From 280534c06fae73b280379fba3c39ca7fd2705edd Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sat, 20 Aug 2016 20:07:42 -0500
Subject: [PATCH 1/5] Add M211: Enable/Disable Software Endstops
---
Marlin/Marlin.h | 17 +++++---
Marlin/Marlin_main.cpp | 94 +++++++++++++++++++++++++++++-------------
Marlin/language.h | 3 ++
Marlin/macros.h | 3 ++
4 files changed, 84 insertions(+), 33 deletions(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index e5bbdb7e9f..17c4f7f29d 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -245,8 +245,6 @@ void enqueue_and_echo_command_now(const char* cmd); // enqueue now, only return
void enqueue_and_echo_commands_P(const char* cmd); //put one or many ASCII commands at the end of the current buffer, read from flash
void clear_command_queue();
-void clamp_to_software_endstops(float target[3]);
-
extern millis_t previous_cmd_ms;
inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); }
@@ -275,8 +273,18 @@ extern volatile bool wait_for_heatup;
extern float current_position[NUM_AXIS];
extern float position_shift[3];
extern float home_offset[3];
-extern float sw_endstop_min[3];
-extern float sw_endstop_max[3];
+
+// Software Endstops
+void update_software_endstops(AxisEnum axis);
+#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
+ extern bool soft_endstops_enabled;
+ void clamp_to_software_endstops(float target[XYZ]);
+#else
+ #define soft_endstops_enabled false
+ #define clamp_to_software_endstops(x) NOOP
+#endif
+extern float soft_endstop_min[XYZ];
+extern float soft_endstop_max[XYZ];
#define LOGICAL_POSITION(POS, AXIS) (POS + home_offset[AXIS] + position_shift[AXIS])
#define RAW_POSITION(POS, AXIS) (POS - home_offset[AXIS] - position_shift[AXIS])
@@ -379,7 +387,6 @@ extern uint8_t active_extruder;
extern float mixing_factor[MIXING_STEPPERS];
#endif
-void update_software_endstops(AxisEnum axis);
void calculate_volumetric_multipliers();
// Buzzer
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index a0dc9386ca..45c229b346 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -205,6 +205,7 @@
* M208 - Set Recover (unretract) Additional (!) Length: S<length> and Feedrate: F<units/min>
* M209 - Turn Automatic Retract Detection on/off: S<bool> (For slicers that don't support G10/11).
Every normal extrude-only move will be classified as retract depending on the direction.
+ * M211 - Enable, Disable, and/or Report software endstops: [S<bool>]
* M218 - Set a tool offset: T<index> X<offset> Y<offset>
* M220 - Set Feedrate Percentage: S<percent> ("FR" on your LCD)
* M221 - Set Flow Percentage: S<percent>
@@ -332,9 +333,12 @@ float position_shift[3] = { 0 };
// Set by M206, M428, or menu item. Saved to EEPROM.
float home_offset[3] = { 0 };
-// Software Endstops. Default to configured limits.
-float sw_endstop_min[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
-float sw_endstop_max[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
+// Software Endstops are based on the configured limits.
