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Merge pull request #4789 from thinkyhead/rc_better_leveling_etc

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Various cleanups ahead of more…
This commit is contained in:
Scott Lahteine 2016-09-13 05:21:17 -05:00 committed by GitHub
commit 94d5cf8721
35 changed files with 1743 additions and 1394 deletions
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50
Marlin/Conditionals_post.h
View file

@ -61,12 +61,16 @@
#define NORMAL_AXIS X_AXIS
#endif
#define IS_SCARA (ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA))
#define IS_KINEMATIC (ENABLED(DELTA) || IS_SCARA)
#define IS_CARTESIAN !IS_KINEMATIC
/**
* SCARA
* SCARA cannot use SLOWDOWN and requires QUICKHOME
*/
#if ENABLED(SCARA)
#if IS_SCARA
#undef SLOWDOWN
#define QUICK_HOME //SCARA needs Quickhome
#define QUICK_HOME
#endif
/**
@ -132,12 +136,6 @@
#define HOMING_Z_WITH_PROBE (HAS_BED_PROBE && Z_HOME_DIR < 0 && ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN))
// Boundaries for probing based on set limits
#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define HAS_Z_SERVO_ENDSTOP (defined(Z_ENDSTOP_SERVO_NR) && Z_ENDSTOP_SERVO_NR >= 0)
/**
@ -657,17 +655,27 @@
#ifndef DELTA_DIAGONAL_ROD_TRIM_TOWER_3
#define DELTA_DIAGONAL_ROD_TRIM_TOWER_3 0.0
#endif
#if ENABLED(AUTO_BED_LEVELING_GRID)
#define DELTA_BED_LEVELING_GRID
#endif
#endif
/**
* When not using other bed leveling...
* Specify the exact style of auto bed leveling
*
* 3POINT - 3 Point Probing with the least-squares solution.
* LINEAR - Grid Probing with the least-squares solution.
* NONLINEAR - Grid Probing with a mesh solution. Best for large beds.
*/
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(AUTO_BED_LEVELING_GRID) && DISABLED(DELTA_BED_LEVELING_GRID)
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if DISABLED(AUTO_BED_LEVELING_GRID)
#define AUTO_BED_LEVELING_LINEAR
#define AUTO_BED_LEVELING_3POINT
#elif IS_KINEMATIC
#define AUTO_BED_LEVELING_NONLINEAR
#else
#define AUTO_BED_LEVELING_LINEAR
#endif
#endif
#define PLANNER_LEVELING (ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_LINEAR))
/**
* Buzzer/Speaker
@ -702,4 +710,18 @@
#define Z_PROBE_TRAVEL_HEIGHT Z_HOMING_HEIGHT
#endif
#if IS_KINEMATIC
// Check for this in the code instead
#define MIN_PROBE_X X_MIN_POS
#define MAX_PROBE_X X_MAX_POS
#define MIN_PROBE_Y Y_MIN_POS
#define MAX_PROBE_Y Y_MAX_POS
#else
// Boundaries for probing based on set limits
#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#endif
#endif // CONDITIONALS_POST_H

12
Marlin/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

40
Marlin/Marlin.h
View file

@ -220,7 +220,6 @@ void disable_all_steppers();
void FlushSerialRequestResend();
void ok_to_send();
void reset_bed_level();
void kill(const char*);
void quickstop_stepper();
@ -266,6 +265,10 @@ extern bool axis_known_position[XYZ]; // axis[n].is_known
extern bool axis_homed[XYZ]; // axis[n].is_homed
extern volatile bool wait_for_heatup;
#if ENABLED(EMERGENCY_PARSER) && DISABLED(ULTIPANEL)
extern volatile bool wait_for_user;
#endif
extern float current_position[NUM_AXIS];
extern float position_shift[XYZ];
extern float home_offset[XYZ];
@ -298,26 +301,29 @@ int code_value_int();
float code_value_temp_abs();
float code_value_temp_diff();
#if ENABLED(DELTA)
#if IS_KINEMATIC
extern float delta[ABC];
extern float endstop_adj[ABC]; // axis[n].endstop_adj
extern float delta_radius;
extern float delta_diagonal_rod;
extern float delta_segments_per_second;
extern float delta_diagonal_rod_trim_tower_1;
extern float delta_diagonal_rod_trim_tower_2;
extern float delta_diagonal_rod_trim_tower_3;
void inverse_kinematics(const float cartesian[XYZ]);
void recalc_delta_settings(float radius, float diagonal_rod);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
extern int delta_grid_spacing[2];
void adjust_delta(float cartesian[XYZ]);
#endif
#elif ENABLED(SCARA)
extern float delta[ABC];
#if ENABLED(DELTA)
extern float delta[ABC],
endstop_adj[ABC],
delta_radius,
delta_diagonal_rod,
delta_segments_per_second,
delta_diagonal_rod_trim_tower_1,
delta_diagonal_rod_trim_tower_2,
delta_diagonal_rod_trim_tower_3;
void recalc_delta_settings(float radius, float diagonal_rod);
#elif IS_SCARA
extern float axis_scaling[ABC]; // Build size scaling
void inverse_kinematics(const float cartesian[XYZ]);
void forward_kinematics_SCARA(float f_scara[ABC]);
void forward_kinematics_SCARA(const float &a, const float &b);
#endif
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
extern int nonlinear_grid_spacing[2];
void adjust_delta(float cartesian[XYZ]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)

3
Marlin/MarlinSerial.cpp
View file

@ -509,6 +509,9 @@ MarlinSerial customizedSerial;
switch (state) {
case state_M108:
wait_for_heatup = false;
#if DISABLED(ULTIPANEL)
wait_for_user = false;
#endif
break;
case state_M112:
kill(PSTR(MSG_KILLED));

