Formatted multi-line comments
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@ -456,9 +456,11 @@ static bool send_ok[BUFSIZE];
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#define KEEPALIVE_STATE(n) ;
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#define KEEPALIVE_STATE(n) ;
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#endif // HOST_KEEPALIVE_FEATURE
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#endif // HOST_KEEPALIVE_FEATURE
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//===========================================================================
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/**
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//================================ Functions ================================
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* ***************************************************************************
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//===========================================================================
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* ******************************** FUNCTIONS ********************************
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* ***************************************************************************
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*/
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void process_next_command();
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void process_next_command();
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@ -877,16 +879,16 @@ void get_command() {
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}
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}
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#endif
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#endif
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//
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/**
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// Loop while serial characters are incoming and the queue is not full
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* Loop while serial characters are incoming and the queue is not full
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//
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*/
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while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
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while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) {
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char serial_char = MYSERIAL.read();
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char serial_char = MYSERIAL.read();
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//
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/**
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// If the character ends the line
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* If the character ends the line
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//
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*/
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if (serial_char == '\n' || serial_char == '\r') {
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if (serial_char == '\n' || serial_char == '\r') {
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serial_comment_mode = false; // end of line == end of comment
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serial_comment_mode = false; // end of line == end of comment
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@ -994,9 +996,12 @@ void get_command() {
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if (!card.sdprinting) return;
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if (!card.sdprinting) return;
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// '#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
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/**
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// if it occurs, stop_buffering is triggered and the buffer is run dry.
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* '#' stops reading from SD to the buffer prematurely, so procedural
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// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
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* macro calls are possible. If it occurs, stop_buffering is triggered
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* and the buffer is run dry; this character _can_ occur in serial com
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* due to checksums, however, no checksums are used in SD printing.
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*/
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if (commands_in_queue == 0) stop_buffering = false;
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if (commands_in_queue == 0) stop_buffering = false;
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@ -1035,8 +1040,10 @@ void get_command() {
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_commit_command(false);
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_commit_command(false);
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}
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}
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else if (sd_count >= MAX_CMD_SIZE - 1) {
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else if (sd_count >= MAX_CMD_SIZE - 1) {
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// Keep fetching, but ignore normal characters beyond the max length
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/**
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// The command will be injected when EOL is reached
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* Keep fetching, but ignore normal characters beyond the max length
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* The command will be injected when EOL is reached
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*/
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}
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}
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else {
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else {
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if (sd_char == ';') sd_comment_mode = true;
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if (sd_char == ';') sd_comment_mode = true;
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@ -1110,10 +1117,12 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
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if (extruder == 0)
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if (extruder == 0)
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return base_home_pos(X_AXIS) + home_offset[X_AXIS];
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return base_home_pos(X_AXIS) + home_offset[X_AXIS];
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else
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else
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// In dual carriage mode the extruder offset provides an override of the
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/**
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// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
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* In dual carriage mode the extruder offset provides an override of the
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// This allow soft recalibration of the second extruder offset position without firmware reflash
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* second X-carriage offset when homed - otherwise X2_HOME_POS is used.
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// (through the M218 command).
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* This allow soft recalibration of the second extruder offset position
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* without firmware reflash (through the M218 command).
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*/
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return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
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return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
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}
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}
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@ -1173,8 +1182,11 @@ static void set_axis_is_at_home(AxisEnum axis) {
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// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
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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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// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
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// Works out real Homeposition angles using inverse kinematics,
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// and calculates homing offset using forward kinematics
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/**
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* Works out real Homeposition angles using inverse kinematics,
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* and calculates homing offset using forward kinematics
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*/
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calculate_delta(homeposition);
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calculate_delta(homeposition);
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// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
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// SERIAL_ECHOPGM("base Theta= "); SERIAL_ECHO(delta[X_AXIS]);
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@ -1194,8 +1206,10 @@ static void set_axis_is_at_home(AxisEnum axis) {
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current_position[axis] = delta[axis];
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current_position[axis] = delta[axis];
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// SCARA home positions are based on configuration since the actual limits are determined by the
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/**
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// inverse kinematic transform.
