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Merge pull request #2064 from thinkyhead/wait_before_g28

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Split up prepare_move by type
master
Scott Lahteine 10 years ago
parent 5146694452 27ad381e25
commit 6e5572228d
3 changed files with 106 additions and 90 deletions
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2
Marlin/Marlin.h
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@ -205,7 +205,7 @@ void enable_all_steppers();
void disable_all_steppers(); void disable_all_steppers();
void FlushSerialRequestResend(); void FlushSerialRequestResend();
void ClearToSend(); void ok_to_send();
void get_coordinates(); void get_coordinates();
#ifdef DELTA #ifdef DELTA

192
Marlin/Marlin_main.cpp
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@ -363,6 +363,7 @@ bool target_direction;
#endif #endif
#ifdef SCARA #ifdef SCARA
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
static float delta[3] = { 0 }; static float delta[3] = { 0 };
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1 float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif #endif
@ -1712,7 +1713,7 @@ static void homeaxis(AxisEnum axis) {
#ifdef FWRETRACT #ifdef FWRETRACT
void retract(bool retracting, bool swapretract = false) { void retract(bool retracting, bool swapping=false) {
if (retracting == retracted[active_extruder]) return; if (retracting == retracted[active_extruder]) return;
@ -1723,7 +1724,7 @@ static void homeaxis(AxisEnum axis) {
if (retracting) { if (retracting) {
feedrate = retract_feedrate * 60; feedrate = retract_feedrate * 60;
current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder]; current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]); plan_set_e_position(current_position[E_AXIS]);
prepare_move(); prepare_move();
@ -1750,7 +1751,7 @@ static void homeaxis(AxisEnum axis) {
} }
feedrate = retract_recover_feedrate * 60; feedrate = retract_recover_feedrate * 60;
float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]); plan_set_e_position(current_position[E_AXIS]);
prepare_move(); prepare_move();
@ -1792,7 +1793,7 @@ inline void gcode_G0_G1() {
#endif //FWRETRACT #endif //FWRETRACT
prepare_move(); prepare_move();
//ClearToSend(); //ok_to_send();
} }
} }
@ -1814,7 +1815,7 @@ inline void gcode_G4() {
millis_t codenum = 0; millis_t codenum = 0;
if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait if (code_seen('S')) codenum = code_value() * 1000; // seconds to wait
st_synchronize(); st_synchronize();
refresh_cmd_timeout(); refresh_cmd_timeout();
@ -2681,7 +2682,7 @@ inline void gcode_G92() {
hasP = codenum > 0; hasP = codenum > 0;
} }
if (code_seen('S')) { if (code_seen('S')) {
codenum = code_value_short() * 1000UL; // seconds to wait codenum = code_value() * 1000; // seconds to wait
hasS = codenum > 0; hasS = codenum > 0;
} }
char* starpos = strchr(src, '*'); char* starpos = strchr(src, '*');
@ -4314,7 +4315,7 @@ inline void gcode_M303() {
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move(); prepare_move();
//ClearToSend(); //ok_to_send();
return true; return true;
} }
return false; return false;
@ -5537,7 +5538,7 @@ void process_commands() {
SERIAL_ECHOLNPGM("\""); SERIAL_ECHOLNPGM("\"");
} }
ClearToSend(); ok_to_send();
} }
void FlushSerialRequestResend() { void FlushSerialRequestResend() {
@ -5545,10 +5546,10 @@ void FlushSerialRequestResend() {
MYSERIAL.flush(); MYSERIAL.flush();
SERIAL_PROTOCOLPGM(MSG_RESEND); SERIAL_PROTOCOLPGM(MSG_RESEND);
SERIAL_PROTOCOLLN(gcode_LastN + 1); SERIAL_PROTOCOLLN(gcode_LastN + 1);
ClearToSend(); ok_to_send();
} }
void ClearToSend() { void ok_to_send() {
refresh_cmd_timeout(); refresh_cmd_timeout();
#ifdef SDSUPPORT #ifdef SDSUPPORT
if (fromsd[cmd_queue_index_r]) return; if (fromsd[cmd_queue_index_r]) return;
@ -5777,54 +5778,15 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
#endif // PREVENT_DANGEROUS_EXTRUDE #endif // PREVENT_DANGEROUS_EXTRUDE
void prepare_move() { #if defined(DELTA) || defined(SCARA)
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
#ifdef PREVENT_DANGEROUS_EXTRUDE
(void)prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
#endif
#ifdef SCARA //for now same as delta-code
float difference[NUM_AXIS];
for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
if (cartesian_mm < 0.000001) { return; }
float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
int steps = max(1, int(scara_segments_per_second * seconds));
//SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps);
for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
calculate_delta(destination);
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
}
#endif // SCARA
#ifdef DELTA
inline bool prepare_move_delta() {
float difference[NUM_AXIS]; float difference[NUM_AXIS];
for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i]; for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
if (cartesian_mm < 0.000001) return; if (cartesian_mm < 0.000001) return false;
float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
int steps = max(1, int(delta_segments_per_second * seconds)); int steps = max(1, int(delta_segments_per_second * seconds));
@ -5833,18 +5795,39 @@ void prepare_move() {
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) { for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps); float fraction = float(s) / float(steps);
for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
for (int8_t i = 0; i < NUM_AXIS; i++)
destination[i] = current_position[i] + difference[i] * fraction;