1871
Marlin/Marlin_main.cpp
View file

@ -36,12 +36,11 @@
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#include "vector_3.h"
#if ENABLED(AUTO_BED_LEVELING_GRID)
#include "qr_solve.h"
#endif
#endif // AUTO_BED_LEVELING_FEATURE
#if ENABLED(MESH_BED_LEVELING)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include "qr_solve.h"
#elif ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#endif
@ -352,6 +351,10 @@ static bool relative_mode = false;
volatile bool wait_for_heatup = true;
#if ENABLED(EMERGENCY_PARSER) && DISABLED(ULTIPANEL)
wait_for_user = false;
#endif
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@ -462,7 +465,6 @@ static uint8_t target_extruder;
#define COS_60 0.5
float delta[ABC],
cartesian_position[XYZ] = { 0 },
endstop_adj[ABC] = { 0 };
// these are the default values, can be overriden with M665
@ -483,13 +485,7 @@ static uint8_t target_extruder;
delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND,
delta_clip_start_height = Z_MAX_POS;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
int delta_grid_spacing[2] = { 0, 0 };
float bed_level[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
#endif
float delta_safe_distance_from_top();
void set_cartesian_from_steppers();
#else
@ -497,14 +493,24 @@ static uint8_t target_extruder;
#endif
#if ENABLED(SCARA)
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
int nonlinear_grid_spacing[2] = { 0 };
float bed_level_grid[AUTO_BED_LEVELING_GRID_POINTS][AUTO_BED_LEVELING_GRID_POINTS];
#endif
#if IS_SCARA
// Float constants for SCARA calculations
const float L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2,
L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2,
L2_2 = sq(float(L2));
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND,
delta[ABC],
axis_scaling[ABC] = { 1, 1, 1 }, // Build size scaling, default to 1
cartesian_position[XYZ] = { 0 };
void set_cartesian_from_steppers() { } // to be written later
axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
float cartes[XYZ] = { 0 };
#if ENABLED(FILAMENT_WIDTH_SENSOR)
bool filament_sensor = false; //M405 turns on filament_sensor control, M406 turns it off
float filament_width_nominal = DEFAULT_NOMINAL_FILAMENT_DIA, // Nominal filament width. Change with M404
@ -590,6 +596,8 @@ void stop();
void get_available_commands();
void process_next_command();
void prepare_move_to_destination();
void get_cartesian_from_steppers();
void set_current_from_steppers_for_axis(AxisEnum axis);
#if ENABLED(ARC_SUPPORT)
@ -651,15 +659,15 @@ inline void sync_plan_position() {
}
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
#if ENABLED(DELTA) || ENABLED(SCARA)
inline void sync_plan_position_delta() {
#if IS_KINEMATIC
inline void sync_plan_position_kinematic() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position);
#endif
inverse_kinematics(current_position);
planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic()
#else
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
#endif
@ -756,8 +764,7 @@ void enqueue_and_echo_command_now(const char* cmd) {
bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) {
if (_enqueuecommand(cmd, say_ok)) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_Enqueueing);
SERIAL_ECHO(cmd);
SERIAL_ECHOPAIR(MSG_Enqueueing, cmd);
SERIAL_ECHOLNPGM("\"");
return true;
}
@ -846,10 +853,6 @@ void servo_init() {
*/
STOW_Z_SERVO();
#endif
#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
}
/**
@ -875,216 +878,6 @@ void servo_init() {
#endif
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
#ifdef DISABLE_JTAG
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
MCUCR = 0x80;
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
setup_filrunoutpin();
#endif
setup_killpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR = 0;
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_ECHOLNPGM(" " SHORT_BUILD_VERSION);
#ifdef STRING_DISTRIBUTION_DATE
#ifdef STRING_CONFIG_H_AUTHOR
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOPGM(MSG_AUTHOR);
SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOPGM("Compiled: ");
SERIAL_ECHOLNPGM(__DATE__);
#endif // STRING_CONFIG_H_AUTHOR
#endif // STRING_DISTRIBUTION_DATE
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_FREE_MEMORY);
SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(MSG_PLANNER_BUFFER_BYTES);
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
Config_RetrieveSettings();
// Initialize current position based on home_offset
memcpy(current_position, home_offset, sizeof(home_offset));
// Vital to init stepper/planner equivalent for current_position
SYNC_PLAN_POSITION_KINEMATIC();
thermalManager.init(); // Initialize temperature loop
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
stepper.init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
#if HAS_CONTROLLERFAN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
dac_init();
#endif
#if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
pinMode(SLED_PIN, OUTPUT);
digitalWrite(SLED_PIN, LOW); // turn it off
#endif // Z_PROBE_SLED
setup_homepin();
#ifdef STAT_LED_RED
pinMode(STAT_LED_RED, OUTPUT);
digitalWrite(STAT_LED_RED, LOW); // turn it off
#endif
#ifdef STAT_LED_BLUE
pinMode(STAT_LED_BLUE, OUTPUT);
digitalWrite(STAT_LED_BLUE, LOW); // turn it off
#endif
lcd_init();
#if ENABLED(SHOW_BOOTSCREEN)
#if ENABLED(DOGLCD)
safe_delay(BOOTSCREEN_TIMEOUT);
#elif ENABLED(ULTRA_LCD)
bootscreen();
lcd_init();
#endif
#endif
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
// Initialize mixing to 100% color 1
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_factor[i] = (i == 0) ? 1 : 0;
for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
}
/**
* The main Marlin program loop
*
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
if (commands_in_queue < BUFSIZE) get_available_commands();
#if ENABLED(SDSUPPORT)
card.checkautostart(false);
#endif
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
ok_to_send();
}
}
else
process_next_command();
#else
process_next_command();
#endif // SDSUPPORT
// The queue may be reset by a command handler or by code invoked by idle() within a handler
if (commands_in_queue) {
--commands_in_queue;
cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
}
}
endstops.report_state();
idle();
}
void gcode_line_error(const char* err, bool doFlush = true) {
SERIAL_ERROR_START;
serialprintPGM(err);
@ -1553,34 +1346,34 @@ static void set_axis_is_at_home(AxisEnum axis) {
}
#endif
#if ENABLED(SCARA)
#if ENABLED(MORGAN_SCARA)
if (axis == X_AXIS || axis == Y_AXIS) {
float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
// SERIAL_ECHOPAIR("homeposition X:", homeposition[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
/**
* Works out real Homeposition angles using inverse kinematics,
* and calculates homing offset using forward kinematics
*/
inverse_kinematics(homeposition);
forward_kinematics_SCARA(delta);
forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
// SERIAL_ECHOPAIR("Delta X=", delta[X_AXIS]);
// SERIAL_ECHOPGM(" Delta Y="); SERIAL_ECHOLN(delta[Y_AXIS]);
// SERIAL_ECHOPAIR("Cartesian X:", cartes[X_AXIS]);
// SERIAL_ECHOLNPAIR(" Y:", cartes[Y_AXIS]);
current_position[axis] = LOGICAL_POSITION(delta[axis], axis);
current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
/**
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
soft_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
soft_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
soft_endstop_min[axis] = base_min_pos(axis); // + (cartes[axis] - base_home_pos(axis));
soft_endstop_max[axis] = base_max_pos(axis); // + (cartes[axis] - base_home_pos(axis));
}
else
#endif
@ -2161,10 +1954,6 @@ static void clean_up_after_endstop_or_probe_move() {
// Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
refresh_cmd_timeout();
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
planner.bed_level_matrix.set_to_identity();
#endif
#if ENABLED(PROBE_DOUBLE_TOUCH)
// Do a first probe at the fast speed
@ -2229,17 +2018,11 @@ static void clean_up_after_endstop_or_probe_move() {
feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
if (DEPLOY_PROBE()) return NAN;
float measured_z = run_z_probe();
if (stow) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
if (STOW_PROBE()) return NAN;
}
else {
@ -2272,17 +2055,36 @@ static void clean_up_after_endstop_or_probe_move() {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if DISABLED(DELTA)
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
planner.bed_level_matrix.set_to_identity();
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
memset(bed_level_grid, 0, sizeof(bed_level_grid));
nonlinear_grid_spacing[X_AXIS] = nonlinear_grid_spacing[Y_AXIS] = 0;
#endif
}
#endif // AUTO_BED_LEVELING_FEATURE
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
/**
* Get the stepper positions, apply the rotation matrix
* using the home XY and Z0 position as the fulcrum.
*/
vector_3 untilted_stepper_position() {
get_cartesian_from_steppers();
vector_3 pos = vector_3(
RAW_X_POSITION(stepper.get_axis_position_mm(X_AXIS)) - X_TILT_FULCRUM,
RAW_Y_POSITION(stepper.get_axis_position_mm(Y_AXIS)) - Y_TILT_FULCRUM,
RAW_Z_POSITION(stepper.get_axis_position_mm(Z_AXIS))
cartes[X_AXIS] - X_TILT_FULCRUM,
cartes[Y_AXIS] - Y_TILT_FULCRUM,
cartes[Z_AXIS]
);
matrix_3x3 inverse = matrix_3x3::transpose(planner.bed_level_matrix);
@ -2302,30 +2104,19 @@ static void clean_up_after_endstop_or_probe_move() {
return pos;
}
#endif // !DELTA
#if ENABLED(DELTA)
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
/**
* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
*/
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;
static void extrapolate_one_point(uint8_t x, uint8_t y, int xdir, int ydir) {
if (bed_level_grid[x][y]) return; // Don't overwrite good values.
float a = 2 * bed_level_grid[x + xdir][y] - bed_level_grid[x + xdir * 2][y], // Left to right.
b = 2 * bed_level_grid[x][y + ydir] - bed_level_grid[x][y + ydir * 2], // Front to back.
c = 2 * bed_level_grid[x + xdir][y + ydir] - bed_level_grid[x + xdir * 2][y + ydir * 2]; // Diagonal.
// Median is robust (ignores outliers).
bed_level_grid[x][y] = (a < b) ? ((b < c) ? b : (c < a) ? a : c)
: ((c < b) ? b : (a < c) ? a : c);
}
/**
@ -2333,9 +2124,9 @@ static void clean_up_after_endstop_or_probe_move() {
* 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++) {
uint8_t half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
for (uint8_t y = 0; y <= half; y++) {
for (uint8_t 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);
@ -2349,32 +2140,16 @@ static void clean_up_after_endstop_or_probe_move() {
* 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++) {
for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
SERIAL_PROTOCOL_F(bed_level[x][y], 2);
for (uint8_t y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
for (uint8_t x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
SERIAL_PROTOCOL_F(bed_level_grid[x][y], 2);
SERIAL_PROTOCOLCHAR(' ');
}
SERIAL_EOL;
}
}
/**
* Reset calibration results to zero.
*/
void reset_bed_level() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("reset_bed_level");
#endif
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;
}
}
}
#endif // DELTA
#endif // AUTO_BED_LEVELING_FEATURE
#endif // AUTO_BED_LEVELING_NONLINEAR
/**
* Home an individual axis
@ -2412,12 +2187,7 @@ static void homeaxis(AxisEnum axis) {
// Homing Z towards the bed? Deploy the Z probe or endstop.
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
if (DEPLOY_PROBE()) return;
}
if (axis == Z_AXIS && DEPLOY_PROBE()) return;
#endif
// Set a flag for Z motor locking
@ -2495,12 +2265,7 @@ static void homeaxis(AxisEnum axis) {
// Put away the Z probe
#if HOMING_Z_WITH_PROBE
if (axis == Z_AXIS) {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOPGM("> ");
#endif
if (STOW_PROBE()) return;
}
if (axis == Z_AXIS && STOW_PROBE()) return;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2625,8 +2390,7 @@ void gcode_get_destination() {
void unknown_command_error() {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(current_command);
SERIAL_ECHOPAIR(MSG_UNKNOWN_COMMAND, current_command);
SERIAL_ECHOLNPGM("\"");
}
@ -2663,6 +2427,24 @@ void unknown_command_error() {
#endif //HOST_KEEPALIVE_FEATURE
bool position_is_reachable(float target[XYZ]) {
float dx = RAW_X_POSITION(target[X_AXIS]),
dy = RAW_Y_POSITION(target[Y_AXIS]);
#if ENABLED(DELTA)
return HYPOT2(dx, dy) <= sq(DELTA_PRINTABLE_RADIUS);
#else
float dz = RAW_Z_POSITION(target[Z_AXIS]);
return dx >= X_MIN_POS - 0.0001 && dx <= X_MAX_POS + 0.0001
&& dy >= Y_MIN_POS - 0.0001 && dy <= Y_MAX_POS + 0.0001
&& dz >= Z_MIN_POS - 0.0001 && dz <= Z_MAX_POS + 0.0001;
#endif
}
/**************************************************
***************** GCode Handlers *****************
**************************************************/
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
@ -2811,16 +2593,12 @@ inline void gcode_G4() {
/**
* G20: Set input mode to inches
*/
inline void gcode_G20() {
set_input_linear_units(LINEARUNIT_INCH);
}
inline void gcode_G20() { set_input_linear_units(LINEARUNIT_INCH); }
/**
* G21: Set input mode to millimeters
*/
inline void gcode_G21() {
set_input_linear_units(LINEARUNIT_MM);
}
inline void gcode_G21() { set_input_linear_units(LINEARUNIT_MM); }
#endif
#if ENABLED(NOZZLE_PARK_FEATURE)
@ -2870,7 +2648,7 @@ inline void gcode_G4() {
SERIAL_ECHOPGM("Machine Type: ");
#if ENABLED(DELTA)
SERIAL_ECHOLNPGM("Delta");
#elif ENABLED(SCARA)
#elif IS_SCARA
SERIAL_ECHOLNPGM("SCARA");
#elif ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
SERIAL_ECHOLNPGM("Core");
@ -2919,6 +2697,99 @@ inline void gcode_G4() {
#endif // DEBUG_LEVELING_FEATURE
#if ENABLED(DELTA)
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
inline void home_delta() {
// Init the current position of all carriages to 0,0,0
memset(current_position, 0, sizeof(current_position));
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// Probably not needed. Double-check this line:
