@ -117,7 +117,7 @@
* G30 - Single Z probe , probes bed at current XY location .
* G31 - Dock sled ( Z_PROBE_SLED only )
* G32 - Undock sled ( Z_PROBE_SLED only )
* G38 - Probe target - similar to G28 except it uses the Z_ Probe for all three axi s
* G38 - Probe target - similar to G28 except it uses the Z_ MIN endstop for all three axe s
* G90 - Use Absolute Coordinates
* G91 - Use Relative Coordinates
* G92 - Set current position to coordinates given
@ -277,9 +277,9 @@
TWIBus i2c ;
# endif
# if def G38_2_3
bool G38_flag = false ; // init G38 flags
bool G38_flag_pass = false ;
# if ENABLED( G38_2_3)
bool G38_move = false ,
G38_endstop_hit = false ;
# endif
bool Running = true ;
@ -1343,7 +1343,7 @@ static void set_home_offset(AxisEnum axis, float v) {
* SCARA should wait until all XY homing is done before setting the XY
* current_position to home , because neither X nor Y is at home until
* both are at home . Z can however be homed individually .
*
*
*/
static void set_axis_is_at_home ( AxisEnum axis ) {
# if ENABLED(DEBUG_LEVELING_FEATURE)
@ -2331,146 +2331,6 @@ static void clean_up_after_endstop_or_probe_move() {
# endif // AUTO_BED_LEVELING_BILINEAR
# ifdef G38_2_3
# define G38_minimum_move 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
bool check_move ( ) //checks that at least one of the axis in the command line has an actual move
// motion planner only does moves of 0.001mm and larger
{
bool move_flag = false ;
for ( int8_t i = 0 ; i < 3 ; i + + ) {
/* debug used to determine prints
SERIAL_PROTOCOLPGM ( " axis: " ) ;
SERIAL_PROTOCOL ( axis_codes [ i ] ) ;
SERIAL_PROTOCOLPGM ( " code_seen : " ) ;
SERIAL_PROTOCOL ( code_seen ( axis_codes [ i ] ) ) ;
SERIAL_PROTOCOLPGM ( " destination : " ) ;
SERIAL_PROTOCOL ( destination [ i ] ) ;
SERIAL_PROTOCOLPGM ( " current : " ) ;
SERIAL_PROTOCOL ( current_position [ i ] ) ;
SERIAL_PROTOCOLPGM ( " dif x 1000 : " ) ;
SERIAL_PROTOCOLLN ( ( destination [ i ] - current_position [ i ] ) * 1000 ) ;
*/
if ( code_seen ( axis_codes [ i ] ) & & ( fabs ( destination [ i ] - current_position [ i ] ) > = G38_minimum_move ) ) move_flag = true ;
/*
? ? 0.0275 mm produced a move on my machine along with an updated current position .
0.0265 mm did NOT produce a move and did NOT change the current position
this is very different than the 0.001 in the planner .
0.001 " is .0254mm so maybe the 0.0275 observed comes from digital storage limitations/conversion/rounding
*/
}
return move_flag ;
}
static void G38_run_probe ( bool * G38_pass_fail ) {
G38_flag = true ; //tell the interrupt handler that we're doing a G38 probe
* G38_pass_fail = false ;
# ifdef X_HOME_BUMP_MM
# ifdef Y_HOME_BUMP_MM
# ifdef Z_HOME_BUMP_MM
float G38_X_retract_mm = home_bump_mm ( X_AXIS ) ;
float G38_Y_retract_mm = home_bump_mm ( Y_AXIS ) ;
float G38_Z_retract_mm = home_bump_mm ( Z_AXIS ) ;
# else
float G38_X_retract_mm = 5 ;
float G38_Y_retract_mm = 5 ;
float G38_Z_retract_mm = 2 ;
# endif
# endif
# endif
// only retract the axis if the axis is in the command
if ( ( ! code_seen ( ' X ' ) | | ( code_value_axis_units ( X_AXIS ) = = 0 ) ) ) G38_X_retract_mm = 0 ;
if ( ( ! code_seen ( ' Y ' ) | | ( code_value_axis_units ( Y_AXIS ) = = 0 ) ) ) G38_Y_retract_mm = 0 ;
if ( ( ! code_seen ( ' Z ' ) | | ( code_value_axis_units ( Z_AXIS ) = = 0 ) ) ) G38_Z_retract_mm = 0 ;
// change the direction of the retract if needed
if ( ( destination [ X_AXIS ] - current_position [ X_AXIS ] ) > 0 ) G38_X_retract_mm = - G38_X_retract_mm ;
if ( ( destination [ Y_AXIS ] - current_position [ Y_AXIS ] ) > 0 ) G38_Y_retract_mm = - G38_Y_retract_mm ;
if ( ( destination [ Z_AXIS ] - current_position [ Z_AXIS ] ) > 0 ) G38_Z_retract_mm = - G38_Z_retract_mm ;
stepper . synchronize ( ) ; // wait until the machine is idle
bool save_endstops = endstops . enabled ; //remember state of endstops so we can retore them at the end
endstops . enable ( true ) ;
// move until you reach the destination or hit an endstop or hit the target
// it's an error unless have hit the target
G38_flag_pass = false ;
* G38_pass_fail = false ;
planner . buffer_line ( destination [ X_AXIS ] , destination [ Y_AXIS ] , destination [ Z_AXIS ] , destination [ E_AXIS ] , feedrate_mm_s , active_extruder ) ;
stepper . synchronize ( ) ;
// we have to let the planner know where we are right now as it is not where we said to go.
