = 3; y >= -3; y--) {
int dir = y % 2 ? -1 : 1;
for (int x = -3*dir; x != 4*dir; x += dir) {
if (x*x + y*y < 11) {
destination[X_AXIS] = AUTOLEVEL_GRID * x - z_probe_offset[X_AXIS];
if (destination[X_AXIS]<X_MIN_POS) destination[X_AXIS]=X_MIN_POS;
if (destination[X_AXIS]>X_MAX_POS) destination[X_AXIS]=X_MAX_POS;
destination[Y_AXIS] = AUTOLEVEL_GRID * y - z_probe_offset[Y_AXIS];
if (destination[Y_AXIS]<Y_MIN_POS) destination[Y_AXIS]=Y_MIN_POS;
if (destination[Y_AXIS]>Y_MAX_POS) destination[Y_AXIS]=Y_MAX_POS;
probe_count = 0;
probe_z = -100;
probe_h = -100;
probe_l = 100;
do {
probe_bed_z = probe_z;
probe_z = z_probe() + z_offset;
if (probe_z > probe_h) probe_h = probe_z;
if (probe_z < probe_l) probe_l = probe_z;
probe_count ++;
} while ((probe_z != probe_bed_z) and (probe_count < 21));
bed_level[x+3][3-y] = probe_bed_z;
}
else {
bed_level[x+3][3-y] = 0.0;
}
}
// For unprobed positions just copy nearest neighbor.
if (abs(y) >= 3) {
bed_level[1][3-y] = bed_level[2][3-y];
bed_level[5][3-y] = bed_level[4][3-y];
}
if (abs(y) >=2) {
bed_level[0][3-y] = bed_level[1][3-y];
bed_level[6][3-y] = bed_level[5][3-y];
}
// Print calibration results for manual frame adjustment.
ECHO_S(DB);
for (int x = -3; x <= 3; x++) {
ECHO_VM(bed_level[x+3][3-y], " ", 3);
}
ECHO_E;
}
int probe_count, auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
int left_probe_bed_position = LEFT_PROBE_BED_POSITION,
right_probe_bed_position = RIGHT_PROBE_BED_POSITION,
front_probe_bed_position = FRONT_PROBE_BED_POSITION,
back_probe_bed_position = BACK_PROBE_BED_POSITION;
// probe at the points of a lattice grid
const int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1),
yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
delta_grid_spacing[0] = xGridSpacing;
delta_grid_spacing[1] = yGridSpacing;
// First point
bed_level_c = probe_bed(0.0, 0.0);
for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
double yProbe = front_probe_bed_position + yGridSpacing * yCount;
int xStart, xStop, xInc;
xStart = 0;
xStop = auto_bed_leveling_grid_points;
xInc = 1;
for (int xCount = xStart; xCount != xStop; xCount += xInc) {
double xProbe = left_probe_bed_position + xGridSpacing * xCount;
// Avoid probing the corners (outside the round or hexagon print surface) on a delta printer.
