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Removed obsolete code; small fix to M914

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- Removed Trinamic debug code (this has been superceeded by M122)
- Removed obsolete backlash compensation code
- Removed patch for LCD pause which was fixed upstream.
- Small fix to M914 where negative values were reported incorrectly.
master
Marcio Teixeira 7 years ago
parent 8ad9a2720e
commit e982770f60
4 changed files with 2 additions and 186 deletions
Show Stats Download Patch File Download Diff File

173
Marlin/Conditionals_LulzBot.h
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@ -13,7 +13,7 @@
* got disabled.
*/
#define LULZBOT_FW_VERSION ".7" // Change this with each update
#define LULZBOT_FW_VERSION ".8" // Change this with each update
#if ( \
!defined(LULZBOT_Gladiola_Mini) && \
@ -235,12 +235,6 @@
// as described in T1393
#define LULZBOT_ENDSTOPS_ALWAYS_ON_DEFAULT_WORKAROUND
// In Marlin 1.1.5, a paused print cannot be resumed from the LCD if
// PAUSE_PARK_RETRACT_LENGTH is non-zero. This has been submitted as
// bug #8703
#define LULZBOT_LCD_PAUSE_WORKAROUND
// Fix for OctoPrint serial buffer overflow when using auto temperature
// report.
// Back port of upstream https://github.com/MarlinFirmware/Marlin/commit/6ed284061580ffc6eef40df391afb30d2f8b45f5
@ -597,53 +591,6 @@
return; \
}
/****************************** BACKLASH COMPENSATION **************************/
#if defined(LULZBOT_IS_MINI) && defined(LULZBOT_USE_Z_BELT)
//#define LULZBOT_AXIS_BACKLASH {0.00, 0.00, 0.35, 0}
#endif
#if defined(LULZBOT_AXIS_BACKLASH)
#define SIGN(v) ((v < 0) ? -1.0 : 1.0)
#define LULZBOT_AXIS_BACKLASH_CORRECTION \
{ \
static const float backlash[NUM_AXIS] = LULZBOT_AXIS_BACKLASH; \
static uint8_t last_direction_bits; \
static bool is_correction = false; \
if(!is_correction && leveling_is_active()) { \
uint8_t changed_dir = last_direction_bits ^ dm; \
/* Ignore direction change if no steps are taken in that direction */ \
if(da == 0) CBI(changed_dir, X_AXIS); \
if(db == 0) CBI(changed_dir, Y_AXIS); \
if(dc == 0) CBI(changed_dir, Z_AXIS); \
if(de == 0) CBI(changed_dir, E_AXIS); \
/* Update the direction bits */ \
last_direction_bits ^= changed_dir; \
/* When there is motion in an opposing direction, apply the backlash correction */ \
if(changed_dir) { \
long saved_position[NUM_AXIS] = { 0 }; \
COPY(saved_position, position); \
const long x_backlash = TEST(changed_dir, X_AXIS) ? backlash[X_AXIS] * axis_steps_per_mm[X_AXIS] * SIGN(da) : 0; \
const long y_backlash = TEST(changed_dir, Y_AXIS) ? backlash[Y_AXIS] * axis_steps_per_mm[Y_AXIS] * SIGN(db) : 0; \
const long z_backlash = TEST(changed_dir, Z_AXIS) ? backlash[Z_AXIS] * axis_steps_per_mm[Z_AXIS] * SIGN(dc) : 0; \
const long e_backlash = TEST(changed_dir, E_AXIS) ? backlash[E_AXIS] * axis_steps_per_mm[E_AXIS] * SIGN(de) : 0; \
is_correction = true; /* Avoid infinite recursion */ \
_buffer_line( \
(position[X_AXIS] + x_backlash)/axis_steps_per_mm[X_AXIS], \
(position[Y_AXIS] + y_backlash)/axis_steps_per_mm[Y_AXIS], \
(position[Z_AXIS] + z_backlash)/axis_steps_per_mm[Z_AXIS], \
(position[E_AXIS] + e_backlash)/axis_steps_per_mm[E_AXIS_N], \
fr_mm_s, extruder \
); \
is_correction = false; \
COPY(position, saved_position); \
} \
} \
}
#else
#define LULZBOT_AXIS_BACKLASH_CORRECTION
#endif
/*************************** COMMON TOOLHEADS PARAMETERS ***********************/
#define LULZBOT_DEFAULT_EJERK 10.0
@ -1306,123 +1253,10 @@
st.external_ref(0); /* I_scale_analog = 0 */ \
st.internal_sense_R(0); /* internal_Rsense = 0 */ \
#define LULZBOT_TMC_REPORT(AXIS) \
{ \
uint32_t DRVSTATUS = stepper##AXIS.DRV_STATUS(); \
uint32_t IOIN = stepper##AXIS.IOIN(); \
uint32_t IHOLD_IRUN = stepper##AXIS.IHOLD_IRUN(); \
uint32_t CHOPCONF = stepper##AXIS.CHOPCONF(); \
uint32_t COOLCONF = stepper##AXIS.COOLCONF(); \
int8_t SGT = (COOLCONF >> 16) & 0b1111111; \
uint16_t SG_RESULT = (DRVSTATUS) & 0b111111111; \
