Use a macro for kinematic sync_plan_position
This commit is contained in:
Scott Lahteine
parent
bfccf26294
commit
b4a9d2366c
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@ -582,6 +582,9 @@ static void report_current_position();
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calculate_delta(current_position);
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planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
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}
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
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#else
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#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
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#endif
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#if ENABLED(SDSUPPORT)
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@ -866,7 +869,7 @@ void setup() {
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#if ENABLED(DELTA) || ENABLED(SCARA)
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// Vital to init kinematic equivalent for X0 Y0 Z0
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sync_plan_position_delta();
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SYNC_PLAN_POSITION_KINEMATIC();
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#endif
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thermalManager.init(); // Initialize temperature loop
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@ -1997,7 +2000,7 @@ static void setup_for_endstop_move() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position);
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#endif
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sync_plan_position_delta();
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SYNC_PLAN_POSITION_KINEMATIC();
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#else // !DELTA
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@ -2036,11 +2039,7 @@ static void setup_for_endstop_move() {
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// Get the current stepper position after bumping an endstop
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current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
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@ -2084,11 +2083,7 @@ static void setup_for_endstop_move() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
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#endif
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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#endif // !DELTA
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@ -2128,11 +2123,7 @@ static void setup_for_endstop_move() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
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#endif
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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#endif // !AUTO_BED_LEVELING_GRID
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@ -2334,11 +2325,7 @@ static void homeaxis(AxisEnum axis) {
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// Set the axis position as setup for the move
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current_position[axis] = 0;
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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// Homing Z towards the bed? Deploy the Z probe or endstop.
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#if HAS_BED_PROBE
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@ -2363,11 +2350,7 @@ static void homeaxis(AxisEnum axis) {
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// Set the axis position as setup for the move
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current_position[axis] = 0;
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
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@ -2408,7 +2391,7 @@ static void homeaxis(AxisEnum axis) {
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lockZ1 = (z_endstop_adj < 0);
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if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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// Move to the adjusted endstop height
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feedrate = homing_feedrate[axis];
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@ -2428,7 +2411,7 @@ static void homeaxis(AxisEnum axis) {
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if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
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#endif
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endstops.enable(false); // Disable endstops while moving away
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sync_plan_position_delta();
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SYNC_PLAN_POSITION_KINEMATIC();
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destination[axis] = endstop_adj[axis];
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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@ -2456,11 +2439,7 @@ static void homeaxis(AxisEnum axis) {
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// Set the axis position to its home position (plus home offsets)
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set_axis_is_at_home(axis);
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
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@ -2511,11 +2490,7 @@ static void homeaxis(AxisEnum axis) {
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if (retract_zlift > 0.01) {
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current_position[Z_AXIS] -= retract_zlift;
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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prepare_move_to_destination();
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}
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}
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@ -2523,11 +2498,7 @@ static void homeaxis(AxisEnum axis) {
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if (retract_zlift > 0.01) {
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current_position[Z_AXIS] += retract_zlift;
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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feedrate = retract_recover_feedrate * 60;
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@ -2838,7 +2809,7 @@ inline void gcode_G28() {
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HOMEAXIS(Y);
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HOMEAXIS(Z);
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sync_plan_position_delta();
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
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@ -2900,7 +2871,7 @@ inline void gcode_G28() {
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int x_axis_home_dir = home_dir(X_AXIS);
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#endif
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
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mlratio = mlx > mly ? mly / mlx : mlx / mly;
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@ -2913,7 +2884,7 @@ inline void gcode_G28() {
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set_axis_is_at_home(X_AXIS);
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set_axis_is_at_home(Y_AXIS);
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position);
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@ -2997,7 +2968,7 @@ inline void gcode_G28() {
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* enough to reach Z_SAFE_HOMING XY positions.
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* Just make sure the planner is in sync.
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*/
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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/**
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* Set the Z probe (or just the nozzle) destination to the safe
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@ -3082,11 +3053,7 @@ inline void gcode_G28() {
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#endif // Z_HOME_DIR < 0
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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#endif // !DELTA (gcode_G28)
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@ -3104,7 +3071,7 @@ inline void gcode_G28() {
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if (mbl.has_mesh()) {
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if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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mbl.set_active(true);
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#if ENABLED(MESH_G28_REST_ORIGIN)
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current_position[Z_AXIS] = 0.0;
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@ -3120,7 +3087,7 @@ inline void gcode_G28() {
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}
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else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
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current_position[Z_AXIS] = pre_home_z;
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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mbl.set_active(true);
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current_position[Z_AXIS] = pre_home_z -
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mbl.get_z(current_position[X_AXIS] - home_offset[X_AXIS],
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@ -3248,7 +3215,7 @@ inline void gcode_G28() {
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if (probe_point == 0) {
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// For the intial G29 S2 make Z a positive value (e.g., 4.0)
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current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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else {
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// For G29 S2 after adjusting Z.
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@ -3328,7 +3295,7 @@ inline void gcode_G28() {
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mbl.get_z(current_position[X_AXIS] - home_offset[X_AXIS],
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current_position[Y_AXIS] - home_offset[Y_AXIS]) - MESH_HOME_SEARCH_Z;
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mbl.reset();
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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else
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mbl.reset();
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@ -3496,11 +3463,7 @@ inline void gcode_G28() {
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if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
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#endif
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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#endif // !DELTA
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}
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@ -3818,11 +3781,7 @@ inline void gcode_G28() {
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#endif
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;
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// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
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#if ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
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@ -3919,16 +3878,10 @@ inline void gcode_G92() {
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}
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}
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}
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if (didXYZ) {
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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}
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else if (didE) {
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if (didXYZ)
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SYNC_PLAN_POSITION_KINEMATIC();
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else if (didE)
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sync_plan_position_e();
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}
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}
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#if ENABLED(ULTIPANEL)
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@ -5420,7 +5373,7 @@ inline void gcode_M206() {
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if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
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#endif
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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}
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@ -6171,11 +6124,7 @@ inline void gcode_M428() {
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}
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if (!err) {
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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report_current_position();
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LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
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#if HAS_BUZZER
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@ -6741,11 +6690,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
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#endif // !DUAL_X_CARRIAGE
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// Tell the planner the new "current position"
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#if ENABLED(DELTA) || ENABLED(SCARA)
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sync_plan_position_delta();
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#else
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sync_plan_position();
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#endif
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SYNC_PLAN_POSITION_KINEMATIC();
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// Move to the "old position" (move the extruder into place)
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if (!no_move && IsRunning()) prepare_move_to_destination();
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@ -7694,7 +7639,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
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planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
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current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[X_AXIS], 1);
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sync_plan_position();
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SYNC_PLAN_POSITION_KINEMATIC();
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stepper.synchronize();
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extruder_duplication_enabled = true;
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active_extruder_parked = false;
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