memset(current_position, 0, sizeof(current_position));
// At least one carriage has reached the top.
// Now back off and re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
#endif
}
#endif // DELTA
#if ENABLED(Z_SAFE_HOMING)
inline void home_z_safely() {
// Disallow Z homing if X or Y are unknown
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_ERR_Z_HOMING);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_Z_HOMING);
return;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Z_SAFE_HOMING >>>");
#endif
SYNC_PLAN_POSITION_KINEMATIC();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
destination[X_AXIS] = LOGICAL_X_POSITION(Z_SAFE_HOMING_X_POINT);
destination[Y_AXIS] = LOGICAL_Y_POSITION(Z_SAFE_HOMING_Y_POINT);
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if HAS_BED_PROBE
destination[X_AXIS] -= X_PROBE_OFFSET_FROM_EXTRUDER;
destination[Y_AXIS] -= Y_PROBE_OFFSET_FROM_EXTRUDER;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("Z_SAFE_HOMING", destination);
#endif
if (position_is_reachable(destination)) {
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
#endif
}
#endif // Z_SAFE_HOMING
/**
* G28: Home all axes according to settings
*
@ -2948,11 +2819,8 @@ inline void gcode_G28() {
// For auto bed leveling, clear the level matrix
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
planner.bed_level_matrix.set_to_identity();
#if ENABLED(DELTA)
reset_bed_level();
#endif
#endif
// Always home with tool 0 active
#if HOTENDS > 1
@ -2993,44 +2861,9 @@ inline void gcode_G28() {
#endif
endstops.enable(true); // Enable endstops for next homing move
#if ENABLED(DELTA)
/**
* A delta can only safely home all axes at the same time
* This is like quick_home_xy() but for 3 towers.
*/
// Init the current position of all carriages to 0,0,0
memset(current_position, 0, sizeof(current_position));
sync_plan_position();
// Move all carriages together linearly until an endstop is hit.
current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = (Z_MAX_LENGTH + 10);
feedrate_mm_s = homing_feedrate_mm_s[X_AXIS];
line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
// Probably not needed. Double-check this line:
memset(current_position, 0, sizeof(current_position));
// At least one carriage has reached the top.
// Now back off and re-home each carriage separately.
HOMEAXIS(A);
HOMEAXIS(B);
HOMEAXIS(C);
// Set all carriages to their home positions
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
#endif
home_delta();
#else // NOT DELTA
@ -3118,81 +2951,16 @@ inline void gcode_G28() {
// Home Z last if homing towards the bed
#if Z_HOME_DIR < 0
if (home_all_axis || homeZ) {
#if ENABLED(Z_SAFE_HOMING)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> Z_SAFE_HOMING >>>");
#endif
if (home_all_axis) {
/**
* At this point we already have Z at Z_HOMING_HEIGHT height
* No need to move Z any more as this height should already be safe
* enough to reach Z_SAFE_HOMING XY positions.
* Just make sure the planner is in sync.
*/
SYNC_PLAN_POSITION_KINEMATIC();
/**
* Move the Z probe (or just the nozzle) to the safe homing point
*/
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
destination[Z_AXIS] = current_position[Z_AXIS]; // Z is already at the right height
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> Z_SAFE_HOMING > home_all_axis", destination);
#endif
// Move in the XY plane
do_blocking_move_to_xy(destination[X_AXIS], destination[Y_AXIS]);
}
// Let's see if X and Y are homed
if (axis_unhomed_error(true, true, false)) return;
/**
* Make sure the Z probe is within the physical limits
* NOTE: This doesn't necessarily ensure the Z probe is also
* within the bed!
*/
float cpx = RAW_CURRENT_POSITION(X_AXIS), cpy = RAW_CURRENT_POSITION(Y_AXIS);
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy >= Y_MIN_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)
&& cpy <= Y_MAX_POS - (Y_PROBE_OFFSET_FROM_EXTRUDER)) {
// Home the Z axis
home_z_safely();
#else
HOMEAXIS(Z);
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOLNPGM("<<< Z_SAFE_HOMING");
}
#endif
#else // !Z_SAFE_HOMING
HOMEAXIS(Z);
#endif // !Z_SAFE_HOMING
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> (home_all_axis || homeZ) > final", current_position);
#endif
} // home_all_axis || homeZ
#endif // Z_HOME_DIR < 0
SYNC_PLAN_POSITION_KINEMATIC();
@ -3533,7 +3301,7 @@ inline void gcode_G28() {
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if DISABLED(DELTA)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
bool do_topography_map = verbose_level > 2 || code_seen('T');
#endif
@ -3544,7 +3312,7 @@ inline void gcode_G28() {
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
#if DISABLED(DELTA)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
if (code_seen('P')) auto_bed_leveling_grid_points = code_value_int();
if (auto_bed_leveling_grid_points < 2) {
SERIAL_PROTOCOLLNPGM("?Number of probed (P)oints is implausible (2 minimum).");
@ -3596,22 +3364,18 @@ inline void gcode_G28() {
// Reset the bed_level_matrix because leveling
// needs to be done without leveling enabled.
planner.bed_level_matrix.set_to_identity();
reset_bed_level();
//
// Re-orient the current position without leveling
// based on where the steppers are positioned.
//
#if ENABLED(DELTA) || ENABLED(SCARA)
#if ENABLED(DELTA)
reset_bed_level();
#endif
#if IS_KINEMATIC
// For DELTA/SCARA we need to apply forward kinematics.
// This returns raw positions and we remap to the space.
set_cartesian_from_steppers();
LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartesian_position[i], i);
get_cartesian_from_steppers();
LOOP_XYZ(i) current_position[i] = LOGICAL_POSITION(cartes[i], i);
#else
@ -3639,12 +3403,15 @@ inline void gcode_G28() {
const float 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);
#if ENABLED(DELTA)
delta_grid_spacing[X_AXIS] = xGridSpacing;
delta_grid_spacing[Y_AXIS] = yGridSpacing;
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
nonlinear_grid_spacing[X_AXIS] = xGridSpacing;
nonlinear_grid_spacing[Y_AXIS] = yGridSpacing;
float zoffset = zprobe_zoffset;
if (code_seen('Z')) zoffset += code_value_axis_units(Z_AXIS);
#else // !DELTA
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
/**
* solve the plane equation ax + by + d = z
* A is the matrix with rows [x y 1] for all the probed points
@ -3660,15 +3427,16 @@ inline void gcode_G28() {
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
int8_t indexIntoAB[auto_bed_leveling_grid_points][auto_bed_leveling_grid_points];
#endif // !DELTA
#endif // AUTO_BED_LEVELING_LINEAR
int probePointCounter = 0;
bool zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
uint8_t zig = auto_bed_leveling_grid_points & 1; //always end at [RIGHT_PROBE_BED_POSITION, BACK_PROBE_BED_POSITION]
for (int yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
for (uint8_t yCount = 0; yCount < auto_bed_leveling_grid_points; yCount++) {
float yBase = front_probe_bed_position + yGridSpacing * yCount,
yProbe = floor(yBase + (yBase < 0 ? 0 : 0.5));
int xStart, xStop, xInc;
int8_t xStart, xStop, xInc;
if (zig) {
xStart = 0;
@ -3683,7 +3451,7 @@ inline void gcode_G28() {
zig = !zig;
for (int xCount = xStart; xCount != xStop; xCount += xInc) {
for (uint8_t xCount = xStart; xCount != xStop; xCount += xInc) {
float xBase = left_probe_bed_position + xGridSpacing * xCount,
xProbe = floor(xBase + (xBase < 0 ? 0 : 0.5));
@ -3694,16 +3462,19 @@ inline void gcode_G28() {
float measured_z = probe_pt(xProbe, yProbe, stow_probe_after_each, verbose_level);
#if DISABLED(DELTA)
mean += measured_z;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
mean += measured_z;
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
eqnAMatrix[probePointCounter + 2 * abl2] = 1;
indexIntoAB[xCount][yCount] = probePointCounter;
#else
bed_level[xCount][yCount] = measured_z + zoffset;
#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
bed_level_grid[xCount][yCount] = measured_z + zoffset;
#endif
probePointCounter++;
@ -3713,30 +3484,28 @@ inline void gcode_G28() {
} //xProbe
} //yProbe
#else // !AUTO_BED_LEVELING_GRID
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> 3-point Leveling");
#endif
// Probe at 3 arbitrary points
float z_at_pt_1 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_1_X),
LOGICAL_Y_POSITION(ABL_PROBE_PT_1_Y),
stow_probe_after_each, verbose_level),
z_at_pt_2 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_2_X),
LOGICAL_Y_POSITION(ABL_PROBE_PT_2_Y),
stow_probe_after_each, verbose_level),
z_at_pt_3 = probe_pt( LOGICAL_X_POSITION(ABL_PROBE_PT_3_X),
LOGICAL_Y_POSITION(ABL_PROBE_PT_3_Y),
stow_probe_after_each, verbose_level);
vector_3 points[3] = {
vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, 0),
vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, 0),
vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, 0)
};
for (uint8_t i = 0; i < 3; ++i)
points[i].z = probe_pt(
LOGICAL_X_POSITION(points[i].x),
LOGICAL_Y_POSITION(points[i].y),
stow_probe_after_each, verbose_level
);
if (!dryrun) {
vector_3 pt1 = vector_3(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, z_at_pt_1),
pt2 = vector_3(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, z_at_pt_2),
pt3 = vector_3(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, z_at_pt_3);
vector_3 planeNormal = vector_3::cross(pt1 - pt2, pt3 - pt2).get_normal();
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) {
planeNormal.x *= -1;
planeNormal.y *= -1;
@ -3745,7 +3514,7 @@ inline void gcode_G28() {
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
}
#endif // !AUTO_BED_LEVELING_GRID
#endif // AUTO_BED_LEVELING_3POINT
// Raise to _Z_PROBE_DEPLOY_HEIGHT. Stow the probe.
if (STOW_PROBE()) return;
@ -3758,13 +3527,12 @@ inline void gcode_G28() {
#endif
// Calculate leveling, print reports, correct the position
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if ENABLED(DELTA)
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
if (!dryrun) extrapolate_unprobed_bed_level();
print_bed_level();
#else // !DELTA
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
// solve lsq problem
double plane_equation_coefficients[3];
@ -3811,12 +3579,11 @@ inline void gcode_G28() {
float min_diff = 999;
for (int yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (int xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
for (int8_t yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < auto_bed_leveling_grid_points; xx++) {
int ind = indexIntoAB[xx][yy];
float diff = eqnBVector[ind] - mean;
float x_tmp = eqnAMatrix[ind + 0 * abl2],
float diff = eqnBVector[ind] - mean,
x_tmp = eqnAMatrix[ind + 0 * abl2],
y_tmp = eqnAMatrix[ind + 1 * abl2],
z_tmp = 0;
@ -3860,12 +3627,6 @@ inline void gcode_G28() {
}
} //do_topography_map
#endif //!DELTA
#endif // AUTO_BED_LEVELING_GRID
#if DISABLED(DELTA)
if (verbose_level > 0)
planner.bed_level_matrix.debug("\n\nBed Level Correction Matrix:");
@ -3913,14 +3674,11 @@ inline void gcode_G28() {
#endif
}
#endif // !DELTA
#endif // AUTO_BED_LEVELING_LINEAR
#ifdef Z_PROBE_END_SCRIPT
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("Z Probe End Script: ");
SERIAL_ECHOLNPGM(Z_PROBE_END_SCRIPT);
}
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPAIR("Z Probe End Script: ", Z_PROBE_END_SCRIPT);
#endif
enqueue_and_echo_commands_P(PSTR(Z_PROBE_END_SCRIPT));
stepper.synchronize();
@ -3946,6 +3704,10 @@ inline void gcode_G28() {
*/
inline void gcode_G30() {
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
reset_bed_level();
#endif
setup_for_endstop_or_probe_move();
// TODO: clear the leveling matrix or the planner will be set incorrectly
@ -4011,7 +3773,7 @@ inline void gcode_G92() {
sync_plan_position_e();
}
#if ENABLED(ULTIPANEL)
#if ENABLED(ULTIPANEL) || ENABLED(EMERGENCY_PARSER)
/**
* M0: Unconditional stop - Wait for user button press on LCD
@ -4031,6 +3793,8 @@ inline void gcode_G92() {
hasS = codenum > 0;
}
#if ENABLED(ULTIPANEL)
if (!hasP && !hasS && *args != '\0')
lcd_setstatus(args, true);
else {
@ -4039,30 +3803,58 @@ inline void gcode_G92() {
dontExpireStatus();
#endif
}
lcd_ignore_click();
#else
if (!hasP && !hasS && *args != '\0') {
SERIAL_ECHO_START;
SERIAL_ECHOLN(args);
}
#endif
stepper.synchronize();
refresh_cmd_timeout();
#if ENABLED(ULTIPANEL)
if (codenum > 0) {
codenum += previous_cmd_ms; // wait until this time for a click
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (PENDING(millis(), codenum) && !lcd_clicked()) idle();
KEEPALIVE_STATE(IN_HANDLER);
lcd_ignore_click(false);
}
else {
if (!lcd_detected()) return;
else if (lcd_detected()) {
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!lcd_clicked()) idle();
KEEPALIVE_STATE(IN_HANDLER);
}
else return;
if (IS_SD_PRINTING)
LCD_MESSAGEPGM(MSG_RESUMING);
else
LCD_MESSAGEPGM(WELCOME_MSG);
#else
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true;
if (codenum > 0) {
codenum += previous_cmd_ms; // wait until this time for an M108
while (PENDING(millis(), codenum) && wait_for_user) idle();
}
else while (wait_for_user) idle();
wait_for_user = false;
#endif
KEEPALIVE_STATE(IN_HANDLER);
}
#endif // ULTIPANEL
#endif // ULTIPANEL || EMERGENCY_PARSER
/**
* M17: Enable power on all stepper motors
@ -4086,23 +3878,17 @@ inline void gcode_M17() {
/**
* M21: Init SD Card
*/
inline void gcode_M21() {
card.initsd();
}
inline void gcode_M21() { card.initsd(); }
/**
* M22: Release SD Card
*/
inline void gcode_M22() {
card.release();
}
inline void gcode_M22() { card.release(); }
/**
* M23: Open a file
*/
inline void gcode_M23() {
card.openFile(current_command_args, true);
}
inline void gcode_M23() { card.openFile(current_command_args, true); }
/**
* M24: Start SD Print
@ -4115,9 +3901,7 @@ inline void gcode_M17() {
/**
* M25: Pause SD Print
*/
inline void gcode_M25() {
card.pauseSDPrint();
}
inline void gcode_M25() { card.pauseSDPrint(); }
/**
* M26: Set SD Card file index
@ -4130,16 +3914,12 @@ inline void gcode_M17() {
/**
* M27: Get SD Card status
*/
inline void gcode_M27() {
