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Cleaned up variable names and code documentation.

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master
Marcio Teixeira 7 years ago
parent 98c783cde8
commit 35763f53f4
3 changed files with 26 additions and 24 deletions
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38
Marlin/Conditionals_LulzBot.h
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@ -13,7 +13,7 @@
* got disabled. * got disabled.
*/ */
#define LULZBOT_FW_VERSION ".40" // Change this with each update #define LULZBOT_FW_VERSION ".42" // Change this with each update
#if ( \ #if ( \
!defined(LULZBOT_Gladiola_Mini) && \ !defined(LULZBOT_Gladiola_Mini) && \
@ -1704,8 +1704,8 @@
/****************************** BACKLASH COMPENSATION **************************/ /****************************** BACKLASH COMPENSATION **************************/
#if defined(LULZBOT_USE_Z_BACKLASH_COMPENSATION) #if defined(LULZBOT_USE_Z_BACKLASH_COMPENSATION)
#define LULZBOT_BACKLASH_AUTOPROBE_RESOLUTION 0.005 #define LULZBOT_BACKLASH_MEASUREMENT_RESOLUTION 0.005
#define LULZBOT_BACKLASH_AUTOPROBE_LIMIT 0.5 #define LULZBOT_BACKLASH_MEASUREMENT_LIMIT 0.5
#if ENABLED(LULZBOT_Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) #if ENABLED(LULZBOT_Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN)
#if defined(LULZBOT_Z_MIN_ENDSTOP_INVERTING) #if defined(LULZBOT_Z_MIN_ENDSTOP_INVERTING)
@ -1721,27 +1721,29 @@
#endif #endif
#endif #endif
#define LULZBOT_BACKLASH_AUTOPROBE_DECL int32_t z_backlash_steps = 0; #define LULZBOT_BACKLASH_MEASUREMENT_DECL int32_t z_backlash_steps = 0;
#define LULZBOT_BACKLASH_AUTOPROBE_EXTERN extern int32_t z_backlash_steps; #define LULZBOT_BACKLASH_MEASUREMENT_EXTERN extern int32_t z_backlash_steps;
#define LULZBOT_BACKLASH_AUTOPROBE_RESET z_backlash_steps = LULZBOT_BACKLASH_AUTOPROBE_LIMIT * planner.axis_steps_per_mm[Z_AXIS]; #define LULZBOT_BACKLASH_MEASUREMENT_START z_backlash_steps = LULZBOT_BACKLASH_MEASUREMENT_LIMIT * planner.axis_steps_per_mm[Z_AXIS];
#define LULZBOT_BACKLASH_AUTOPROBE \ #define LULZBOT_BACKLASH_MEASUREMENT \
{ \ { \
/* Measure Z backlash by raising nozzle in increments until probe breaks contact with washer */ \
float start_height = current_position[Z_AXIS]; \ float start_height = current_position[Z_AXIS]; \
while(current_position[Z_AXIS] < (start_height + LULZBOT_BACKLASH_AUTOPROBE_LIMIT) && LULZBOT_TEST_PROBE_PIN) { \ while(current_position[Z_AXIS] < (start_height + LULZBOT_BACKLASH_MEASUREMENT_LIMIT) && LULZBOT_TEST_PROBE_PIN) { \
do_blocking_move_to_z(current_position[Z_AXIS] + LULZBOT_BACKLASH_AUTOPROBE_RESOLUTION, MMM_TO_MMS(Z_PROBE_SPEED_SLOW)); \ do_blocking_move_to_z(current_position[Z_AXIS] + LULZBOT_BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(Z_PROBE_SPEED_SLOW)); \
} \ } \
const float measured_backlash_mm = current_position[Z_AXIS] - start_height; \ const float measured_backlash_mm = current_position[Z_AXIS] - start_height; \
/* Take the minimum backlash from all four corners, as we can only compensate for the shared amount */ \
z_backlash_steps = min(z_backlash_steps, measured_backlash_mm * planner.axis_steps_per_mm[Z_AXIS]); \ z_backlash_steps = min(z_backlash_steps, measured_backlash_mm * planner.axis_steps_per_mm[Z_AXIS]); \
} }
#define LULZBOT_BACKLASH_CORRECTION \ #define LULZBOT_BACKLASH_COMPENSATION \
{ \ { \
static bool last_z_direction; \ static bool last_z_direction; \
static bool is_correction = false; \ static bool is_correction = false; \
if(!is_correction && planner.leveling_active) { \ if(!is_correction && planner.leveling_active) { \
const bool new_z_direction = TEST(dm, Z_AXIS); \ const bool new_z_direction = TEST(dm, Z_AXIS); \
/* When there is motion in an opposing Z direction, apply the backlash correction */ \ /* When Z changes direction, insert backlash correction */ \
if((last_z_direction != new_z_direction) && (dc != 0)) { \ if((last_z_direction != new_z_direction) && (dc != 0)) { \
last_z_direction = new_z_direction; \ last_z_direction = new_z_direction; \
int32_t saved_position[NUM_AXIS], tweaked_position[XYZE]; \ int32_t saved_position[NUM_AXIS], tweaked_position[XYZE]; \
@ -1756,15 +1758,15 @@
} \ } \
} }
#define LULZBOT_BACKLASH_AUTOPROBE_SUMMARY \ #define LULZBOT_BACKLASH_MEASUREMENT_SUMMARY \
SERIAL_ECHOLNPAIR("Measured Z-axis backlash: ", float(z_backlash_steps) / planner.axis_steps_per_mm[Z_AXIS]); SERIAL_ECHOLNPAIR("Measured Z-axis backlash: ", float(z_backlash_steps) / planner.axis_steps_per_mm[Z_AXIS]);
#else #else
#define LULZBOT_BACKLASH_AUTOPROBE #define LULZBOT_BACKLASH_MEASUREMENT
#define LULZBOT_BACKLASH_AUTOPROBE_DECL #define LULZBOT_BACKLASH_MEASUREMENT_DECL
#define LULZBOT_BACKLASH_AUTOPROBE_EXTERN #define LULZBOT_BACKLASH_MEASUREMENT_EXTERN
#define LULZBOT_BACKLASH_AUTOPROBE_RESET #define LULZBOT_BACKLASH_MEASUREMENT_START
#define LULZBOT_BACKLASH_CORRECTION #define LULZBOT_BACKLASH_MEASUREMENT_SUMMARY
#define LULZBOT_BACKLASH_AUTOPROBE_SUMMARY #define LULZBOT_BACKLASH_COMPENSATION
#endif #endif
/******************************** MOTOR CURRENTS *******************************/ /******************************** MOTOR CURRENTS *******************************/

