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Use a macro for kinematic sync_plan_position

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This commit is contained in:
Scott Lahteine 2016-06-21 18:56:25 -07:00
parent bfccf26294
commit b4a9d2366c
1 changed files with 33 additions and 88 deletions
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121
Marlin/Marlin_main.cpp
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@ -582,6 +582,9 @@ static void report_current_position();
calculate_delta(current_position); calculate_delta(current_position);
planner.set_position_mm(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]);
} }
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_delta()
#else
#define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position()
#endif #endif
#if ENABLED(SDSUPPORT) #if ENABLED(SDSUPPORT)
@ -866,7 +869,7 @@ void setup() {
#if ENABLED(DELTA) || ENABLED(SCARA) #if ENABLED(DELTA) || ENABLED(SCARA)
// Vital to init kinematic equivalent for X0 Y0 Z0 // Vital to init kinematic equivalent for X0 Y0 Z0
sync_plan_position_delta(); SYNC_PLAN_POSITION_KINEMATIC();
#endif #endif
thermalManager.init(); // Initialize temperature loop thermalManager.init(); // Initialize temperature loop
@ -1997,7 +2000,7 @@ static void setup_for_endstop_move() {
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe (DELTA) 2", current_position);
#endif #endif
sync_plan_position_delta(); SYNC_PLAN_POSITION_KINEMATIC();
#else // !DELTA #else // !DELTA
@ -2036,11 +2039,7 @@ static void setup_for_endstop_move() {
// Get the current stepper position after bumping an endstop // Get the current stepper position after bumping an endstop
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS); current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
#if ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("run_z_probe", current_position);
@ -2084,11 +2083,7 @@ static void setup_for_endstop_move() {
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position); if (DEBUGGING(LEVELING)) DEBUG_POS("<<< set_bed_level_equation_lsq", corrected_position);
#endif #endif
#if ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
} }
#endif // !DELTA #endif // !DELTA
@ -2128,11 +2123,7 @@ static void setup_for_endstop_move() {
if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position); if (DEBUGGING(LEVELING)) DEBUG_POS("set_bed_level_equation_3pts", corrected_position);
#endif #endif
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
} }
#endif // !AUTO_BED_LEVELING_GRID #endif // !AUTO_BED_LEVELING_GRID
@ -2334,11 +2325,7 @@ static void homeaxis(AxisEnum axis) {
// Set the axis position as setup for the move // Set the axis position as setup for the move
current_position[axis] = 0; current_position[axis] = 0;
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
// Homing Z towards the bed? Deploy the Z probe or endstop. // Homing Z towards the bed? Deploy the Z probe or endstop.
#if HAS_BED_PROBE #if HAS_BED_PROBE
@ -2363,11 +2350,7 @@ static void homeaxis(AxisEnum axis) {
// Set the axis position as setup for the move // Set the axis position as setup for the move
current_position[axis] = 0; current_position[axis] = 0;
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
@ -2408,7 +2391,7 @@ static void homeaxis(AxisEnum axis) {
lockZ1 = (z_endstop_adj < 0); lockZ1 = (z_endstop_adj < 0);
if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true); if (lockZ1) stepper.set_z_lock(true); else stepper.set_z2_lock(true);
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
// Move to the adjusted endstop height // Move to the adjusted endstop height
feedrate = homing_feedrate[axis]; feedrate = homing_feedrate[axis];
@ -2428,7 +2411,7 @@ static void homeaxis(AxisEnum axis) {
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)"); if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("> endstops.enable(false)");
#endif #endif
endstops.enable(false); // Disable endstops while moving away endstops.enable(false); // Disable endstops while moving away
sync_plan_position_delta(); SYNC_PLAN_POSITION_KINEMATIC();