+#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
+ bool soft_endstops_enabled = true;
+#endif
+float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
+ soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
#if FAN_COUNT > 0
int fanSpeeds[FAN_COUNT] = { 0 };
@@ -1477,21 +1481,21 @@ void update_software_endstops(AxisEnum axis) {
if (axis == X_AXIS) {
float dual_max_x = max(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
- sw_endstop_min[X_AXIS] = X2_MIN_POS + offs;
- sw_endstop_max[X_AXIS] = dual_max_x + offs;
+ soft_endstop_min[X_AXIS] = X2_MIN_POS + offs;
+ soft_endstop_max[X_AXIS] = dual_max_x + offs;
return;
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
- sw_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
- sw_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
+ soft_endstop_min[X_AXIS] = base_min_pos(X_AXIS) + offs;
+ soft_endstop_max[X_AXIS] = min(base_max_pos(X_AXIS), dual_max_x - duplicate_extruder_x_offset) + offs;
return;
}
}
else
#endif
{
- sw_endstop_min[axis] = base_min_pos(axis) + offs;
- sw_endstop_max[axis] = base_max_pos(axis) + offs;
+ soft_endstop_min[axis] = base_min_pos(axis) + offs;
+ soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
#if ENABLED(DEBUG_LEVELING_FEATURE)
@@ -1499,16 +1503,15 @@ void update_software_endstops(AxisEnum axis) {
SERIAL_ECHOPAIR("For ", axis_codes[axis]);
SERIAL_ECHOPAIR(" axis:\n home_offset = ", home_offset[axis]);
SERIAL_ECHOPAIR("\n position_shift = ", position_shift[axis]);
- SERIAL_ECHOPAIR("\n sw_endstop_min = ", sw_endstop_min[axis]);
- SERIAL_ECHOPAIR("\n sw_endstop_max = ", sw_endstop_max[axis]);
+ SERIAL_ECHOPAIR("\n soft_endstop_min = ", soft_endstop_min[axis]);
+ SERIAL_ECHOPAIR("\n soft_endstop_max = ", soft_endstop_max[axis]);
SERIAL_EOL;
}
#endif
#if ENABLED(DELTA)
- if (axis == Z_AXIS) {
- delta_clip_start_height = sw_endstop_max[axis] - delta_safe_distance_from_top();
- }
+ if (axis == Z_AXIS)
+ delta_clip_start_height = soft_endstop_max[axis] - delta_safe_distance_from_top();
#endif
}
@@ -1574,8 +1577,8 @@ static void set_axis_is_at_home(AxisEnum axis) {
* SCARA home positions are based on configuration since the actual
* limits are determined by the inverse kinematic transform.
*/
- sw_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
- sw_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
+ soft_endstop_min[axis] = base_min_pos(axis); // + (delta[axis] - base_home_pos(axis));
+ soft_endstop_max[axis] = base_max_pos(axis); // + (delta[axis] - base_home_pos(axis));
}
else
#endif
@@ -5572,6 +5575,33 @@ inline void gcode_M206() {
#endif // FWRETRACT
+/**
+ * M211: Enable, Disable, and/or Report software endstops
+ *
+ * Usage: M211 S1 to enable, M211 S0 to disable, M211 alone for report
+ */
+inline void gcode_M211() {
+ SERIAL_ECHO_START;
+ #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
+ if (code_seen('S')) soft_endstops_enabled = code_value_bool();
+ #endif
+ #if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
+ SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": ");
+ serialprintPGM(soft_endstops_enabled ? PSTR(MSG_ON) : PSTR(MSG_OFF));
+ #else
+ SERIAL_ECHOPGM(MSG_SOFT_ENDSTOPS ": " MSG_OFF);
+ #endif
+ SERIAL_ECHOPGM(" " MSG_SOFT_MIN ": ");
+ SERIAL_ECHOPAIR( MSG_X, soft_endstop_min[X_AXIS]);
+ SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_min[Y_AXIS]);
+ SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_min[Z_AXIS]);
+ SERIAL_ECHOPGM(" " MSG_SOFT_MAX ": ");
+ SERIAL_ECHOPAIR( MSG_X, soft_endstop_max[X_AXIS]);
+ SERIAL_ECHOPAIR(" " MSG_Y, soft_endstop_max[Y_AXIS]);