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* SCARA home positions are based on configuration since the actual
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* limits are determined by the inverse kinematic transform.
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*/
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min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
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min_pos[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
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max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
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max_pos[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
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}
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}
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@ -1357,7 +1371,11 @@ static void setup_for_endstop_move() {
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static void run_z_probe() {
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static void run_z_probe() {
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refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding
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/**
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* To prevent stepper_inactive_time from running out and
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* EXTRUDER_RUNOUT_PREVENT from extruding
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*/
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refresh_cmd_timeout();
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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@ -1377,7 +1395,10 @@ static void setup_for_endstop_move() {
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st_synchronize();
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st_synchronize();
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endstops_hit_on_purpose(); // clear endstop hit flags
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endstops_hit_on_purpose(); // clear endstop hit flags
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// we have to let the planner know where we are right now as it is not where we said to go.
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/**
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* We have to let the planner know where we are right now as it
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* is not where we said to go.
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*/
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long stop_steps = st_get_position(Z_AXIS);
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long stop_steps = st_get_position(Z_AXIS);
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float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
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float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
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current_position[Z_AXIS] = mm;
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current_position[Z_AXIS] = mm;
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@ -1402,7 +1423,10 @@ static void setup_for_endstop_move() {
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// Tell the planner where we ended up - Get this from the stepper handler
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// Tell the planner where we ended up - Get this from the stepper handler
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zPosition = st_get_axis_position_mm(Z_AXIS);
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zPosition = st_get_axis_position_mm(Z_AXIS);
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS]);
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plan_set_position(
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current_position[X_AXIS], current_position[Y_AXIS], zPosition,
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current_position[E_AXIS]
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);
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// move up the retract distance
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// move up the retract distance
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zPosition += home_bump_mm(Z_AXIS);
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zPosition += home_bump_mm(Z_AXIS);
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@ -1474,10 +1498,21 @@ static void setup_for_endstop_move() {
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feedrate = oldFeedRate;
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feedrate = oldFeedRate;
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}
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}
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inline void do_blocking_move_to_xy(float x, float y) { do_blocking_move_to(x, y, current_position[Z_AXIS]); }
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inline void do_blocking_move_to_xy(float x, float y) {
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inline void do_blocking_move_to_x(float x) { do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]); }
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do_blocking_move_to(x, y, current_position[Z_AXIS]);
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inline void do_blocking_move_to_z(float z) { do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z); }
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}
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inline void raise_z_after_probing() { do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING); }
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inline void do_blocking_move_to_x(float x) {
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do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS]);
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}
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inline void do_blocking_move_to_z(float z) {
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do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z);
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}
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inline void raise_z_after_probing() {
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do_blocking_move_to_z(current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
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}
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static void clean_up_after_endstop_move() {
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static void clean_up_after_endstop_move() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -1729,7 +1764,8 @@ static void setup_for_endstop_move() {
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}
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}
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#endif
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#endif
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do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER)); // this also updates current_position
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// this also updates current_position
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do_blocking_move_to_xy(x - (X_PROBE_OFFSET_FROM_EXTRUDER), y - (Y_PROBE_OFFSET_FROM_EXTRUDER));
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#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
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#if DISABLED(Z_PROBE_SLED) && DISABLED(Z_PROBE_ALLEN_KEY)
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if (probe_action & ProbeDeploy) {
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if (probe_action & ProbeDeploy) {
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@ -1780,7 +1816,6 @@ static void setup_for_endstop_move() {
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/**
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/**
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* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
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* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
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*/
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*/
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static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
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static void extrapolate_one_point(int x, int y, int xdir, int ydir) {
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if (bed_level[x][y] != 0.0) {
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if (bed_level[x][y] != 0.0) {
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return; // Don't overwrite good values.
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return; // Don't overwrite good values.
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@ -1800,8 +1835,10 @@ static void setup_for_endstop_move() {
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bed_level[x][y] = median;
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bed_level[x][y] = median;
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}
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}
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// Fill in the unprobed points (corners of circular print surface)
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/**
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// using linear extrapolation, away from the center.
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* Fill in the unprobed points (corners of circular print surface)
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* using linear extrapolation, away from the center.