float distance_from_center = sqrt(xProbe*xProbe + yProbe*yProbe);
if (distance_from_center > DELTA_PROBABLE_RADIUS) continue;
bed_level[xCount][yCount] = probe_bed(xProbe, yProbe);
idle();
} //xProbe
} //yProbe
extrapolate_unprobed_bed_level();
print_bed_level();
}
float probe_bed(float x, float y) {
......@@ -1800,7 +1832,7 @@ static void setup_for_endstop_move() {
destination[Y_AXIS] = y - z_probe_offset[Y_AXIS];
if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
destination[Z_AXIS] = bed_level_c - z_probe_offset[Z_AXIS] + AUTOCAL_PROBELIFT;
destination[Z_AXIS] = bed_level_c - z_probe_offset[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
prepare_move();
st_synchronize();
......@@ -1950,15 +1982,7 @@ static void setup_for_endstop_move() {
HOMEAXIS(Z);
sync_plan_position_delta();
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
endstops_hit_on_purpose(); // clear endstop hit flags
clean_up_after_endstop_move();
}
void prepare_move_raw() {
......@@ -1985,26 +2009,28 @@ static void setup_for_endstop_move() {
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[3]) {
float grid_x = max(-2.999, min(2.999, cartesian[X_AXIS] * AUTOLEVEL_GRID_MULTI));
float grid_y = max(-2.999, min(2.999, cartesian[Y_AXIS] * AUTOLEVEL_GRID_MULTI));
int floor_x = floor(grid_x);
int floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x;
float ratio_y = grid_y - floor_y;
float z1 = bed_level[floor_x+3][floor_y+3];
float z2 = bed_level[floor_x+3][floor_y+4];
float z3 = bed_level[floor_x+4][floor_y+3];
float z4 = bed_level[floor_x+4][floor_y+4];
float left = (1-ratio_y)*z1 + ratio_y*z2;
float right = (1-ratio_y)*z3 + ratio_y*z4;
float offset = (1-ratio_x)*left + ratio_x*right;
if (delta_grid_spacing[0] == 0 || delta_grid_spacing[1] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
float h1 = 0.001 - half, h2 = half - 0.001,
grid_x = max(h1, min(h2, cartesian[X_AXIS] / delta_grid_spacing[0])),
grid_y = max(h1, min(h2, cartesian[Y_AXIS] / delta_grid_spacing[1]));
int floor_x = floor(grid_x), floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x, ratio_y = grid_y - floor_y,
z1 = bed_level[floor_x + half][floor_y + half],
z2 = bed_level[floor_x + half][floor_y + half + 1],
z3 = bed_level[floor_x + half + 1][floor_y + half],
z4 = bed_level[floor_x + half + 1][floor_y + half + 1],
left = (1 - ratio_y) * z1 + ratio_y * z2,
right = (1 - ratio_y) * z3 + ratio_y * z4,
offset = (1 - ratio_x) * left + ratio_x * right;
delta[X_AXIS] += offset;
delta[Y_AXIS] += offset;
delta[Z_AXIS] += offset;
/*
ECHO_MSV(DB,"grid_x=", grid_x);
ECHO_SMV(DB,"grid_x=", grid_x);
ECHO_MV(" grid_y=", grid_y);
ECHO_MV(" floor_x=", floor_x);
ECHO_MV(" floor_y=", floor_y);
......@@ -2051,6 +2077,7 @@ static void setup_for_endstop_move() {
// First Check for control endstop
ECHO_LM(DB, "First check for adjust Z-Height");
home_delta_axis();
reset_bed_level();
deploy_z_probe();
//Probe all points
......@@ -2076,10 +2103,7 @@ static void setup_for_endstop_move() {
ECHO_LV(ER,"Auto calibration aborted");
retract_z_probe();
//Restore saved variables
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
clean_up_after_endstop_move();
return;
}
......@@ -2409,7 +2433,7 @@ static void setup_for_endstop_move() {
prepare_move();
feedrate = oldFeedrate;
}
else if(!retracting && IDLE_OOZING_retracted[active_extruder]) {
else if (!retracting && IDLE_OOZING_retracted[active_extruder]) {
set_destination_to_current();
current_position[E_AXIS]-=(IDLE_OOZING_LENGTH+IDLE_OOZING_RECOVER_LENGTH)/volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]);
......@@ -2493,13 +2517,19 @@ static void setup_for_endstop_move() {
}
if (dock) {
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], current_position[Z_AXIS]); // this also updates current_position