+ SERIAL_ECHOPAIR(" " MSG_Z, soft_endstop_max[Z_AXIS]);
+ SERIAL_EOL;
+}
+
#if HOTENDS > 1
/**
@@ -6175,7 +6205,7 @@ inline void gcode_M428() {
bool err = false;
LOOP_XYZ(i) {
if (axis_homed[i]) {
- float base = (current_position[i] > (sw_endstop_min[i] + sw_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
+ float base = (current_position[i] > (soft_endstop_min[i] + soft_endstop_max[i]) * 0.5) ? base_home_pos(i) : 0,
diff = current_position[i] - LOGICAL_POSITION(base, i);
if (diff > -20 && diff < 20) {
set_home_offset((AxisEnum)i, home_offset[i] - diff);
@@ -7495,6 +7525,10 @@ void process_next_command() {
break;
#endif // FWRETRACT
+ case 211: // M211 - Enable, Disable, and/or Report software endstops
+ gcode_M211();
+ break;
+
#if HOTENDS > 1
case 218: // M218 - Set a tool offset: T<index> X<offset> Y<offset>
gcode_M218();
@@ -7749,18 +7783,22 @@ void ok_to_send() {
SERIAL_EOL;
}
-void clamp_to_software_endstops(float target[3]) {
- if (min_software_endstops) {
- NOLESS(target[X_AXIS], sw_endstop_min[X_AXIS]);
- NOLESS(target[Y_AXIS], sw_endstop_min[Y_AXIS]);
- NOLESS(target[Z_AXIS], sw_endstop_min[Z_AXIS]);
+#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
+
+ void clamp_to_software_endstops(float target[XYZ]) {
+ #if ENABLED(min_software_endstops)
+ NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
+ NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
+ NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
+ #endif
+ #if ENABLED(max_software_endstops)
+ NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
+ NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
+ NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
+ #endif
}
- if (max_software_endstops) {
- NOMORE(target[X_AXIS], sw_endstop_max[X_AXIS]);
- NOMORE(target[Y_AXIS], sw_endstop_max[Y_AXIS]);
- NOMORE(target[Z_AXIS], sw_endstop_max[Z_AXIS]);
- }
-}
+
+#endif
#if ENABLED(DELTA)
diff --git a/Marlin/language.h b/Marlin/language.h
index 002e95778c..052cfe8568 100644
--- a/Marlin/language.h
+++ b/Marlin/language.h
@@ -157,6 +157,9 @@
#define MSG_ENDSTOP_OPEN "open"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_DUPLICATION_MODE "Duplication mode: "
+#define MSG_SOFT_ENDSTOPS "Soft endstops"
+#define MSG_SOFT_MIN "Min"
+#define MSG_SOFT_MAX "Max"
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir "
#define MSG_SD_INIT_FAIL "SD init fail"
diff --git a/Marlin/macros.h b/Marlin/macros.h
index c070569549..351272804d 100644
--- a/Marlin/macros.h
+++ b/Marlin/macros.h
@@ -24,6 +24,9 @@
#define MACROS_H
#define NUM_AXIS 4
+#define XYZE 4
+#define ABC 3
+#define XYZ 3
#define FORCE_INLINE __attribute__((always_inline)) inline
From e354cf5884fb6fc146729d6a5ce47fbb213c6263 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sat, 20 Aug 2016 20:09:57 -0500
Subject: [PATCH 2/5] Apply sw_endstops_enabled to manual move
---
Marlin/ultralcd.cpp | 40 ++++++++++++++++++++++++++--------------
1 file changed, 26 insertions(+), 14 deletions(-)
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 0e54aeb2db..f5459757db 100755
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1327,30 +1327,42 @@ void kill_screen(const char* lcd_msg) {
*
*/
- static void _lcd_move_xyz(const char* name, AxisEnum axis, float min, float max) {
+ static void _lcd_move_xyz(const char* name, AxisEnum axis) {
if (LCD_CLICKED) { lcd_goto_previous_menu(true); return; }
ENCODER_DIRECTION_NORMAL();
if (encoderPosition) {
refresh_cmd_timeout();
+
+ // Limit to software endstops, if enabled
+ float min = (soft_endstops_enabled && min_software_endstops) ? soft_endstop_min[axis] : current_position[axis] - 1000,
