From 1088846caef6f660d5af65e1725a6a6deeef16fd Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Wed, 24 Jul 2019 01:52:36 -0500 Subject: [PATCH] Cosmetic updates from 14044 --- Marlin/src/Marlin.cpp | 9 ++++++--- Marlin/src/feature/tmc_util.h | 8 +++----- Marlin/src/gcode/calibrate/G28.cpp | 2 +- Marlin/src/gcode/config/M200-M205.cpp | 2 +- Marlin/src/inc/SanityCheck.h | 26 ++++++++++++++------------ Marlin/src/module/delta.cpp | 2 +- Marlin/src/module/endstops.cpp | 5 ++--- Marlin/src/module/endstops.h | 23 ++++++----------------- Marlin/src/module/motion.cpp | 2 +- Marlin/src/module/probe.cpp | 2 +- 10 files changed, 36 insertions(+), 45 deletions(-) diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp index c248e4814..d1f5fe53b 100644 --- a/Marlin/src/Marlin.cpp +++ b/Marlin/src/Marlin.cpp @@ -687,9 +687,12 @@ void idle( #if ENABLED(I2C_POSITION_ENCODERS) static millis_t i2cpem_next_update_ms; - if (planner.has_blocks_queued() && ELAPSED(millis(), i2cpem_next_update_ms)) { - I2CPEM.update(); - i2cpem_next_update_ms = millis() + I2CPE_MIN_UPD_TIME_MS; + if (planner.has_blocks_queued()) { + const millis_t ms = millis(); + if (ELAPSED(ms, i2cpem_next_update_ms)) { + I2CPEM.update(); + i2cpem_next_update_ms = ms + I2CPE_MIN_UPD_TIME_MS; + } } #endif diff --git a/Marlin/src/feature/tmc_util.h b/Marlin/src/feature/tmc_util.h index 1df9a1a3b..a3eb49a1e 100644 --- a/Marlin/src/feature/tmc_util.h +++ b/Marlin/src/feature/tmc_util.h @@ -348,17 +348,15 @@ void test_tmc_connection(const bool test_x, const bool test_y, const bool test_z #endif /** - * TMC2130 specific sensorless homing using stallGuard2. + * TMC2130-specific sensorless homing using stallGuard2. * stallGuard2 only works when in spreadCycle mode. - * spreadCycle and stealthChop are mutually exclusive. + * spreadCycle and stealthChop are mutually-exclusive. * * Defined here because of limitations with templates and headers. */ #if USE_SENSORLESS // Track enabled status of stealthChop and only re-enable where applicable - struct sensorless_t { - bool x, y, z, x2, y2, z2, z3; - }; + struct sensorless_t { bool x, y, z, x2, y2, z2, z3; }; bool tmc_enable_stallguard(TMC2130Stepper &st); void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth); diff --git a/Marlin/src/gcode/calibrate/G28.cpp b/Marlin/src/gcode/calibrate/G28.cpp index 8e12f4b06..f39d3bae1 100644 --- a/Marlin/src/gcode/calibrate/G28.cpp +++ b/Marlin/src/gcode/calibrate/G28.cpp @@ -78,7 +78,7 @@ fr_mm_s = _MIN(homing_feedrate(X_AXIS), homing_feedrate(Y_AXIS)) * SQRT(sq(mlratio) + 1.0); #if ENABLED(SENSORLESS_HOMING) - sensorless_t stealth_states { false, false, false, false, false, false, false }; + sensorless_t stealth_states { false }; stealth_states.x = tmc_enable_stallguard(stepperX); stealth_states.y = tmc_enable_stallguard(stepperY); #if AXIS_HAS_STALLGUARD(X2) diff --git a/Marlin/src/gcode/config/M200-M205.cpp b/Marlin/src/gcode/config/M200-M205.cpp index 3e9664147..c43b88924 100644 --- a/Marlin/src/gcode/config/M200-M205.cpp +++ b/Marlin/src/gcode/config/M200-M205.cpp @@ -65,7 +65,7 @@ void GcodeSuite::M201() { planner.settings.max_acceleration_mm_per_s2[a] = parser.value_axis_units((AxisEnum)a); } } - // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner) + planner.reset_acceleration_rates(); } diff --git a/Marlin/src/inc/SanityCheck.h b/Marlin/src/inc/SanityCheck.h index d4c7467c6..f362ba873 100644 --- a/Marlin/src/inc/SanityCheck.h +++ b/Marlin/src/inc/SanityCheck.h @@ -2060,22 +2060,24 @@ static_assert(Y_MAX_LENGTH >= Y_BED_SIZE, "Movement bounds (Y_MIN_POS, Y_MAX_POS #if ENABLED(DELTA) && !BOTH(STEALTHCHOP_XY, STEALTHCHOP_Z) #error "SENSORLESS_HOMING on DELTA currently requires STEALTHCHOP_XY and STEALTHCHOP_Z." - #elif X_SENSORLESS && X_HOME_DIR == -1 && (X_MIN_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMIN)) - #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMIN when homing to X_MIN." - #elif X_SENSORLESS && X_HOME_DIR == 1 && (X_MAX_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMAX)) - #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMAX when homing to X_MAX." - #elif Y_SENSORLESS && Y_HOME_DIR == -1 && (Y_MIN_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMIN)) - #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMIN when homing to Y_MIN." - #elif Y_SENSORLESS && Y_HOME_DIR == 1 && (Y_MAX_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMAX)) - #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMAX when homing to Y_MAX." - #elif Z_SENSORLESS && Z_HOME_DIR == -1 && (Z_MIN_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMIN)) - #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN." - #elif Z_SENSORLESS && Z_HOME_DIR == 1 && (Z_MAX_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMAX)) - #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX." #elif ENDSTOP_NOISE_THRESHOLD #error "SENSORLESS_HOMING is incompatible with ENDSTOP_NOISE_THRESHOLD." #elif !