From 091f94a6bfa7447d9651147fe63c3445d764b4f0 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Sat, 13 May 2017 00:43:12 -0500
Subject: [PATCH] Fix up M421 and some comments
---
Marlin/Marlin_main.cpp | 114 +++++++++++++++--------------------------
1 file changed, 42 insertions(+), 72 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 70d5f36e6d..01151bc968 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -170,6 +170,8 @@
* M302 - Allow cold extrudes, or set the minimum extrude S<temperature>. (Requires PREVENT_COLD_EXTRUSION)
* M303 - PID relay autotune S<temperature> sets the target temperature. Default 150C. (Requires PIDTEMP)
* M304 - Set bed PID parameters P I and D. (Requires PIDTEMPBED)
+ * M350 - Set microstepping mode. (Requires digital microstepping pins.)
+ * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
* M355 - Turn the Case Light on/off and set its brightness. (Requires CASE_LIGHT_PIN)
* M380 - Activate solenoid on active extruder. (Requires EXT_SOLENOID)
* M381 - Disable all solenoids. (Requires EXT_SOLENOID)
@@ -194,6 +196,7 @@
* M666 - Set delta endstop adjustment. (Requires DELTA)
* M605 - Set dual x-carriage movement mode: "M605 S<mode> [X<x_offset>] [R<temp_offset>]". (Requires DUAL_X_CARRIAGE)
* M851 - Set Z probe's Z offset in current units. (Negative = below the nozzle.)
+ * M900 - Get and/or Set advance K factor and WH/D ratio. (Requires LIN_ADVANCE)
* M906 - Set or get motor current in milliamps using axis codes X, Y, Z, E. Report values if no axis codes given. (Requires HAVE_TMC2130)
* M907 - Set digital trimpot motor current using axis codes. (Requires a board with digital trimpots)
* M908 - Control digital trimpot directly. (Requires DAC_STEPPER_CURRENT or DIGIPOTSS_PIN)
@@ -203,8 +206,6 @@
* M912 - Clear stepper driver overtemperature pre-warn condition flag. (Requires HAVE_TMC2130)
* M913 - Set HYBRID_THRESHOLD speed. (Requires HYBRID_THRESHOLD)
* M914 - Set SENSORLESS_HOMING sensitivity. (Requires SENSORLESS_HOMING)
- * M350 - Set microstepping mode. (Requires digital microstepping pins.)
- * M351 - Toggle MS1 MS2 pins directly. (Requires digital microstepping pins.)
*
* M360 - SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
* M361 - SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
@@ -7141,7 +7142,7 @@ inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
/**
- * M18, M84: Disable all stepper motors
+ * M18, M84: Disable stepper motors
*/
inline void gcode_M18_M84() {
if (code_seen('S')) {
@@ -8166,7 +8167,7 @@ inline void gcode_M303() {
}
/**
- * M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
+ * M364: SCARA calibration: Move to cal-position PsiC (90 deg to Theta calibration position)
*/
inline bool gcode_M364() {
SERIAL_ECHOLNPGM(" Cal: Theta-Psi 90");
@@ -8409,39 +8410,33 @@ void quickstop_stepper() {
#endif
#if ENABLED(MESH_BED_LEVELING)
+
/**
* M421: Set a single Mesh Bed Leveling Z coordinate
- * Use either 'M421 X<linear> Y<linear> Z<linear>' or 'M421 I<xindex> J<yindex> Z<linear>'
+ *
+ * Usage:
+ * M421 X<linear> Y<linear> Z<linear>
+ * M421 X<linear> Y<linear> Q<offset>
+ * M421 I<xindex> J<yindex> Z<linear>
+ * M421 I<xindex> J<yindex> Q<offset>
*/
inline void gcode_M421() {
+ const bool hasX = code_seen('X'), hasI = code_seen('I');
+ const int8_t ix = hasI ? code_value_byte() : hasX ? mbl.probe_index_x(RAW_X_POSITION(code_value_linear_units())) : -1;
+ const bool hasY = code_seen('Y'), hasJ = code_seen('J');
+ const int8_t iy = hasJ ? code_value_byte() : hasY ? mbl.probe_index_y(RAW_Y_POSITION(code_value_linear_units())) : -1;
+ const bool hasZ = code_seen('Z'), hasQ = code_seen('Q');
- const bool hasX = code_seen('X'), hasI = !hasX && code_seen('I');
- const int8_t px = hasX || hasI ? mbl.probe_index_x(code_value_linear_units()) : 0;
- const bool hasY = code_seen('Y'), hasJ = !hasY && code_seen('J');
- const int8_t py = hasY || hasJ ? mbl.probe_index_y(code_value_linear_units()) : 0;
- const bool hasZ = code_seen('Z');
