From 280534c06fae73b280379fba3c39ca7fd2705edd Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 20 Aug 2016 20:07:42 -0500 Subject: [PATCH 1/5] Add M211: Enable/Disable Software Endstops --- Marlin/Marlin.h | 17 +++++--- Marlin/Marlin_main.cpp | 94 +++++++++++++++++++++++++++++------------- Marlin/language.h | 3 ++ Marlin/macros.h | 3 ++ 4 files changed, 84 insertions(+), 33 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index e5bbdb7e9..17c4f7f29 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -245,8 +245,6 @@ void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash void clear_command_queue(); -void clamp_to_software_endstops(float target[3]); - extern millis_t previous_cmd_ms; inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); } @@ -275,8 +273,18 @@ extern volatile bool wait_for_heatup; extern float current_position[NUM_AXIS]; extern float position_shift[3]; extern float home_offset[3]; -extern float sw_endstop_min[3]; -extern float sw_endstop_max[3]; + +// Software Endstops +void update_software_endstops(AxisEnum axis); +#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + extern bool soft_endstops_enabled; + void clamp_to_software_endstops(float target[XYZ]); +#else + #define soft_endstops_enabled false + #define clamp_to_software_endstops(x) NOOP +#endif +extern float soft_endstop_min[XYZ]; +extern float soft_endstop_max[XYZ]; #define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS]) #define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS]) @@ -379,7 +387,6 @@ extern uint8_t active_extruder; extern float mixing_factor[MIXING_STEPPERS]; #endif -void update_software_endstops(AxisEnum axis); void calculate_volumetric_multipliers(); // Buzzer diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index a0dc9386c..45c229b34 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -205,6 +205,7 @@ * M208 - Set Recover (unretract) Additional (!) Length: S and Feedrate: F * M209 - Turn Automatic Retract Detection on/off: S (For slicers that don't support G10/11). Every normal extrude-only move will be classified as retract depending on the direction. + * M211 - Enable, Disable, and/or Report software endstops: [S] * M218 - Set a tool offset: T X Y * M220 - Set Feedrate Percentage: S ("FR" on your LCD) * M221 - Set Flow Percentage: S @@ -332,9 +333,12 @@ float position_shift[3] = { 0 }; // Set by M206, M428, or menu item. Saved to EEPROM. float home_offset[3] = { 0 }; -// Software Endstops. Default to configured limits. -float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; -float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; +// Software Endstops are based on the configured limits. +#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + bool soft_endstops_enabled = true; +#endif +float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }, + soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; #if FAN_COUNT > 0 int fanSpeeds[FAN_COUNT] = { 0 }; @@ -1477,21 +1481,21 @@ void update_software_endstops(AxisEnum axis) { if (axis == X_AXIS) { float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS); if (active_extruder != 0) { - sw_endstop_min[X_AXIS] = X2_MIN_POS + offs; - sw_endstop_max[X_AXIS] = dual_max_x + offs; + soft_endstop_min[X_AXIS] = X2_MIN_POS + offs; + soft_endstop_max[X_AXIS] = dual_max_x + offs; return; } else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) { - sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs; - sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs; + soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs; + soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs; return; } } else #endif { - sw_endstop_min[axis] = base_min_pos(axis) + offs; - sw_endstop_max[axis] = base_max_pos(axis) + offs; + soft_endstop_min[axis] = base_min_pos(axis) + offs; + soft_endstop_max[axis] = base_max_pos(axis) + offs; } #if ENABLED(DEBUG_LEVELING_FEATURE) @@ -1499,16 +1503,15 @@ void update_software_endstops(AxisEnum axis) { SERIAL_ECHOPAIR("For ", axis_codes[axis]); SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]); SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]); - SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]); - SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]); + SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]); + SERIAL_ECHOPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]); SERIAL_EOL; } #endif #if ENABLED(DELTA) - if (axis == Z_AXIS) { - delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top(); - } + if (axis == Z_AXIS) + delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top(); #endif } @@ -1574,8 +1577,8 @@ static void set_axis_is_at_home(AxisEnum axis) { * SCARA home positions are based on configuration since the actual * limits are determined by the inverse kinematic transform. */ - sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis)); - sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis)); + 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)); } else #endif @@ -5572,6 +5575,33 @@ inline void gcode_M206() { #endif // FWRETRACT +/** + * M211: Enable, Disable, and/or Report software endstops + * + * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report + */ +inline void gcode_M211() { + SERIAL_ECHO_START; + #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + 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 ": "); + serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF)); + #else + SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": " MSG_OFF); + #endif + 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_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]); + SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]); + SERIAL_EOL; +} + #if HOTENDS > 1 /** @@ -6175,7 +6205,7 @@ inline void gcode_M428() { bool err = false; LOOP_XYZ(i) { if (axis_homed[i]) { - float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0, + float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0, diff = current_position[i] - LOGICAL_POSITION(base, i); if (diff > -20 && diff < 20) { set_home_offset((AxisEnum)i, home_offset[i] - diff); @@ -7495,6 +7525,10 @@ void process_next_command() { break; #endif // FWRETRACT + case 211: // M211 - Enable, Disable, and/or Report software endstops + gcode_M211(); + break; + #if HOTENDS > 1 case 218: // M218 - Set a tool offset: T X Y gcode_M218(); @@ -7749,18 +7783,22 @@ void ok_to_send() { SERIAL_EOL; } -void clamp_to_software_endstops(float target[3]) { - if (min_software_endstops) { - NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]); - NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]); - NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]); - } - if (max_software_endstops) { - NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]); - NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]); - NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]); +#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) + + void clamp_to_software_endstops(float target[XYZ]) { + #if ENABLED(min_software_endstops) + NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]); + NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]); + NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]); + #endif + #if ENABLED(max_software_endstops) + NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]); + NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]); + NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]); + #endif } -} + +#endif #if ENABLED(DELTA) diff --git a/Marlin/language.h b/Marlin/language.h index 002e95778..052cfe856 100644 --- a/Marlin/language.h +++ b/Marlin/language.h @@ -157,6 +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_SD_CANT_OPEN_SUBDIR "Cannot open subdir " #define MSG_SD_INIT_FAIL "SD init fail" diff --git a/Marlin/macros.h b/Marlin/macros.h index c07056954..351272804 100644 --- a/Marlin/macros.h +++ b/Marlin/macros.h @@ -24,6 +24,9 @@ #define MACROS_H #define NUM_AXIS 4 +#define XYZE 4 +#define ABC 3 +#define XYZ 3 #define FORCE_INLINE __attribute__((always_inline)) inline From e354cf5884fb6fc146729d6a5ce47fbb213c6263 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 20 Aug 2016 20:09:57 -0500 Subject: [PATCH 2/5] Apply sw_endstops_enabled to manual move --- Marlin/ultralcd.cpp | 40 ++++++++++++++++++++++++++-------------- 1 file changed, 26 insertions(+), 14 deletions(-) diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 0e54aeb2d..f5459757d 100755 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1327,30 +1327,42 @@ void kill_screen(const char* lcd_msg) { * */ - static void _lcd_move_xyz(const char* name, AxisEnum axis, float min, float max) { + static void _lcd_move_xyz(const char* name, AxisEnum axis) { if (LCD_CLICKED) { lcd_goto_previous_menu(true); return; } ENCODER_DIRECTION_NORMAL(); if (encoderPosition) { refresh_cmd_timeout(); + + // Limit to software endstops, if enabled + float min = (soft_endstops_enabled && min_software_endstops) ? soft_endstop_min[axis] : current_position[axis] - 1000, + max = (soft_endstops_enabled && max_software_endstops) ? soft_endstop_max[axis] : current_position[axis] + 1000; + + // Get the new position current_position[axis] += float((int32_t)encoderPosition) * move_menu_scale; - if (min_software_endstops) NOLESS(current_position[axis], min); - if (max_software_endstops) NOMORE(current_position[axis], max); - encoderPosition = 0; + + // Delta limits XY based on the current offset from center + // This assumes the center is 0,0 + #if ENABLED(DELTA) + if (axis != Z_AXIS) { + max = sqrt(sq(DELTA_PRINTABLE_RADIUS) - sq(current_position[Y_AXIS - axis])); + min = -max; + } + #endif + + // Limit only when trying to move towards the limit + if ((int32_t)encoderPosition < 0) NOLESS(current_position[axis], min); + if ((int32_t)encoderPosition > 0) NOMORE(current_position[axis], max); + manual_move_to_current(axis); + + encoderPosition = 0; lcdDrawUpdate = LCDVIEW_REDRAW_NOW; } if (lcdDrawUpdate) lcd_implementation_drawedit(name, ftostr41sign(current_position[axis])); } - #if ENABLED(DELTA) - static float delta_clip_radius_2 = (DELTA_PRINTABLE_RADIUS) * (DELTA_PRINTABLE_RADIUS); - static int delta_clip( float a ) { return sqrt(delta_clip_radius_2 - sq(a)); } - static void lcd_move_x() { int clip = delta_clip(current_position[Y_AXIS]); _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS, max(sw_endstop_min[X_AXIS], -clip), min(sw_endstop_max[X_AXIS], clip)); } - static void lcd_move_y() { int clip = delta_clip(current_position[X_AXIS]); _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS, max(sw_endstop_min[Y_AXIS], -clip), min(sw_endstop_max[Y_AXIS], clip)); } - #else - static void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS, sw_endstop_min[X_AXIS], sw_endstop_max[X_AXIS]); } - static