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@ -564,7 +564,7 @@ void stop();
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void get_available_commands();
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void process_next_command();
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void prepare_move_to_destination();
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void set_current_from_steppers();
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void set_current_from_steppers_for_axis(AxisEnum axis);
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#if ENABLED(ARC_SUPPORT)
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void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
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@ -1524,8 +1524,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
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if (axis == X_AXIS || axis == Y_AXIS) {
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float homeposition[3];
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for (uint8_t i = X_AXIS; i <= Z_AXIS; i++)
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homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
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LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
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// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
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// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
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@ -2104,12 +2103,6 @@ static void clean_up_after_endstop_or_probe_move() {
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return false;
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}
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#if ENABLED(DELTA)
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#define SET_Z_FROM_STEPPERS() set_current_from_steppers()
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#else
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#define SET_Z_FROM_STEPPERS() current_position[Z_AXIS] = LOGICAL_POSITION(stepper.get_axis_position_mm(Z_AXIS), Z_AXIS)
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#endif
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// Do a single Z probe and return with current_position[Z_AXIS]
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// at the height where the probe triggered.
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static float run_z_probe() {
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@ -2121,28 +2114,18 @@ static void clean_up_after_endstop_or_probe_move() {
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planner.bed_level_matrix.set_to_identity();
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#endif
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#if ENABLED(DELTA)
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float z_before = current_position[Z_AXIS], // Current Z
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z_mm = stepper.get_axis_position_mm(Z_AXIS); // Some tower's current position
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#endif
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do_blocking_move_to_z(-(Z_MAX_LENGTH + 10), Z_PROBE_SPEED_FAST);
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endstops.hit_on_purpose();
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SET_Z_FROM_STEPPERS();
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set_current_from_steppers_for_axis(Z_AXIS);
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SYNC_PLAN_POSITION_KINEMATIC();
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// move up the retract distance
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do_blocking_move_to_z(current_position[Z_AXIS] + home_bump_mm(Z_AXIS), Z_PROBE_SPEED_FAST);
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#if ENABLED(DELTA)
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z_before = current_position[Z_AXIS];
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z_mm = stepper.get_axis_position_mm(Z_AXIS);
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#endif
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// move back down slowly to find bed
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do_blocking_move_to_z(current_position[Z_AXIS] - home_bump_mm(Z_AXIS) * 2, Z_PROBE_SPEED_SLOW);
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endstops.hit_on_purpose();
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SET_Z_FROM_STEPPERS();
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set_current_from_steppers_for_axis(Z_AXIS);
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -2597,7 +2580,7 @@ static void homeaxis(AxisEnum axis) {
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* - Set the feedrate, if included
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*/
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void gcode_get_destination() {
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for (int i = 0; i < NUM_AXIS; i++) {
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LOOP_XYZE(i) {
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if (code_seen(axis_codes[i]))
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destination[i] = code_value_axis_units(i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0);
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else
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@ -3900,7 +3883,7 @@ inline void gcode_G92() {
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if (!didE) stepper.synchronize();
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bool didXYZ = false;
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for (int i = 0; i < NUM_AXIS; i++) {
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LOOP_XYZE(i) {
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if (code_seen(axis_codes[i])) {
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float p = current_position[i],
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v = code_value_axis_units(i);
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@ -5147,7 +5130,7 @@ inline void gcode_M85() {
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* (Follows the same syntax as G92)
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*/
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inline void gcode_M92() {
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for (int8_t i = 0; i < NUM_AXIS; i++) {
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LOOP_XYZE(i) {
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if (code_seen(axis_codes[i])) {
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if (i == E_AXIS) {
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float value = code_value_per_axis_unit(i);
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@ -5339,7 +5322,7 @@ inline void gcode_M200() {
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* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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*/
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inline void gcode_M201() {
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for (int8_t i = 0; i < NUM_AXIS; i++) {
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LOOP_XYZE(i) {
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if (code_seen(axis_codes[i])) {
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planner.max_acceleration_mm_per_s2[i] = code_value_axis_units(i);
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}
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@ -5350,7 +5333,7 @@ inline void gcode_M201() {
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#if 0 // Not used for Sprinter/grbl gen6
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inline void gcode_M202() {
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for (int8_t i = 0; i < NUM_AXIS; i++) {
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LOOP_XYZE(i) {
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if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value_axis_units(i) * planner.axis_steps_per_mm[i];
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}
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}
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@ -5361,7 +5344,7 @@ inline void gcode_M201() {
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* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in units/sec
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*/
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inline void gcode_M203() {
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for (int8_t i = 0; i < NUM_AXIS; i++)
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LOOP_XYZE(i)
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if (code_seen(axis_codes[i]))
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planner.max_feedrate_mm_s[i] = code_value_axis_units(i);
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}
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@ -5421,7 +5404,7 @@ inline void gcode_M205() {
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* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
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*/
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inline void gcode_M206() {
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for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
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LOOP_XYZ(i)
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if (code_seen(axis_codes[i]))
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set_home_offset((AxisEnum)i, code_value_axis_units(i));
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@ -5463,7 +5446,7 @@ inline void gcode_M206() {
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SERIAL_ECHOLNPGM(">>> gcode_M666");
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}
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#endif
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for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
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LOOP_XYZ(i) {
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if (code_seen(axis_codes[i])) {
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endstop_adj[i] = code_value_axis_units(i);
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -5955,7 +5938,7 @@ inline void gcode_M303() {
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* M365: SCARA calibration: Scaling factor, X, Y, Z axis
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*/
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inline void gcode_M365() {
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for (int8_t i = X_AXIS; i <= Z_AXIS; i++)
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LOOP_XYZ(i)
