MPCNC/Firmware2
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various changes

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This commit is contained in:
Erik van der Zalm 2012-02-21 20:17:28 +01:00
parent fa2e1be0ca
commit a0a1f81913
3 changed files with 28 additions and 22 deletions
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29
Marlin/Marlin.pde
View File

@ -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];

19
Marlin/planner.cpp
View File

@ -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)<EXTRUDE_MINTEMP && !allow_cold_extrude)

2
Marlin/planner.h
View File

@ -67,7 +67,7 @@ void plan_init();
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// millimaters. Feed rate specifies the speed of the motion.
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);
// Set position. Used for G92 instructions.
void plan_set_position(const float &x, const float &y, const float &z, const float &e);