card.getStatus();
}
inline void gcode_M27() { card.getStatus(); }
/**
* M28: Start SD Write
*/
inline void gcode_M28() {
card.openFile(current_command_args, false);
}
inline void gcode_M28() { card.openFile(current_command_args, false); }
/**
* M29: Stop SD Write
@ -4172,8 +3952,7 @@ inline void gcode_M31() {
lcd_setstatus(buffer);
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Print time: ");
SERIAL_ECHOLN(buffer);
SERIAL_ECHOLNPAIR("Print time: ", buffer);
thermalManager.autotempShutdown();
}
@ -4358,12 +4137,9 @@ inline void gcode_M42() {
if (verbose_level > 2)
SERIAL_PROTOCOLLNPGM("Positioning the probe...");
#if ENABLED(DELTA)
// we don't do bed level correction in M48 because we want the raw data when we probe
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
reset_bed_level();
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
// we don't do bed level correction in M48 because we want the raw data when we probe
planner.bed_level_matrix.set_to_identity();
#endif
setup_for_endstop_or_probe_move();
@ -4522,7 +4298,8 @@ inline void gcode_M77() { print_job_timer.stop(); }
// "M78 S78" will reset the statistics
if (code_seen('S') && code_value_int() == 78)
print_job_timer.initStats();
else print_job_timer.showStats();
else
print_job_timer.showStats();
}
#endif
@ -5089,7 +4866,7 @@ inline void gcode_M140() {
}
}
#endif
#endif // ULTIPANEL
#if ENABLED(TEMPERATURE_UNITS_SUPPORT)
/**
@ -5163,7 +4940,6 @@ inline void gcode_M81() {
#endif
}
/**
* M82: Set E codes absolute (default)
*/
@ -5250,7 +5026,7 @@ static void report_current_position() {
stepper.report_positions();
#if ENABLED(SCARA)
#if IS_SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
@ -5488,7 +5264,7 @@ inline void gcode_M206() {
if (code_seen(axis_codes[i]))
set_home_offset((AxisEnum)i, code_value_axis_units(i));
#if ENABLED(SCARA)
#if IS_SCARA
if (code_seen('T')) set_home_offset(X_AXIS, code_value_axis_units(X_AXIS)); // Theta
if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
#endif
@ -5531,8 +5307,7 @@ inline void gcode_M206() {
endstop_adj[i] = code_value_axis_units(i);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) {
SERIAL_ECHOPGM("endstop_adj[");
SERIAL_ECHO(axis_codes[i]);
SERIAL_ECHOPAIR("endstop_adj[", axis_codes[i]);
SERIAL_ECHOLNPAIR("] = ", endstop_adj[i]);
}
#endif
@ -5615,16 +5390,17 @@ inline void gcode_M211() {
if (code_seen('S')) soft_endstops_enabled = code_value_bool();
#endif
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": ");
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
#else
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": " MSG_OFF);
SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS);
SERIAL_ECHOPGM(MSG_OFF);
#endif
SERIAL_ECHOPGM(" " MSG_SOFT_MIN ": ");
SERIAL_ECHOPGM(MSG_SOFT_MIN);
SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
SERIAL_ECHOPGM(" " MSG_SOFT_MAX ": ");
SERIAL_ECHOPGM(MSG_SOFT_MAX);
SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
SERIAL_ECHOLNPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
@ -5689,7 +5465,6 @@ inline void gcode_M221() {
inline void gcode_M226() {
if (code_seen('P')) {
int pin_number = code_value_int();
int pin_state = code_seen('S') ? code_value_int() : -1; // required pin state - default is inverted
if (pin_state >= -1 && pin_state <= 1) {
@ -5742,17 +5517,14 @@ inline void gcode_M226() {
MOVE_SERVO(servo_index, code_value_int());
else {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(" Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOPGM(": ");
SERIAL_ECHOLN(servo[servo_index].read());
SERIAL_ECHOPAIR(" Servo ", servo_index);
SERIAL_ECHOLNPAIR(": ", servo[servo_index].read());
}
}
else {
SERIAL_ERROR_START;
SERIAL_ERROR("Servo ");
SERIAL_ERROR(servo_index);
SERIAL_ERRORLN(" out of range");
SERIAL_ECHOPAIR("Servo ", servo_index);
SERIAL_ECHOLNPGM(" out of range");
}
}
@ -5808,19 +5580,14 @@ inline void gcode_M226() {
thermalManager.updatePID();
SERIAL_ECHO_START;
#if ENABLED(PID_PARAMS_PER_HOTEND)
SERIAL_ECHOPGM(" e:"); // specify extruder in serial output
SERIAL_ECHO(e);
SERIAL_ECHOPAIR(" e:", e); // specify extruder in serial output
#endif // PID_PARAMS_PER_HOTEND
SERIAL_ECHOPGM(" p:");
SERIAL_ECHO(PID_PARAM(Kp, e));
SERIAL_ECHOPGM(" i:");
SERIAL_ECHO(unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_ECHOPGM(" d:");
SERIAL_ECHO(unscalePID_d(PID_PARAM(Kd, e)));
SERIAL_ECHOPAIR(" p:", PID_PARAM(Kp, e));
SERIAL_ECHOPAIR(" i:", unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_ECHOPAIR(" d:", unscalePID_d(PID_PARAM(Kd, e)));
#if ENABLED(PID_EXTRUSION_SCALING)
SERIAL_ECHOPGM(" c:");
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_ECHO(PID_PARAM(Kc, e));
SERIAL_ECHOPAIR(" c:", PID_PARAM(Kc, e));
#endif
SERIAL_EOL;
}
@ -5842,12 +5609,9 @@ inline void gcode_M226() {
thermalManager.updatePID();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(" p:");
SERIAL_ECHO(thermalManager.bedKp);
SERIAL_ECHOPGM(" i:");
SERIAL_ECHO(unscalePID_i(thermalManager.bedKi));
SERIAL_ECHOPGM(" d:");
SERIAL_ECHOLN(unscalePID_d(thermalManager.bedKd));
SERIAL_ECHOPAIR(" p:", thermalManager.bedKp);
SERIAL_ECHOPAIR(" i:", unscalePID_i(thermalManager.bedKi));
SERIAL_ECHOLNPAIR(" d:", unscalePID_d(thermalManager.bedKd));
}
#endif // PIDTEMPBED
@ -5969,17 +5733,16 @@ inline void gcode_M303() {
#endif
}
#if ENABLED(SCARA)
bool SCARA_move_to_cal(uint8_t delta_x, uint8_t delta_y) {
#if ENABLED(MORGAN_SCARA)
bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLNPGM(" Soft endstops disabled");
if (IsRunning()) {
//gcode_get_destination(); // For X Y Z E F
delta[X_AXIS] = delta_x;
delta[Y_AXIS] = delta_y;
forward_kinematics_SCARA(delta);
destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
forward_kinematics_SCARA(delta_a, delta_b);
destination[X_AXIS] = cartes[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = cartes[Y_AXIS] / axis_scaling[Y_AXIS];
destination[Z_AXIS] = current_position[Z_AXIS];
prepare_move_to_destination();
//ok_to_send();
return true;
@ -6312,11 +6075,9 @@ inline void gcode_M503() {
SERIAL_ECHO(zprobe_zoffset);
}
else {
SERIAL_ECHOPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHOPAIR(MSG_Z_MIN, Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_CHAR(' ');
SERIAL_ECHOPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_ECHOPAIR(MSG_Z_MAX, Z_PROBE_OFFSET_RANGE_MAX);
}
}
else {
@ -6361,7 +6122,7 @@ inline void gcode_M503() {
lastpos[i] = destination[i] = current_position[i];
// Define runplan for move axes
#if ENABLED(DELTA)
#if IS_KINEMATIC
#define RUNPLAN(RATE_MM_S) inverse_kinematics(destination); \
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], RATE_MM_S, active_extruder);
#else
@ -6482,7 +6243,7 @@ inline void gcode_M503() {
destination[E_AXIS] = lastpos[E_AXIS];
planner.set_e_position_mm(current_position[E_AXIS]);
#if ENABLED(DELTA)
#if IS_KINEMATIC
// Move XYZ to starting position, then E
inverse_kinematics(lastpos);
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], FILAMENT_CHANGE_XY_FEEDRATE, active_extruder);
@ -6754,6 +6515,10 @@ inline void invalid_extruder_error(const uint8_t &e) {
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
/**
* Perform a tool-change, which may result in moving the
* previous tool out of the way and the new tool into place.
*/
void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool no_move/*=false*/) {
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
@ -6925,7 +6690,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
* Z software endstop. But this is technically correct (and
* there is no viable alternative).
*/
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
// Offset extruder, make sure to apply the bed level rotation matrix
vector_3 tmp_offset_vec = vector_3(hotend_offset[X_AXIS][tmp_extruder],
hotend_offset[Y_AXIS][tmp_extruder],
@ -7037,8 +6802,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
#endif // HOTENDS <= 1
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
SERIAL_ECHOLNPAIR(MSG_ACTIVE_EXTRUDER, (int)active_extruder);
#endif //!MIXING_EXTRUDER || MIXING_VIRTUAL_TOOLS <= 1
}
@ -7617,7 +7381,7 @@ void process_next_command() {
gcode_M303();
break;
#if ENABLED(SCARA)
#if ENABLED(MORGAN_SCARA)
case 360: // M360 SCARA Theta pos1
if (gcode_M360()) return;
break;
@ -7781,6 +7545,10 @@ ExitUnknownCommand:
ok_to_send();
}
/**
* Send a "Resend: nnn" message to the host to
* indicate that a command needs to be re-sent.
*/
void FlushSerialRequestResend() {
//char command_queue[cmd_queue_index_r][100]="Resend:";
MYSERIAL.flush();
@ -7789,6 +7557,15 @@ void FlushSerialRequestResend() {
ok_to_send();
}
/**
* Send an "ok" message to the host, indicating
* that a command was successfully processed.
*
* If ADVANCED_OK is enabled also include:
* N<int> Line number of the command, if any
* P<int> Planner space remaining
* B<int> Block queue space remaining
*/
void ok_to_send() {
refresh_cmd_timeout();
if (!send_ok[cmd_queue_index_r]) return;
@ -7809,6 +7586,9 @@ void ok_to_send() {
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
/**
* Constrain the given coordinates to the software endstops.
*/
void clamp_to_software_endstops(float target[XYZ]) {
#if ENABLED(min_software_endstops)
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
@ -7826,6 +7606,10 @@ void ok_to_send() {
#if ENABLED(DELTA)
/**
* Recalculate factors used for delta kinematics whenever
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings(float radius, float diagonal_rod) {
delta_tower1_x = -SIN_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
delta_tower1_y = -COS_60 * (radius + DELTA_RADIUS_TRIM_TOWER_1);
@ -7838,37 +7622,85 @@ void ok_to_send() {
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
}
void inverse_kinematics(const float in_cartesian[XYZ]) {
const float cartesian[XYZ] = {
RAW_X_POSITION(in_cartesian[X_AXIS]),
RAW_Y_POSITION(in_cartesian[Y_AXIS]),
RAW_Z_POSITION(in_cartesian[Z_AXIS])
};
delta[A_AXIS] = sqrt(delta_diagonal_rod_2_tower_1
- sq(delta_tower1_x - cartesian[X_AXIS])
- sq(delta_tower1_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[B_AXIS] = sqrt(delta_diagonal_rod_2_tower_2
- sq(delta_tower2_x - cartesian[X_AXIS])
- sq(delta_tower2_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[C_AXIS] = sqrt(delta_diagonal_rod_2_tower_3
- sq(delta_tower3_x - cartesian[X_AXIS])
- sq(delta_tower3_y - cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
#if ENABLED(DELTA_FAST_SQRT)
/**
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("delta a="); SERIAL_ECHO(delta[A_AXIS]);
SERIAL_ECHOPGM(" b="); SERIAL_ECHO(delta[B_AXIS]);
SERIAL_ECHOPGM(" c="); SERIAL_ECHOLN(delta[C_AXIS]);
* Fast inverse sqrt from Quake III Arena
* See: https://en.wikipedia.org/wiki/Fast_inverse_square_root
*/
float Q_rsqrt(float number) {
long i;
float x2, y;
const float threehalfs = 1.5f;
x2 = number * 0.5f;
y = number;
i = * ( long * ) &y; // evil floating point bit level hacking
i = 0x5f3759df - ( i >> 1 ); // what the f***?
y = * ( float * ) &i;
y = y * ( threehalfs - ( x2 * y * y ) ); // 1st iteration
// y = y * ( threehalfs - ( x2 * y * y ) ); // 2nd iteration, this can be removed
return y;
}
#define _SQRT(n) (1.0f / Q_rsqrt(n))
#else
#define _SQRT(n) sqrt(n)
#endif
/**
* Delta Inverse Kinematics
*
* Calculate the tower positions for a given logical
* position, storing the result in the delta[] array.
*
* This is an expensive calculation, requiring 3 square
* roots per segmented linear move, and strains the limits
* of a Mega2560 with a Graphical Display.
*
* Suggested optimizations include:
*
* - Disable the home_offset (M206) and/or position_shift (G92)
* features to remove up to 12 float additions.
*
* - Use a fast-inverse-sqrt function and add the reciprocal.
* (see above)
*/
void inverse_kinematics(const float logical[XYZ]) {
const float cartesian[XYZ] = {
RAW_X_POSITION(logical[X_AXIS]),
RAW_Y_POSITION(logical[Y_AXIS]),
RAW_Z_POSITION(logical[Z_AXIS])
};
// Macro to obtain the Z position of an individual tower
#define DELTA_Z(T) cartesian[Z_AXIS] + _SQRT( \
delta_diagonal_rod_2_tower_##T - HYPOT2( \
delta_tower##T##_x - cartesian[X_AXIS], \
delta_tower##T##_y - cartesian[Y_AXIS] \
) \
)
delta[A_AXIS] = DELTA_Z(1);
delta[B_AXIS] = DELTA_Z(2);
delta[C_AXIS] = DELTA_Z(3);
/*
SERIAL_ECHOPAIR("cartesian X:", cartesian[X_AXIS]);
SERIAL_ECHOPAIR(" Y:", cartesian[Y_AXIS]);
SERIAL_ECHOLNPAIR(" Z:", cartesian[Z_AXIS]);
SERIAL_ECHOPAIR("delta A:", delta[A_AXIS]);
SERIAL_ECHOPAIR(" B:", delta[B_AXIS]);
SERIAL_ECHOLNPAIR(" C:", delta[C_AXIS]);
//*/
}
/**
* Calculate the highest Z position where the
* effector has the full range of XY motion.
*/
float delta_safe_distance_from_top() {
float cartesian[XYZ] = {
LOGICAL_X_POSITION(0),
@ -7882,101 +7714,102 @@ void ok_to_send() {
return abs(distance - delta[A_AXIS]);
}
/**
* Delta Forward Kinematics
*
* See the Wikipedia article "Trilateration"
* https://en.wikipedia.org/wiki/Trilateration
*
* Establish a new coordinate system in the plane of the
* three carriage points. This system has its origin at
* tower1, with tower2 on the X axis. Tower3 is in the X-Y
* plane with a Z component of zero.
* We will define unit vectors in this coordinate system
* in our original coordinate system. Then when we calculate
* the Xnew, Ynew and Znew values, we can translate back into
* the original system by moving along those unit vectors
* by the corresponding values.
*
* Variable names matched to Marlin, c-version, and avoid the
* use of any vector library.
*
* by Andreas Hardtung 2016-06-07
* based on a Java function from "Delta Robot Kinematics V3"
* by Steve Graves
*
* The result is stored in the cartes[] array.
*/
void forward_kinematics_DELTA(float z1, float z2, float z3) {
//As discussed in Wikipedia "Trilateration"
//we are establishing a new coordinate
//system in the plane of the three carriage points.
//This system will have the origin at tower1 and
//tower2 is on the x axis. tower3 is in the X-Y
//plane with a Z component of zero. We will define unit