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*/
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static void extrapolate_unprobed_bed_level() {
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static void extrapolate_unprobed_bed_level() {
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int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
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int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
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for (int y = 0; y <= half; y++) {
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for (int y = 0; y <= half; y++) {
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@ -1815,7 +1852,9 @@ static void setup_for_endstop_move() {
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}
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}
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}
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}
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// Print calibration results for plotting or manual frame adjustment.
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/**
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* Print calibration results for plotting or manual frame adjustment.
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*/
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static void print_bed_level() {
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static void print_bed_level() {
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for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
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for (int y = 0; y < AUTO_BED_LEVELING_GRID_POINTS; y++) {
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for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
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for (int x = 0; x < AUTO_BED_LEVELING_GRID_POINTS; x++) {
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@ -1826,7 +1865,9 @@ static void setup_for_endstop_move() {
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}
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}
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}
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}
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// Reset calibration results to zero.
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/**
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* Reset calibration results to zero.
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*/
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void reset_bed_level() {
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void reset_bed_level() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (marlin_debug_flags & DEBUG_LEVELING) {
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if (marlin_debug_flags & DEBUG_LEVELING) {
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@ -1846,8 +1887,10 @@ static void setup_for_endstop_move() {
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void raise_z_for_servo() {
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void raise_z_for_servo() {
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float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
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float zpos = current_position[Z_AXIS], z_dest = Z_RAISE_BEFORE_PROBING;
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// The zprobe_zoffset is negative any switch below the nozzle, so
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/**
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// multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
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* The zprobe_zoffset is negative any switch below the nozzle, so
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* multiply by Z_HOME_DIR (-1) to move enough away from bed for the probe
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*/
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z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
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z_dest += axis_homed[Z_AXIS] ? zprobe_zoffset * Z_HOME_DIR : zpos;
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if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
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if (zpos < z_dest) do_blocking_move_to_z(z_dest); // also updates current_position
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}
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}
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@ -1894,7 +1937,8 @@ static void axis_unhomed_error() {
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#if Z_RAISE_AFTER_PROBING > 0
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#if Z_RAISE_AFTER_PROBING > 0
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raise_z_after_probing(); // raise Z
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raise_z_after_probing(); // raise Z
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#endif
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#endif
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1); // Dock sled a bit closer to ensure proper capturing
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// Dock sled a bit closer to ensure proper capturing
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do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET + offset - 1);
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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digitalWrite(SLED_PIN, LOW); // turn off magnet
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}
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}
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else {
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else {
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@ -2190,9 +2234,9 @@ static void homeaxis(AxisEnum axis) {
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#endif // FWRETRACT
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#endif // FWRETRACT
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/**
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/**
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*
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* ***************************************************************************
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* G-Code Handler functions
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* ***************************** G-CODE HANDLING *****************************
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*
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* ***************************************************************************
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*/
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*/
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/**
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/**
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@ -2383,7 +2427,10 @@ inline void gcode_G28() {
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#endif
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#endif
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#endif
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#endif
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// For mesh bed leveling deactivate the mesh calculations, will be turned on again when homing all axis
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/**
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* For mesh bed leveling deactivate the mesh calculations, will be turned
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* on again when homing all axis
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*/
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#if ENABLED(MESH_BED_LEVELING)
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#if ENABLED(MESH_BED_LEVELING)
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uint8_t mbl_was_active = mbl.active;
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uint8_t mbl_was_active = mbl.active;
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mbl.active = 0;
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mbl.active = 0;
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@ -2391,13 +2438,19 @@ inline void gcode_G28() {
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setup_for_endstop_move();
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setup_for_endstop_move();
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set_destination_to_current(); // Directly after a reset this is all 0. Later we get a hint if we have to raise z or not.
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/**
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* Directly after a reset this is all 0. Later we get a hint if we have
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* to raise z or not.