calculate_delta(destination); calculate_delta(destination);
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
adjust_delta(destination); adjust_delta(destination);
#endif #endif
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
//SERIAL_ECHOPGM("delta[X_AXIS]="); SERIAL_ECHOLN(delta[X_AXIS]);
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
} }
return true;
}
#endif // DELTA #endif // DELTA || SCARA
#ifdef DUAL_X_CARRIAGE #ifdef SCARA
inline bool prepare_move_scara() { return prepare_move_delta(); }
#endif
#ifdef DUAL_X_CARRIAGE
inline bool prepare_move_dual_x_carriage() {
if (active_extruder_parked) { if (active_extruder_parked) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) { if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
// move duplicate extruder into correct duplication position. // move duplicate extruder into correct duplication position.
@ -5865,7 +5848,7 @@ void prepare_move() {
set_current_to_destination(); set_current_to_destination();
NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]); NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
delayed_move_time = millis(); delayed_move_time = millis();
return; return false;
} }
} }
delayed_move_time = 0; delayed_move_time = 0;
@ -5876,9 +5859,14 @@ void prepare_move() {
active_extruder_parked = false; active_extruder_parked = false;
} }
} }
#endif // DUAL_X_CARRIAGE return true;
}
#if !defined(DELTA) && !defined(SCARA) #endif // DUAL_X_CARRIAGE
#if !defined(DELTA) && !defined(SCARA)
inline bool prepare_move_cartesian() {
// Do not use feedrate_multiplier for E or Z only moves // Do not use feedrate_multiplier for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) { if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination(); line_to_destination();
@ -5886,12 +5874,40 @@ void prepare_move() {
else { else {
#ifdef MESH_BED_LEVELING #ifdef MESH_BED_LEVELING
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder); mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder);
return; return false;
#else #else
line_to_destination(feedrate * feedrate_multiplier / 100.0); line_to_destination(feedrate * feedrate_multiplier / 100.0);
#endif // MESH_BED_LEVELING #endif
} }
#endif // !(DELTA || SCARA) return true;
}
#endif // !DELTA && !SCARA
/**
* Prepare a single move and get ready for the next one
*/
void prepare_move() {
clamp_to_software_endstops(destination);
refresh_cmd_timeout();
#ifdef PREVENT_DANGEROUS_EXTRUDE
prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
#endif
#ifdef SCARA
if (!prepare_move_scara()) return;
#elif defined(DELTA)
if (!prepare_move_delta()) return;
#endif
#ifdef DUAL_X_CARRIAGE
if (!prepare_move_dual_x_carriage()) return;
#endif
#if !defined(DELTA) && !defined(SCARA)
if (!prepare_move_cartesian()) return;
#endif
set_current_to_destination(); set_current_to_destination();
} }
@ -5911,37 +5927,37 @@ void prepare_arc_move(char isclockwise) {
#if HAS_CONTROLLERFAN #if HAS_CONTROLLERFAN
millis_t lastMotor = 0; // Last time a motor was turned on void controllerFan() {
millis_t lastMotorCheck = 0; // Last time the state was checked static millis_t lastMotor = 0; // Last time a motor was turned on
static millis_t lastMotorCheck = 0; // Last time the state was checked
void controllerFan() { millis_t ms = millis();
millis_t ms = millis(); if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms lastMotorCheck = ms;
lastMotorCheck = ms; if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0 || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
|| E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled... #if EXTRUDERS > 1
#if EXTRUDERS > 1 || E1_ENABLE_READ == E_ENABLE_ON
|| E1_ENABLE_READ == E_ENABLE_ON #if HAS_X2_ENABLE
#if HAS_X2_ENABLE || X2_ENABLE_READ == X_ENABLE_ON
|| X2_ENABLE_READ == X_ENABLE_ON #endif
#endif #if EXTRUDERS > 2
#if EXTRUDERS > 2 || E2_ENABLE_READ == E_ENABLE_ON
|| E2_ENABLE_READ == E_ENABLE_ON #if EXTRUDERS > 3
#if EXTRUDERS > 3 || E3_ENABLE_READ == E_ENABLE_ON
|| E3_ENABLE_READ == E_ENABLE_ON #endif
#endif #endif
#endif #endif
#endif ) {
) { lastMotor = ms; //... set time to NOW so the fan will turn on
lastMotor = ms; //... set time to NOW so the fan will turn on }
uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, speed);
analogWrite(CONTROLLERFAN_PIN, speed);
} }
uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, speed);
analogWrite(CONTROLLERFAN_PIN, speed);
} }
}
#endif #endif // HAS_CONTROLLERFAN
#ifdef SCARA #ifdef SCARA
void calculate_SCARA_forward_Transform(float f_scara[3]) void calculate_SCARA_forward_Transform(float f_scara[3])

2
Marlin/example_configurations/SCARA/Configuration.h
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@ -30,7 +30,7 @@ Here are some standard links for getting your machine calibrated:
// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested! // You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
// Uncomment to use Morgan scara mode // Uncomment to use Morgan scara mode
#define SCARA #define SCARA
#define scara_segments_per_second 200 //careful, two much will decrease performance... #define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
// Length of inner support arm // Length of inner support arm
#define Linkage_1 150 //mm Preprocessor cannot handle decimal point... #define Linkage_1 150 //mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter // Length of outer support arm Measure arm lengths precisely and enter

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