+ max = (soft_endstops_enabled && max_software_endstops) ? soft_endstop_max[axis] : current_position[axis] + 1000;
+
+ // Get the new position
current_position[axis] += float((int32_t)encoderPosition) * move_menu_scale;
- if (min_software_endstops) NOLESS(current_position[axis], min);
- if (max_software_endstops) NOMORE(current_position[axis], max);
- encoderPosition = 0;
+
+ // Delta limits XY based on the current offset from center
+ // This assumes the center is 0,0
+ #if ENABLED(DELTA)
+ if (axis != Z_AXIS) {
+ max = sqrt(sq(DELTA_PRINTABLE_RADIUS) - sq(current_position[Y_AXIS - axis]));
+ min = -max;
+ }
+ #endif
+
+ // Limit only when trying to move towards the limit
+ if ((int32_t)encoderPosition < 0) NOLESS(current_position[axis], min);
+ if ((int32_t)encoderPosition > 0) NOMORE(current_position[axis], max);
+
manual_move_to_current(axis);
+
+ encoderPosition = 0;
lcdDrawUpdate = LCDVIEW_REDRAW_NOW;
}
if (lcdDrawUpdate) lcd_implementation_drawedit(name, ftostr41sign(current_position[axis]));
}
- #if ENABLED(DELTA)
- static float delta_clip_radius_2 = (DELTA_PRINTABLE_RADIUS) * (DELTA_PRINTABLE_RADIUS);
- static int delta_clip( float a ) { return sqrt(delta_clip_radius_2 - sq(a)); }
- static void lcd_move_x() { int clip = delta_clip(current_position[Y_AXIS]); _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS, max(sw_endstop_min[X_AXIS], -clip), min(sw_endstop_max[X_AXIS], clip)); }
- static void lcd_move_y() { int clip = delta_clip(current_position[X_AXIS]); _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS, max(sw_endstop_min[Y_AXIS], -clip), min(sw_endstop_max[Y_AXIS], clip)); }
- #else
- static void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS, sw_endstop_min[X_AXIS], sw_endstop_max[X_AXIS]); }
- static void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS, sw_endstop_min[Y_AXIS], sw_endstop_max[Y_AXIS]); }
- #endif
- static void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS, sw_endstop_min[Z_AXIS], sw_endstop_max[Z_AXIS]); }
+ static void lcd_move_x() { _lcd_move_xyz(PSTR(MSG_MOVE_X), X_AXIS); }
+ static void lcd_move_y() { _lcd_move_xyz(PSTR(MSG_MOVE_Y), Y_AXIS); }
+ static void lcd_move_z() { _lcd_move_xyz(PSTR(MSG_MOVE_Z), Z_AXIS); }
static void _lcd_move_e(
#if E_MANUAL > 1
int8_t eindex=-1
From 4cd1ad8f286566005fd6b46a7f55f8de3c21f994 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sat, 20 Aug 2016 20:11:08 -0500
Subject: [PATCH 3/5] Adjustments to M209, G28, M605
---
Marlin/Marlin_main.cpp | 18 +++---------------
1 file changed, 3 insertions(+), 15 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 45c229b346..326e07e740 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -3326,7 +3326,7 @@ inline void gcode_G28() {
switch (state) {
case MeshReport:
if (mbl.has_mesh()) {
- SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? "On" : "Off");
+ SERIAL_PROTOCOLPAIR("State: ", mbl.active() ? MSG_ON : MSG_OFF);
SERIAL_PROTOCOLLNPGM("\nNum X,Y: " STRINGIFY(MESH_NUM_X_POINTS) "," STRINGIFY(MESH_NUM_Y_POINTS));
SERIAL_PROTOCOLLNPGM("Z search height: " STRINGIFY(MESH_HOME_SEARCH_Z));
SERIAL_PROTOCOLPGM("Z offset: "); SERIAL_PROTOCOL_F(mbl.z_offset, 5);
@@ -5557,18 +5557,7 @@ inline void gcode_M206() {
*/
inline void gcode_M209() {
if (code_seen('S')) {
- int t = code_value_int();
- switch (t) {
- case 0:
- autoretract_enabled = false;
- break;
- case 1:
- autoretract_enabled = true;
- break;
- default:
- unknown_command_error();
- return;
- }
+ autoretract_enabled = code_value_bool();
for (int i = 0; i < EXTRUDERS; i++) retracted[i] = false;