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*/
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set_destination_to_current();
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feedrate = 0.0;
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feedrate = 0.0;
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#if ENABLED(DELTA)
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#if ENABLED(DELTA)
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// A delta can only safely home all axis at the same time
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/**
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// all axis have to home at the same time
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* A delta can only safely home all axis at the same time
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* all axis have to home at the same time
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*/
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// Pretend the current position is 0,0,0
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// Pretend the current position is 0,0,0
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for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
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for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
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@ -2462,9 +2515,11 @@ inline void gcode_G28() {
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line_to_destination();
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line_to_destination();
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st_synchronize();
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st_synchronize();
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// Update the current Z position even if it currently not real from Z-home
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/**
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// otherwise each call to line_to_destination() will want to move Z-axis
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* Update the current Z position even if it currently not real from
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// by MIN_Z_HEIGHT_FOR_HOMING.
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* Z-home otherwise each call to line_to_destination() will want to
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* move Z-axis by MIN_Z_HEIGHT_FOR_HOMING.
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*/
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current_position[Z_AXIS] = destination[Z_AXIS];
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current_position[Z_AXIS] = destination[Z_AXIS];
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}
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}
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#endif
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#endif
|
||||||
@ -2581,15 +2636,18 @@ inline void gcode_G28() {
|
|||||||
|
|
||||||
if (home_all_axis) {
|
if (home_all_axis) {
|
||||||
|
|
||||||
// At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
|
/**
|
||||||
// No need to move Z any more as this height should already be safe
|
* At this point we already have Z at MIN_Z_HEIGHT_FOR_HOMING height
|
||||||
// enough to reach Z_SAFE_HOMING XY positions.
|
* No need to move Z any more as this height should already be safe
|
||||||
// Just make sure the planner is in sync.
|
* enough to reach Z_SAFE_HOMING XY positions.
|
||||||
|
* Just make sure the planner is in sync.
|
||||||
|
*/
|
||||||
sync_plan_position();
|
sync_plan_position();
|
||||||
|
|
||||||
//
|
/**
|
||||||
// Set the Z probe (or just the nozzle) destination to the safe homing point
|
* Set the Z probe (or just the nozzle) destination to the safe
|
||||||
//
|
* homing point
|
||||||
|
*/
|
||||||
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
|
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - (X_PROBE_OFFSET_FROM_EXTRUDER));
|
||||||
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
|
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - (Y_PROBE_OFFSET_FROM_EXTRUDER));
|
||||||
destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
|
destination[Z_AXIS] = current_position[Z_AXIS]; //z is already at the right height
|
||||||
@ -2606,8 +2664,10 @@ inline void gcode_G28() {
|
|||||||
line_to_destination();
|
line_to_destination();
|
||||||
st_synchronize();
|
st_synchronize();
|
||||||
|
|
||||||
// Update the current positions for XY, Z is still at least at
|
/**
|
||||||
// MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
|
* Update the current positions for XY, Z is still at least at
|
||||||
|
* MIN_Z_HEIGHT_FOR_HOMING height, no changes there.
|
||||||
|
*/
|
||||||
current_position[X_AXIS] = destination[X_AXIS];
|
current_position[X_AXIS] = destination[X_AXIS];
|
||||||
current_position[Y_AXIS] = destination[Y_AXIS];
|
current_position[Y_AXIS] = destination[Y_AXIS];
|
||||||
|
|
||||||
@ -2620,8 +2680,11 @@ inline void gcode_G28() {
|
|||||||
// Let's see if X and Y are homed
|
// Let's see if X and Y are homed
|
||||||
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
|
if (axis_homed[X_AXIS] && axis_homed[Y_AXIS]) {
|
||||||
|
|
||||||
// Make sure the Z probe is within the physical limits
|
/**
|
||||||
// NOTE: This doesn't necessarily ensure the Z probe is also within the bed!
|
* Make sure the Z probe is within the physical limits
|
||||||
|
* NOTE: This doesn't necessarily ensure the Z probe is also
|
||||||
|
* within the bed!
