Merge pull request #4836 from thinkyhead/rc_some_comments
Some comments, const args, debug output tweaks
This commit is contained in:
Scott Lahteine
GitHub
commit
2ebfbc4c8d
@ -596,7 +596,7 @@ void process_next_command();
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void prepare_move_to_destination();
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void get_cartesian_from_steppers();
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void set_current_from_steppers_for_axis(AxisEnum axis);
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void set_current_from_steppers_for_axis(const AxisEnum axis);
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#if ENABLED(ARC_SUPPORT)
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void plan_arc(float target[NUM_AXIS], float* offset, uint8_t clockwise);
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@ -645,9 +645,9 @@ static void report_current_position();
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/**
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* sync_plan_position
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* Set planner / stepper positions to the cartesian current_position.
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* The stepper code translates these coordinates into step units.
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* Allows translation between steps and millimeters for cartesian & core robots
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*
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* Set the planner/stepper positions directly from current_position with
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* no kinematic translation. Used for homing axes and cartesian/core syncing.
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*/
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inline void sync_plan_position() {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -1323,6 +1323,23 @@ static void set_home_offset(AxisEnum axis, float v) {
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update_software_endstops(axis);
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}
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/**
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* Set an axis' current position to its home position (after homing).
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*
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* For Core and Cartesian robots this applies one-to-one when an
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* individual axis has been homed.
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*
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* DELTA should wait until all homing is done before setting the XYZ
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* current_position to home, because homing is a single operation.
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* In the case where the axis positions are already known and previously
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* homed, DELTA could home to X or Y individually by moving either one
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* to the center. However, homing Z always homes XY and Z.
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*
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* SCARA should wait until all XY homing is done before setting the XY
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* current_position to home, because neither X nor Y is at home until
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* both are at home. Z can however be homed individually.
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*
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*/
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static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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@ -1355,8 +1372,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
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// SERIAL_ECHOLNPAIR(" Y:", homeposition[Y_AXIS]);
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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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* Get Home position SCARA arm angles using inverse kinematics,
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* and calculate homing offset using forward kinematics
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*/
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inverse_kinematics(homeposition);
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forward_kinematics_SCARA(delta[A_AXIS], delta[B_AXIS]);
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@ -1989,7 +2006,7 @@ static void clean_up_after_endstop_or_probe_move() {
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// - Raise to the BETWEEN height
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// - Return the probed Z position
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//
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static float probe_pt(float x, float y, bool stow = true, int verbose_level = 1) {
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static float probe_pt(const float &x, const float &y, bool stow = true, int verbose_level = 1) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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if (DEBUGGING(LEVELING)) {
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SERIAL_ECHOPAIR(">>> probe_pt(", x);
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@ -2013,7 +2030,10 @@ static void clean_up_after_endstop_or_probe_move() {
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SERIAL_ECHOLNPGM(")");
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}
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#endif
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feedrate_mm_s = XY_PROBE_FEEDRATE_MM_S;
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// Move the probe to the given XY
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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 (DEPLOY_PROBE()) return NAN;
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@ -2105,9 +2125,9 @@ static void clean_up_after_endstop_or_probe_move() {
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#elif ENABLED(AUTO_BED_LEVELING_NONLINEAR)
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/**
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* All DELTA leveling in the Marlin uses NONLINEAR_BED_LEVELING
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* Extrapolate a single point from its neighbors
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*/
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static void extrapolate_one_point(uint8_t x, uint8_t y, int xdir, int ydir) {
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static void extrapolate_one_point(uint8_t x, uint8_t y, int8_t xdir, int8_t ydir) {
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if (bed_level_grid[x][y]) return; // Don't overwrite good values.
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float a = 2 * bed_level_grid[x + xdir][y] - bed_level_grid[x + xdir * 2][y], // Left to right.
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b = 2 * bed_level_grid[x][y + ydir] - bed_level_grid[x][y + ydir * 2], // Front to back.
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@ -2151,7 +2171,7 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif // AUTO_BED_LEVELING_NONLINEAR
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/**
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* Home an individual axis
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* Home an individual linear axis
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*/
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static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
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@ -2163,6 +2183,17 @@ static void do_homing_move(AxisEnum axis, float where, float fr_mm_s = 0.0) {
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endstops.hit_on_purpose();
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}
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/**
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* Home an individual "raw axis" to its endstop.
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* This applies to XYZ on Cartesian and Core robots, and
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* to the individual ABC steppers on DELTA and SCARA.
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*
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* At the end of the procedure the axis is marked as
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* homed and the current position of that axis is updated.
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* Kinematic robots should wait till all axes are homed
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* before updating the current position.
