diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 03531d1d35..c62ba9130f 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -205,7 +205,7 @@ void enable_all_steppers(); void disable_all_steppers(); void FlushSerialRequestResend(); -void ClearToSend(); +void ok_to_send(); void get_coordinates(); #ifdef DELTA diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 8dc884e1f3..293298e860 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -363,6 +363,7 @@ bool target_direction; #endif #ifdef SCARA + float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND; static float delta[3] = { 0 }; float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1 #endif @@ -1712,7 +1713,7 @@ static void homeaxis(AxisEnum axis) { #ifdef FWRETRACT - void retract(bool retracting, bool swapretract = false) { + void retract(bool retracting, bool swapping=false) { if (retracting == retracted[active_extruder]) return; @@ -1723,7 +1724,7 @@ static void homeaxis(AxisEnum axis) { if (retracting) { feedrate = retract_feedrate * 60; - current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder]; + current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder]; plan_set_e_position(current_position[E_AXIS]); prepare_move(); @@ -1750,7 +1751,7 @@ static void homeaxis(AxisEnum axis) { } feedrate = retract_recover_feedrate * 60; - float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; + float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length; current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder]; plan_set_e_position(current_position[E_AXIS]); prepare_move(); @@ -1792,7 +1793,7 @@ inline void gcode_G0_G1() { #endif //FWRETRACT prepare_move(); - //ClearToSend(); + //ok_to_send(); } } @@ -1814,7 +1815,7 @@ inline void gcode_G4() { millis_t codenum = 0; if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait - if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait + if (code_seen('S')) codenum = code_value() * 1000; // seconds to wait st_synchronize(); refresh_cmd_timeout(); @@ -2681,7 +2682,7 @@ inline void gcode_G92() { hasP = codenum > 0; } if (code_seen('S')) { - codenum = code_value_short() * 1000UL; // seconds to wait + codenum = code_value() * 1000; // seconds to wait hasS = codenum > 0; } char* starpos = strchr(src, '*'); @@ -4314,7 +4315,7 @@ inline void gcode_M303() { destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS]; destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS]; prepare_move(); - //ClearToSend(); + //ok_to_send(); return true; } return false; @@ -5537,7 +5538,7 @@ void process_commands() { SERIAL_ECHOLNPGM("\""); } - ClearToSend(); + ok_to_send(); } void FlushSerialRequestResend() { @@ -5545,10 +5546,10 @@ void FlushSerialRequestResend() { MYSERIAL.flush(); SERIAL_PROTOCOLPGM(MSG_RESEND); SERIAL_PROTOCOLLN(gcode_LastN + 1); - ClearToSend(); + ok_to_send(); } -void ClearToSend() { +void ok_to_send() { refresh_cmd_timeout(); #ifdef SDSUPPORT if (fromsd[cmd_queue_index_r]) return; @@ -5777,34 +5778,35 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_ #endif // PREVENT_DANGEROUS_EXTRUDE -void prepare_move() { - clamp_to_software_endstops(destination); - refresh_cmd_timeout(); - - #ifdef PREVENT_DANGEROUS_EXTRUDE - (void)prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]); - #endif - - #ifdef SCARA //for now same as delta-code +#if defined(DELTA) || defined(SCARA) + inline bool prepare_move_delta() { float difference[NUM_AXIS]; - for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i]; + for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i]; float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); - if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); } - if (cartesian_mm < 0.000001) { return; } + if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); + if (cartesian_mm < 0.000001) return false; float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; - int steps = max(1, int(scara_segments_per_second * seconds)); + int steps = max(1, int(delta_segments_per_second * seconds)); - //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); - //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); - //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); + // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); + // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); + // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); for (int s = 1; s <= steps; s++) { + float fraction = float(s) / float(steps); - for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction; - + + for (int8_t i = 0; i < NUM_AXIS; i++) + destination[i] = current_position[i] + difference[i] * fraction; + calculate_delta(destination); + + #ifdef ENABLE_AUTO_BED_LEVELING + adjust_delta(destination); + #endif + //SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]); //SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]); //SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]); @@ -5814,37 +5816,18 @@ void prepare_move() { plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); } + return true; + } - #endif // SCARA - - #ifdef DELTA +#endif // DELTA || SCARA - float difference[NUM_AXIS]; - for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i]; +#ifdef SCARA + inline bool prepare_move_scara() { return prepare_move_delta(); } +#endif - float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); - if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]); - if (cartesian_mm < 0.000001) return; - float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier; - int steps = max(1, int(delta_segments_per_second * seconds)); +#ifdef DUAL_X_CARRIAGE - // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm); - // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds); - // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps); - - for (int s = 1; s <= steps; s++) { - float fraction = float(s) / float(steps); - for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction; - calculate_delta(destination); - #ifdef ENABLE_AUTO_BED_LEVELING - adjust_delta(destination); - #endif - plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder); - } - - #endif // DELTA - - #ifdef DUAL_X_CARRIAGE + inline bool prepare_move_dual_x_carriage() { if (active_extruder_parked) { if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) { // move duplicate extruder into correct duplication position. @@ -5865,7 +5848,7 @@ void prepare_move() { set_current_to_destination(); NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]); delayed_move_time = millis(); - return; + return false; } } delayed_move_time = 0; @@ -5876,9 +5859,14 @@ void prepare_move() { active_extruder_parked = false; } } - #endif // DUAL_X_CARRIAGE + return true; + } - #if !defined(DELTA) && !defined(SCARA) +#endif // DUAL_X_CARRIAGE + +#if !defined(DELTA) && !defined(SCARA) + + inline bool prepare_move_cartesian() { // Do not use feedrate_multiplier for E or Z only moves if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) { line_to_destination(); @@ -5886,12 +5874,40 @@ void prepare_move() { else { #ifdef MESH_BED_LEVELING mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder); - return; + return false; #else line_to_destination(feedrate * feedrate_multiplier / 100.0); - #endif // MESH_BED_LEVELING + #endif } - #endif // !(DELTA || SCARA) + return true; + } + +#endif // !DELTA && !SCARA + +/** + * Prepare a single move and get ready for the next one + */ +void prepare_move() { + clamp_to_software_endstops(destination); + refresh_cmd_timeout(); + + #ifdef PREVENT_DANGEROUS_EXTRUDE + prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]); + #endif + + #ifdef SCARA + if (!prepare_move_scara()) return; + #elif defined(DELTA) + if (!prepare_move_delta()) return; + #endif + + #ifdef DUAL_X_CARRIAGE + if (!prepare_move_dual_x_carriage()) return; + #endif + + #if !defined(DELTA) && !defined(SCARA) + if (!prepare_move_cartesian()) return; + #endif set_current_to_destination(); } @@ -5911,37 +5927,37 @@ void prepare_arc_move(char isclockwise) { #if HAS_CONTROLLERFAN -millis_t lastMotor = 0; // Last time a motor was turned on -millis_t lastMotorCheck = 0; // Last time the state was checked - -void controllerFan() { - millis_t ms = millis(); - if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms - lastMotorCheck = ms; - if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0 - || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled... - #if EXTRUDERS > 1 - || E1_ENABLE_READ == E_ENABLE_ON - #if HAS_X2_ENABLE - || X2_ENABLE_READ == X_ENABLE_ON - #endif - #if EXTRUDERS > 2 - || E2_ENABLE_READ == E_ENABLE_ON - #if EXTRUDERS > 3 - || E3_ENABLE_READ == E_ENABLE_ON + void controllerFan() { + static millis_t lastMotor = 0; // Last time a motor was turned on + static millis_t lastMotorCheck = 0; // Last time the state was checked + millis_t ms = millis(); + if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms + lastMotorCheck = ms; + if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0 + || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled... + #if EXTRUDERS > 1 + || E1_ENABLE_READ == E_ENABLE_ON + #if HAS_X2_ENABLE + || X2_ENABLE_READ == X_ENABLE_ON + #endif + #if EXTRUDERS > 2 + || E2_ENABLE_READ == E_ENABLE_ON + #if EXTRUDERS > 3 + || E3_ENABLE_READ == E_ENABLE_ON + #endif #endif #endif - #endif - ) { - lastMotor = ms; //... set time to NOW so the fan will turn on + ) { + lastMotor = ms; //... set time to NOW so the fan will turn on + } + uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED; + // allows digital or PWM fan output to be used (see M42 handling) + digitalWrite(CONTROLLERFAN_PIN, speed); + analogWrite(CONTROLLERFAN_PIN, speed); } - uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED; - // allows digital or PWM fan output to be used (see M42 handling) - digitalWrite(CONTROLLERFAN_PIN, speed); - analogWrite(CONTROLLERFAN_PIN, speed); } -} -#endif + +#endif // HAS_CONTROLLERFAN #ifdef SCARA void calculate_SCARA_forward_Transform(float f_scara[3]) diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h index 151b703002..bb552e5f39 100644 --- a/Marlin/example_configurations/SCARA/Configuration.h +++ b/Marlin/example_configurations/SCARA/Configuration.h @@ -30,7 +30,7 @@ Here are some standard links for getting your machine calibrated: // You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested! // Uncomment to use Morgan scara mode #define SCARA -#define scara_segments_per_second 200 //careful, two much will decrease performance... +#define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value // Length of inner support arm #define Linkage_1 150 //mm Preprocessor cannot handle decimal point... // Length of outer support arm Measure arm lengths precisely and enter