//vectors in this coordinate system in our original
//coordinate system. Then when we calculate the
//Xnew, Ynew and Znew values, we can translate back into
//the original system by moving along those unit vectors
//by the corresponding values.
// https://en.wikipedia.org/wiki/Trilateration
// Variable names matched to Marlin, c-version
// and avoiding a vector library
// by Andreas Hardtung 2016-06-7
// based on a Java function from
// "Delta Robot Kinematics by Steve Graves" V3
// Result is in cartesian_position[].
// Create a vector in old coordinates along x axis of new coordinate
float p12[3] = { delta_tower2_x - delta_tower1_x, delta_tower2_y - delta_tower1_y, z2 - z1 };
// Get the Magnitude of vector.
float d = sqrt( p12[0]*p12[0] + p12[1]*p12[1] + p12[2]*p12[2] );
float d = sqrt( sq(p12[0]) + sq(p12[1]) + sq(p12[2]) );
// Create unit vector by dividing by magnitude.
float ex[3] = { p12[0] / d, p12[1] / d, p12[2] / d };
//Now find vector from the origin of the new system to the third point.
// Get the vector from the origin of the new system to the third point.
float p13[3] = { delta_tower3_x - delta_tower1_x, delta_tower3_y - delta_tower1_y, z3 - z1 };
//Now use dot product to find the component of this vector on the X axis.
// Use the dot product to find the component of this vector on the X axis.
float i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2];
//Now create a vector along the x axis that represents the x component of p13.
// Create a vector along the x axis that represents the x component of p13.
float iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
//Now subtract the X component away from the original vector leaving only the Y component. We use the
// Subtract the X component from the original vector leaving only Y. We use the
// variable that will be the unit vector after we scale it.
float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
// The magnitude of Y component
float j = sqrt( sq(ey[0]) + sq(ey[1]) + sq(ey[2]) );
//Now make vector a unit vector
// Convert to a unit vector
ey[0] /= j; ey[1] /= j; ey[2] /= j;
// The cross product of the unit x and y is the unit z
// float[] ez = vectorCrossProd(ex, ey);
float ez[3] = { ex[1]*ey[2] - ex[2]*ey[1], ex[2]*ey[0] - ex[0]*ey[2], ex[0]*ey[1] - ex[1]*ey[0] };
float ez[3] = {
ex[1] * ey[2] - ex[2] * ey[1],
ex[2] * ey[0] - ex[0] * ey[2],
ex[0] * ey[1] - ex[1] * ey[0]
};
//Now we have the d, i and j values defined in Wikipedia.
//We can plug them into the equations defined in
//Wikipedia for Xnew, Ynew and Znew
float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + d*d)/(d*2);
float Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + i*i + j*j)/2 - i*Xnew) /j;
float Znew = sqrt(delta_diagonal_rod_2_tower_1 - Xnew*Xnew - Ynew*Ynew);
// We now have the d, i and j values defined in Wikipedia.
// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
float Xnew = (delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_2 + sq(d)) / (d * 2),
Ynew = ((delta_diagonal_rod_2_tower_1 - delta_diagonal_rod_2_tower_3 + HYPOT2(i, j)) / 2 - i * Xnew) / j,
Znew = sqrt(delta_diagonal_rod_2_tower_1 - HYPOT2(Xnew, Ynew));
//Now we can start from the origin in the old coords and
//add vectors in the old coords that represent the
//Xnew, Ynew and Znew to find the point in the old system
cartesian_position[X_AXIS] = delta_tower1_x + ex[0]*Xnew + ey[0]*Ynew - ez[0]*Znew;
cartesian_position[Y_AXIS] = delta_tower1_y + ex[1]*Xnew + ey[1]*Ynew - ez[1]*Znew;
cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
// Start from the origin of the old coordinates and add vectors in the
// old coords that represent the Xnew, Ynew and Znew to find the point
// in the old system.
cartes[X_AXIS] = delta_tower1_x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew;
cartes[Y_AXIS] = delta_tower1_y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew;
cartes[Z_AXIS] = z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew;
};
void forward_kinematics_DELTA(float point[ABC]) {
forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
void set_cartesian_from_steppers() {
forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS));
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_NONLINEAR)
// Adjust print surface height by linear interpolation over the bed_level array.
void adjust_delta(float cartesian[XYZ]) {
if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
if (nonlinear_grid_spacing[X_AXIS] == 0 || nonlinear_grid_spacing[Y_AXIS] == 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, RAW_X_POSITION(cartesian[X_AXIS]) / delta_grid_spacing[X_AXIS])),
grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / delta_grid_spacing[Y_AXIS]));
grid_x = max(h1, min(h2, RAW_X_POSITION(cartesian[X_AXIS]) / nonlinear_grid_spacing[X_AXIS])),
grid_y = max(h1, min(h2, RAW_Y_POSITION(cartesian[Y_AXIS]) / nonlinear_grid_spacing[Y_AXIS]));
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],
z1 = bed_level_grid[floor_x + half][floor_y + half],
z2 = bed_level_grid[floor_x + half][floor_y + half + 1],
z3 = bed_level_grid[floor_x + half + 1][floor_y + half],
z4 = bed_level_grid[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;
@ -7986,32 +7819,68 @@ void ok_to_send() {
delta[Z_AXIS] += offset;
/**
SERIAL_ECHOPGM("grid_x="); SERIAL_ECHO(grid_x);
SERIAL_ECHOPGM(" grid_y="); SERIAL_ECHO(grid_y);
SERIAL_ECHOPGM(" floor_x="); SERIAL_ECHO(floor_x);
SERIAL_ECHOPGM(" floor_y="); SERIAL_ECHO(floor_y);
SERIAL_ECHOPGM(" ratio_x="); SERIAL_ECHO(ratio_x);
SERIAL_ECHOPGM(" ratio_y="); SERIAL_ECHO(ratio_y);
SERIAL_ECHOPGM(" z1="); SERIAL_ECHO(z1);
SERIAL_ECHOPGM(" z2="); SERIAL_ECHO(z2);
SERIAL_ECHOPGM(" z3="); SERIAL_ECHO(z3);
SERIAL_ECHOPGM(" z4="); SERIAL_ECHO(z4);
SERIAL_ECHOPGM(" left="); SERIAL_ECHO(left);
SERIAL_ECHOPGM(" right="); SERIAL_ECHO(right);
SERIAL_ECHOPGM(" offset="); SERIAL_ECHOLN(offset);
SERIAL_ECHOPAIR("grid_x=", grid_x);
SERIAL_ECHOPAIR(" grid_y=", grid_y);
SERIAL_ECHOPAIR(" floor_x=", floor_x);
SERIAL_ECHOPAIR(" floor_y=", floor_y);
SERIAL_ECHOPAIR(" ratio_x=", ratio_x);
SERIAL_ECHOPAIR(" ratio_y=", ratio_y);
SERIAL_ECHOPAIR(" z1=", z1);
SERIAL_ECHOPAIR(" z2=", z2);
SERIAL_ECHOPAIR(" z3=", z3);
SERIAL_ECHOPAIR(" z4=", z4);
SERIAL_ECHOPAIR(" left=", left);
SERIAL_ECHOPAIR(" right=", right);
SERIAL_ECHOLNPAIR(" offset=", offset);
*/
}
#endif // AUTO_BED_LEVELING_FEATURE
#endif // AUTO_BED_LEVELING_NONLINEAR
#endif // DELTA
void set_current_from_steppers_for_axis(AxisEnum axis) {
/**
* Get the stepper positions in the cartes[] array.
* Forward kinematics are applied for DELTA and SCARA.
*
* The result is in the current coordinate space with
* leveling applied. The coordinates need to be run through
* unapply_leveling to obtain the "ideal" coordinates
* suitable for current_position, etc.
*/
void get_cartesian_from_steppers() {
#if ENABLED(DELTA)
set_cartesian_from_steppers();
current_position[axis] = LOGICAL_POSITION(cartesian_position[axis], axis);
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
forward_kinematics_DELTA(
stepper.get_axis_position_mm(A_AXIS),
stepper.get_axis_position_mm(B_AXIS),
stepper.get_axis_position_mm(C_AXIS)
);
#elif IS_SCARA
forward_kinematics_SCARA(
stepper.get_axis_position_degrees(A_AXIS),
stepper.get_axis_position_degrees(B_AXIS)
);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#else
cartes[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
cartes[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
cartes[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
}
/**
* Set the current_position for an axis based on
* the stepper positions, removing any leveling that
* may have been applied.
*
* << INCOMPLETE! Still needs to unapply leveling! >>
*/
void set_current_from_steppers_for_axis(AxisEnum axis) {
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
vector_3 pos = untilted_stepper_position();
current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;
#elif IS_KINEMATIC
get_cartesian_from_steppers();
current_position[axis] = LOGICAL_POSITION(cartes[axis], axis);
#else
current_position[axis] = stepper.get_axis_position_mm(axis); // CORE handled transparently
#endif
@ -8019,7 +7888,10 @@ void set_current_from_steppers_for_axis(AxisEnum axis) {
#if ENABLED(MESH_BED_LEVELING)
// This function is used to split lines on mesh borders so each segment is only part of one mesh area
/**
* Prepare a mesh-leveled linear move in a Cartesian setup,
* splitting the move where it crosses mesh borders.
*/
void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_splits = 0xff) {
int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X_AXIS)),
cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y_AXIS)),
@ -8074,10 +7946,17 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
memcpy(destination, end, sizeof(end));
mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
}
#endif // MESH_BED_LEVELING
#if ENABLED(DELTA) || ENABLED(SCARA)
#if IS_KINEMATIC
/**
* Prepare a linear move in a DELTA or SCARA setup.
*
* This calls planner.buffer_line several times, adding
* small incremental moves for DELTA or SCARA.
*/
inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
float difference[NUM_AXIS];
LOOP_XYZE(i) difference[i] = target[i] - current_position[i];
@ -8090,9 +7969,9 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
int steps = max(1, int(delta_segments_per_second * seconds));
float inv_steps = 1.0/steps;
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
// SERIAL_ECHOPAIR("mm=", cartesian_mm);
// SERIAL_ECHOPAIR(" seconds=", seconds);
// SERIAL_ECHOLNPAIR(" steps=", steps);
for (int s = 1; s <= steps; s++) {
@ -8103,7 +7982,7 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
inverse_kinematics(target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
if (!bed_leveling_in_progress) adjust_delta(target);
#endif
@ -8115,10 +7994,37 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
return true;
}
#endif // DELTA || SCARA
#else
/**
* Prepare a linear move in a Cartesian setup.
* If Mesh Bed Leveling is enabled, perform a mesh move.
*/
inline bool prepare_move_to_destination_cartesian() {
// Do not use feedrate_percentage for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination();
}
else {
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active()) {
mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
}
else
#endif
line_to_destination(MMS_SCALED(feedrate_mm_s));
}
return true;
}
#endif // !IS_KINEMATIC
#if ENABLED(DUAL_X_CARRIAGE)
/**
* Prepare a linear move in a dual X axis setup
*/
inline bool prepare_move_to_destination_dualx() {
if (active_extruder_parked) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
@ -8161,42 +8067,28 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
#endif // DUAL_X_CARRIAGE
#if DISABLED(DELTA) && DISABLED(SCARA)
inline bool prepare_move_to_destination_cartesian() {
// Do not use feedrate_percentage for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination();
}
else {
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active()) {
mesh_line_to_destination(MMS_SCALED(feedrate_mm_s));
return false;
}
else
#endif
line_to_destination(MMS_SCALED(feedrate_mm_s));
}
return true;
}
#endif // !DELTA && !SCARA
/**
* Prepare a single move and get ready for the next one
*
* This may result in several calls to planner.buffer_line to
* do smaller moves for DELTA, SCARA, mesh moves, etc.
*/
void prepare_move_to_destination() {
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
#if ENABLED(PREVENT_COLD_EXTRUSION)
inline void prevent_dangerous_extrude(float& curr_e, float& dest_e) {
if (DEBUGGING(DRYRUN)) return;
float de = dest_e - curr_e;
if (de) {
if (!DEBUGGING(DRYRUN)) {
if (destination[E_AXIS] != current_position[E_AXIS]) {
if (thermalManager.tooColdToExtrude(active_extruder)) {
curr_e = dest_e; // Behave as if the move really took place, but ignore E part
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (labs(de) > EXTRUDE_MAXLENGTH) {
curr_e = dest_e; // Behave as if the move really took place, but ignore E part
if (labs(destination[E_AXIS] - current_position[E_AXIS]) > EXTRUDE_MAXLENGTH) {
current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
@ -8204,23 +8096,9 @@ void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xff, uint8_t y_
}
}
#endif // PREVENT_COLD_EXTRUSION
/**
* Prepare a single move and get ready for the next one
*
* (This may call planner.buffer_line several times to put
* smaller moves into the planner for DELTA or SCARA.)
*/
void prepare_move_to_destination() {
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
#if ENABLED(PREVENT_COLD_EXTRUSION)
prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
#endif
#if ENABLED(DELTA) || ENABLED(SCARA)
#if IS_KINEMATIC
if (!prepare_kinematic_move_to(destination)) return;
#else
#if ENABLED(DUAL_X_CARRIAGE)
@ -8356,9 +8234,9 @@ void prepare_move_to_destination() {
clamp_to_software_endstops(arc_target);
#if ENABLED(DELTA) || ENABLED(SCARA)
#if IS_KINEMATIC
inverse_kinematics(arc_target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
adjust_delta(arc_target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], arc_target[E_AXIS], fr_mm_s, active_extruder);
@ -8368,9 +8246,9 @@ void prepare_move_to_destination() {
}
// Ensure last segment arrives at target location.
#if ENABLED(DELTA) || ENABLED(SCARA)
#if IS_KINEMATIC
inverse_kinematics(target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_NONLINEAR)
adjust_delta(target);
#endif
planner.buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr_mm_s, active_extruder);
@ -8435,32 +8313,32 @@ void prepare_move_to_destination() {
#endif // HAS_CONTROLLERFAN
#if ENABLED(SCARA)
#if IS_SCARA
void forward_kinematics_SCARA(float f_scara[ABC]) {
// Perform forward kinematics, and place results in delta[]
void forward_kinematics_SCARA(const float &a, const float &b) {
// Perform forward kinematics, and place results in cartes[]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float x_sin, x_cos, y_sin, y_cos;