8
Marlin/Marlin_main.cpp
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@ -363,7 +363,7 @@
LULZBOT_EXECUTE_IMMEDIATE_DECL LULZBOT_EXECUTE_IMMEDIATE_DECL
LULZBOT_G29_WITH_RETRY_DECL LULZBOT_G29_WITH_RETRY_DECL
LULZBOT_BED_LEVELING_DECL LULZBOT_BED_LEVELING_DECL
LULZBOT_BACKLASH_AUTOPROBE_DECL LULZBOT_BACKLASH_MEASUREMENT_DECL
bool Running = true; bool Running = true;
@ -2276,7 +2276,7 @@ static void clean_up_after_endstop_or_probe_move() {
// move down slowly to find bed // move down slowly to find bed
//if (do_probe_move(-10, Z_PROBE_SPEED_SLOW)) return NAN; //if (do_probe_move(-10, Z_PROBE_SPEED_SLOW)) return NAN;
LULZBOT_DO_PROBE_MOVE(Z_PROBE_SPEED_SLOW); LULZBOT_DO_PROBE_MOVE(Z_PROBE_SPEED_SLOW);
LULZBOT_BACKLASH_AUTOPROBE LULZBOT_BACKLASH_MEASUREMENT
#if MULTIPLE_PROBING > 2 #if MULTIPLE_PROBING > 2
probes_total += current_position[Z_AXIS]; probes_total += current_position[Z_AXIS];
@ -5191,7 +5191,7 @@ void home_all_axes() { gcode_G28(true); }
if (verbose_level) { if (verbose_level) {
LULZBOT_BED_LEVELING_SUMMARY LULZBOT_BED_LEVELING_SUMMARY
LULZBOT_BACKLASH_AUTOPROBE_SUMMARY LULZBOT_BACKLASH_MEASUREMENT_SUMMARY
SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8); SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
@ -11827,7 +11827,7 @@ void process_parsed_command(
#if HAS_LEVELING #if HAS_LEVELING
case 29: // G29 Detailed Z probe, probes the bed at 3 or more points, case 29: // G29 Detailed Z probe, probes the bed at 3 or more points,
// or provides access to the UBL System if enabled. // or provides access to the UBL System if enabled.
LULZBOT_BACKLASH_AUTOPROBE_RESET LULZBOT_BACKLASH_MEASUREMENT_START
#if defined(LULZBOT_G29_COMMAND) #if defined(LULZBOT_G29_COMMAND)
LULZBOT_G29_COMMAND LULZBOT_G29_COMMAND
#else #else

4
Marlin/planner.cpp
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@ -73,7 +73,7 @@
#include "mesh_bed_leveling.h" #include "mesh_bed_leveling.h"
#endif #endif
LULZBOT_BACKLASH_AUTOPROBE_EXTERN LULZBOT_BACKLASH_MEASUREMENT_EXTERN
Planner planner; Planner planner;
@ -789,7 +789,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
#endif #endif
if (de < 0) SBI(dm, E_AXIS); if (de < 0) SBI(dm, E_AXIS);
LULZBOT_BACKLASH_CORRECTION LULZBOT_BACKLASH_COMPENSATION
const float esteps_float = de * e_factor[extruder]; const float esteps_float = de * e_factor[extruder];
const int32_t esteps = abs(esteps_float) + 0.5; const int32_t esteps = abs(esteps_float) + 0.5;

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