bool drv_enn = (IOIN >> 4) & 0b1; \
bool stst = (DRVSTATUS >> 31) & 0b1; \
bool olb = (DRVSTATUS >> 30) & 0b1; \
bool ola = (DRVSTATUS >> 29) & 0b1; \
bool s2gb = (DRVSTATUS >> 28) & 0b1; \
bool s2ga = (DRVSTATUS >> 27) & 0b1; \
bool otpw = (DRVSTATUS >> 26) & 0b1; \
bool ot = (DRVSTATUS >> 25) & 0b1; \
bool fsactive = (DRVSTATUS >> 15) & 0b1; \
uint16_t ihold = (IHOLD_IRUN) & 0b11111; \
uint16_t irun = (IHOLD_IRUN >> 8) & 0b11111; \
uint16_t csactual = (DRVSTATUS >> 16) & 0b11111; \
bool vsense = (CHOPCONF >> 17) & 0b1; \
SERIAL_ECHOPGM(" " #AXIS ":"); \
SERIAL_ECHOPGM(" ihr:"); \
SERIAL_ECHO(ihold+1); \
SERIAL_ECHOPGM("/"); \
SERIAL_ECHO(irun+1); \
SERIAL_ECHOPGM(" vsen:"); \
SERIAL_ECHO(vsense); \
if(stepper##AXIS.coolstep_min_speed() != 0) { \
SERIAL_ECHOPGM(" sgt:"); \
SERIAL_ECHO(LULZBOT_SIGN_EXTEND_SGT(SGT)); \
if(num_sg > 0) { \
SERIAL_ECHOPGM(" avg_sg:"); \
SERIAL_ECHO(sum_sg_##AXIS/num_sg); \
} \
SERIAL_ECHOPGM(" csact:"); \
SERIAL_ECHO(csactual); \
} else { \
SERIAL_ECHOPGM(" stealth"); \
} \
SERIAL_ECHOPGM(" tstep_avg:"); \
SERIAL_ECHO(sum_tstep_##AXIS/num_sg); \
if(!drv_enn) SERIAL_ECHOPGM(" en"); \
if(stst) SERIAL_ECHOPGM(" st"); \
if(olb) SERIAL_ECHOPGM(" olb"); \
if(ola) SERIAL_ECHOPGM(" ola"); \
if(s2gb) SERIAL_ECHOPGM(" s2gb"); \
if(s2ga) SERIAL_ECHOPGM(" s2ga"); \
if(otpw) SERIAL_ECHOPGM(" otpw"); \
if(ot) SERIAL_ECHOPGM(" ot"); \
if(fsactive) SERIAL_ECHOPGM(" fsactive"); \
SERIAL_EOL(); \
}
#define LULZBOT_SIGN_EXTEND_SGT(sgt) int8_t(sgt | ((sgt << 1) & 0x80))
/* The following function accumulates the average of a
stallguard values during a planner move */
#define LULZBOT_TMC_AVG_VARS \
static uint8_t current_tail, tally_freq = 10; \
static uint32_t sum_sg_X = 0, sum_sg_Y = 0, sum_sg_Z = 0, sum_sg_E0 = 0, num_sg = 0; \
static uint32_t sum_tstep_X = 0, sum_tstep_Y = 0, sum_tstep_Z = 0, sum_tstep_E0 = 0;
#define LULZBOT_TMC_AVG_FUNC \
if(--tally_freq == 0) { \
tally_freq = 10; \
if(planner.blocks_queued()) { \
/* Reset accumulators at the start of each movement */ \
if(current_tail != planner.block_buffer_tail) { \
current_tail = planner.block_buffer_tail; \
sum_sg_X = sum_sg_Y = sum_sg_Z = sum_sg_E0 = 0; \
sum_tstep_X = sum_tstep_Y = sum_tstep_Z = sum_tstep_E0 = num_sg = 0; \
} \
/* While in motion, accumulate sg values */ \
sum_tstep_X += stepperX.TSTEP(); \
sum_tstep_Y += stepperY.TSTEP(); \
sum_tstep_Z += stepperZ.TSTEP(); \
sum_tstep_E0 += stepperE0.TSTEP(); \
sum_sg_X += stepperX.DRV_STATUS() & 0b111111111; \
sum_sg_Y += stepperY.DRV_STATUS() & 0b111111111; \
sum_sg_Z += stepperZ.DRV_STATUS() & 0b111111111; \
sum_sg_E0 += stepperE0.DRV_STATUS() & 0b111111111; \
num_sg++; \
} \
}
#define TMC_CS_TO_mA(cs,vsense) (float(cs)+1)/32 * (vsense?0.180:0.325)/(LULZBOT_R_SENSE+0.02) * 1/sqrt(2) * 1000
#if defined(LULZBOT_TMC_SHOW_CURRENT_ADJUSTMENTS)
#define LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(AXIS) \
{ \
static uint16_t last = 0; \
uint32_t DRVSTATUS = stepper##AXIS.DRV_STATUS(); \
uint16_t csactual = (DRVSTATUS >> 16) & 0b11111; \
if(csactual != last) { \
last = csactual; \
SERIAL_ECHOPGM(#AXIS " current set to "); \
SERIAL_ECHO(TMC_CS_TO_mA(csactual,stepper##AXIS.vsense())); \
SERIAL_ECHOPGM(" mA (irun="); \
SERIAL_ECHO(csactual+1); \
SERIAL_ECHOPGM("/32, vsense="); \
SERIAL_ECHO(stepper##AXIS.vsense()); \
SERIAL_ECHOLNPGM(")"); \
} \
}
#else
#define LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(AXIS)
#endif
#define LULZBOT_TMC_M119_REPORT \
SERIAL_ECHOLNPGM("TMC2130 Status:"); \
LULZBOT_TMC_REPORT(X) \
LULZBOT_TMC_REPORT(Y) \
LULZBOT_TMC_REPORT(Z) \
LULZBOT_TMC_REPORT(E0)
#define LULZBOT_ENABLE_COOLSTEP_WITH_STALLGUARD(st) \
/* Disable steathchop */ \
st.stealthChop(0); \
@ -1549,11 +1383,6 @@
LULZBOT_BACKOFF_FEEDRATE \
); \
}
#else
#define LULZBOT_TMC_M119_REPORT
#define LULZBOT_TMC_AVG_VARS
#define LULZBOT_TMC_AVG_FUNC
#define LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(AXIS)
#endif
#if defined(LULZBOT_SENSORLESS_HOMING)

