From 11c075c6b2a2d78ce63ed63357519f8e3ee695a1 Mon Sep 17 00:00:00 2001
From: AnHardt <github@kitelab.de>
Date: Tue, 19 Jul 2016 17:24:44 +0200
Subject: [PATCH] Introduce line_to_axis_pos(axis_codes axis, float where,
float feed_rate = 0.0)
and use it in `homeaxis()` instead of `do_blocking_move_to_axis_pos()`.
`do_blocking_move_to_axis_pos` was wrong because it performed subdivided, delta-corrected moves for x- and y-axis.
The first common move for delta homing is like quick_home but for 3 towers.
Fix two warnings.
---
Marlin/Marlin_main.cpp | 97 ++++++++++++++++++++++--------------------
1 file changed, 52 insertions(+), 45 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index a4fbec095a..701a203946 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1613,9 +1613,20 @@ inline float set_homing_bump_feedrate(AxisEnum axis) {
inline void line_to_current_position() {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}
+
inline void line_to_z(float zPosition) {
planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
}
+
+inline void line_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
+ float old_feedrate_mm_m = feedrate_mm_m;
+ current_position[axis] = where;
+ feedrate_mm_m = (fr_mm_m != 0.0) ? fr_mm_m : homing_feedrate_mm_m[axis];
+ planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], MMM_TO_MMS(feedrate_mm_m), active_extruder);
+ stepper.synchronize(); // The lost one
+ feedrate_mm_m = old_feedrate_mm_m;
+}
+
//
// line_to_destination
// Move the planner, not necessarily synced with current_position
@@ -1708,11 +1719,6 @@ static void do_blocking_move_to(float x, float y, float z, float fr_mm_m = 0.0)
feedrate_mm_m = old_feedrate_mm_m;
}
-inline void do_blocking_move_to_axis_pos(AxisEnum axis, float where, float fr_mm_m = 0.0) {
- current_position[axis] = where;
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
-}
-
inline void do_blocking_move_to_x(float x, float fr_mm_m = 0.0) {
do_blocking_move_to(x, current_position[Y_AXIS], current_position[Z_AXIS], fr_mm_m);
}
@@ -2425,19 +2431,17 @@ static void homeaxis(AxisEnum axis) {
#endif
// Move towards the endstop until an endstop is triggered
- do_blocking_move_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
+ line_to_axis_pos(axis, 1.5 * max_length(axis) * axis_home_dir);
// Set the axis position as setup for the move
current_position[axis] = 0;
sync_plan_position();
// Move away from the endstop by the axis HOME_BUMP_MM
- do_blocking_move_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir, homing_feedrate_mm_m[axis]);
-
- // Slow down the feedrate for the next move
+ line_to_axis_pos(axis, -home_bump_mm(axis) * axis_home_dir);
// Move slowly towards the endstop until triggered
- do_blocking_move_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
+ line_to_axis_pos(axis, 2 * home_bump_mm(axis) * axis_home_dir, set_homing_bump_feedrate(axis));
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(LEVELING)) DEBUG_POS("> TRIGGER ENDSTOP", current_position);
@@ -2458,7 +2462,7 @@ static void homeaxis(AxisEnum axis) {
sync_plan_position();
// Move to the adjusted endstop height
- do_blocking_move_to_z(adj, homing_feedrate_mm_m[axis]);
+ line_to_axis_pos(axis, adj);
if (lockZ1) stepper.set_z_lock(false); else stepper.set_z2_lock(false);
stepper.set_homing_flag(false);
@@ -2475,7 +2479,7 @@ static void homeaxis(AxisEnum axis) {
DEBUG_POS("", current_position);
}
#endif
- do_blocking_move_to_axis_pos(axis, endstop_adj[axis], set_homing_bump_feedrate(axis));
+ line_to_axis_pos(axis, endstop_adj[axis]);
}
#endif
@@ -2825,30 +2829,6 @@ inline void gcode_G4() {
}
#endif
-#if ENABLED(QUICK_HOME)
-
- static void quick_home_xy() {
-
- #if ENABLED(DUAL_X_CARRIAGE)
- int x_axis_home_dir = x_home_dir(active_extruder);
- extruder_duplication_enabled = false;
- #else
- int x_axis_home_dir = home_dir(X_AXIS);
- #endif
-
- float mlx = max_length(X_AXIS),
- mly = max_length(Y_AXIS),
- mlratio = mlx > mly ? mly / mlx : mlx / mly,
- fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1);
-
- do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
- endstops.hit_on_purpose(); // clear endstop hit flags
- current_position[X_AXIS] = current_position[Y_AXIS] = 0;
-
- }
-
-#endif // QUICK_HOME
-
#if ENABLED(NOZZLE_PARK_FEATURE)
#include "nozzle.h"
@@ -2863,6 +2843,34 @@ inline void gcode_G4() {
}
#endif // NOZZLE_PARK_FEATURE
+#if ENABLED(QUICK_HOME)
+
+ static void quick_home_xy() {
+
+ // Pretend the current position is 0,0
+ current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
+ sync_plan_position();
+
+ #if ENABLED(DUAL_X_CARRIAGE)
+ int x_axis_home_dir = x_home_dir(active_extruder);
+ extruder_duplication_enabled = false;
+ #else
+ int x_axis_home_dir = home_dir(X_AXIS);
+ #endif
+
+ float mlx = max_length(X_AXIS),
+ mly = max_length(Y_AXIS),
+ mlratio = mlx > mly ? mly / mlx : mlx / mly,
+ fr_mm_m = min(homing_feedrate_mm_m[X_AXIS], homing_feedrate_mm_m[Y_AXIS]) * sqrt(sq(mlratio) + 1.0);
+
+ do_blocking_move_to_xy(1.5 * mlx * x_axis_home_dir, 1.5 * mly * home_dir(Y_AXIS), fr_mm_m);
+ endstops.hit_on_purpose(); // clear endstop hit flags
+ current_position[X_AXIS] = current_position[Y_AXIS] = 0.0;
+
+ }
+
+#endif // QUICK_HOME
+
/**
* G28: Home all axes according to settings
*
@@ -2931,20 +2939,19 @@ inline void gcode_G28() {
*/
// Pretend the current position is 0,0,0
- for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
+ // This is like quick_home_xy() but for 3 towers.
+ current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
sync_plan_position();
// Move all carriages up together until the first endstop is hit.
- for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * (Z_MAX_LENGTH);
+ current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 3.0 * (Z_MAX_LENGTH);
feedrate_mm_m = 1.732 * homing_feedrate_mm_m[X_AXIS];
- line_to_destination();
+ line_to_current_position();
stepper.synchronize();
endstops.hit_on_purpose(); // clear endstop hit flags
+ current_position[X_AXIS] = current_position[Y_AXIS] = current_position[Z_AXIS] = 0.0;
- // Destination reached
- for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
-
- // take care of back off and rehome now we are all at the top
+ // take care of back off and rehome. Now one carriage is at the top.
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
@@ -5325,7 +5332,7 @@ inline void gcode_M200() {
if (volumetric_enabled) {
filament_size[target_extruder] = code_value_linear_units();
// make sure all extruders have some sane value for the filament size
- for (int i = 0; i < COUNT(filament_size); i++)
+ for (uint8_t i = 0; i < COUNT(filament_size); i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
@@ -8695,6 +8702,6 @@ float calculate_volumetric_multiplier(float diameter) {
}
void calculate_volumetric_multipliers() {
- for (int i = 0; i < COUNT(filament_size); i++)
+ for (uint8_t i = 0; i < COUNT(filament_size); i++)
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
}