|
||||||
|
*/
|
||||||
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
|
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
|
||||||
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
|
if ( cpx >= X_MIN_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
|
||||||
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
|
&& cpx <= X_MAX_POS - (X_PROBE_OFFSET_FROM_EXTRUDER)
|
||||||
@ -2858,7 +2921,7 @@ inline void gcode_G28() {
|
|||||||
case MeshSetZOffset:
|
case MeshSetZOffset:
|
||||||
if (code_seen('Z')) {
|
if (code_seen('Z')) {
|
||||||
z = code_value();
|
z = code_value();
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
SERIAL_PROTOCOLPGM("Z not entered.\n");
|
SERIAL_PROTOCOLPGM("Z not entered.\n");
|
||||||
return;
|
return;
|
||||||
@ -3038,11 +3101,14 @@ inline void gcode_G28() {
|
|||||||
float z_offset = zprobe_zoffset;
|
float z_offset = zprobe_zoffset;
|
||||||
if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
|
if (code_seen(axis_codes[Z_AXIS])) z_offset += code_value();
|
||||||
#else // !DELTA
|
#else // !DELTA
|
||||||
// solve the plane equation ax + by + d = z
|
/**
|
||||||
// A is the matrix with rows [x y 1] for all the probed points
|
* solve the plane equation ax + by + d = z
|
||||||
// B is the vector of the Z positions
|
* A is the matrix with rows [x y 1] for all the probed points
|
||||||
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
|
* B is the vector of the Z positions
|
||||||
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
|
* the normal vector to the plane is formed by the coefficients of the
|
||||||
|
* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
|
||||||
|
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
|
||||||
|
*/
|
||||||
|
|
||||||
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
|
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
|
||||||
|
|
||||||
@ -3273,9 +3339,11 @@ inline void gcode_G28() {
|
|||||||
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
|
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
|
||||||
|
|
||||||
if (!dryrun) {
|
if (!dryrun) {
|
||||||
// Correct the Z height difference from Z probe position and nozzle tip position.
|
/**
|
||||||
// The Z height on homing is measured by Z probe, but the Z probe is quite far from the nozzle.
|
* Correct the Z height difference from Z probe position and nozzle tip position.
|
||||||
// When the bed is uneven, this height must be corrected.
|
* The Z height on homing is measured by Z probe, but the Z probe is quite far
|
||||||
|
* from the nozzle. When the bed is uneven, this height must be corrected.
|
||||||
|
*/
|
||||||
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
|
float x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER,
|
||||||
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER,
|
||||||
z_tmp = current_position[Z_AXIS],
|
z_tmp = current_position[Z_AXIS],
|
||||||
@ -3290,24 +3358,31 @@ inline void gcode_G28() {
|
|||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); // Apply the correction sending the Z probe offset
|
// Apply the correction sending the Z probe offset
|
||||||
|
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp);
|
||||||
|
|
||||||
// Get the current Z position and send it to the planner.
|
/*
|
||||||
//
|
* Get the current Z position and send it to the planner.
|
||||||
// >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z (most recent plan_set_position/sync_plan_position)
|
*
|
||||||
//
|
* >> (z_tmp - real_z) : The rotated current Z minus the uncorrected Z
|
||||||
// >> zprobe_zoffset : Z distance from nozzle to Z probe (set by default, M851, EEPROM, or Menu)
|
* (most recent plan_set_position/sync_plan_position)
|
||||||
//
|
*
|
||||||
// >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted after the last probe
|
* >> zprobe_zoffset : Z distance from nozzle to Z probe
|
||||||
//
|
* (set by default, M851, EEPROM, or Menu)
|
||||||
// >> Should home_offset[Z_AXIS] be included?
|
*
|
||||||
//
|
* >> Z_RAISE_AFTER_PROBING : The distance the Z probe will have lifted
|
||||||
// Discussion: home_offset[Z_AXIS] was applied in G28 to set the starting Z.
|
* after the last probe
|
||||||
// If Z is not tweaked in G29 -and- the Z probe in G29 is not actually "homing" Z...
|
*
|
||||||
// then perhaps it should not be included here. The purpose of home_offset[] is to
|
* >> Should home_offset[Z_AXIS] be included?
|
||||||
// adjust for inaccurate endstops, not for reasonably accurate probes. If it were
|
*
|
||||||
// added here, it could be seen as a compensating factor for the Z probe.