digitalWrite(SERVO0_PIN, LOW); // turn off magnet
} else {
float oldXpos = current_position[X_AXIS]; // save x position
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); // rise Z
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1, current_position[Y_AXIS], current_position[Z_AXIS]); // Dock sled a bit closer to ensure proper capturing
digitalWrite(SLED_PIN, LOW); // turn off magnet
do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
}
else {
float oldXpos = current_position[X_AXIS]; // save x position
float z_loc = current_position[Z_AXIS];
if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc); // this also updates current_position
digitalWrite(SERVO0_PIN, HIGH); // turn on magnet
do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], z_loc); // this also updates current_position
digitalWrite(SLED_PIN, HIGH); // turn on magnet
do_blocking_move_to(oldXpos, current_position[Y_AXIS], current_position[Z_AXIS]); // return to position before docking
}
}
#endif //Z_PROBE_SLED
......@@ -2637,7 +2667,6 @@ inline void gcode_G0_G1() {
#endif //FWRETRACT
prepare_move();
//ok_to_send();
}
}
......@@ -2771,6 +2800,7 @@ void plan_arc(
*/
inline void gcode_G2_G3(bool clockwise) {
if (IsRunning()) {
#ifdef SF_ARC_FIX
bool relative_mode_backup = relative_mode;
relative_mode = true;
......@@ -2857,6 +2887,8 @@ inline void gcode_G28() {
// For auto bed leveling, clear the level matrix
#ifdef ENABLE_AUTO_BED_LEVELING
if (!home_XY) plan_bed_level_matrix.set_to_identity();
#elif defined(DELTA)
reset_bed_level();
#endif
setup_for_endstop_move();
......@@ -3192,14 +3224,7 @@ inline void gcode_G28() {
sync_plan_position_delta();
#endif
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
endstops_hit_on_purpose(); // clear endstop hit flags
clean_up_after_endstop_move();
}
#ifdef ENABLE_AUTO_BED_LEVELING
......@@ -3525,14 +3550,7 @@ inline void gcode_G28() {
*/
inline void gcode_G29() {
if (code_seen('D')) {
ECHO_LM(DB, "Current bed level array values:");
for (int y = 0; y < 7; y++) {
ECHO_S(DB);
for (int x = 0; x < 7; x++) {
ECHO_VM(bed_level[x][y], " ", 3);
}
ECHO_E;
}
print_bed_level();
return;
}
......@@ -3545,11 +3563,7 @@ inline void gcode_G28() {
calibrate_print_surface(z_probe_offset[Z_AXIS] + (code_seen(axis_codes[Z_AXIS]) ? code_value() : 0.0));
retract_z_probe();
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
refresh_cmd_timeout();
endstops_hit_on_purpose(); // clear endstop hit flags
FlushSerialRequestResend();
clean_up_after_endstop_move();
}
// G30: Delta AutoCalibration
......@@ -3559,11 +3573,7 @@ inline void gcode_G28() {
int iterations = 100; // Maximum number of iterations
//Zero the bed level array
for (int y = 0; y < 7; y++) {
for (int x = 0; x < 7; x++) {
bed_level[x][y] = 0.0;
}
}
reset_bed_level();
if (code_seen('C')) {
//Show carriage positions
......@@ -3613,11 +3623,8 @@ inline void gcode_G28() {
//reset LCD alert message
lcd_reset_alert_level();
//Restore saved variables
feedrate = saved_feedrate;
feedrate_multiplier = saved_feedrate_multiplier;
clean_up_after_endstop_move();
FlushSerialRequestResend();
}
#endif // DELTA && Z_PROBE_ENDSTOP
......@@ -5308,7 +5315,7 @@ inline void gcode_M400() { st_synchronize(); }
#if SERVO_LEVELING
void raise_z_for_servo() {
float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_HOMING;
z_dest += axis_known_position[Z_AXIS] ? -zprobe_zoffset : zpos;
z_dest += axis_known_position[Z_AXIS] ? zprobe_zoffset : zpos;
if (zpos < z_dest)
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_dest); // also updates current_position
}
......@@ -5657,12 +5664,12 @@ inline void gcode_M503() {
if (code_seen('S')) dual_x_carriage_mode = code_value();