void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS, sw_endstop_min[Y_AXIS], sw_endstop_max[Y_AXIS]); } - #endif - static void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS, sw_endstop_min[Z_AXIS], sw_endstop_max[Z_AXIS]); } + static void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); } + static void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS); } + static void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); } static void _lcd_move_e( #if E_MANUAL > 1 int8_t eindex=-1 From 4cd1ad8f286566005fd6b46a7f55f8de3c21f994 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 20 Aug 2016 20:11:08 -0500 Subject: [PATCH 3/5] Adjustments to M209, G28, M605 --- Marlin/Marlin_main.cpp | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 45c229b34..326e07e74 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -3326,7 +3326,7 @@ inline void gcode_G28() { switch (state) { case MeshReport: if (mbl.has_mesh()) { - SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? "On" : "Off"); + SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF); SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS)); SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z)); SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5); @@ -5557,18 +5557,7 @@ inline void gcode_M206() { */ inline void gcode_M209() { if (code_seen('S')) { - int t = code_value_int(); - switch (t) { - case 0: - autoretract_enabled = false; - break; - case 1: - autoretract_enabled = true; - break; - default: - unknown_command_error(); - return; - } + autoretract_enabled = code_value_bool(); for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false; } } @@ -6529,8 +6518,7 @@ inline void gcode_M503() { stepper.synchronize(); extruder_duplication_enabled = code_seen('S') && code_value_int() == 2; SERIAL_ECHO_START; - SERIAL_ECHOPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF); - SERIAL_EOL; + SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF); } #endif // M605 From 2f223b8c79ffcc983fabc98ad17e9db754cb2590 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 20 Aug 2016 22:38:32 -0500 Subject: [PATCH 4/5] Use ABC and XYZ for "3" --- Marlin/Marlin.h | 24 ++++++++++----------- Marlin/Marlin_main.cpp | 48 +++++++++++++++++++++--------------------- Marlin/planner.cpp | 2 +- Marlin/stepper.cpp | 2 +- Marlin/stepper.h | 2 +- Marlin/temperature.cpp | 2 +- 6 files changed, 40 insertions(+), 40 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 17c4f7f29..bafa50104 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -266,13 +266,13 @@ extern bool volumetric_enabled; extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner -extern bool axis_known_position[3]; // axis[n].is_known -extern bool axis_homed[3]; // axis[n].is_homed +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; extern float current_position[NUM_AXIS]; -extern float position_shift[3]; -extern float home_offset[3]; +extern float position_shift[XYZ]; +extern float home_offset[XYZ]; // Software Endstops void update_software_endstops(AxisEnum axis); @@ -303,25 +303,25 @@ float code_value_temp_abs(); float code_value_temp_diff(); #if ENABLED(DELTA) - extern float delta[3]; - extern float endstop_adj[3]; // axis[n].endstop_adj + 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[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[3]); + void adjust_delta(float cartesian[XYZ]); #endif #elif ENABLED(SCARA) - extern float delta[3]; - extern float axis_scaling[3]; // Build size scaling - void inverse_kinematics(const float cartesian[3]); - void forward_kinematics_SCARA(float f_scara[3]); + extern float delta[ABC]; + extern float axis_scaling[ABC]; // Build size scaling + void inverse_kinematics(const float cartesian[XYZ]); + void forward_kinematics_SCARA(float f_scara[ABC]); #endif #if ENABLED(Z_DUAL_ENDSTOPS) diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 326e07e74..8097606c0 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -286,8 +286,8 @@ uint8_t marlin_debug_flags = DEBUG_NONE; float current_position[NUM_AXIS] = { 0.0 }; static float destination[NUM_AXIS] = { 0.0 }; -bool axis_known_position[3] = { false }; -bool axis_homed[3] = { false }; +bool axis_known_position[XYZ] = { false }; +bool axis_homed[XYZ] = { false }; static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; @@ -327,11 +327,11 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The distance that XYZ has been offset by G92. Reset by G28. -float position_shift[3] = { 0 }; +float position_shift[XYZ] = { 0 }; // This offset is added to the configured home position. // Set by M206, M428, or menu item. Saved to EEPROM. -float home_offset[3] = { 0 }; +float home_offset[XYZ] = { 0 }; // Software Endstops are based on the configured limits. #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops) @@ -462,11 +462,11 @@ static uint8_t target_extruder; #define TOWER_2 Y_AXIS #define TOWER_3 Z_AXIS - float delta[3]; - float cartesian_position[3] = { 0 }; + float delta[ABC]; + float cartesian_position[XYZ] = { 0 }; #define SIN_60 0.8660254037844386 #define COS_60 0.5 - float endstop_adj[3] = { 0 }; + float endstop_adj[ABC] = { 0 }; // these are the default values, can be overriden with M665 float delta_radius = DELTA_RADIUS; float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower @@ -495,8 +495,8 @@ static uint8_t