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Merge pull request #3939 from thinkyhead/rc_resume_get_position

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set_current_position_from_planner() after stepper.quick_stop()
This commit is contained in:
Scott Lahteine 2016-06-02 17:25:51 -07:00
commit 0d793fb2be
6 changed files with 54 additions and 15 deletions
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5
Marlin/Marlin.h
View File

@ -227,6 +227,10 @@ void reset_bed_level();
void prepare_move();
void kill(const char*);
#if DISABLED(DELTA) && DISABLED(SCARA)
void set_current_position_from_planner();
#endif
#if ENABLED(FILAMENT_RUNOUT_SENSOR)
void handle_filament_runout();
#endif
@ -253,6 +257,7 @@ inline bool IsStopped() { return !Running; }
bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); //put a single ASCII command at the end of the current buffer or return false when it is full
void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return when the command has been enqueued
void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
void clear_command_queue();
void clamp_to_software_endstops(float target[3]);

43
Marlin/Marlin_main.cpp
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@ -552,7 +552,7 @@ static void report_current_position();
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_delta", current_position);
#endif
calculate_delta(current_position);
planner.set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
planner.set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
}
#endif
@ -613,6 +613,11 @@ void enqueue_and_echo_commands_P(const char* pgcode) {
drain_queued_commands_P(); // first command executed asap (when possible)
}
void clear_command_queue() {
cmd_queue_index_r = cmd_queue_index_w;
commands_in_queue = 0;
}
/**
* Once a new command is in the ring buffer, call this to commit it
*/
@ -1448,9 +1453,9 @@ inline void sync_plan_position() {
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position);
#endif
planner.set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
inline void sync_plan_position_e() { planner.set_e_position(current_position[E_AXIS]); }
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
inline void set_current_to_destination() { memcpy(current_position, destination, sizeof(current_position)); }
inline void set_destination_to_current() { memcpy(destination, current_position, sizeof(destination)); }
@ -1607,7 +1612,7 @@ static void setup_for_endstop_move() {
// Tell the planner where we ended up - Get this from the stepper handler
zPosition = stepper.get_axis_position_mm(Z_AXIS);
planner.set_position(
planner.set_position_mm(
current_position[X_AXIS], current_position[Y_AXIS], zPosition,
current_position[E_AXIS]
);
@ -3593,7 +3598,7 @@ inline void gcode_G28() {
* 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 planner.set_position/sync_plan_position)
* (most recent planner.set_position_mm/sync_plan_position)
*
* >> zprobe_zoffset : Z distance from nozzle to Z probe
* (set by default, M851, EEPROM, or Menu)
@ -5889,13 +5894,35 @@ inline void gcode_M400() { stepper.synchronize(); }
#endif // FILAMENT_WIDTH_SENSOR
#if DISABLED(DELTA) && DISABLED(SCARA)
void set_current_position_from_planner() {
stepper.synchronize();
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
vector_3 pos = planner.adjusted_position(); // values directly from steppers...
current_position[X_AXIS] = pos.x;
current_position[Y_AXIS] = pos.y;
current_position[Z_AXIS] = pos.z;
#else
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#endif
sync_plan_position(); // ...re-apply to planner position
}
#endif
/**
* M410: Quickstop - Abort all planned moves
*
* This will stop the carriages mid-move, so most likely they
* will be out of sync with the stepper position after this.
*/
inline void gcode_M410() { stepper.quick_stop(); }
inline void gcode_M410() {
stepper.quick_stop();
#if DISABLED(DELTA) && DISABLED(SCARA)
set_current_position_from_planner();
#endif
}
#if ENABLED(MESH_BED_LEVELING)
@ -7436,7 +7463,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
if (active_extruder_parked) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
// move duplicate extruder into correct duplication position.
planner.set_position(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.buffer_line(current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[X_AXIS], 1);
sync_plan_position();
@ -7989,7 +8016,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
(EXTRUDER_RUNOUT_SPEED) / 60. * (EXTRUDER_RUNOUT_ESTEPS) / planner.axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS] = oldepos;
destination[E_AXIS] = oldedes;
planner.set_e_position(oldepos);
planner.set_e_position_mm(oldepos);
previous_cmd_ms = ms; // refresh_cmd_timeout()
stepper.synchronize();
switch (active_extruder) {

3
Marlin/endstops.cpp
View File

@ -187,6 +187,9 @@ void Endstops::report_state() {
card.sdprinting = false;
card.closefile();
stepper.quick_stop();
#if DISABLED(DELTA) && DISABLED(SCARA)
set_current_position_from_planner();
#endif
thermalManager.disable_all_heaters(); // switch off all heaters.
}
#endif

6
Marlin/planner.cpp
View File

@ -1114,9 +1114,9 @@ void Planner::check_axes_activity() {
* On CORE machines stepper ABC will be translated from the given XYZ.
*/
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
void Planner::set_position(float x, float y, float z, const float& e)
void Planner::set_position_mm(float x, float y, float z, const float& e)
#else
void Planner::set_position(const float& x, const float& y, const float& z, const float& e)
void Planner::set_position_mm(const float& x, const float& y, const float& z, const float& e)
#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
{
#if ENABLED(MESH_BED_LEVELING)
@ -1138,7 +1138,7 @@ void Planner::check_axes_activity() {
/**
* Directly set the planner E position (hence the stepper E position).
*/
void Planner::set_e_position(const float& e) {
void Planner::set_e_position_mm(const float& e) {
position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
stepper.set_e_position(position[E_AXIS]);
}

6
Marlin/planner.h
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@ -216,19 +216,19 @@ class Planner {
*
* Clears previous speed values.
*/
static void set_position(float x, float y, float z, const float& e);
static void set_position_mm(float x, float y, float z, const float& e);
#else
static void buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
static void set_position(const float& x, const float& y, const float& z, const float& e);
static void set_position_mm(const float& x, const float& y, const float& z, const float& e);
#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
/**
* Set the E position (mm) of the planner (and the E stepper)
*/
static void set_e_position(const float& e);
static void set_e_position_mm(const float& e);
/**
* Does the buffer have any blocks queued?

6
Marlin/ultralcd.cpp
View File

@ -482,6 +482,10 @@ inline void line_to_current(AxisEnum axis) {
static void lcd_sdcard_stop() {
stepper.quick_stop();
#if DISABLED(DELTA) && DISABLED(SCARA)
set_current_position_from_planner();
#endif
clear_command_queue();
card.sdprinting = false;
card.closefile();
print_job_timer.stop();
@ -1037,7 +1041,7 @@ void lcd_cooldown() {
if (LCD_CLICKED) {
_lcd_level_bed_position = 0;
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
planner.set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
lcd_goto_menu(_lcd_level_goto_next_point, true);
}
}