(X_SENSORLESS || Y_SENSORLESS || Z_SENSORLESS) #error "SENSORLESS_HOMING requires a TMC stepper driver with StallGuard on X, Y, or Z axes." + #elif DISABLED(SPI_ENDSTOPS) + #if X_SENSORLESS && X_HOME_DIR < 0 && (X_MIN_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMIN)) + #error "SENSORLESS_HOMING requires X_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMIN when homing to X_MIN." + #elif X_SENSORLESS && X_HOME_DIR > 0 && (X_MAX_ENDSTOP_INVERTING != X_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_XMAX)) + #error "SENSORLESS_HOMING requires X_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_XMAX when homing to X_MAX." + #elif Y_SENSORLESS && Y_HOME_DIR < 0 && (Y_MIN_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMIN)) + #error "SENSORLESS_HOMING requires Y_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMIN when homing to Y_MIN." + #elif Y_SENSORLESS && Y_HOME_DIR > 0 && (Y_MAX_ENDSTOP_INVERTING != Y_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_YMAX)) + #error "SENSORLESS_HOMING requires Y_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_YMAX when homing to Y_MAX." + #elif Z_SENSORLESS && Z_HOME_DIR < 0 && (Z_MIN_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMIN)) + #error "SENSORLESS_HOMING requires Z_MIN_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMIN when homing to Z_MIN." + #elif Z_SENSORLESS && Z_HOME_DIR > 0 && (Z_MAX_ENDSTOP_INVERTING != Z_ENDSTOP_INVERTING || DISABLED(ENDSTOPPULLUP_ZMAX)) + #error "SENSORLESS_HOMING requires Z_MAX_ENDSTOP_INVERTING and ENDSTOPPULLUP_ZMAX when homing to Z_MAX." + #endif #endif #undef X_ENDSTOP_INVERTING diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp index 466f55227..51f20b251 100644 --- a/Marlin/src/module/delta.cpp +++ b/Marlin/src/module/delta.cpp @@ -227,7 +227,7 @@ void home_delta() { // Disable stealthChop if used. Enable diag1 pin on driver. #if ENABLED(SENSORLESS_HOMING) - sensorless_t stealth_states { false, false, false, false, false, false, false }; + sensorless_t stealth_states { false }; stealth_states.x = tmc_enable_stallguard(stepperX); stealth_states.y = tmc_enable_stallguard(stepperY); stealth_states.z = tmc_enable_stallguard(stepperZ); diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp index 7234bf476..abc93e9f1 100644 --- a/Marlin/src/module/endstops.cpp +++ b/Marlin/src/module/endstops.cpp @@ -783,14 +783,13 @@ void Endstops::update() { bool Endstops::monitor_flag = false; /** - * monitors endstops & Z probe for changes + * Monitor Endstops and Z Probe for changes * * If a change is detected then the LED is toggled and - * a message is sent out the serial port + * a message is sent out the serial port. * * Yes, we could miss a rapid back & forth change but * that won't matter because this is all manual. - * */ void Endstops::monitor() { diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h index d20e61f70..604befdbb 100644 --- a/Marlin/src/module/endstops.h +++ b/Marlin/src/module/endstops.h @@ -29,27 +29,16 @@ #include enum EndstopEnum : char { - X_MIN, - Y_MIN, - Z_MIN, - Z_MIN_PROBE, - X_MAX, - Y_MAX, - Z_MAX, - X2_MIN, - X2_MAX, - Y2_MIN, - Y2_MAX, - Z2_MIN, - Z2_MAX, - Z3_MIN, - Z3_MAX + X_MIN, Y_MIN, Z_MIN, Z_MIN_PROBE, + X_MAX, Y_MAX, Z_MAX, + X2_MIN, X2_MAX, + Y2_MIN, Y2_MAX, + Z2_MIN, Z2_MAX, + Z3_MIN, Z3_MAX }; class Endstops { - public: - #if HAS_EXTRA_ENDSTOPS typedef uint16_t esbits_t; #if ENABLED(X_DUAL_ENDSTOPS) diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp index ee46fc3f9..69b5905b2 100644 --- a/Marlin/src/module/motion.cpp +++ b/Marlin/src/module/motion.cpp @@ -1071,7 +1071,7 @@ float get_homing_bump_feedrate(const AxisEnum axis) { * Set sensorless homing if the axis has it, accounting for Core Kinematics. */ sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) { - sensorless_t stealth_states { false, false, false, false, false, false, false }; + sensorless_t stealth_states { false }; switch (axis) { default: break; diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp index dbd14ed5b..2d2908436 100644 --- a/Marlin/src/module/probe.cpp +++ b/Marlin/src/module/probe.cpp @@ -540,7 +540,7 @@ static bool do_probe_move(const float z, const float fr_mm_s) { // Disable stealthChop if used. Enable diag1 pin on driver. #if ENABLED(SENSORLESS_PROBING) - sensorless_t stealth_states { false, false, false, false, false, false, false }; + sensorless_t stealth_states { false }; #if ENABLED(DELTA) stealth_states.x = tmc_enable_stallguard(stepperX); stealth_states.y = tmc_enable_stallguard(stepperY);