destination[axis] = endstop_adj[axis]; destination[axis] = endstop_adj[axis];
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) { if (DEBUGGING(LEVELING)) {
@ -2456,11 +2439,7 @@ static void homeaxis(AxisEnum axis) {
// Set the axis position to its home position (plus home offsets) // Set the axis position to its home position (plus home offsets)
set_axis_is_at_home(axis); set_axis_is_at_home(axis);
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position);
@ -2511,11 +2490,7 @@ static void homeaxis(AxisEnum axis) {
if (retract_zlift > 0.01) { if (retract_zlift > 0.01) {
current_position[Z_AXIS] -= retract_zlift; current_position[Z_AXIS] -= retract_zlift;
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
prepare_move_to_destination(); prepare_move_to_destination();
} }
} }
@ -2523,11 +2498,7 @@ static void homeaxis(AxisEnum axis) {
if (retract_zlift > 0.01) { if (retract_zlift > 0.01) {
current_position[Z_AXIS] += retract_zlift; current_position[Z_AXIS] += retract_zlift;
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
} }
feedrate = retract_recover_feedrate * 60; feedrate = retract_recover_feedrate * 60;
@ -2838,7 +2809,7 @@ inline void gcode_G28() {
HOMEAXIS(Y); HOMEAXIS(Y);
HOMEAXIS(Z); HOMEAXIS(Z);
sync_plan_position_delta(); SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("(DELTA)", current_position);
@ -2900,7 +2871,7 @@ inline void gcode_G28() {
int x_axis_home_dir = home_dir(X_AXIS); int x_axis_home_dir = home_dir(X_AXIS);
#endif #endif
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS), float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
mlratio = mlx > mly ? mly / mlx : mlx / mly; mlratio = mlx > mly ? mly / mlx : mlx / mly;
@ -2913,7 +2884,7 @@ inline void gcode_G28() {
set_axis_is_at_home(X_AXIS); set_axis_is_at_home(X_AXIS);
set_axis_is_at_home(Y_AXIS); set_axis_is_at_home(Y_AXIS);
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("> QUICK_HOME 1", current_position);
@ -2997,7 +2968,7 @@ inline void gcode_G28() {
* enough to reach Z_SAFE_HOMING XY positions. * enough to reach Z_SAFE_HOMING XY positions.
* Just make sure the planner is in sync. * Just make sure the planner is in sync.
*/ */
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
/** /**
* Set the Z probe (or just the nozzle) destination to the safe * Set the Z probe (or just the nozzle) destination to the safe
@ -3082,11 +3053,7 @@ inline void gcode_G28() {
#endif // Z_HOME_DIR < 0 #endif // Z_HOME_DIR < 0
#if ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
#endif // !DELTA (gcode_G28) #endif // !DELTA (gcode_G28)
@ -3104,7 +3071,7 @@ inline void gcode_G28() {
if (mbl.has_mesh()) { if (mbl.has_mesh()) {
if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) { if (home_all_axis || (axis_homed[X_AXIS] && axis_homed[Y_AXIS] && homeZ)) {
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
mbl.set_active(true); mbl.set_active(true);
#if ENABLED(MESH_G28_REST_ORIGIN) #if ENABLED(MESH_G28_REST_ORIGIN)
current_position[Z_AXIS] = 0.0; current_position[Z_AXIS] = 0.0;
@ -3120,7 +3087,7 @@ inline void gcode_G28() {
} }
else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) { else if ((axis_homed[X_AXIS] && axis_homed[Y_AXIS] && axis_homed[Z_AXIS]) && (homeX || homeY)) {
current_position[Z_AXIS] = pre_home_z; current_position[Z_AXIS] = pre_home_z;
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
mbl.set_active(true); mbl.set_active(true);
current_position[Z_AXIS] = pre_home_z - current_position[Z_AXIS] = pre_home_z -
mbl.get_z(current_position[X_AXIS] - home_offset[X_AXIS], mbl.get_z(current_position[X_AXIS] - home_offset[X_AXIS],
@ -3248,7 +3215,7 @@ inline void gcode_G28() {
if (probe_point == 0) { if (probe_point == 0) {
// For the intial G29 S2 make Z a positive value (e.g., 4.0) // For the intial G29 S2 make Z a positive value (e.g., 4.0)
current_position[Z_AXIS] = MESH_HOME_SEARCH_Z; current_position[Z_AXIS] = MESH_HOME_SEARCH_Z;
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
} }
else { else {
// For G29 S2 after adjusting Z. // For G29 S2 after adjusting Z.
