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Adjust spacing in Marlin_main.cpp and stepper.*

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master
Scott Lahteine 10 years ago
parent 072625ccad
commit c54a2ea042
3 changed files with 171 additions and 170 deletions
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330
Marlin/Marlin_main.cpp
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@ -561,9 +561,9 @@ void servo_init() {
// Set position of Servo Endstops that are defined // Set position of Servo Endstops that are defined
#ifdef SERVO_ENDSTOPS #ifdef SERVO_ENDSTOPS
for (int i = 0; i < 3; i++) for (int i = 0; i < 3; i++)
if (servo_endstops[i] >= 0) if (servo_endstops[i] >= 0)
servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]); servo[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
#endif #endif
#if SERVO_LEVELING #if SERVO_LEVELING
@ -1317,21 +1317,21 @@ static void setup_for_endstop_move() {
st_synchronize(); st_synchronize();
#ifdef Z_PROBE_ENDSTOP #ifdef Z_PROBE_ENDSTOP
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (z_probe_endstop) if (z_probe_endstop)
#else #else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (z_min_endstop) if (z_min_endstop)
#endif #endif
{ {
if (IsRunning()) { if (IsRunning()) {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to engage!"); SERIAL_ERRORLNPGM("Z-Probe failed to engage!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
Stop();
} }
Stop();
}
#endif // Z_PROBE_ALLEN_KEY #endif // Z_PROBE_ALLEN_KEY
@ -1394,21 +1394,21 @@ static void setup_for_endstop_move() {
st_synchronize(); st_synchronize();
#ifdef Z_PROBE_ENDSTOP #ifdef Z_PROBE_ENDSTOP
bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING); bool z_probe_endstop = (READ(Z_PROBE_PIN) != Z_PROBE_ENDSTOP_INVERTING);
if (!z_probe_endstop) if (!z_probe_endstop)
#else #else
bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); bool z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if (!z_min_endstop) if (!z_min_endstop)
#endif #endif
{ {
if (IsRunning()) { if (IsRunning()) {
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Z-Probe failed to retract!"); SERIAL_ERRORLNPGM("Z-Probe failed to retract!");
LCD_ALERTMESSAGEPGM("Err: ZPROBE"); LCD_ALERTMESSAGEPGM("Err: ZPROBE");
}
Stop();
} }
Stop();
}
#endif #endif
@ -6093,82 +6093,83 @@ void prepare_move() {
#endif // HAS_CONTROLLERFAN #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]) {
// Perform forward kinematics, and place results in delta[3] // Perform forward kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 // 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; float x_sin, x_cos, y_sin, y_cos;
//SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]); //SERIAL_ECHOPGM("f_delta x="); SERIAL_ECHO(f_scara[X_AXIS]);
//SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]); //SERIAL_ECHOPGM(" y="); SERIAL_ECHO(f_scara[Y_AXIS]);
x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; x_sin = sin(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1; x_cos = cos(f_scara[X_AXIS]/SCARA_RAD2DEG) * Linkage_1;
y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; y_sin = sin(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2; y_cos = cos(f_scara[Y_AXIS]/SCARA_RAD2DEG) * Linkage_2;
// SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin); //SERIAL_ECHOPGM(" x_sin="); SERIAL_ECHO(x_sin);
// SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos); //SERIAL_ECHOPGM(" x_cos="); SERIAL_ECHO(x_cos);
// SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin); //SERIAL_ECHOPGM(" y_sin="); SERIAL_ECHO(y_sin);
// SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos); //SERIAL_ECHOPGM(" y_cos="); SERIAL_ECHOLN(y_cos);
delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta delta[X_AXIS] = x_cos + y_cos + SCARA_offset_x; //theta
delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi delta[Y_AXIS] = x_sin + y_sin + SCARA_offset_y; //theta+phi
//SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]); //SERIAL_ECHOPGM(" delta[X_AXIS]="); SERIAL_ECHO(delta[X_AXIS]);
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]); //SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
} }
void calculate_delta(float cartesian[3]){ void calculate_delta(float cartesian[3]){
//reverse kinematics. //reverse kinematics.
// Perform reversed kinematics, and place results in delta[3] // Perform reversed kinematics, and place results in delta[3]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014 // 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 SCARA_pos[2]; float SCARA_pos[2];
static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi; static float SCARA_C2, SCARA_S2, SCARA_K1, SCARA_K2, SCARA_theta, SCARA_psi;
SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y SCARA_pos[X_AXIS] = cartesian[X_AXIS] * axis_scaling[X_AXIS] - SCARA_offset_x; //Translate SCARA to standard X Y
SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor. SCARA_pos[Y_AXIS] = cartesian[Y_AXIS] * axis_scaling[Y_AXIS] - SCARA_offset_y; // With scaling factor.
#if (Linkage_1 == Linkage_2) #if (Linkage_1 == Linkage_2)
SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1; SCARA_C2 = ( ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) ) / (2 * (float)L1_2) ) - 1;
#else #else
SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000; SCARA_C2 = ( sq(SCARA_pos[X_AXIS]) + sq(SCARA_pos[Y_AXIS]) - (float)L1_2 - (float)L2_2 ) / 45000;
#endif #endif
SCARA_S2 = sqrt( 1 - sq(SCARA_C2) ); SCARA_S2 = sqrt( 1 - sq(SCARA_C2) );
SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2; SCARA_K1 = Linkage_1 + Linkage_2 * SCARA_C2;