|
*
|
||||||
//
|
* Discussion: home_offset[Z_AXIS] was applied in G28 to set the
|
||||||
|
* starting Z. If Z is not tweaked in G29 -and- the Z probe in G29 is
|
||||||
|
* not actually "homing" Z... then perhaps it should not be included
|
||||||
|
* here. The purpose of home_offset[] is to adjust for inaccurate
|
||||||
|
* endstops, not for reasonably accurate probes. If it were added
|
||||||
|
* here, it could be seen as a compensating factor for the Z probe.
|
||||||
|
*/
|
||||||
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
#if ENABLED(DEBUG_LEVELING_FEATURE)
|
||||||
if (marlin_debug_flags & DEBUG_LEVELING) {
|
if (marlin_debug_flags & DEBUG_LEVELING) {
|
||||||
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
|
SERIAL_ECHOPAIR("> AFTER apply_rotation_xyz > z_tmp = ", z_tmp);
|
||||||
@ -3697,7 +3772,10 @@ inline void gcode_M42() {
|
|||||||
|
|
||||||
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && ENABLED(Z_MIN_PROBE_REPEATABILITY_TEST)
|
||||||
|
|
||||||
// This is redundant since the SanityCheck.h already checks for a valid Z_MIN_PROBE_PIN, but here for clarity.
|
/**
|
||||||
|
* This is redundant since the SanityCheck.h already checks for a valid
|
||||||
|
* Z_MIN_PROBE_PIN, but here for clarity.
|
||||||
|
*/
|
||||||
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
|
#if ENABLED(Z_MIN_PROBE_ENDSTOP)
|
||||||
#if !HAS_Z_PROBE
|
#if !HAS_Z_PROBE
|
||||||
#error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation.
|
#error You must define Z_MIN_PROBE_PIN to enable Z probe repeatability calculation.
|
||||||
@ -3804,17 +3882,20 @@ inline void gcode_M42() {
|
|||||||
if (!seen_L) n_legs = 7;
|
if (!seen_L) n_legs = 7;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Now get everything to the specified probe point So we can safely do a probe to
|
/**
|
||||||
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
|
* Now get everything to the specified probe point So we can safely do a
|
||||||
// use that as a starting point for each probe.
|
* probe to get us close to the bed. If the Z-Axis is far from the bed,
|
||||||
//
|
* we don't want to use that as a starting point for each probe.
|
||||||
|
*/
|
||||||
if (verbose_level > 2)
|
if (verbose_level > 2)
|
||||||
SERIAL_PROTOCOLPGM("Positioning the probe...\n");
|
SERIAL_PROTOCOLPGM("Positioning the probe...\n");
|
||||||
|
|
||||||
#if ENABLED(DELTA)
|
#if ENABLED(DELTA)
|
||||||
reset_bed_level(); // we don't do bed level correction in M48 because we want the raw data when we probe
|
// we don't do bed level correction in M48 because we want the raw data when we probe
|
||||||
|
reset_bed_level();
|
||||||
#else
|
#else
|
||||||
plan_bed_level_matrix.set_to_identity(); // we don't do bed level correction in M48 because we wantthe raw data when we probe
|
// we don't do bed level correction in M48 because we want the raw data when we probe
|
||||||
|
plan_bed_level_matrix.set_to_identity();
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
|
if (Z_start_location < Z_RAISE_BEFORE_PROBING * 2.0)
|
||||||
@ -3822,10 +3903,10 @@ inline void gcode_M42() {
|
|||||||
|
|
||||||
do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
||||||
|
|
||||||
//
|
/**
|
||||||
// OK, do the initial probe to get us close to the bed.
|
* OK, do the initial probe to get us close to the bed.
|
||||||
// Then retrace the right amount and use that in subsequent probes
|
* Then retrace the right amount and use that in subsequent probes
|
||||||
//
|
*/
|
||||||
setup_for_endstop_move();
|
setup_for_endstop_move();
|
||||||
|
|
||||||
probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
|
probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING,
|
||||||
@ -3862,19 +3943,27 @@ inline void gcode_M42() {
|
|||||||
|
|
||||||
for (uint8_t l = 0; l < n_legs - 1; l++) {
|
for (uint8_t l = 0; l < n_legs - 1; l++) {
|
||||||
double delta_angle;
|
double delta_angle;
|
||||||
|
|
||||||
if (schizoid_flag)
|
if (schizoid_flag)
|
||||||
delta_angle = dir * 2.0 * 72.0; // The points of a 5 point star are 72 degrees apart. We need to
|
// The points of a 5 point star are 72 degrees apart. We need to
|
||||||
// skip a point and go to the next one on the star.