}
}
@@ -6529,8 +6518,7 @@ inline void gcode_M503() {
stepper.synchronize();
extruder_duplication_enabled = code_seen('S') && code_value_int() == 2;
SERIAL_ECHO_START;
- SERIAL_ECHOPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
- SERIAL_EOL;
+ SERIAL_ECHOLNPAIR(MSG_DUPLICATION_MODE, extruder_duplication_enabled ? MSG_ON : MSG_OFF);
}
#endif // M605
From 2f223b8c79ffcc983fabc98ad17e9db754cb2590 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sat, 20 Aug 2016 22:38:32 -0500
Subject: [PATCH 4/5] Use ABC and XYZ for "3"
---
Marlin/Marlin.h | 24 ++++++++++-----------
Marlin/Marlin_main.cpp | 48 +++++++++++++++++++++---------------------
Marlin/planner.cpp | 2 +-
Marlin/stepper.cpp | 2 +-
Marlin/stepper.h | 2 +-
Marlin/temperature.cpp | 2 +-
6 files changed, 40 insertions(+), 40 deletions(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 17c4f7f29d..bafa50104b 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -266,13 +266,13 @@ extern bool volumetric_enabled;
extern int flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder.
extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner
-extern bool axis_known_position[3]; // axis[n].is_known
-extern bool axis_homed[3]; // axis[n].is_homed
+extern bool axis_known_position[XYZ]; // axis[n].is_known
+extern bool axis_homed[XYZ]; // axis[n].is_homed
extern volatile bool wait_for_heatup;
extern float current_position[NUM_AXIS];
-extern float position_shift[3];
-extern float home_offset[3];
+extern float position_shift[XYZ];
+extern float home_offset[XYZ];
// Software Endstops
void update_software_endstops(AxisEnum axis);
@@ -303,25 +303,25 @@ float code_value_temp_abs();
float code_value_temp_diff();
#if ENABLED(DELTA)
- extern float delta[3];
- extern float endstop_adj[3]; // axis[n].endstop_adj
+ extern float delta[ABC];
+ extern float endstop_adj[ABC]; // axis[n].endstop_adj
extern float delta_radius;
extern float delta_diagonal_rod;
extern float delta_segments_per_second;
extern float delta_diagonal_rod_trim_tower_1;
extern float delta_diagonal_rod_trim_tower_2;
extern float delta_diagonal_rod_trim_tower_3;
- void inverse_kinematics(const float cartesian[3]);
+ void inverse_kinematics(const float cartesian[XYZ]);
void recalc_delta_settings(float radius, float diagonal_rod);
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
extern int delta_grid_spacing[2];
- void adjust_delta(float cartesian[3]);
+ void adjust_delta(float cartesian[XYZ]);
#endif
#elif ENABLED(SCARA)
- extern float delta[3];
- extern float axis_scaling[3]; // Build size scaling
- void inverse_kinematics(const float cartesian[3]);
- void forward_kinematics_SCARA(float f_scara[3]);
+ extern float delta[ABC];
+ extern float axis_scaling[ABC]; // Build size scaling
+ void inverse_kinematics(const float cartesian[XYZ]);
+ void forward_kinematics_SCARA(float f_scara[ABC]);
#endif
#if ENABLED(Z_DUAL_ENDSTOPS)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 326e07e740..8097606c0f 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -286,8 +286,8 @@ uint8_t marlin_debug_flags = DEBUG_NONE;
float current_position[NUM_AXIS] = { 0.0 };
static float destination[NUM_AXIS] = { 0.0 };
-bool axis_known_position[3] = { false };
-bool axis_homed[3] = { false };
+bool axis_known_position[XYZ] = { false };
+bool axis_homed[XYZ] = { false };
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
@@ -327,11 +327,11 @@ float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DI
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
// The distance that XYZ has been offset by G92. Reset by G28.
