From a0a1f81913023b81411558fcdf837f2af76faa74 Mon Sep 17 00:00:00 2001 From: Erik van der Zalm Date: Tue, 21 Feb 2012 20:17:28 +0100 Subject: [PATCH] various changes --- Marlin/Marlin.pde | 29 ++++++++++------------------- Marlin/planner.cpp | 19 +++++++++++++++++-- Marlin/planner.h | 2 +- 3 files changed, 28 insertions(+), 22 deletions(-) diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index 07716fd35b..b122e58d82 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -509,11 +509,9 @@ bool code_seen(char code) plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \ \ current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\ - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\ destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\ feedrate = 0.0;\ st_synchronize();\ - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\ endstops_hit_on_purpose();\ } @@ -567,7 +565,7 @@ void process_commands() feedrate = 0.0; home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); #ifdef QUICK_HOME - if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move + if( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS]) ) //first diagonal move { current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0; @@ -585,10 +583,10 @@ void process_commands() destination[Y_AXIS] = current_position[Y_AXIS]; feedrate = 0.0; st_synchronize(); - plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]); - current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0; endstops_hit_on_purpose(); } + else + { #endif if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) @@ -599,7 +597,11 @@ void process_commands() if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) { HOMEAXIS(Y); } - + + #ifdef QUICK_HOME + } + #endif + if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { HOMEAXIS(Z); } @@ -616,6 +618,8 @@ void process_commands() if(code_seen(axis_codes[Z_AXIS])) { current_position[2]=code_value()+add_homeing[2]; } + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + #ifdef ENDSTOPS_ONLY_FOR_HOMING enable_endstops(false); #endif @@ -1254,19 +1258,6 @@ void get_arc_coordinates() void prepare_move() { - - if (min_software_endstops) { - if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0; - if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0; - if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0; - } - - if (max_software_endstops) { - if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH; - if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH; - if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH; - } - plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder); for(int8_t i=0; i < NUM_AXIS; i++) { current_position[i] = destination[i]; diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index b895b95e52..b631eb45aa 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -439,11 +439,24 @@ float junction_deviation = 0.1; // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration // calculation the caller must also provide the physical length of the line in millimeters. -void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder) +void plan_buffer_line(float &x, float &y, float &z, float &e, float feed_rate, uint8_t &extruder) { // Calculate the buffer head after we push this byte int next_buffer_head = next_block_index(block_buffer_head); + + if (min_software_endstops) { + if (x < 0) x = 0; + if (y < 0) y = 0; + if (z < 0) z = 0; + } + + if (max_software_endstops) { + if (x > X_MAX_LENGTH) x = X_MAX_LENGTH; + if (y > Y_MAX_LENGTH) y = Y_MAX_LENGTH; + if (z > Z_MAX_LENGTH) z = Z_MAX_LENGTH; + } + // If the buffer is full: good! That means we are well ahead of the robot. // Rest here until there is room in the buffer. while(block_buffer_tail == next_buffer_head) { @@ -451,7 +464,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa manage_inactivity(1); LCD_STATUS; } - + // The target position of the tool in absolute steps // Calculate target position in absolute steps //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow @@ -461,6 +474,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); + + #ifdef PREVENT_DANGEROUS_EXTRUDE if(target[E_AXIS]!=position[E_AXIS]) if(degHotend(active_extruder)