|
// skip a point and go to the next one on the star.
|
||||||
|
delta_angle = dir * 2.0 * 72.0;
|
||||||
|
|
||||||
else
|
else
|
||||||
delta_angle = dir * (float) random(25, 45); // If we do this line, we are just trying to move further
|
// If we do this line, we are just trying to move further
|
||||||
// around the circle.
|
// around the circle.
|
||||||
|
delta_angle = dir * (float) random(25, 45);
|
||||||
|
|
||||||
angle += delta_angle;
|
angle += delta_angle;
|
||||||
|
|
||||||
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
|
while (angle > 360.0) // We probably do not need to keep the angle between 0 and 2*PI, but the
|
||||||
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
|
angle -= 360.0; // Arduino documentation says the trig functions should not be given values
|
||||||
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
|
while (angle < 0.0) // outside of this range. It looks like they behave correctly with
|
||||||
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
|
angle += 360.0; // numbers outside of the range, but just to be safe we clamp them.
|
||||||
|
|
||||||
X_current = X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER + cos(RADIANS(angle)) * radius;
|
X_current = X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER + cos(RADIANS(angle)) * radius;
|
||||||
Y_current = Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER + sin(RADIANS(angle)) * radius;
|
Y_current = Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER + sin(RADIANS(angle)) * radius;
|
||||||
|
|
||||||
#if DISABLED(DELTA)
|
#if DISABLED(DELTA)
|
||||||
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
|
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
|
||||||
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
|
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
|
||||||
@ -3904,10 +3993,13 @@ inline void gcode_M42() {
|
|||||||
} // n_legs loop
|
} // n_legs loop
|
||||||
} // n_legs
|
} // n_legs
|
||||||
|
|
||||||
// We don't really have to do this move, but if we don't we can see a funny shift in the Z Height
|
/**
|
||||||
// Because the user might not have the Z_RAISE_BEFORE_PROBING height identical to the
|
* We don't really have to do this move, but if we don't we can see a
|
||||||
// Z_RAISE_BETWEEN_PROBING height. This gets us back to the probe location at the same height that
|
* funny shift in the Z Height because the user might not have the
|
||||||
// we have been running around the circle at.
|
* Z_RAISE_BEFORE_PROBING height identical to the Z_RAISE_BETWEEN_PROBING
|
||||||
|
* height. This gets us back to the probe location at the same height that
|
||||||
|
* we have been running around the circle at.
|
||||||
|
*/
|
||||||
do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
do_blocking_move_to_xy(X_probe_location - X_PROBE_OFFSET_FROM_EXTRUDER, Y_probe_location - Y_PROBE_OFFSET_FROM_EXTRUDER);
|
||||||
if (deploy_probe_for_each_reading)
|
if (deploy_probe_for_each_reading)
|
||||||
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
|
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeDeployAndStow, verbose_level);
|
||||||
@ -3917,17 +4009,17 @@ inline void gcode_M42() {
|
|||||||
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
|
sample_set[n] = probe_pt(X_probe_location, Y_probe_location, Z_RAISE_BEFORE_PROBING, ProbeStay, verbose_level);
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
/**
|
||||||
// Get the current mean for the data points we have so far
|
* Get the current mean for the data points we have so far
|
||||||
//
|
*/
|
||||||
sum = 0.0;
|
sum = 0.0;
|
||||||
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
|
for (uint8_t j = 0; j <= n; j++) sum += sample_set[j];
|
||||||
mean = sum / (n + 1);
|
mean = sum / (n + 1);
|
||||||
|
|
||||||
//
|
/**
|
||||||
// Now, use that mean to calculate the standard deviation for the
|
* Now, use that mean to calculate the standard deviation for the
|
||||||
// data points we have so far
|
* data points we have so far
|
||||||
//
|
*/
|
||||||
sum = 0.0;
|
sum = 0.0;
|
||||||
for (uint8_t j = 0; j <= n; j++) {
|
for (uint8_t j = 0; j <= n; j++) {
|
||||||
float ss = sample_set[j] - mean;
|
float ss = sample_set[j] - mean;
|
||||||
@ -4367,9 +4459,11 @@ inline void gcode_M140() {
|
|||||||
inline void gcode_M80() {
|
inline void gcode_M80() {
|
||||||
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
|
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
|
||||||
|
|
||||||
// If you have a switch on suicide pin, this is useful
|
/**
|
||||||
// if you want to start another print with suicide feature after
|
* If you have a switch on suicide pin, this is useful
|
||||||
// a print without suicide...