-float position_shift[3] = { 0 };
+float position_shift[XYZ] = { 0 };
// This offset is added to the configured home position.
// Set by M206, M428, or menu item. Saved to EEPROM.
-float home_offset[3] = { 0 };
+float home_offset[XYZ] = { 0 };
// Software Endstops are based on the configured limits.
#if ENABLED(min_software_endstops) || ENABLED(max_software_endstops)
@@ -462,11 +462,11 @@ static uint8_t target_extruder;
#define TOWER_2 Y_AXIS
#define TOWER_3 Z_AXIS
- float delta[3];
- float cartesian_position[3] = { 0 };
+ float delta[ABC];
+ float cartesian_position[XYZ] = { 0 };
#define SIN_60 0.8660254037844386
#define COS_60 0.5
- float endstop_adj[3] = { 0 };
+ float endstop_adj[ABC] = { 0 };
// these are the default values, can be overriden with M665
float delta_radius = DELTA_RADIUS;
float delta_tower1_x = -SIN_60 * (delta_radius + DELTA_RADIUS_TRIM_TOWER_1); // front left tower
@@ -495,8 +495,8 @@ static uint8_t target_extruder;
#if ENABLED(SCARA)
float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
- float delta[3];
- float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
+ float delta[ABC];
+ float axis_scaling[ABC] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
#if ENABLED(FILAMENT_WIDTH_SENSOR)
@@ -1415,7 +1415,7 @@ DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
- static const PROGMEM type array##_P[3] = \
+ static const PROGMEM type array##_P[XYZ] = \
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
@@ -1555,7 +1555,7 @@ static void set_axis_is_at_home(AxisEnum axis) {
if (axis == X_AXIS || axis == Y_AXIS) {
- float homeposition[3];
+ float homeposition[XYZ];
LOOP_XYZ(i) homeposition[i] = LOGICAL_POSITION(base_home_pos(i), i);
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
@@ -7802,9 +7802,9 @@ void ok_to_send() {
delta_diagonal_rod_2_tower_3 = sq(diagonal_rod + delta_diagonal_rod_trim_tower_3);
}
- void inverse_kinematics(const float in_cartesian[3]) {
+ void inverse_kinematics(const float in_cartesian[XYZ]) {
- const float cartesian[3] = {
+ const float cartesian[XYZ] = {
RAW_X_POSITION(in_cartesian[X_AXIS]),
RAW_Y_POSITION(in_cartesian[Y_AXIS]),
RAW_Z_POSITION(in_cartesian[Z_AXIS])
@@ -7834,7 +7834,7 @@ void ok_to_send() {
}
float delta_safe_distance_from_top() {
- float cartesian[3] = {
+ float cartesian[XYZ] = {
LOGICAL_X_POSITION(0),
LOGICAL_Y_POSITION(0),
LOGICAL_Z_POSITION(0)
@@ -7915,20 +7915,20 @@ void ok_to_send() {
cartesian_position[Z_AXIS] = z1 + ex[2]*Xnew + ey[2]*Ynew - ez[2]*Znew;
};
- void forward_kinematics_DELTA(float point[3]) {
- forward_kinematics_DELTA(point[X_AXIS], point[Y_AXIS], point[Z_AXIS]);
+ void forward_kinematics_DELTA(float point[ABC]) {
+ forward_kinematics_DELTA(point[A_AXIS], point[B_AXIS], point[C_AXIS]);
}
void set_cartesian_from_steppers() {
- forward_kinematics_DELTA(stepper.get_axis_position_mm(X_AXIS),
- stepper.get_axis_position_mm(Y_AXIS),
- stepper.get_axis_position_mm(Z_AXIS));
+ forward_kinematics_DELTA(stepper.get_axis_position_mm(A_AXIS),
+ stepper.get_axis_position_mm(B_AXIS),
+ stepper.get_axis_position_mm(C_AXIS));
}
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
// Adjust print surface height by linear interpolation over the bed_level array.