target_extruder; #if ENABLED(SCARA) float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND; - float delta[3]; - float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1 + float delta[ABC]; + float axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1 #endif #if ENABLED(FILAMENT_WIDTH_SENSOR) @@ -1415,7 +1415,7 @@ DEFINE_PGM_READ_ANY(float, float); DEFINE_PGM_READ_ANY(signed char, byte); #define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ - static const PROGMEM type array##_P[3] = \ + static const PROGMEM type array##_P[XYZ] = \ { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \ static inline type array(int axis) \ { return pgm_read_any(&array##_P[axis]); } @@ -1555,7 +1555,7 @@ static void set_axis_is_at_home(AxisEnum axis) { if (axis == X_AXIS || axis == Y_AXIS) { - float homeposition[3]; + float homeposition[XYZ]; LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i); // SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]); @@ -7802,9 +7802,9 @@ 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[3]) { + void inverse_kinematics(const float in_cartesian[XYZ]) { - const float cartesian[3] = { + 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]) @@ -7834,7 +7834,7 @@ void ok_to_send() { } float delta_safe_distance_from_top() { - float cartesian[3] = { + float cartesian[XYZ] = { LOGICAL_X_POSITION(0), LOGICAL_Y_POSITION(0), LOGICAL_Z_POSITION(0) @@ -7915,20 +7915,20 @@ void ok_to_send() { cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew; }; - void forward_kinematics_DELTA(float point[3]) { - forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]); + 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(X_AXIS), - stepper.get_axis_position_mm(Y_AXIS), - stepper.get_axis_position_mm(Z_AXIS)); + 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) // Adjust print surface height by linear interpolation over the bed_level array. - void adjust_delta(float cartesian[3]) { + void adjust_delta(float cartesian[XYZ]) { if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done! int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2; @@ -8401,8 +8401,8 @@ void prepare_move_to_destination() { #if ENABLED(SCARA) - void forward_kinematics_SCARA(float f_scara[3]) { - // Perform forward kinematics, and place results in delta[3] + void forward_kinematics_SCARA(float f_scara[ABC]) { + // Perform forward kinematics, and place results in delta[] // 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; @@ -8427,9 +8427,9 @@ void prepare_move_to_destination() { //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); } - void inverse_kinematics(const float cartesian[3]) { + void inverse_kinematics(const float cartesian[XYZ]) { // Inverse kinematics. - // Perform SCARA IK and place results in delta[3]. + // Perform SCARA IK and place results in delta[]. // The maths and first version were done by QHARLEY. // Integrated, tweaked by Joachim Cerny in June 2014. diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index a25715d8e..ac4947bd0 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -968,7 +968,7 @@ void Planner::check_axes_activity() { float junction_deviation = 0.1; // Compute path unit vector - double unit_vec[3]; + double unit_vec[XYZ]; unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters; unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters; diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 88e8cd560..18ebed9ed 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -122,7 +122,7 @@ unsigned short Stepper::acc_step_rate; // needed for deceleration start point uint8_t Stepper::step_loops, Stepper::step_loops_nominal; unsigned short Stepper::OCR1A_nominal; -volatile long Stepper::endstops_trigsteps[3]; +volatile long Stepper::endstops_trigsteps[XYZ]; #if ENABLED(X_DUAL_STEPPER_DRIVERS) #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0) diff --git a/Marlin/stepper.h b/Marlin/stepper.h index 1dd1531e4..177ccf182 100644 --- a/Marlin/stepper.h +++ b/Marlin/stepper.h @@ -128,7 +128,7 @@ class Stepper { static uint8_t step_loops, step_loops_nominal; static unsigned short OCR1A_nominal; - static volatile long endstops_trigsteps[3]; + static volatile long endstops_trigsteps[XYZ]; static volatile long endstops_stepsTotal, endstops_stepsDone; #if HAS_MOTOR_CURRENT_PWM diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index 78168c2e9..5a73762cd 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -95,7 +95,7 @@ unsigned char Temperature::soft_pwm_bed; #endif #if ENABLED(BABYSTEPPING) - volatile int Temperature::babystepsTodo[3] = { 0 }; + volatile int Temperature::babystepsTodo[XYZ] = { 0 }; #endif #if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0 From 14a03727e14c14fcd8df14766577aaf3034dd0d4 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sat, 20 Aug 2016 22:38:47 -0500 Subject: [PATCH 5/5] Tweak serialprintPGM --- Marlin/Marlin.h | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index bafa50104..581f078f7 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -103,11 +103,7 @@ FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_ // Things to write to serial from Program memory. Saves 400 to 2k of RAM. FORCE_INLINE void serialprintPGM(const char* str) { - char ch; - while ((ch = pgm_read_byte(str))) { - MYSERIAL.write(ch); - str++; - } + while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch); } void idle(