float a_sin, a_cos, b_sin, b_cos;
//SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
//SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
a_sin = sin(RADIANS(a)) * L1;
a_cos = cos(RADIANS(a)) * L1;
b_sin = sin(RADIANS(b)) * L2;
b_cos = cos(RADIANS(b)) * L2;
x_sin = sin(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
x_cos = cos(f_scara[X_AXIS] / SCARA_RAD2DEG) * Linkage_1;
y_sin = sin(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
y_cos = cos(f_scara[Y_AXIS] / SCARA_RAD2DEG) * Linkage_2;
cartes[X_AXIS] = a_cos + b_cos + SCARA_OFFSET_X; //theta
cartes[Y_AXIS] = a_sin + b_sin + SCARA_OFFSET_Y; //theta+phi
//SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
//SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
//SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
//SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
/*
SERIAL_ECHOPAIR("f_delta x=", a);
SERIAL_ECHOPAIR(" y=", b);
SERIAL_ECHOPAIR(" a_sin=", a_sin);
SERIAL_ECHOPAIR(" a_cos=", a_cos);
SERIAL_ECHOPAIR(" b_sin=", b_sin);
SERIAL_ECHOLNPAIR(" b_cos=", b_cos);
SERIAL_ECHOPAIR(" cartes[X_AXIS]=", cartes[X_AXIS]);
SERIAL_ECHOLNPAIR(" cartes[Y_AXIS]=", cartes[Y_AXIS]);
//*/
}
void inverse_kinematics(const float cartesian[XYZ]) {
@ -8469,51 +8347,42 @@ void prepare_move_to_destination() {
// The maths and first version were done by QHARLEY.
// Integrated, tweaked by Joachim Cerny in June 2014.
float SCARA_pos[2];
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
static float C2, S2, SK1, SK2, THETA, PSI;
SCARA_pos[X_AXIS] = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
SCARA_pos[Y_AXIS] = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
float sx = RAW_X_POSITION(cartesian[X_AXIS]) * axis_scaling[X_AXIS] - SCARA_OFFSET_X, //Translate SCARA to standard X Y
sy = RAW_Y_POSITION(cartesian[Y_AXIS]) * axis_scaling[Y_AXIS] - SCARA_OFFSET_Y; // With scaling factor.
#if (Linkage_1 == Linkage_2)
SCARA_C2 = ((sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS])) / (2 * (float)L1_2)) - 1;
#if (L1 == L2)
C2 = HYPOT2(sx, sy) / (2 * L1_2) - 1;
#else
SCARA_C2 = (sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2) / 45000;
C2 = (HYPOT2(sx, sy) - L1_2 - L2_2) / 45000;
#endif
SCARA_S2 = sqrt(1 - sq(SCARA_C2));
S2 = sqrt(1 - sq(C2));
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
SCARA_K2 = Linkage_2 * SCARA_S2;
SK1 = L1 + L2 * C2;
SK2 = L2 * S2;
SCARA_theta = (atan2(SCARA_pos[X_AXIS], SCARA_pos[Y_AXIS]) - atan2(SCARA_K1, SCARA_K2)) * -1;
SCARA_psi = atan2(SCARA_S2, SCARA_C2);
THETA = (atan2(sx, sy) - atan2(SK1, SK2)) * -1;
PSI = atan2(S2, C2);
delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
delta[Z_AXIS] = RAW_Z_POSITION(cartesian[Z_AXIS]);
delta[A_AXIS] = DEGREES(THETA); // theta is support arm angle
delta[B_AXIS] = DEGREES(THETA + PSI); // equal to sub arm angle (inverted motor)
delta[Z_AXIS] = cartesian[Z_AXIS];
/**
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
SERIAL_EOL;
*/
DEBUG_POS("SCARA IK", cartesian);
DEBUG_POS("SCARA IK", delta);
SERIAL_ECHOPAIR(" SCARA (x,y) ", sx);
SERIAL_ECHOPAIR(",", sy);
SERIAL_ECHOPAIR(" C2=", C2);
SERIAL_ECHOPAIR(" S2=", S2);
SERIAL_ECHOPAIR(" Theta=", THETA);
SERIAL_ECHOLNPAIR(" Phi=", PHI);
//*/
}
#endif // SCARA
#endif // IS_SCARA
#if ENABLED(TEMP_STAT_LEDS)
@ -8541,6 +8410,91 @@ void prepare_move_to_destination() {
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void handle_filament_runout() {
if (!filament_ran_out) {
filament_ran_out = true;
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
stepper.synchronize();
}
}
#endif // FILAMENT_RUNOUT_SENSOR
#if ENABLED(FAST_PWM_FAN)
void setPwmFrequency(uint8_t pin, int val) {
val &= 0x07;
switch (digitalPinToTimer(pin)) {
#if defined(TCCR0A)
case TIMER0A:
case TIMER0B:
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break;
#endif
#if defined(TCCR1A)
case TIMER1A:
case TIMER1B:
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
// TCCR1B |= val;
break;
#endif
#if defined(TCCR2)
case TIMER2:
case TIMER2:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2 |= val;
break;
#endif
#if defined(TCCR2A)
case TIMER2A:
case TIMER2B:
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
TCCR2B |= val;
break;
#endif
#if defined(TCCR3A)
case TIMER3A:
case TIMER3B:
case TIMER3C:
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
TCCR3B |= val;
break;
#endif
#if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
TCCR4B |= val;
break;
#endif
#if defined(TCCR5A)
case TIMER5A:
case TIMER5B:
case TIMER5C:
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
TCCR5B |= val;
break;
#endif
}
}
#endif // FAST_PWM_FAN
float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5;
return 1.0 / (M_PI * d2 * d2);
}
void calculate_volumetric_multipliers() {
for (uint8_t i = 0; i < COUNT(filament_size); i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}
void enable_all_steppers() {
enable_x();
enable_y();
@ -8561,33 +8515,6 @@ void disable_all_steppers() {
disable_e3();
}
/**
* Standard idle routine keeps the machine alive
*/
void idle(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
bool no_stepper_sleep/*=false*/
#endif
) {
lcd_update();
host_keepalive();
manage_inactivity(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
no_stepper_sleep
#endif
);
thermalManager.manage_heater();
#if ENABLED(PRINTCOUNTER)
print_job_timer.tick();
#endif
#if HAS_BUZZER && PIN_EXISTS(BEEPER)
buzzer.tick();
#endif
}
/**
* Manage several activities:
* - Check for Filament Runout
@ -8681,11 +8608,11 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
if (ELAPSED(ms, previous_cmd_ms + (EXTRUDER_RUNOUT_SECONDS) * 1000UL)
&& thermalManager.degHotend(active_extruder) > EXTRUDER_RUNOUT_MINTEMP) {
bool oldstatus;
#if ENABLED(SWITCHING_EXTRUDER)
bool oldstatus = E0_ENABLE_READ;
oldstatus = E0_ENABLE_READ;
enable_e0();
#else // !SWITCHING_EXTRUDER
bool oldstatus;
switch (active_extruder) {
case 0:
oldstatus = E0_ENABLE_READ;
@ -8712,15 +8639,14 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
}
#endif // !SWITCHING_EXTRUDER
float oldepos = current_position[E_AXIS], oldedes = destination[E_AXIS];
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS],
destination[E_AXIS] + (EXTRUDER_RUNOUT_EXTRUDE) * (EXTRUDER_RUNOUT_ESTEPS) * planner.steps_to_mm[E_AXIS],
MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED) * (EXTRUDER_RUNOUT_ESTEPS) * planner.steps_to_mm[E_AXIS], active_extruder);
current_position[E_AXIS] = oldepos;
destination[E_AXIS] = oldedes;
planner.set_e_position_mm(oldepos);
previous_cmd_ms = ms; // refresh_cmd_timeout()
planner.buffer_line(
current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS] + EXTRUDER_RUNOUT_EXTRUDE,
MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder
);
stepper.synchronize();
planner.set_e_position_mm(current_position[E_AXIS]);
#if ENABLED(SWITCHING_EXTRUDER)
E0_ENABLE_WRITE(oldstatus);
#else
@ -8765,6 +8691,37 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
planner.check_axes_activity();
}
/**
* Standard idle routine keeps the machine alive
*/
void idle(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
bool no_stepper_sleep/*=false*/
#endif
) {
lcd_update();
host_keepalive();
manage_inactivity(
#if ENABLED(FILAMENT_CHANGE_FEATURE)
no_stepper_sleep
#endif
);
thermalManager.manage_heater();
#if ENABLED(PRINTCOUNTER)
print_job_timer.tick();
#endif
#if HAS_BUZZER && PIN_EXISTS(BEEPER)
buzzer.tick();
#endif
}
/**
* Kill all activity and lock the machine.
* After this the machine will need to be reset.
*/
void kill(const char* lcd_msg) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_KILLED);
@ -8793,79 +8750,10 @@ void kill(const char* lcd_msg) {
} // Wait for reset
}
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void handle_filament_runout() {
if (!filament_ran_out) {
filament_ran_out = true;
enqueue_and_echo_commands_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
stepper.synchronize();
}
}
#endif // FILAMENT_RUNOUT_SENSOR
#if ENABLED(FAST_PWM_FAN)
void setPwmFrequency(uint8_t pin, int val) {
val &= 0x07;
switch (digitalPinToTimer(pin)) {
#if defined(TCCR0A)
case TIMER0A:
case TIMER0B:
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break;
#endif
#if defined(TCCR1A)
case TIMER1A:
case TIMER1B:
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
// TCCR1B |= val;
break;
#endif
#if defined(TCCR2)
case TIMER2:
case TIMER2:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2 |= val;
break;
#endif
#if defined(TCCR2A)
case TIMER2A:
case TIMER2B:
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
TCCR2B |= val;
break;
#endif
#if defined(TCCR3A)
case TIMER3A:
case TIMER3B:
case TIMER3C:
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
TCCR3B |= val;
break;
#endif
#if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
TCCR4B |= val;
break;
#endif
#if defined(TCCR5A)
case TIMER5A:
case TIMER5B:
case TIMER5C:
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
TCCR5B |= val;
break;
#endif
}
}
#endif // FAST_PWM_FAN
/**
* Turn off heaters and stop the print in progress
* After a stop the machine may be resumed with M999
*/
void stop() {
thermalManager.disable_all_heaters();
if (IsRunning()) {
@ -8877,13 +8765,212 @@ void stop() {
}
}
float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5;
return 1.0 / (M_PI * d2 * d2);
/**
* Marlin entry-point: Set up before the program loop
* - Set up the kill pin, filament runout, power hold
* - Start the serial port
* - Print startup messages and diagnostics
* - Get EEPROM or default settings
* - Initialize managers for:
* • temperature
* • planner
* • watchdog
* • stepper
* • photo pin
* • servos
* • LCD controller
* • Digipot I2C
* • Z probe sled
* • status LEDs
*/
void setup() {
#ifdef DISABLE_JTAG
// Disable JTAG on AT90USB chips to free up pins for IO
MCUCR = 0x80;
MCUCR = 0x80;
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
setup_filrunoutpin();
#endif
setup_killpin();
setup_powerhold();
#if HAS_STEPPER_RESET
disableStepperDrivers();
#endif
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
// Check startup - does nothing if bootloader sets MCUSR to 0
byte mcu = MCUSR;
if (mcu & 1) SERIAL_ECHOLNPGM(MSG_POWERUP);
if (mcu & 2) SERIAL_ECHOLNPGM(MSG_EXTERNAL_RESET);
if (mcu & 4) SERIAL_ECHOLNPGM(MSG_BROWNOUT_RESET);
if (mcu & 8) SERIAL_ECHOLNPGM(MSG_WATCHDOG_RESET);
if (mcu & 32) SERIAL_ECHOLNPGM(MSG_SOFTWARE_RESET);
MCUSR = 0;
SERIAL_ECHOPGM(MSG_MARLIN);
SERIAL_CHAR(' ');
SERIAL_ECHOLNPGM(SHORT_BUILD_VERSION);
SERIAL_EOL;
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_CONFIGURATION_VER);
SERIAL_ECHOPGM(STRING_DISTRIBUTION_DATE);
SERIAL_ECHOLNPGM(MSG_AUTHOR STRING_CONFIG_H_AUTHOR);
SERIAL_ECHOLNPGM("Compiled: " __DATE__);
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory());
SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
// Send "ok" after commands by default
for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true;
// Load data from EEPROM if available (or use defaults)
// This also updates variables in the planner, elsewhere
Config_RetrieveSettings();
// Initialize current position based on home_offset
memcpy(current_position, home_offset, sizeof(home_offset));
// Vital to init stepper/planner equivalent for current_position
SYNC_PLAN_POSITION_KINEMATIC();
thermalManager.init(); // Initialize temperature loop
#if ENABLED(USE_WATCHDOG)
watchdog_init();
#endif
stepper.init(); // Initialize stepper, this enables interrupts!
setup_photpin();
servo_init();
#if HAS_BED_PROBE
endstops.enable_z_probe(false);
#endif
#if HAS_CONTROLLERFAN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
#if HAS_STEPPER_RESET
enableStepperDrivers();
#endif
#if ENABLED(DIGIPOT_I2C)
digipot_i2c_init();
#endif
#if ENABLED(DAC_STEPPER_CURRENT)
dac_init();
#endif
#if ENABLED(Z_PROBE_SLED) && PIN_EXISTS(SLED)
pinMode(SLED_PIN, OUTPUT);
digitalWrite(SLED_PIN, LOW); // turn it off
#endif // Z_PROBE_SLED
setup_homepin();
#ifdef STAT_LED_RED
pinMode(STAT_LED_RED, OUTPUT);
digitalWrite(STAT_LED_RED, LOW); // turn it off
#endif
#ifdef STAT_LED_BLUE
pinMode(STAT_LED_BLUE, OUTPUT);
digitalWrite(STAT_LED_BLUE, LOW); // turn it off
#endif
lcd_init();
#if ENABLED(SHOW_BOOTSCREEN)
#if ENABLED(DOGLCD)
safe_delay(BOOTSCREEN_TIMEOUT);
#elif ENABLED(ULTRA_LCD)
bootscreen();
lcd_init();
#endif
#endif
#if ENABLED(MIXING_EXTRUDER) && MIXING_VIRTUAL_TOOLS > 1
// Initialize mixing to 100% color 1
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_factor[i] = (i == 0) ? 1 : 0;
for (uint8_t t = 0; t < MIXING_VIRTUAL_TOOLS; t++)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
mixing_virtual_tool_mix[t][i] = mixing_factor[i];
#endif
#if ENABLED(EXPERIMENTAL_I2CBUS) && I2C_SLAVE_ADDRESS > 0
i2c.onReceive(i2c_on_receive);
i2c.onRequest(i2c_on_request);
#endif
}
void calculate_volumetric_multipliers() {
for (uint8_t i = 0; i < COUNT(filament_size); i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
/**
* The main Marlin program loop
*
* - Save or log commands to SD
* - Process available commands (if not saving)
* - Call heater manager
* - Call inactivity manager
* - Call endstop manager
* - Call LCD update
*/
void loop() {
if (commands_in_queue < BUFSIZE) get_available_commands();
#if ENABLED(SDSUPPORT)
card.checkautostart(false);
#endif
if (commands_in_queue) {
#if ENABLED(SDSUPPORT)
if (card.saving) {
char* command = command_queue[cmd_queue_index_r];
if (strstr_P(command, PSTR("M29"))) {
// M29 closes the file
card.closefile();
SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED);
ok_to_send();
}
else {
// Write the string from the read buffer to SD
card.write_command(command);
if (card.logging)
process_next_command(); // The card is saving because it's logging
else
ok_to_send();
}
}
else
process_next_command();
#else
process_next_command();
#endif // SDSUPPORT
// The queue may be reset by a command handler or by code invoked by idle() within a handler
if (commands_in_queue) {
--commands_in_queue;
cmd_queue_index_r = (cmd_queue_index_r + 1) % BUFSIZE;
}
}
endstops.report_state();
idle();
}