- void adjust_delta(float cartesian[3]) {
+ void adjust_delta(float cartesian[XYZ]) {
if (delta_grid_spacing[X_AXIS] == 0 || delta_grid_spacing[Y_AXIS] == 0) return; // G29 not done!
int half = (AUTO_BED_LEVELING_GRID_POINTS - 1) / 2;
@@ -8401,8 +8401,8 @@ void prepare_move_to_destination() {
#if ENABLED(SCARA)
- void forward_kinematics_SCARA(float f_scara[3]) {
- // Perform forward kinematics, and place results in delta[3]
+ void forward_kinematics_SCARA(float f_scara[ABC]) {
+ // Perform forward kinematics, and place results in delta[]
// The maths and first version has been done by QHARLEY . Integrated into masterbranch 06/2014 and slightly restructured by Joachim Cerny in June 2014
float x_sin, x_cos, y_sin, y_cos;
@@ -8427,9 +8427,9 @@ void prepare_move_to_destination() {
//SERIAL_ECHOPGM(" delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
}
- void inverse_kinematics(const float cartesian[3]) {
+ void inverse_kinematics(const float cartesian[XYZ]) {
// Inverse kinematics.
- // Perform SCARA IK and place results in delta[3].
+ // Perform SCARA IK and place results in delta[].
// The maths and first version were done by QHARLEY.
// Integrated, tweaked by Joachim Cerny in June 2014.
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index a25715d8e1..ac4947bd06 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -968,7 +968,7 @@ void Planner::check_axes_activity() {
float junction_deviation = 0.1;
// Compute path unit vector
- double unit_vec[3];
+ double unit_vec[XYZ];
unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 88e8cd5600..18ebed9ede 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -122,7 +122,7 @@ unsigned short Stepper::acc_step_rate; // needed for deceleration start point
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
unsigned short Stepper::OCR1A_nominal;
-volatile long Stepper::endstops_trigsteps[3];
+volatile long Stepper::endstops_trigsteps[XYZ];
#if ENABLED(X_DUAL_STEPPER_DRIVERS)
#define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) != INVERT_X2_VS_X_DIR); }while(0)
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index 1dd1531e4a..177ccf182e 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -128,7 +128,7 @@ class Stepper {
static uint8_t step_loops, step_loops_nominal;
static unsigned short OCR1A_nominal;
- static volatile long endstops_trigsteps[3];
+ static volatile long endstops_trigsteps[XYZ];
static volatile long endstops_stepsTotal, endstops_stepsDone;
#if HAS_MOTOR_CURRENT_PWM
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 78168c2e96..5a73762cd8 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -95,7 +95,7 @@ unsigned char Temperature::soft_pwm_bed;
#endif
#if ENABLED(BABYSTEPPING)
- volatile int Temperature::babystepsTodo[3] = { 0 };
+ volatile int Temperature::babystepsTodo[XYZ] = { 0 };
#endif
#if ENABLED(THERMAL_PROTECTION_HOTENDS) && WATCH_TEMP_PERIOD > 0
From 14a03727e14c14fcd8df14766577aaf3034dd0d4 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Sat, 20 Aug 2016 22:38:47 -0500
Subject: [PATCH 5/5] Tweak serialprintPGM
---
Marlin/Marlin.h | 6 +-----
1 file changed, 1 insertion(+), 5 deletions(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index bafa50104b..581f078f7a 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -103,11 +103,7 @@ FORCE_INLINE void serial_echopair_P(const char* s_P, void *v) { serial_echopair_
// Things to write to serial from Program memory. Saves 400 to 2k of RAM.
FORCE_INLINE void serialprintPGM(const char* str) {
- char ch;
- while ((ch = pgm_read_byte(str))) {
- MYSERIAL.write(ch);
- str++;
- }
+ while (char ch = pgm_read_byte(str++)) MYSERIAL.write(ch);
}
void idle(