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if (code_seen(axis_codes[i]))
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axis_scaling[i] = code_value_float();
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}
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@ -6091,8 +6074,8 @@ void quickstop_stepper() {
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stepper.quick_stop();
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#if DISABLED(SCARA)
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stepper.synchronize();
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set_current_from_steppers();
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sync_plan_position(); // ...re-apply to planner position
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LOOP_XYZ(i) set_current_from_steppers_for_axis((AxisEnum)i);
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SYNC_PLAN_POSITION_KINEMATIC();
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#endif
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}
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@ -6155,7 +6138,7 @@ void quickstop_stepper() {
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*/
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inline void gcode_M428() {
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bool err = false;
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for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
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LOOP_XYZ(i) {
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if (axis_homed[i]) {
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float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) / 2) ? base_home_pos(i) : 0,
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diff = current_position[i] - LOGICAL_POSITION(base, i);
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@ -6285,7 +6268,7 @@ inline void gcode_M503() {
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float lastpos[NUM_AXIS];
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// Save current position of all axes
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for (uint8_t i = 0; i < NUM_AXIS; i++)
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LOOP_XYZE(i)
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lastpos[i] = destination[i] = current_position[i];
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// Define runplan for move axes
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@ -6506,7 +6489,7 @@ inline void gcode_M503() {
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*/
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inline void gcode_M907() {
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#if HAS_DIGIPOTSS
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for (int i = 0; i < NUM_AXIS; i++)
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LOOP_XYZE(i)
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if (code_seen(axis_codes[i])) stepper.digipot_current(i, code_value_int());
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if (code_seen('B')) stepper.digipot_current(4, code_value_int());
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if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.digipot_current(i, code_value_int());
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@ -6522,7 +6505,7 @@ inline void gcode_M907() {
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#endif
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#if ENABLED(DIGIPOT_I2C)
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// this one uses actual amps in floating point
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for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value_float());
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// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
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for (int i = NUM_AXIS; i < DIGIPOT_I2C_NUM_CHANNELS; i++) if (code_seen('B' + i - (NUM_AXIS))) digipot_i2c_set_current(i, code_value_float());
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#endif
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@ -6531,7 +6514,7 @@ inline void gcode_M907() {
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float dac_percent = code_value_float();
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for (uint8_t i = 0; i <= 4; i++) dac_current_percent(i, dac_percent);
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}
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for (uint8_t i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) dac_current_percent(i, code_value_float());
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#endif
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}
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@ -6570,7 +6553,7 @@ inline void gcode_M907() {
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// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
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inline void gcode_M350() {
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if (code_seen('S')) for (int i = 0; i <= 4; i++) stepper.microstep_mode(i, code_value_byte());
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for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_mode(i, code_value_byte());
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if (code_seen('B')) stepper.microstep_mode(4, code_value_byte());
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stepper.microstep_readings();
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}
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@ -6582,11 +6565,11 @@ inline void gcode_M907() {
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inline void gcode_M351() {
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if (code_seen('S')) switch (code_value_byte()) {
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case 1:
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for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, code_value_byte(), -1);
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if (code_seen('B')) stepper.microstep_ms(4, code_value_byte(), -1);
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break;
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case 2:
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for (int i = 0; i < NUM_AXIS; i++) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
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LOOP_XYZE(i) if (code_seen(axis_codes[i])) stepper.microstep_ms(i, -1, code_value_byte());
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if (code_seen('B')) stepper.microstep_ms(4, -1, code_value_byte());
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break;
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}
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@ -7929,25 +7912,16 @@ void clamp_to_software_endstops(float target[3]) {
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#endif // DELTA
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void set_current_from_steppers() {
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void set_current_from_steppers_for_axis(AxisEnum axis) {
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#if ENABLED(DELTA)
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set_cartesian_from_steppers();
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current_position[X_AXIS] = cartesian_position[X_AXIS];
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current_position[Y_AXIS] = cartesian_position[Y_AXIS];
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current_position[Z_AXIS] = cartesian_position[Z_AXIS];
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current_position[axis] = LOGICAL_POSITION(cartesian_position[axis], axis);
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#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
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vector_3 pos = planner.adjusted_position(); // values directly from steppers...
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current_position[X_AXIS] = pos.x;
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current_position[Y_AXIS] = pos.y;
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current_position[Z_AXIS] = pos.z;
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vector_3 pos = planner.adjusted_position();
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current_position[axis] = LOGICAL_POSITION(axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z, axis);
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#else
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current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS); // CORE handled transparently
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current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
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current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
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current_position[axis] = LOGICAL_POSITION(stepper.get_axis_position_mm(axis), axis); // CORE handled transparently
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#endif
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for (uint8_t i = X_AXIS; i <= Z_AXIS; i++)
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current_position[i] += LOGICAL_POSITION(0, i);
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}
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#if ENABLED(MESH_BED_LEVELING)
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@ -8013,7 +7987,7 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
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inline bool prepare_kinematic_move_to(float target[NUM_AXIS]) {
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float difference[NUM_AXIS];
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for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = target[i] - current_position[i];
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LOOP_XYZE(i) difference[i] = target[i] - current_position[i];
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float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
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if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
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@ -8031,7 +8005,7 @@ void mesh_line_to_destination(float fr_mm_m, uint8_t x_splits = 0xff, uint8_t y_
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float fraction = float(s) * inv_steps;
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for (int8_t i = 0; i < NUM_AXIS; i++)
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LOOP_XYZE(i)
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target[i] = current_position[i] + difference[i] * fraction;
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inverse_kinematics(target);
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