5
Marlin/Marlin_main.cpp
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@ -6513,9 +6513,6 @@ inline void gcode_M17() {
}
}
}
#if ENABLED(ULTIPANEL) && defined(LULZBOT_LCD_PAUSE_WORKAROUND)
lcd_advanced_pause_show_message(ADVANCED_PAUSE_MESSAGE_STATUS);
#endif
}
#if IS_KINEMATIC
@ -10688,7 +10685,7 @@ inline void gcode_M502() {
static void tmc_get_sgt(TMC &st, const char name[]) {
SERIAL_ECHO(name);
SERIAL_ECHOPGM(" driver homing sensitivity set to ");
MYSERIAL.println(st.sgt(), DEC);
MYSERIAL.println(LULZBOT_SIGN_EXTEND_SGT(st.sgt()), DEC);
}
template<typename TMC>
static void tmc_set_sgt(TMC &st, const char name[], const int8_t sgt_val) {

8
Marlin/endstops.cpp
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@ -165,8 +165,6 @@ void Endstops::init() {
} // Endstops::init
LULZBOT_TMC_AVG_VARS
void Endstops::report_state() {
if (endstop_hit_bits) {
#if ENABLED(ULTRA_LCD)
@ -215,11 +213,6 @@ void Endstops::report_state() {
}
#endif
}
LULZBOT_TMC_AVG_FUNC
LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(X)
LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(Y)
LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(Z)
LULZBOT_TMC_REPORT_CURRENT_ADJUSTMENTS(E0)
} // Endstops::report_state
void Endstops::M119() {
@ -272,7 +265,6 @@ void Endstops::M119() {
SERIAL_PROTOCOLPGM(MSG_FILAMENT_RUNOUT_SENSOR);
SERIAL_PROTOCOLLN(((READ(FIL_RUNOUT_PIN)^FIL_RUNOUT_INVERTING) ? MSG_ENDSTOP_HIT : MSG_ENDSTOP_OPEN));
#endif
LULZBOT_TMC_M119_REPORT
} // Endstops::M119
#if ENABLED(X_DUAL_ENDSTOPS)

2
Marlin/planner.cpp
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@ -787,8 +787,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
#endif
if (de < 0) SBI(dm, E_AXIS);
LULZBOT_AXIS_BACKLASH_CORRECTION
const float esteps_float = de * e_factor[extruder];
const int32_t esteps = abs(esteps_float) + 0.5;

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