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*/
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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static void homeaxis(AxisEnum axis) {
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@ -2678,11 +2709,17 @@ inline void gcode_G4() {
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SERIAL_ECHOPGM(" (Right");
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#elif (X_PROBE_OFFSET_FROM_EXTRUDER < 0)
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SERIAL_ECHOPGM(" (Left");
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#elif (Y_PROBE_OFFSET_FROM_EXTRUDER != 0)
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SERIAL_ECHOPGM(" (Middle");
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#else
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SERIAL_ECHOPGM(" (Aligned With");
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#endif
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#if (Y_PROBE_OFFSET_FROM_EXTRUDER > 0)
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SERIAL_ECHOPGM("-Back");
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#elif (Y_PROBE_OFFSET_FROM_EXTRUDER < 0)
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SERIAL_ECHOPGM("-Front");
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#elif (X_PROBE_OFFSET_FROM_EXTRUDER != 0)
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SERIAL_ECHOPGM("-Center");
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#endif
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if (zprobe_zoffset < 0)
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SERIAL_ECHOPGM(" & Below");
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@ -3295,8 +3332,8 @@ inline void gcode_G28() {
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return;
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}
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bool dryrun = code_seen('D');
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bool stow_probe_after_each = code_seen('E');
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bool dryrun = code_seen('D'),
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stow_probe_after_each = code_seen('E');
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#if ENABLED(AUTO_BED_LEVELING_GRID)
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@ -3386,7 +3423,6 @@ inline void gcode_G28() {
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#endif // !DELTA
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// Inform the planner about the new coordinates
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// (This is probably not needed here)
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SYNC_PLAN_POSITION_KINEMATIC();
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}
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@ -3759,11 +3795,11 @@ inline void gcode_G28() {
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* G92: Set current position to given X Y Z E
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*/
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inline void gcode_G92() {
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bool didE = code_seen('E');
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bool didXYZ = false,
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didE = code_seen('E');
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if (!didE) stepper.synchronize();
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bool didXYZ = false;
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LOOP_XYZE(i) {
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if (code_seen(axis_codes[i])) {
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float p = current_position[i],
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@ -4148,7 +4184,7 @@ inline void gcode_M42() {
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if (verbose_level > 2)
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SERIAL_PROTOCOLLNPGM("Positioning the probe...");
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// we don't do bed level correction in M48 because we want the raw data when we probe
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// Disable bed level correction in M48 because we want the raw data when we probe
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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reset_bed_level();
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#endif
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@ -5745,9 +5781,8 @@ inline void gcode_M303() {
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}
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#if ENABLED(MORGAN_SCARA)
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bool SCARA_move_to_cal(uint8_t delta_a, uint8_t delta_b) {
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//SoftEndsEnabled = false; // Ignore soft endstops during calibration
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//SERIAL_ECHOLNPGM(" Soft endstops disabled");
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if (IsRunning()) {
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//gcode_get_destination(); // For X Y Z E F
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forward_kinematics_SCARA(delta_a, delta_b);
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@ -5755,7 +5790,6 @@ inline void gcode_M303() {
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destination[Y_AXIS] = cartes[Y_AXIS];
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destination[Z_AXIS] = current_position[Z_AXIS];
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prepare_move_to_destination();
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//ok_to_send();
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return true;
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}
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return false;
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@ -7875,7 +7909,7 @@ void get_cartesian_from_steppers() {
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*
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* << INCOMPLETE! Still needs to unapply leveling! >>
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*/
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void set_current_from_steppers_for_axis(AxisEnum axis) {
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void set_current_from_steppers_for_axis(const AxisEnum axis) {
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#if ENABLED(AUTO_BED_LEVELING_LINEAR)
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vector_3 pos = untilted_stepper_position();
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current_position[axis] = axis == X_AXIS ? pos.x : axis == Y_AXIS ? pos.y : pos.z;
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@ -7948,7 +7982,7 @@ void set_current_from_steppers_for_axis(AxisEnum axis) {
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mesh_line_to_destination(fr_mm_s, x_splits, y_splits);
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}
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#endif // MESH_BED_LEVELING
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#endif // MESH_BED_LEVELING
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#if IS_KINEMATIC
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@ -1062,14 +1062,14 @@ void Stepper::report_positions() {
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zpos = count_position[Z_AXIS];
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CRITICAL_SECTION_END;
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#if ENABLED(COREXY) || ENABLED(COREXZ)
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#if ENABLED(COREXY) || ENABLED(COREXZ) || IS_SCARA
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SERIAL_PROTOCOLPGM(MSG_COUNT_A);
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#else
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SERIAL_PROTOCOLPGM(MSG_COUNT_X);
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#endif
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SERIAL_PROTOCOL(xpos);
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#if ENABLED(COREXY) || ENABLED(COREYZ)
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#if ENABLED(COREXY) || ENABLED(COREYZ) || IS_SCARA
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SERIAL_PROTOCOLPGM(" B:");
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#else
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SERIAL_PROTOCOLPGM(" Y:");
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