181
Marlin/SanityCheck.h
View file

@ -137,6 +137,8 @@
#error Please replace "const int dropsegments" with "#define MIN_STEPS_PER_SEGMENT" (and increase by 1) in Configuration_adv.h.
#elif defined(PREVENT_DANGEROUS_EXTRUDE)
#error "PREVENT_DANGEROUS_EXTRUDE is now PREVENT_COLD_EXTRUSION. Please update your configuration."
#elif defined(SCARA)
#error "SCARA is now MORGAN_SCARA. Please update your configuration."
#endif
/**
@ -179,11 +181,9 @@
#if ENABLED(LCD_PROGRESS_BAR)
#if DISABLED(SDSUPPORT)
#error "LCD_PROGRESS_BAR requires SDSUPPORT."
#endif
#if ENABLED(DOGLCD)
#elif ENABLED(DOGLCD)
#error "LCD_PROGRESS_BAR does not apply to graphical displays."
#endif
#if ENABLED(FILAMENT_LCD_DISPLAY)
#elif ENABLED(FILAMENT_LCD_DISPLAY)
#error "LCD_PROGRESS_BAR and FILAMENT_LCD_DISPLAY are not fully compatible. Comment out this line to use both."
#endif
#endif
@ -573,11 +573,39 @@
/**
* Don't set more than one kinematic type
*/
#if (ENABLED(DELTA) && (ENABLED(SCARA) || ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(SCARA) && (ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(COREXY) && (ENABLED(COREXZ) || ENABLED(COREYZ))) \
|| (ENABLED(COREXZ) && ENABLED(COREYZ))
#error "Please enable only one of DELTA, SCARA, COREXY, COREXZ, or COREYZ."
#define COUNT_KIN_1 0
#if ENABLED(DELTA)
#define COUNT_KIN_2 INCREMENT(COUNT_KIN_1)
#else
#define COUNT_KIN_2 COUNT_KIN_1
#endif
#if ENABLED(MORGAN_SCARA)
#define COUNT_KIN_3 INCREMENT(COUNT_KIN_2)
#else
#define COUNT_KIN_3 COUNT_KIN_2
#endif
#if ENABLED(MAKERARM_SCARA)
#define COUNT_KIN_4 INCREMENT(COUNT_KIN_3)
#else
#define COUNT_KIN_4 COUNT_KIN_3
#endif
#if ENABLED(COREXY)
#define COUNT_KIN_5 INCREMENT(COUNT_KIN_4)
#else
#define COUNT_KIN_5 COUNT_KIN_4
#endif
#if ENABLED(COREXZ)
#define COUNT_KIN_6 INCREMENT(COUNT_KIN_5)
#else
#define COUNT_KIN_6 COUNT_KIN_5
#endif
#if ENABLED(COREYZ)
#define COUNT_KIN_7 INCREMENT(COUNT_KIN_6)
#else
#define COUNT_KIN_7 COUNT_KIN_6
#endif
#if COUNT_KIN_7 > 1
#error "Please enable only one of DELTA, MORGAN_SCARA, MAKERARM_SCARA, COREXY, COREXZ, or COREYZ."
#endif
/**
@ -750,7 +778,7 @@
#elif ENABLED(DELTA)
#error "Z_DUAL_ENDSTOPS is not compatible with DELTA."
#endif
#elif DISABLED(SCARA)
#elif !IS_SCARA
#if X_HOME_DIR < 0 && DISABLED(USE_XMIN_PLUG)
#error "Enable USE_XMIN_PLUG when homing X to MIN."
#elif X_HOME_DIR > 0 && DISABLED(USE_XMAX_PLUG)
@ -783,3 +811,136 @@
#error "I2C_SLAVE_ADDRESS can't be over 127. (Only 7 bits allowed.)"
#endif
#endif
/**
* Make sure only one display is enabled
*
* Note: BQ_LCD_SMART_CONTROLLER => REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
* REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER => REPRAP_DISCOUNT_SMART_CONTROLLER
* SAV_3DGLCD => U8GLIB_SH1106 => ULTIMAKERCONTROLLER
* miniVIKI => ULTIMAKERCONTROLLER
* VIKI2 => ULTIMAKERCONTROLLER
* ELB_FULL_GRAPHIC_CONTROLLER => ULTIMAKERCONTROLLER
* PANEL_ONE => ULTIMAKERCONTROLLER
*/
#define COUNT_LCD_1 0
#if ENABLED(ULTIMAKERCONTROLLER) \
&& DISABLED(SAV_3DGLCD) && DISABLED(miniVIKI) && DISABLED(VIKI2) \
&& DISABLED(ELB_FULL_GRAPHIC_CONTROLLER) && DISABLED(PANEL_ONE)
#define COUNT_LCD_2 INCREMENT(COUNT_LCD_1)
#else
#define COUNT_LCD_2 COUNT_LCD_1
#endif
#if ENABLED(REPRAP_DISCOUNT_SMART_CONTROLLER) && DISABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
#define COUNT_LCD_3 INCREMENT(COUNT_LCD_2)
#else
#define COUNT_LCD_3 COUNT_LCD_2
#endif
#if ENABLED(REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER) && DISABLED(BQ_LCD_SMART_CONTROLLER)
#define COUNT_LCD_4 INCREMENT(COUNT_LCD_3)
#else
#define COUNT_LCD_4 COUNT_LCD_3
#endif
#if ENABLED(CARTESIO_UI)
#define COUNT_LCD_5 INCREMENT(COUNT_LCD_4)
#else
#define COUNT_LCD_5 COUNT_LCD_4
#endif
#if ENABLED(PANEL_ONE)
#define COUNT_LCD_6 INCREMENT(COUNT_LCD_5)
#else
#define COUNT_LCD_6 COUNT_LCD_5
#endif
#if ENABLED(MAKRPANEL)
#define COUNT_LCD_7 INCREMENT(COUNT_LCD_6)
#else
#define COUNT_LCD_7 COUNT_LCD_6
#endif
#if ENABLED(REPRAPWORLD_GRAPHICAL_LCD)
#define COUNT_LCD_8 INCREMENT(COUNT_LCD_7)
#else
#define COUNT_LCD_8 COUNT_LCD_7
#endif
#if ENABLED(VIKI2)
#define COUNT_LCD_9 INCREMENT(COUNT_LCD_8)
#else
#define COUNT_LCD_9 COUNT_LCD_8
#endif
#if ENABLED(miniVIKI)
#define COUNT_LCD_10 INCREMENT(COUNT_LCD_9)
#else
#define COUNT_LCD_10 COUNT_LCD_9
#endif
#if ENABLED(ELB_FULL_GRAPHIC_CONTROLLER)
#define COUNT_LCD_11 INCREMENT(COUNT_LCD_10)
#else
#define COUNT_LCD_11 COUNT_LCD_10
#endif
#if ENABLED(G3D_PANEL)
#define COUNT_LCD_12 INCREMENT(COUNT_LCD_11)
#else
#define COUNT_LCD_12 COUNT_LCD_11
#endif
#if ENABLED(MINIPANEL)
#define COUNT_LCD_13 INCREMENT(COUNT_LCD_12)
#else
#define COUNT_LCD_13 COUNT_LCD_12
#endif
#if ENABLED(REPRAPWORLD_KEYPAD)
#define COUNT_LCD_14 INCREMENT(COUNT_LCD_13)
#else
#define COUNT_LCD_14 COUNT_LCD_13
#endif
#if ENABLED(RIGIDBOT_PANEL)
#define COUNT_LCD_15 INCREMENT(COUNT_LCD_14)
#else
#define COUNT_LCD_15 COUNT_LCD_14
#endif
#if ENABLED(RA_CONTROL_PANEL)
#define COUNT_LCD_16 INCREMENT(COUNT_LCD_15)
#else
#define COUNT_LCD_16 COUNT_LCD_15
#endif
#if ENABLED(LCD_I2C_SAINSMART_YWROBOT)
#define COUNT_LCD_17 INCREMENT(COUNT_LCD_16)
#else
#define COUNT_LCD_17 COUNT_LCD_16
#endif
#if ENABLED(LCM1602)
#define COUNT_LCD_18 INCREMENT(COUNT_LCD_17)
#else
#define COUNT_LCD_18 COUNT_LCD_17
#endif
#if ENABLED(LCD_I2C_PANELOLU2)
#define COUNT_LCD_19 INCREMENT(COUNT_LCD_18)
#else
#define COUNT_LCD_19 COUNT_LCD_18
#endif
#if ENABLED(LCD_I2C_VIKI)
#define COUNT_LCD_20 INCREMENT(COUNT_LCD_19)
#else
#define COUNT_LCD_20 COUNT_LCD_19
#endif
#if ENABLED(U8GLIB_SSD1306)
#define COUNT_LCD_21 INCREMENT(COUNT_LCD_20)
#else
#define COUNT_LCD_21 COUNT_LCD_20
#endif
#if ENABLED(SAV_3DLCD)
#define COUNT_LCD_22 INCREMENT(COUNT_LCD_21)
#else
#define COUNT_LCD_22 COUNT_LCD_21
#endif
#if ENABLED(BQ_LCD_SMART_CONTROLLER)
#define COUNT_LCD_23 INCREMENT(COUNT_LCD_22)
#else
#define COUNT_LCD_23 COUNT_LCD_22
#endif
#if ENABLED(SAV_3DGLCD)
#define COUNT_LCD_24 INCREMENT(COUNT_LCD_23)
#else
#define COUNT_LCD_24 COUNT_LCD_23
#endif
#if COUNT_LCD_24 > 1
#error "Please select no more than one LCD controller option."
#endif

8
Marlin/configuration_store.cpp
View file

@ -330,7 +330,7 @@ void Config_StoreSettings() {
#endif
EEPROM_WRITE(lcd_contrast);
#if ENABLED(SCARA)
#if IS_SCARA
EEPROM_WRITE(axis_scaling); // 3 floats
#else
dummy = 1.0f;
@ -520,7 +520,7 @@ void Config_RetrieveSettings() {
#endif
EEPROM_READ(lcd_contrast);
#if ENABLED(SCARA)
#if IS_SCARA
EEPROM_READ(axis_scaling); // 3 floats
#else
EEPROM_READ(dummy);
@ -584,7 +584,7 @@ void Config_ResetDefault() {
planner.axis_steps_per_mm[i] = tmp1[i];
planner.max_feedrate_mm_s[i] = tmp2[i];
planner.max_acceleration_mm_per_s2[i] = tmp3[i];
#if ENABLED(SCARA)
#if IS_SCARA
if (i < COUNT(axis_scaling))
axis_scaling[i] = 1;
#endif
@ -716,7 +716,7 @@ void Config_PrintSettings(bool forReplay) {
CONFIG_ECHO_START;
#if ENABLED(SCARA)
#if IS_SCARA
if (!forReplay) {
SERIAL_ECHOLNPGM("Scaling factors:");
CONFIG_ECHO_START;

3
Marlin/enum.h
View file

@ -42,7 +42,8 @@ enum AxisEnum {
E_AXIS = 3,
X_HEAD = 4,
Y_HEAD = 5,
Z_HEAD = 6
Z_HEAD = 6,
ALL_AXES = 100
};
#define LOOP_XYZ(VAR) for (uint8_t VAR=X_AXIS; VAR<=Z_AXIS; VAR++)

12
Marlin/example_configurations/Cartesio/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/Felix/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/Hephestos/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/Hephestos_2/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/K8200/Configuration_adv.h
View file

@ -174,14 +174,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/K8400/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/RigidBot/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

30
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -75,35 +75,37 @@
//
//===========================================================================
//========================= SCARA Settings ==================================
//============================= SCARA Printer ===============================
//===========================================================================
// SCARA-mode for Marlin has been developed by QHARLEY in ZA in 2012/2013. Implemented
// MORGAN_SCARA for Marlin was developed by QHARLEY in ZA in 2012/2013. Implemented
// and slightly reworked by JCERNY in 06/2014 with the goal to bring it into Master-Branch
// QHARLEYS Autobedlevelling has not been ported, because Marlin has now Bed-levelling
// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
// Uncomment to use Morgan scara mode
#define SCARA
// Specify the specific SCARA model
#define MORGAN_SCARA
//#define MAKERARM_SCARA
#if ENABLED(MORGAN_SCARA) || ENABLED(MAKERARM_SCARA)
//#define DEBUG_SCARA_KINEMATICS
#define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
// Length of inner support arm
#define Linkage_1 150 //mm Preprocessor cannot handle decimal point...
#define SCARA_LINKAGE_1 150 //mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter
#define Linkage_2 150 //mm
#define SCARA_LINKAGE_2 150 //mm
// SCARA tower offset (position of Tower relative to bed zero position)
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define SCARA_offset_x 100 //mm
#define SCARA_offset_y -56 //mm
#define SCARA_RAD2DEG 57.2957795 // to convert RAD to degrees
#define SCARA_OFFSET_X 100 //mm
#define SCARA_OFFSET_Y -56 //mm
#define THETA_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M360 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
#define PSI_HOMING_OFFSET 0 //calculatated from Calibration Guide and command M364 / M114 see picture in http://reprap.harleystudio.co.za/?page_id=1073
//some helper variables to make kinematics faster
#define L1_2 sq(Linkage_1) // do not change
#define L2_2 sq(Linkage_2) // do not change
#endif
//===========================================================================
//========================= SCARA Settings end ==============================
//==================== END ==== SCARA Printer ==== END ======================
//===========================================================================
// @section info