- const float z = hasZ ? code_value_linear_units() : 0;
-
- if (hasX && hasY && hasZ) {
- if (px >= 0 && py >= 0)
- mbl.set_z(px, py, z);
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
- }
- }
- else if (hasI && hasJ && hasZ) {
- if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1))
- mbl.set_z(px, py, z);
- else {
- SERIAL_ERROR_START;
- SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
- }
- }
- else {
+ if (int(hasI && hasJ) + int(hasX && hasY) != 1 || hasZ == hasQ) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
}
+ else if (ix < 0 || iy < 0) {
+ SERIAL_ERROR_START;
+ SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
+ }
+ else
+ mbl.set_z(ix, iy, code_value_linear_units() + (hasQ ? mbl.z_values[ix][iy] : 0));
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
@@ -8454,38 +8449,26 @@ void quickstop_stepper() {
* M421 I<xindex> J<yindex> Q<offset>
*/
inline void gcode_M421() {
-
const bool hasI = code_seen('I');
- const int8_t px = hasI ? code_value_int() : 0;
+ const int8_t ix = hasI ? code_value_byte() : -1;
const bool hasJ = code_seen('J');
- const int8_t py = hasJ ? code_value_int() : 0;
- const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
- const float z = hasZ || hasQ ? code_value_linear_units() : 0;
+ const int8_t iy = hasJ ? code_value_byte() : -1;
+ const bool hasZ = code_seen('Z'), hasQ = code_seen('Q');
- if (!hasI || !hasJ || (hasQ && hasZ) || (!hasQ && !hasZ)) {
+ if (!hasI || !hasJ || hasZ == hasQ) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
- return;
}
-
- if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
- if (hasZ) { // doing an absolute mesh value
- z_values[px][py] = z;
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
- bed_level_virt_interpolate();
- #endif
- }
- else { // doing an offset of a mesh value
- z_values[px][py] += z;
- #if ENABLED(ABL_BILINEAR_SUBDIVISION)
- bed_level_virt_interpolate();
- #endif
- }
- }
- else { // bad indexes were specified for the mesh point
+ else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
+ else {
+ z_values[ix][iy] = code_value_linear_units() + (hasQ ? z_values[ix][iy] : 0);
+ #if ENABLED(ABL_BILINEAR_SUBDIVISION)
+ bed_level_virt_interpolate();
+ #endif
+ }
}
#elif ENABLED(AUTO_BED_LEVELING_UBL)
@@ -8499,37 +8482,24 @@ void quickstop_stepper() {
* M421 C Z<linear>
* M421 C Q<offset>
*/
-
inline void gcode_M421() {
-
- // Get the closest position for 'C', if needed
const mesh_index_pair location = find_closest_mesh_point_of_type(REAL, current_position[X_AXIS], current_position[Y_AXIS], USE_NOZZLE_AS_REFERENCE, NULL, false);
-
const bool hasC = code_seen('C'), hasI = code_seen('I');
- const int8_t px = hasC ? location.x_index : hasI ? code_value_int() : 0;
-
+ const int8_t ix = hasI ? code_value_byte() : hasC ? location.x_index : -1;
const bool hasJ = code_seen('J');
- const int8_t py = hasC ? location.y_index : hasJ ? code_value_int() : 0;
+ const int8_t iy = hasJ ? code_value_byte() : hasC ? location.y_index : -1;
+ const bool hasZ = code_seen('Z'), hasQ = code_seen('Q');
- const bool hasZ = code_seen('Z'), hasQ = !hasZ && code_seen('Q');
- const float z = hasZ || hasQ ? code_value_linear_units() : 0;
-
- if ( ((hasI && hasJ) == hasC) || (hasQ && hasZ) || (!hasQ && !hasZ)) {
+ if (int(hasC) + int(hasI && hasJ) != 1 || hasZ == hasQ) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_M421_PARAMETERS);
- return;
}
-
- if (WITHIN(px, 0, GRID_MAX_POINTS_X - 1) && WITHIN(py, 0, GRID_MAX_POINTS_Y - 1)) {
- if (hasZ) // doing an absolute mesh value
- ubl.z_values[px][py] = z;
- else // doing an offset of a mesh value
- ubl.z_values[px][py] += z;
- }
- else { // bad indexes were specified for the mesh point
+ else if (!WITHIN(ix, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1)) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_MESH_XY);
}
+ else
+ ubl.z_values[ix][iy] = code_value_linear_units() + (hasQ ? ubl.z_values[ix][iy] : 0);
}
#endif // AUTO_BED_LEVELING_UBL