switch(dual_x_carriage_mode) {
case DXC_DUPLICATION_MODE:
if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
if (code_seen('X')) duplicate_hotend_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
ECHO_SM(DB, MSG_HOTEND_OFFSET);
ECHO_MV(" ", extruder_offset[X_AXIS][0]);
ECHO_MV(",", extruder_offset[Y_AXIS][0]);
ECHO_MV(" ", duplicate_extruder_x_offset);
ECHO_MV(" ", duplicate_hotend_x_offset);
ECHO_EMV(",", extruder_offset[Y_AXIS][1]);
break;
case DXC_FULL_CONTROL_MODE:
......@@ -5683,6 +5690,7 @@ inline void gcode_M503() {
inline void gcode_M666() {
if (code_seen('P')) {
zprobe_zoffset = code_value();
ECHO_LM(DB, MSG_ZPROBE_ZOFFSET " " OK)
}
if (code_seen('L')) {
ECHO_LMV(DB, "P (Z-Probe Offset):", zprobe_zoffset);
......@@ -5842,17 +5850,17 @@ inline void gcode_M999() {
if (code_seen('Z')) {
value = code_value();
if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
zprobe_zoffset = -value;
ECHO_LM(DB, MSG_ZPROBE_ZOFFSET " ok");
zprobe_zoffset = value;
ECHO_LM(DB, MSG_ZPROBE_ZOFFSET " " OK);
}
else {
ECHO_S(DB, MSG_ZPROBE_ZOFFSET);
ECHO_LMV(DB, MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
ECHO_LMV(DB, MSG_Z_MAX,Z_PROBE_OFFSET_RANGE_MAX);
ECHO_SM(DB, MSG_ZPROBE_ZOFFSET);
ECHO_MV(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
ECHO_EMV(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
}
}
else {
ECHO_LM(DB, MSG_ZPROBE_ZOFFSET " : ", -zprobe_zoffset);
ECHO_LMV(DB, MSG_ZPROBE_ZOFFSET " : ", -zprobe_zoffset);
}
}
......@@ -5929,7 +5937,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
current_position[X_AXIS] = destination[X_AXIS] + duplicate_hotend_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
......@@ -6619,7 +6627,7 @@ FORCE_INLINE void clamp_to_software_endstops(float target[3]) {
#if defined(DELTA) || defined(SCARA)
FORCE_INLINE bool prepare_move_delta() {
inline bool prepare_move_delta() {
float difference[NUM_AXIS];
float addDistance[NUM_AXIS];
......@@ -6666,44 +6674,9 @@ FORCE_INLINE void clamp_to_software_endstops(float target[3]) {
}
#endif
//calculate_delta(destination);
delta[X_AXIS] = sqrt(delta_diagonal_rod_2
- sq(delta_tower1_x-destination[X_AXIS])
- sq(delta_tower1_y-destination[Y_AXIS])
) + destination[Z_AXIS];
delta[Y_AXIS] = sqrt(delta_diagonal_rod_2
- sq(delta_tower2_x-destination[X_AXIS])
- sq(delta_tower2_y-destination[Y_AXIS])
) + destination[Z_AXIS];
delta[Z_AXIS] = sqrt(delta_diagonal_rod_2
- sq(delta_tower3_x-destination[X_AXIS])
- sq(delta_tower3_y-destination[Y_AXIS])
) + destination[Z_AXIS];
//adjust_delta(destination);
float grid_x = destination[X_AXIS] * AUTOLEVEL_GRID_MULTI;
if (2.999 < grid_x) grid_x = 2.999;
else if (-2.999 > grid_x) grid_x = -2.999;
float grid_y = destination[Y_AXIS] * AUTOLEVEL_GRID_MULTI;
if (2.999 < grid_y) grid_y = 2.999;
else if (-2.999 > grid_y) grid_y = -2.999;
int floor_x = floor(grid_x);
int floor_y = floor(grid_y);
float ratio_x = grid_x - floor_x;
float ratio_y = grid_y - floor_y;
float z1 = bed_level[floor_x+3][floor_y+3];
float z2 = bed_level[floor_x+3][floor_y+4];
float z3 = bed_level[floor_x+4][floor_y+3];
float z4 = bed_level[floor_x+4][floor_y+4];
float left = (1-ratio_y)*z1 + ratio_y*z2;
float right = (1-ratio_y)*z3 + ratio_y*z4;
float offset = (1-ratio_x)*left + ratio_x*right;
delta[X_AXIS] += offset;
delta[Y_AXIS] += offset;
delta[Z_AXIS] += offset;
calculate_delta(destination);
adjust_delta(destination);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], frfm, active_extruder, active_driver);
}
......@@ -6723,7 +6696,7 @@ FORCE_INLINE void clamp_to_software_endstops(float target[3]) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
// move duplicate extruder into correct duplication position.