14
Marlin/example_configurations/SCARA/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#define EXTRUDER_RUNOUT_MINTEMP 180
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 180 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 180 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/TAZ4/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/WITBOX/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/delta/biv2.5/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/delta/generic/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/delta/kossel_mini/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/delta/kossel_pro/Configuration_adv.h
View file

@ -173,14 +173,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/delta/kossel_xl/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/makibox/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

12
Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
View file

@ -168,14 +168,16 @@
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
// Extruder runout prevention.
// If the machine is idle and the temperature over MINTEMP
// then extrude some filament every couple of SECONDS.
//#define EXTRUDER_RUNOUT_PREVENT
#if ENABLED(EXTRUDER_RUNOUT_PREVENT)
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30
#define EXTRUDER_RUNOUT_ESTEPS 14 // mm filament
#define EXTRUDER_RUNOUT_SPEED 1500 // extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
#define EXTRUDER_RUNOUT_SPEED 1500 // mm/m
#define EXTRUDER_RUNOUT_EXTRUDE 5 // mm
#endif
// @section temperature

6
Marlin/language.h
View file

@ -157,9 +157,9 @@
#define MSG_ENDSTOP_OPEN "open"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_DUPLICATION_MODE "Duplication mode: "
#define MSG_SOFT_ENDSTOPS "Soft endstops"
#define MSG_SOFT_MIN "Min"
#define MSG_SOFT_MAX "Max"
#define MSG_SOFT_ENDSTOPS "Soft endstops: "
#define MSG_SOFT_MIN " Min: "
#define MSG_SOFT_MAX " Max: "
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir "
#define MSG_SD_INIT_FAIL "SD init fail"

3
Marlin/language_en.h
View file

@ -408,6 +408,9 @@
#ifndef MSG_ERR_MINTEMP_BED
#define MSG_ERR_MINTEMP_BED "Err: MINTEMP BED"
#endif
#ifndef MSG_ERR_Z_HOMING
#define MSG_ERR_Z_HOMING "G28 Z Forbidden"
#endif
#ifndef MSG_HALTED
#define MSG_HALTED "PRINTER HALTED"
#endif

7
Marlin/macros.h
View file

@ -55,7 +55,8 @@
#endif
#define RADIANS(d) ((d)*M_PI/180.0)
#define DEGREES(r) ((r)*180.0/M_PI)
#define HYPOT(x,y) sqrt(sq(x)+sq(y))
#define HYPOT2(x,y) (sq(x)+sq(y))
#define HYPOT(x,y) sqrt(HYPOT2(x,y))
// Macros to contrain values
#define NOLESS(v,n) do{ if (v < n) v = n; }while(0)
@ -124,4 +125,8 @@
#define MAX3(a, b, c) max(max(a, b), c)
#define MAX4(a, b, c, d) max(max(max(a, b), c), d)
#define UNEAR_ZERO(x) ((x) < 0.000001)
#define NEAR_ZERO(x) ((x) > -0.000001 && (x) < 0.000001)
#define NEAR(x,y) NEAR_ZERO((x)-(y))
#endif //__MACROS_H

110
Marlin/planner.cpp
View file

@ -98,7 +98,7 @@ float Planner::min_feedrate_mm_s,
Planner::max_e_jerk,
Planner::min_travel_feedrate_mm_s;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
#endif
@ -138,7 +138,7 @@ void Planner::init() {
memset(position, 0, sizeof(position)); // clear position
LOOP_XYZE(i) previous_speed[i] = 0.0;
previous_nominal_speed = 0.0;
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
bed_level_matrix.set_to_identity();
#endif
}
@ -521,37 +521,51 @@ void Planner::check_axes_activity() {
#endif
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
#if PLANNER_LEVELING
void Planner::apply_leveling(
#if ENABLED(MESH_BED_LEVELING)
const float &x, const float &y
#else
float &x, float &y
#endif
, float &z
) {
void Planner::apply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active())
z += mbl.get_z(RAW_X_POSITION(x), RAW_Y_POSITION(y));
lz += mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
float tx = RAW_X_POSITION(x) - (X_TILT_FULCRUM),
ty = RAW_Y_POSITION(y) - (Y_TILT_FULCRUM),
tz = RAW_Z_POSITION(z);
float dx = RAW_X_POSITION(lx) - (X_TILT_FULCRUM),
dy = RAW_Y_POSITION(ly) - (Y_TILT_FULCRUM),
dz = RAW_Z_POSITION(lz);
apply_rotation_xyz(bed_level_matrix, tx, ty, tz);
apply_rotation_xyz(bed_level_matrix, dx, dy, dz);
x = LOGICAL_X_POSITION(tx + X_TILT_FULCRUM);
y = LOGICAL_Y_POSITION(ty + Y_TILT_FULCRUM);
z = LOGICAL_Z_POSITION(tz);
lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
lz = LOGICAL_Z_POSITION(dz);
#endif
}
void Planner::unapply_leveling(float &lx, float &ly, float &lz) {
#if ENABLED(MESH_BED_LEVELING)
if (mbl.active())
lz -= mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly));
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
float dx = lx - (X_TILT_FULCRUM), dy = ly - (Y_TILT_FULCRUM), dz = lz;
apply_rotation_xyz(inverse, dx, dy, dz);
lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
lz = LOGICAL_Z_POSITION(dz);
#endif
}
#endif // PLANNER_LEVELING
/**
* Planner::buffer_line
@ -562,15 +576,7 @@ void Planner::check_axes_activity() {
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
void Planner::buffer_line(
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
float x, float y, float z
#else
const float& x, const float& y, const float& z
#endif
, const float& e, float fr_mm_s, const uint8_t extruder
) {
void Planner::buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
@ -578,17 +584,17 @@ void Planner::buffer_line(
// Rest here until there is room in the buffer.
while (block_buffer_tail == next_buffer_head) idle();
#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
apply_leveling(x, y, z);
#if PLANNER_LEVELING
apply_leveling(lx, ly, lz);
#endif
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
long target[NUM_AXIS] = {
lround(x * axis_steps_per_mm[X_AXIS]),
lround(y * axis_steps_per_mm[Y_AXIS]),
lround(z * axis_steps_per_mm[Z_AXIS]),
lround(lx * axis_steps_per_mm[X_AXIS]),
lround(ly * axis_steps_per_mm[Y_AXIS]),
lround(lz * axis_steps_per_mm[Z_AXIS]),
lround(e * axis_steps_per_mm[E_AXIS])
};
@ -598,11 +604,22 @@ void Planner::buffer_line(
/*
SERIAL_ECHO_START;
SERIAL_ECHOPAIR("Planner X:", x);
SERIAL_ECHOPGM("Planner ", x);
#if IS_KINEMATIC
SERIAL_ECHOPAIR("A:", x);
SERIAL_ECHOPAIR(" (", dx);
SERIAL_ECHOPAIR(") B:", y);
#else
SERIAL_ECHOPAIR("X:", x);
SERIAL_ECHOPAIR(" (", dx);
SERIAL_ECHOPAIR(") Y:", y);
#endif
SERIAL_ECHOPAIR(" (", dy);
#elif ENABLED(DELTA)
SERIAL_ECHOPAIR(") C:", z);
#else
SERIAL_ECHOPAIR(") Z:", z);
#endif
SERIAL_ECHOPAIR(" (", dz);
SERIAL_ECHOLNPGM(")");
//*/
@ -671,7 +688,7 @@ void Planner::buffer_line(
// For a mixing extruder, get a magnified step_event_count for each
#if ENABLED(MIXING_EXTRUDER)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
block->mix_event_count[i] = (mixing_factor[i] < 0.0001) ? 0 : block->step_event_count / mixing_factor[i];
block->mix_event_count[i] = UNEAR_ZERO(mixing_factor[i]) ? 0 : block->step_event_count / mixing_factor[i];
#endif
#if FAN_COUNT > 0
@ -1152,22 +1169,15 @@ void Planner::buffer_line(
*
* On CORE machines stepper ABC will be translated from the given XYZ.
*/
void Planner::set_position_mm(
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
float x, float y, float z
#else
const float& x, const float& y, const float& z
#endif
, const float& e
) {
void Planner::set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
#if ENABLED(MESH_BED_LEVELING) || ENABLED(AUTO_BED_LEVELING_FEATURE)
apply_leveling(x, y, z);
#if PLANNER_LEVELING
apply_leveling(lx, ly, lz);
#endif
long nx = position[X_AXIS] = lround(x * axis_steps_per_mm[X_AXIS]),
ny = position[Y_AXIS] = lround(y * axis_steps_per_mm[Y_AXIS]),
nz = position[Z_AXIS] = lround(z * axis_steps_per_mm[Z_AXIS]),
long nx = position[X_AXIS] = lround(lx * axis_steps_per_mm[X_AXIS]),
ny = position[Y_AXIS] = lround(ly * axis_steps_per_mm[Y_AXIS]),
nz = position[Z_AXIS] = lround(lz * axis_steps_per_mm[Z_AXIS]),
ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
stepper.set_position(nx, ny, nz, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
@ -1193,7 +1203,7 @@ void Planner::reset_acceleration_rates() {
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
void Planner::refresh_positioning() {
LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
#if ENABLED(DELTA) || ENABLED(SCARA)
#if IS_KINEMATIC
inverse_kinematics(current_position);
set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else

32
Marlin/planner.h
View file

@ -202,11 +202,24 @@ class Planner {
static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
#if ENABLED(MESH_BED_LEVELING)
static void apply_leveling(const float &x, const float &y, float &z);
#define ARG_X float lx
#define ARG_Y float ly
#define ARG_Z float lz
#else
static void apply_leveling(float &x, float &y, float &z);
#define ARG_X const float &lx
#define ARG_Y const float &ly
#define ARG_Z const float &lz
#endif
#if PLANNER_LEVELING
/**
* Apply leveling to transform a cartesian position
* as it will be given to the planner and steppers.
*/
static void apply_leveling(float &lx, float &ly, float &lz);
static void unapply_leveling(float &lx, float &ly, float &lz);
#endif
/**
@ -216,7 +229,7 @@ class Planner {
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static void buffer_line(float x, float y, float z, const float& e, float fr_mm_s, const uint8_t extruder);
static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float& e, float fr_mm_s, const uint8_t extruder);
/**
* Set the planner.position and individual stepper positions.
@ -227,14 +240,7 @@ class Planner {
*
* Clears previous speed values.
*/
static void set_position_mm(float x, float y, float z, const float& e);
#else
static void buffer_line(const float& x, const float& y, const float& z, const float& e, float fr_mm_s, const uint8_t extruder);
static void set_position_mm(const float& x, const float& y, const float& z, const float& e);
#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
/**
* Set the E position (mm) of the planner (and the E stepper)

2
Marlin/planner_bezier.cpp
View file

@ -188,7 +188,7 @@ void cubic_b_spline(const float position[NUM_AXIS], const float target[NUM_AXIS]
bez_target[E_AXIS] = interp(position[E_AXIS], target[E_AXIS], t);
clamp_to_software_endstops(bez_target);
#if ENABLED(DELTA) || ENABLED(SCARA)
#if IS_KINEMATIC
inverse_kinematics(bez_target);
#if ENABLED(DELTA) && ENABLED(AUTO_BED_LEVELING_FEATURE)
adjust_delta(bez_target);

2
Marlin/qr_solve.cpp
View file

@ -22,7 +22,7 @@
#include "qr_solve.h"
#if ENABLED(AUTO_BED_LEVELING_GRID)
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include <stdlib.h>
#include <math.h>

17
Marlin/stepper.h
View file

@ -91,6 +91,11 @@ class Stepper {
static bool performing_homing;
#endif
//
// Positions of stepper motors, in step units
//
static volatile long count_position[NUM_AXIS];
private:
static unsigned char last_direction_bits; // The next stepping-bits to be output
@ -138,11 +143,6 @@ class Stepper {
static constexpr int motor_current_setting[3] = PWM_MOTOR_CURRENT;
#endif
//
// Positions of stepper motors, in step units
//
static volatile long count_position[NUM_AXIS];
//
// Current direction of stepper motors (+1 or -1)
//
@ -211,6 +211,13 @@ class Stepper {
//
static float get_axis_position_mm(AxisEnum axis);
//
// SCARA AB axes are in degrees, not mm
//
#if IS_SCARA
static FORCE_INLINE float get_axis_position_degrees(AxisEnum axis) { return get_axis_position_mm(axis); }
#endif
//
// 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.

4
Marlin/ultralcd.cpp
View file

@ -1418,7 +1418,7 @@ void kill_screen(const char* lcd_msg) {
*
*/
#if ENABLED(DELTA) || ENABLED(SCARA)
#if IS_KINEMATIC
#define _MOVE_XYZ_ALLOWED (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS])
#else
#define _MOVE_XYZ_ALLOWED true
@ -1823,7 +1823,7 @@ void kill_screen(const char* lcd_msg) {
#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
MENU_ITEM_EDIT(bool, MSG_ENDSTOP_ABORT, &stepper.abort_on_endstop_hit);
#endif
#if ENABLED(SCARA)
#if IS_SCARA
MENU_ITEM_EDIT(float74, MSG_XSCALE, &axis_scaling[X_AXIS], 0.5, 2);
MENU_ITEM_EDIT(float74, MSG_YSCALE, &axis_scaling[Y_AXIS], 0.5, 2);
#endif