@ -3328,7 +3295,7 @@ inline void gcode_G28() {
mbl.get_z(current_position[X_AXIS] - home_offset[X_AXIS], mbl.get_z(current_position[X_AXIS] - home_offset[X_AXIS],
current_position[Y_AXIS] - home_offset[Y_AXIS]) - MESH_HOME_SEARCH_Z; current_position[Y_AXIS] - home_offset[Y_AXIS]) - MESH_HOME_SEARCH_Z;
mbl.reset(); mbl.reset();
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
} }
else else
mbl.reset(); mbl.reset();
@ -3496,11 +3463,7 @@ inline void gcode_G28() {
if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position); if (DEBUGGING(LEVELING)) DEBUG_POS("AFTER matrix.set_to_identity", uncorrected_position);
#endif #endif
#if ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
#endif // !DELTA #endif // !DELTA
} }
@ -3818,11 +3781,7 @@ inline void gcode_G28() {
#endif #endif
; ;
// current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home" // current_position[Z_AXIS] += home_offset[Z_AXIS]; // The Z probe determines Z=0, not "Z home"
#if ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE) #if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position); if (DEBUGGING(LEVELING)) DEBUG_POS("> corrected Z in G29", current_position);
@ -3919,17 +3878,11 @@ inline void gcode_G92() {
} }
} }
} }
if (didXYZ) { if (didXYZ)
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta(); else if (didE)
#else
sync_plan_position();
#endif
}
else if (didE) {
sync_plan_position_e(); sync_plan_position_e();
} }
}
#if ENABLED(ULTIPANEL) #if ENABLED(ULTIPANEL)
@ -5420,7 +5373,7 @@ inline void gcode_M206() {
if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi if (code_seen('P')) set_home_offset(Y_AXIS, code_value_axis_units(Y_AXIS)); // Psi
#endif #endif
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
report_current_position(); report_current_position();
} }
@ -6171,11 +6124,7 @@ inline void gcode_M428() {
} }
if (!err) { if (!err) {
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
report_current_position(); report_current_position();
LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED); LCD_MESSAGEPGM(MSG_HOME_OFFSETS_APPLIED);
#if HAS_BUZZER #if HAS_BUZZER
@ -6741,11 +6690,7 @@ inline void gcode_T(uint8_t tmp_extruder) {
#endif // !DUAL_X_CARRIAGE #endif // !DUAL_X_CARRIAGE
// Tell the planner the new "current position" // Tell the planner the new "current position"
#if ENABLED(DELTA) || ENABLED(SCARA) SYNC_PLAN_POSITION_KINEMATIC();
sync_plan_position_delta();
#else
sync_plan_position();
#endif
// Move to the "old position" (move the extruder into place) // Move to the "old position" (move the extruder into place)
if (!no_move && IsRunning()) prepare_move_to_destination(); if (!no_move && IsRunning()) prepare_move_to_destination();
@ -7694,7 +7639,7 @@ void mesh_buffer_line(float x, float y, float z, const float e, float feed_rate,
planner.set_position_mm(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, 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); current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], planner.max_feedrate[X_AXIS], 1);
sync_plan_position(); SYNC_PLAN_POSITION_KINEMATIC();
stepper.synchronize(); stepper.synchronize();
extruder_duplication_enabled = true; extruder_duplication_enabled = true;
active_extruder_parked = false; active_extruder_parked = false;