plan_set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1, active_driver);
plan_buffer_line(current_position[X_AXIS] + duplicate_hotend_x_offset, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], max_feedrate[X_AXIS], 1, active_driver);
sync_plan_position();
st_synchronize();
extruder_duplication_enabled = true;
......
MarlinKimbra/conditionals.h
View file @ b7003494
......@@ -332,6 +332,14 @@
#undef Z_HOME_BUMP_MM
#define Y_HOME_BUMP_MM X_HOME_BUMP_MM
#define Z_HOME_BUMP_MM X_HOME_BUMP_MM
// Effective horizontal distance bridged by diagonal push rods.
#define DEFAULT_DELTA_RADIUS (DELTA_SMOOTH_ROD_OFFSET-DELTA_EFFECTOR_OFFSET-DELTA_CARRIAGE_OFFSET)
#define DELTA_PROBABLE_RADIUS (PRINTER_RADIUS - 10)
#define LEFT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
#define RIGHT_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
#define FRONT_PROBE_BED_POSITION -DELTA_PROBABLE_RADIUS
#define BACK_PROBE_BED_POSITION DELTA_PROBABLE_RADIUS
#endif
/**
......
MarlinKimbra/configuration_store.cpp
View file @ b7003494
......@@ -490,7 +490,7 @@ void Config_ResetDefault() {
home_offset[X_AXIS] = home_offset[Y_AXIS] = home_offset[Z_AXIS] = 0;
#ifdef ENABLE_AUTO_BED_LEVELING
zprobe_zoffset = -Z_PROBE_OFFSET_FROM_EXTRUDER;
zprobe_zoffset = Z_PROBE_OFFSET_FROM_EXTRUDER;
#elif !defined(DELTA)
zprobe_zoffset = 0;
#endif
......
MarlinKimbra/language.h
View file @ b7003494
......@@ -65,7 +65,7 @@
#endif
#ifndef BUILD_VERSION
#define BUILD_VERSION "V4;"
#define BUILD_VERSION "V1; Sprinter/grbl mashup for gen6"
#endif
#ifndef MACHINE_UUID
......@@ -88,13 +88,14 @@
#define MSG_ENQUEUEING "enqueueing \""
#define MSG_POWERUP "PowerUp"
#define MSG_EXTERNAL_RESET " External Reset"
#define MSG_BROWNOUT_RESET " Brown out Reset"
#define MSG_WATCHDOG_RESET " Watchdog Reset"
#define MSG_SOFTWARE_RESET " Software Reset"
#define MSG_EXTERNAL_RESET "External Reset"
#define MSG_BROWNOUT_RESET "Brown out Reset"
#define MSG_WATCHDOG_RESET "Watchdog Reset"
#define MSG_SOFTWARE_RESET "Software Reset"
#define MSG_AUTHOR " | Author: "
#define MSG_CONFIGURATION_VER " Last Updated: "
#define MSG_FREE_MEMORY " Free Memory: "
#define MSG_CONFIGURATION_VER "Last Updated: "
#define MSG_COMPILED "Compiled: "
#define MSG_FREE_MEMORY "Free Memory: "
#define MSG_PLANNER_BUFFER_BYTES " PlannerBufferBytes: "
#define MSG_FILE_SAVED "Done saving file."
#define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line: "
......@@ -233,7 +234,6 @@
#define MSG_ENDSTOP_ES "E"
//other
#define MSG_COMPILED "Compiled: "
#define MSG_ERR_HOMING_DIV "The Homing Bump Feedrate Divisor cannot be less than 1"
#define MSG_BED_LEVELLING_BED "Bed"
#define MSG_BED_LEVELLING_X " X: "
......
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