From 11c075c6b2a2d78ce63ed63357519f8e3ee695a1 Mon Sep 17 00:00:00 2001 From: AnHardt Date: Tue, 19 Jul 2016 17:24:44 +0200 Subject: [PATCH] Introduce line_to_axis_pos(axis_codes axis, float where, float feed_rate = 0.0) and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`. `do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis. The first common move for delta homing is like quick_home but for 3 towers. Fix two warnings. --- Marlin/Marlin_main.cpp | 81 +++++++++++++++++++++++------------------- 1 file changed, 44 insertions(+), 37 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index a4fbec095..701a20394 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -1613,9 +1613,20 @@ inline float set_homing_bump_feedrate(AxisEnum axis) { inline void line_to_current_position() { planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); } + inline void line_to_z(float zPosition) { planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); } + +inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) { + float old_feedrate_mm_m = feedrate_mm_m; + current_position[axis] = where; + feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis]; + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder); + stepper.synchronize(); // The lost one + feedrate_mm_m = old_feedrate_mm_m; +} + // // line_to_destination // Move the planner, not necessarily synced with current_position @@ -1708,11 +1719,6 @@ static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0) feedrate_mm_m = old_feedrate_mm_m; } -inline void do_blocking_move_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) { - current_position[axis] = where; - do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m); -} - inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m); } @@ -2425,19 +2431,17 @@ static void homeaxis(AxisEnum axis) { #endif // Move towards the endstop until an endstop is triggered - do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]); + line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir); // Set the axis position as setup for the move current_position[axis] = 0; sync_plan_position(); // Move away from the endstop by the axis HOME_BUMP_MM - do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]); - - // Slow down the feedrate for the next move + line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir); // Move slowly towards the endstop until triggered - do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis)); + line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis)); #if ENABLED(DEBUG_LEVELING_FEATURE) if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position); @@ -2458,7 +2462,7 @@ static void homeaxis(AxisEnum axis) { sync_plan_position(); // Move to the adjusted endstop height - do_blocking_move_to_z(adj, homing_feedrate_mm_m[axis]); + line_to_axis_pos(axis, adj); if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false); stepper.set_homing_flag(false); @@ -2475,7 +2479,7 @@ static void homeaxis(AxisEnum axis) { DEBUG_POS("", current_position); } #endif - do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis)); + line_to_axis_pos(axis, endstop_adj[axis]); } #endif @@ -2825,10 +2829,28 @@ inline void gcode_G4() { } #endif +#if ENABLED(NOZZLE_PARK_FEATURE) + #include "nozzle.h" + + /** + * G27: Park the nozzle + */ + inline void gcode_G27() { + // Don't allow nozzle parking without homing first + if (axis_unhomed_error(true, true, true)) { return; } + uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0; + Nozzle::park(z_action); + } +#endif // NOZZLE_PARK_FEATURE + #if ENABLED(QUICK_HOME) static void quick_home_xy() { + // Pretend the current position is 0,0 + current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; + sync_plan_position(); + #if ENABLED(DUAL_X_CARRIAGE) int x_axis_home_dir = x_home_dir(active_extruder); extruder_duplication_enabled = false; @@ -2839,30 +2861,16 @@ inline void gcode_G4() { float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), mlratio = mlx > mly ? mly / mlx : mlx / mly, - fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1); + fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0); do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m); endstops.hit_on_purpose(); // clear endstop hit flags - current_position[X_AXIS] = current_position[Y_AXIS] = 0; + current_position[X_AXIS] = current_position[Y_AXIS] = 0.0; } #endif // QUICK_HOME -#if ENABLED(NOZZLE_PARK_FEATURE) - #include "nozzle.h" - - /** - * G27: Park the nozzle - */ - inline void gcode_G27() { - // Don't allow nozzle parking without homing first - if (axis_unhomed_error(true, true, true)) { return; } - uint8_t const z_action = code_seen('P') ? code_value_ushort() : 0; - Nozzle::park(z_action); - } -#endif // NOZZLE_PARK_FEATURE - /** * G28: Home all axes according to settings * @@ -2931,20 +2939,19 @@ inline void gcode_G28() { */ // Pretend the current position is 0,0,0 - for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0; + // This is like quick_home_xy() but for 3 towers. + current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0; sync_plan_position(); // Move all carriages up together until the first endstop is hit. - for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH); + current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH); feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS]; - line_to_destination(); + line_to_current_position(); stepper.synchronize(); endstops.hit_on_purpose(); // clear endstop hit flags + current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0; - // Destination reached - for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i]; - - // take care of back off and rehome now we are all at the top + // take care of back off and rehome. Now one carriage is at the top. HOMEAXIS(X); HOMEAXIS(Y); HOMEAXIS(Z); @@ -5325,7 +5332,7 @@ inline void gcode_M200() { if (volumetric_enabled) { filament_size[target_extruder] = code_value_linear_units(); // make sure all extruders have some sane value for the filament size - for (int i = 0; i < COUNT(filament_size); i++) + for (uint8_t i = 0; i < COUNT(filament_size); i++) if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA; } } @@ -8695,6 +8702,6 @@ float calculate_volumetric_multiplier(float diameter) { } void calculate_volumetric_multipliers() { - for (int i = 0; i < COUNT(filament_size); i++) + for (uint8_t i = 0; i < COUNT(filament_size); i++) volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]); }