// and we need to update current_position[axis]
current_position [ X_AXIS ] = stepper . get_axis_position_mm ( X_AXIS ) ;
current_position [ Y_AXIS ] = stepper . get_axis_position_mm ( Y_AXIS ) ;
current_position [ Z_AXIS ] = stepper . get_axis_position_mm ( Z_AXIS ) ;
planner . set_position_mm ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
* G38_pass_fail = G38_flag_pass ; // only care if hit target on the first move
if ( * G38_pass_fail ) { // no sense in doing the remaining moves if we didn't hit the endstop
// move away the retract distance
float xPosition = current_position [ X_AXIS ] + G38_X_retract_mm ;
float yPosition = current_position [ Y_AXIS ] + G38_Y_retract_mm ;
float zPosition = current_position [ Z_AXIS ] + G38_Z_retract_mm ;
// disable endstops on retract otherwise sometimes can't get away
endstops . enable ( false ) ;
G38_flag = false ;
planner . buffer_line ( xPosition , yPosition , zPosition , current_position [ E_AXIS ] , feedrate_mm_s / 4 , active_extruder ) ;
stepper . synchronize ( ) ;
// move back slowly
xPosition - = G38_X_retract_mm * 2 ;
yPosition - = G38_Y_retract_mm * 2 ;
zPosition - = G38_Z_retract_mm * 2 ;
// enable endstops on move back
endstops . enable ( true ) ;
G38_flag = true ;
planner . buffer_line ( xPosition , yPosition , zPosition , current_position [ E_AXIS ] , feedrate_mm_s / 4 , active_extruder ) ;
stepper . synchronize ( ) ;
// we have to let the planner know where we are right now as it is not where we said to go.
// and we need to update current_position[axis]
current_position [ X_AXIS ] = stepper . get_axis_position_mm ( X_AXIS ) ;
current_position [ Y_AXIS ] = stepper . get_axis_position_mm ( Y_AXIS ) ;
current_position [ Z_AXIS ] = stepper . get_axis_position_mm ( Z_AXIS ) ;
planner . set_position_mm ( current_position [ X_AXIS ] , current_position [ Y_AXIS ] , current_position [ Z_AXIS ] , current_position [ E_AXIS ] ) ;
}
// clean_up_after_endstop_move();
endstops . enable ( save_endstops ) ; //restore endstops to same state as when we started
endstops . hit_on_purpose ( ) ;
G38_flag = false ; //tell the interrupt handler that we're done
}
# endif //G38_2_3
/**
* Home an individual linear axis
*/
@ -4306,25 +4166,93 @@ inline void gcode_G28() {
# endif // HAS_BED_PROBE
# ifdef G38_2_3
inline void gcode_G38 ( float code_num ) {
# if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) || ENABLED(Z_MIN_PROBE_ENDSTOP) //must have valid Z_MIN_PROBE definition for this command to work
if ( ( code_num = = 38.2 | | code_num = = 38.3 ) & & ( code_seen ( ' X ' ) | | code_seen ( ' Y ' ) | | code_seen ( ' Z ' ) ) ) {
gcode_get_destination ( ) ; // For X Y Z E F
if ( check_move ( ) ) { // see if the commanded movement will result in a physical movement
bool G38_pass_fail = false ;
G38_run_probe ( & G38_pass_fail ) ;
if ( ! G38_pass_fail & & ( code_num = = 38.2 ) ) SERIAL_PROTOCOLLNPGM ( " ERROR - failed to reach target " ) ;
}
# if ENABLED(G38_2_3)
static bool G38_run_probe ( ) {
bool G38_pass_fail = false ;
// Get direction of move and retract
float retract_mm [ XYZ ] ;
LOOP_XYZ ( i ) {
float dist = destination [ i ] - current_position [ i ] ;
retract_mm [ i ] = fabs ( dist ) < G38_MINIMUM_MOVE ? 0 : home_bump_mm ( i ) * ( dist > 0 ? - 1 : 1 ) ;
}
stepper . synchronize ( ) ; // wait until the machine is idle
// Move until destination reached or target hit
endstops . enable ( true ) ;
G38_move = true ;
G38_endstop_hit = false ;
