From 091f94a6bfa7447d9651147fe63c3445d764b4f0 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 13 May 2017 00:43:12 -0500 Subject: [PATCH] Fix up M421 and some comments --- Marlin/Marlin_main.cpp | 114 +++++++++++++++-------------------------- 1 file changed, 42 insertions(+), 72 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 70d5f36e6..01151bc96 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -170,6 +170,8 @@ * M302 - Allow cold extrudes, or set the minimum extrude S. (Requires PREVENT_COLD_EXTRUSION) * M303 - PID relay autotune S sets the target temperature. Default 150C. (Requires PIDTEMP) * M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED) + * M350 - Set microstepping mode. (Requires digital microstepping pins.) + * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) * M355 - Turn the Case Light on/off and set its brightness. (Requires CASE_LIGHT_PIN) * M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID) * M381 - Disable all solenoids. (Requires EXT_SOLENOID) @@ -194,6 +196,7 @@ * M666 - Set delta endstop adjustment. (Requires DELTA) * M605 - Set dual x-carriage movement mode: "M605 S [X] [R]". (Requires DUAL_X_CARRIAGE) * M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.) + * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE) * M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130) * M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots) * M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN) @@ -203,8 +206,6 @@ * M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130) * M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD) * M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING) - * M350 - Set microstepping mode. (Requires digital microstepping pins.) - * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.) * * M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration) * M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree) @@ -7141,7 +7142,7 @@ inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; } inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; } /** - * M18, M84: Disable all stepper motors + * M18, M84: Disable stepper motors */ inline void gcode_M18_M84() { if (code_seen('S')) { @@ -8166,7 +8167,7 @@ inline void gcode_M303() { } /** - * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position) + * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position) */ inline bool gcode_M364() { SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90"); @@ -8409,39 +8410,33 @@ void quickstop_stepper() { #endif #if ENABLED(MESH_BED_LEVELING) + /** * M421: Set a single Mesh Bed Leveling Z coordinate - * Use either 'M421 X Y Z' or 'M421 I J Z' + * + * Usage: + * M421 X Y Z + * M421 X Y Q + * M421 I J Z + * M421 I J Q */ inline void gcode_M421() { + const bool hasX = code_seen('X'), hasI = code_seen('I'); + const int8_t ix = hasI ? code_value_byte() : hasX ? mbl.probe_index_x(RAW_X_POSITION(code_value_linear_units())) : -1; + const bool hasY = code_seen('Y'), hasJ = code_seen('J'); + const int8_t iy = hasJ ? code_value_byte() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(code_value_linear_units())) : -1; + const bool hasZ = code_seen('Z'), hasQ = code_seen('Q'); - const bool hasX = code_seen('X'), hasI = !hasX && code_seen('I'); - const int8_t px = hasX || hasI ? mbl.probe_index_x(code_value_linear_units()) : 0; - const bool hasY = code_seen('Y'), hasJ = !hasY && code_seen('J'); - const int8_t py = hasY || hasJ ? mbl.probe_index_y(code_value_linear_units()) : 0; - const bool hasZ = code_seen('Z'); - const float z = hasZ ? code_value_linear_units() : 0; - - if (hasX && hasY && hasZ) { - if (px >= 0 && py >= 0) - mbl.set_z(px, py, z); - else { - SERIAL_ERROR_START; - SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); - } - } - else if (hasI && hasJ && hasZ) { - if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) - mbl.set_z(px, py, z); - else { - SERIAL_ERROR_START; - SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); - } - } - else { + if (int(hasI && hasJ) + int(hasX && hasY) != 1 || hasZ == hasQ) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); } + else if (ix < 0 || iy < 0) { + SERIAL_ERROR_START; + SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); + } + else + mbl.set_z(ix, iy, code_value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0)); } #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) @@ -8454,38 +8449,26 @@ void quickstop_stepper() { * M421 I J Q */ inline void gcode_M421() { - const bool hasI = code_seen('I'); - const int8_t px = hasI ? code_value_int() : 0; + const int8_t ix = hasI ? code_value_byte() : -1; const bool hasJ = code_seen('J'); - const int8_t py = hasJ ? code_value_int() : 0; - const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q'); - const float z = hasZ || hasQ ? code_value_linear_units() : 0; + const int8_t iy = hasJ ? code_value_byte() : -1; + const bool hasZ = code_seen('Z'), hasQ = code_seen('Q'); - if (!hasI || !hasJ || (hasQ && hasZ) || (!hasQ && !hasZ)) { + if (!hasI || !hasJ || hasZ == hasQ) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); - return; - } - - if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) { - if (hasZ) { // doing an absolute mesh value - z_values[px][py] = z; - #if ENABLED(ABL_BILINEAR_SUBDIVISION) - bed_level_virt_interpolate(); - #endif - } - else { // doing an offset of a mesh value - z_values[px][py] += z; - #if ENABLED(ABL_BILINEAR_SUBDIVISION) - bed_level_virt_interpolate(); - #endif - } } - else { // bad indexes were specified for the mesh point + else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); } + else { + z_values[ix][iy] = code_value_linear_units() + (hasQ ? z_values[ix][iy] : 0); + #if ENABLED(ABL_BILINEAR_SUBDIVISION) + bed_level_virt_interpolate(); + #endif + } } #elif ENABLED(AUTO_BED_LEVELING_UBL) @@ -8499,37 +8482,24 @@ void quickstop_stepper() { * M421 C Z * M421 C Q */ - inline void gcode_M421() { - - // Get the closest position for 'C', if needed const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false); - const bool hasC = code_seen('C'), hasI = code_seen('I'); - const int8_t px = hasC ? location.x_index : hasI ? code_value_int() : 0; - + const int8_t ix = hasI ? code_value_byte() : hasC ? location.x_index : -1; const bool hasJ = code_seen('J'); - const int8_t py = hasC ? location.y_index : hasJ ? code_value_int() : 0; + const int8_t iy = hasJ ? code_value_byte() : hasC ? location.y_index : -1; + const bool hasZ = code_seen('Z'), hasQ = code_seen('Q'); - const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q'); - const float z = hasZ || hasQ ? code_value_linear_units() : 0; - - if ( ((hasI && hasJ) == hasC) || (hasQ && hasZ) || (!hasQ && !hasZ)) { + if (int(hasC) + int(hasI && hasJ) != 1 || hasZ == hasQ) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS); - return; } - - if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) { - if (hasZ) // doing an absolute mesh value - ubl.z_values[px][py] = z; - else // doing an offset of a mesh value - ubl.z_values[px][py] += z; - } - else { // bad indexes were specified for the mesh point + else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY); } + else + ubl.z_values[ix][iy] = code_value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0); } #endif // AUTO_BED_LEVELING_UBL