SCARA_K2 = Linkage_2 * SCARA_S2; SCARA_K2 = Linkage_2 * SCARA_S2;
SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1; SCARA_theta = ( atan2(SCARA_pos[X_AXIS],SCARA_pos[Y_AXIS])-atan2(SCARA_K1, SCARA_K2) ) * -1;
SCARA_psi = atan2(SCARA_S2,SCARA_C2); SCARA_psi = atan2(SCARA_S2,SCARA_C2);
delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle delta[X_AXIS] = SCARA_theta * SCARA_RAD2DEG; // Multiply by 180/Pi - theta is support arm angle
delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor) delta[Y_AXIS] = (SCARA_theta + SCARA_psi) * SCARA_RAD2DEG; // - equal to sub arm angle (inverted motor)
delta[Z_AXIS] = cartesian[Z_AXIS]; delta[Z_AXIS] = cartesian[Z_AXIS];
/* /*
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]); SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]); SERIAL_ECHOPGM("scara x="); SERIAL_ECHO(SCARA_pos[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHOLN(SCARA_pos[Y_AXIS]);
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]); SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]); SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]); SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2); SERIAL_ECHOPGM("C2="); SERIAL_ECHO(SCARA_C2);
SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2); SERIAL_ECHOPGM(" S2="); SERIAL_ECHO(SCARA_S2);
SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta); SERIAL_ECHOPGM(" Theta="); SERIAL_ECHO(SCARA_theta);
SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi); SERIAL_ECHOPGM(" Psi="); SERIAL_ECHOLN(SCARA_psi);
SERIAL_ECHOLN(" ");*/ SERIAL_EOL;
} */
}
#endif #endif // SCARA
#ifdef TEMP_STAT_LEDS #ifdef TEMP_STAT_LEDS
@ -6399,88 +6400,89 @@ void kill()
st_synchronize(); st_synchronize();
} }
} }
#endif
void Stop() { #endif // FILAMENT_RUNOUT_SENSOR
disable_all_heaters();
if (IsRunning()) {
Running = false;
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
}
#ifdef FAST_PWM_FAN #ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val)
{
val &= 0x07;
switch(digitalPinToTimer(pin))
{
#if defined(TCCR0A) void setPwmFrequency(uint8_t pin, int val) {
case TIMER0A: val &= 0x07;
case TIMER0B: switch (digitalPinToTimer(pin)) {
// TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR0B |= val;
break;
#endif
#if defined(TCCR1A) #if defined(TCCR0A)
case TIMER1A: case TIMER0A:
case TIMER1B: case TIMER0B:
// TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // TCCR0B &= ~(_BV(CS00) | _BV(CS01) | _BV(CS02));
// TCCR1B |= val; // TCCR0B |= val;
break; break;
#endif #endif
#if defined(TCCR2) #if defined(TCCR1A)
case TIMER2: case TIMER1A:
case TIMER2: case TIMER1B:
TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12)); // TCCR1B &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2 |= val; // TCCR1B |= val;
break; break;
#endif #endif
#if defined(TCCR2A) #if defined(TCCR2)
case TIMER2A: case TIMER2:
case TIMER2B: case TIMER2:
TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22)); TCCR2 &= ~(_BV(CS10) | _BV(CS11) | _BV(CS12));
TCCR2B |= val; TCCR2 |= val;
break; break;
#endif #endif
#if defined(TCCR3A) #if defined(TCCR2A)
case TIMER3A: case TIMER2A:
case TIMER3B: case TIMER2B:
case TIMER3C: TCCR2B &= ~(_BV(CS20) | _BV(CS21) | _BV(CS22));
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32)); TCCR2B |= val;
TCCR3B |= val; break;
break; #endif
#endif
#if defined(TCCR3A)
case TIMER3A:
case TIMER3B:
case TIMER3C:
TCCR3B &= ~(_BV(CS30) | _BV(CS31) | _BV(CS32));
TCCR3B |= val;
break;
#endif
#if defined(TCCR4A)
case TIMER4A:
case TIMER4B:
case TIMER4C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42));
TCCR4B |= val;
break;
#endif
#if defined(TCCR4A) #if defined(TCCR5A)
case TIMER4A: case TIMER5A:
case TIMER4B: case TIMER5B:
case TIMER4C: case TIMER5C:
TCCR4B &= ~(_BV(CS40) | _BV(CS41) | _BV(CS42)); TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
TCCR4B |= val; TCCR5B |= val;
break; break;
#endif #endif
#if defined(TCCR5A) }
case TIMER5A: }
case TIMER5B:
case TIMER5C:
TCCR5B &= ~(_BV(CS50) | _BV(CS51) | _BV(CS52));
TCCR5B |= val;
break;
#endif
#endif // FAST_PWM_FAN
void Stop() {
disable_all_heaters();
if (IsRunning()) {
Running = false;
Stopped_gcode_LastN = gcode_LastN; // Save last g_code for restart
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
} }
} }
#endif //FAST_PWM_FAN
bool setTargetedHotend(int code){ bool setTargetedHotend(int code){
target_extruder = active_extruder; target_extruder = active_extruder;

5
Marlin/stepper.cpp
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@ -1110,9 +1110,8 @@ long st_get_position(uint8_t axis) {
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
float st_get_position_mm(uint8_t axis) { float st_get_position_mm(AxisEnum axis) {
float steper_position_in_steps = st_get_position(axis); return st_get_position(axis) / axis_steps_per_unit[axis];
return steper_position_in_steps / axis_steps_per_unit[axis];
} }
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING

6
Marlin/stepper.h
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@ -67,9 +67,9 @@ void st_set_e_position(const long &e);
long st_get_position(uint8_t axis); long st_get_position(uint8_t axis);
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
// Get current position in mm // Get current position in mm
float st_get_position_mm(uint8_t axis); float st_get_position_mm(AxisEnum axis);
#endif //ENABLE_AUTO_BED_LEVELING #endif
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this // The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work. // to notify the subsystem that it is time to go to work.

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