|
* if you want to start another print with suicide feature after
|
||||||
|
* a print without suicide...
|
||||||
|
*/
|
||||||
#if HAS_SUICIDE
|
#if HAS_SUICIDE
|
||||||
OUT_WRITE(SUICIDE_PIN, HIGH);
|
OUT_WRITE(SUICIDE_PIN, HIGH);
|
||||||
#endif
|
#endif
|
||||||
@ -6973,31 +7067,32 @@ void plan_arc(
|
|||||||
float linear_per_segment = linear_travel / segments;
|
float linear_per_segment = linear_travel / segments;
|
||||||
float extruder_per_segment = extruder_travel / segments;
|
float extruder_per_segment = extruder_travel / segments;
|
||||||
|
|
||||||
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
|
/**
|
||||||
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
|
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
|
||||||
r_T = [cos(phi) -sin(phi);
|
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
|
||||||
sin(phi) cos(phi] * r ;
|
* r_T = [cos(phi) -sin(phi);
|
||||||
|
* sin(phi) cos(phi] * r ;
|
||||||
For arc generation, the center of the circle is the axis of rotation and the radius vector is
|
*
|
||||||
defined from the circle center to the initial position. Each line segment is formed by successive
|
* For arc generation, the center of the circle is the axis of rotation and the radius vector is
|
||||||
vector rotations. This requires only two cos() and sin() computations to form the rotation
|
* defined from the circle center to the initial position. Each line segment is formed by successive
|
||||||
matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
|
* vector rotations. This requires only two cos() and sin() computations to form the rotation
|
||||||
all double numbers are single precision on the Arduino. (True double precision will not have
|
* matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
|
||||||
round off issues for CNC applications.) Single precision error can accumulate to be greater than
|
* all double numbers are single precision on the Arduino. (True double precision will not have
|
||||||
tool precision in some cases. Therefore, arc path correction is implemented.
|
* round off issues for CNC applications.) Single precision error can accumulate to be greater than
|
||||||
|
* tool precision in some cases. Therefore, arc path correction is implemented.
|
||||||
Small angle approximation may be used to reduce computation overhead further. This approximation
|
*
|
||||||
holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
|
* Small angle approximation may be used to reduce computation overhead further. This approximation
|
||||||
theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
|
* holds for everything, but very small circles and large MM_PER_ARC_SEGMENT values. In other words,
|
||||||
to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
|
* theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
|
||||||
numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
|
* to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
|
||||||
issue for CNC machines with the single precision Arduino calculations.
|
* numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
|
||||||
|
* issue for CNC machines with the single precision Arduino calculations.
|
||||||
This approximation also allows plan_arc to immediately insert a line segment into the planner
|
*
|
||||||
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
|
* This approximation also allows plan_arc to immediately insert a line segment into the planner
|
||||||
a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
|
* without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
|
||||||
This is important when there are successive arc motions.
|
* a correction, the planner should have caught up to the lag caused by the initial plan_arc overhead.
|
||||||
*/
|
* This is important when there are successive arc motions.
|
||||||
|
*/
|
||||||
// Vector rotation matrix values
|
// Vector rotation matrix values
|
||||||
float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
|
float cos_T = 1 - 0.5 * theta_per_segment * theta_per_segment; // Small angle approximation
|
||||||
float sin_T = theta_per_segment;
|
float sin_T = theta_per_segment;
|
||||||
|
Loading…
Reference in New Issue
Block a user