prepare_move_to_destination ( ) ;
stepper . synchronize ( ) ;
G38_move = false ;
endstops . hit_on_purpose ( ) ;
set_current_from_steppers_for_axis ( ALL_AXES ) ;
SYNC_PLAN_POSITION_KINEMATIC ( ) ;
// Only do remaining moves if target was hit
if ( G38_endstop_hit ) {
G38_pass_fail = true ;
// Move away by the retract distance
set_destination_to_current ( ) ;
LOOP_XYZ ( i ) destination [ i ] + = retract_mm [ i ] ;
endstops . enable ( false ) ;
prepare_move_to_destination ( ) ;
stepper . synchronize ( ) ;
feedrate_mm_s / = 4 ;
// Bump the target more slowly
LOOP_XYZ ( i ) destination [ i ] - = retract_mm [ i ] * 2 ;
endstops . enable ( true ) ;
G38_move = true ;
prepare_move_to_destination ( ) ;
stepper . synchronize ( ) ;
G38_move = false ;
set_current_from_steppers_for_axis ( ALL_AXES ) ;
SYNC_PLAN_POSITION_KINEMATIC ( ) ;
}
endstops . hit_on_purpose ( ) ;
endstops . not_homing ( ) ;
return G38_pass_fail ;
}
# else
SERIAL_PROTOCOLLNPGM ( " ERROR - Z_MIN_PROBE must be enabled " ) ;
/**
* G38 .2 - probe toward workpiece , stop on contact , signal error if failure
* G38 .3 - probe toward workpiece , stop on contact
*
* Like G28 except uses Z min endstop for all axes
*/
inline void gcode_G38 ( bool is_38_2 ) {
// Get X Y Z E F
gcode_get_destination ( ) ;
setup_for_endstop_or_probe_move ( ) ;
// If any axis has enough movement, do the move
LOOP_XYZ ( i )
if ( fabs ( destination [ i ] - current_position [ i ] ) > = G38_MINIMUM_MOVE ) {
if ( ! code_seen ( ' F ' ) ) feedrate_mm_s = homing_feedrate_mm_s [ i ] ;
// If G38.2 fails throw an error
if ( ! G38_run_probe ( ) & & is_38_2 ) {
SERIAL_ERROR_START ;
SERIAL_ERRORLNPGM ( " Failed to reach target " ) ;
}
break ;
}
clean_up_after_endstop_or_probe_move ( ) ;
}
# endif
# endif //G38_2_3
# endif // G38_2_3
/**
* G92 : Set current position to given X Y Z E
@ -7447,23 +7375,32 @@ void process_next_command() {
// Skip spaces to get the numeric part
while ( * cmd_ptr = = ' ' ) cmd_ptr + + ;
// Allow for decimal point in command
# if ENABLED(G38_2_3)
uint8_t subcode = 0 ;
# endif
uint16_t codenum = 0 ; // define ahead of goto
// Bail early if there's no code
bool code_is_good = NUMERIC ( * cmd_ptr ) ;
if ( ! code_is_good ) goto ExitUnknownCommand ;
# ifdef G38_2_3
double codenum_float ;
codenum_float = atof ( cmd_ptr ) ; //allow for decimal point in command
# endif
// Get and skip the code number
do {
codenum = ( codenum * 10 ) + ( * cmd_ptr - ' 0 ' ) ;
cmd_ptr + + ;
} while ( NUMERIC ( * cmd_ptr ) ) ;
// Allow for decimal point in command
# if ENABLED(G38_2_3)
if ( * cmd_ptr = = ' . ' ) {
cmd_ptr + + ;
while ( NUMERIC ( * cmd_ptr ) )
subcode = ( subcode * 10 ) + ( * cmd_ptr + + - ' 0 ' ) ;
}
# endif
// Skip all spaces to get to the first argument, or nul
while ( * cmd_ptr = = ' ' ) cmd_ptr + + ;
@ -7564,12 +7501,13 @@ void process_next_command() {
# endif // Z_PROBE_SLED
# endif // HAS_BED_PROBE
# ifdef G38_2_3
case 38 : //G38.2 & G38.3
gcode_G38 ( codenum_float ) ;
# if ENABLED(G38_2_3)
case 38 : // G38.2 & G38.3
if ( subcode = = 2 | | subcode = = 3 )
gcode_G38 ( subcode = = 2 ) ;
break ;
# endif
# endif
case 90 : // G90
relative_mode = false ;
break ;
@ -9078,7 +9016,7 @@ void prepare_move_to_destination() {
* Morgan SCARA Inverse Kinematics . Results in delta [ ] .
*
* See http : //forums.reprap.org/read.php?185,283327
*
*
* Maths and first version by QHARLEY .
* Integrated into Marlin and slightly restructured by Joachim Cerny .
*/
Scott Lahteine
8 years ago