From 9e95ceb3fcd64906f078f2af8cd54c0484cd70c7 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Tue, 12 May 2015 02:08:20 -0700
Subject: [PATCH 1/3] Split up prepare_move by type
- For better encapsulation add inlines for each prepare_move type
- Move controllerFan vars inside the function as statics
- Some formatting cleanup
- Rename `ClearToSend` as `ok_to_send`
---
Marlin/Marlin.h | 2 +-
Marlin/Marlin_main.cpp | 187 ++++++++++++++++++++++-------------------
2 files changed, 102 insertions(+), 87 deletions(-)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 03531d1d35..c62ba9130f 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -205,7 +205,7 @@ void enable_all_steppers();
void disable_all_steppers();
void FlushSerialRequestResend();
-void ClearToSend();
+void ok_to_send();
void get_coordinates();
#ifdef DELTA
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 1e3d436a13..c534c8867e 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1657,7 +1657,7 @@ static void homeaxis(AxisEnum axis) {
#ifdef FWRETRACT
- void retract(bool retracting, bool swapretract = false) {
+ void retract(bool retracting, bool swapping=false) {
if (retracting == retracted[active_extruder]) return;
@@ -1668,7 +1668,7 @@ static void homeaxis(AxisEnum axis) {
if (retracting) {
feedrate = retract_feedrate * 60;
- current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
+ current_position[E_AXIS] += (swapping ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]);
prepare_move();
@@ -1695,7 +1695,7 @@ static void homeaxis(AxisEnum axis) {
}
feedrate = retract_recover_feedrate * 60;
- float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
+ float move_e = swapping ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
plan_set_e_position(current_position[E_AXIS]);
prepare_move();
@@ -1770,7 +1770,7 @@ inline void gcode_G0_G1() {
#endif //FWRETRACT
prepare_move();
- //ClearToSend();
+ //ok_to_send();
}
}
@@ -4292,7 +4292,7 @@ inline void gcode_M303() {
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
- //ClearToSend();
+ //ok_to_send();
return true;
}
return false;
@@ -5515,7 +5515,7 @@ void process_commands() {
SERIAL_ECHOLNPGM("\"");
}
- ClearToSend();
+ ok_to_send();
}
void FlushSerialRequestResend() {
@@ -5523,10 +5523,10 @@ void FlushSerialRequestResend() {
MYSERIAL.flush();
SERIAL_PROTOCOLPGM(MSG_RESEND);
SERIAL_PROTOCOLLN(gcode_LastN + 1);
- ClearToSend();
+ ok_to_send();
}
-void ClearToSend() {
+void ok_to_send() {
refresh_cmd_timeout();
#ifdef SDSUPPORT
if (fromsd[cmd_queue_index_r]) return;
@@ -5755,34 +5755,35 @@ void mesh_plan_buffer_line(float x, float y, float z, const float e, float feed_
#endif // PREVENT_DANGEROUS_EXTRUDE
-void prepare_move() {
- clamp_to_software_endstops(destination);
- refresh_cmd_timeout();
-
- #ifdef PREVENT_DANGEROUS_EXTRUDE
- (void)prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
- #endif
-
- #ifdef SCARA //for now same as delta-code
+#if defined(DELTA) || defined(SCARA)
+ inline bool prepare_move_delta() {
float difference[NUM_AXIS];
- for (int8_t i = 0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
+ for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
- if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
- if (cartesian_mm < 0.000001) { return; }
+ if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
+ if (cartesian_mm < 0.000001) return false;
float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
- int steps = max(1, int(scara_segments_per_second * seconds));
+ int steps = max(1, int(delta_segments_per_second * seconds));
- //SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- //SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- //SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
+ // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
+ // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
+ // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) {
+
float fraction = float(s) / float(steps);
- for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
-
+
+ for (int8_t i = 0; i < NUM_AXIS; i++)
+ destination[i] = current_position[i] + difference[i] * fraction;
+
calculate_delta(destination);
+
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ adjust_delta(destination);
+ #endif
+
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
@@ -5792,37 +5793,18 @@ void prepare_move() {
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
}
+ return true;
+ }
- #endif // SCARA
-
- #ifdef DELTA
+#endif // DELTA || SCARA
- float difference[NUM_AXIS];
- for (int8_t i=0; i < NUM_AXIS; i++) difference[i] = destination[i] - current_position[i];
+#ifdef SCARA
+ inline bool prepare_move_scara() { return prepare_move_delta(); }
+#endif
- float cartesian_mm = sqrt(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS]));
- if (cartesian_mm < 0.000001) cartesian_mm = abs(difference[E_AXIS]);
- if (cartesian_mm < 0.000001) return;
- float seconds = 6000 * cartesian_mm / feedrate / feedrate_multiplier;
- int steps = max(1, int(delta_segments_per_second * seconds));
+#ifdef DUAL_X_CARRIAGE
- // SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
- // SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
- // SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
-
- for (int s = 1; s <= steps; s++) {
- float fraction = float(s) / float(steps);
- for (int8_t i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i] + difference[i] * fraction;
- calculate_delta(destination);
- #ifdef ENABLE_AUTO_BED_LEVELING
- adjust_delta(destination);
- #endif
- plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], destination[E_AXIS], feedrate/60*feedrate_multiplier/100.0, active_extruder);
- }
-
- #endif // DELTA
-
- #ifdef DUAL_X_CARRIAGE
+ inline bool prepare_move_dual_x_carriage() {
if (active_extruder_parked) {
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && active_extruder == 0) {
// move duplicate extruder into correct duplication position.
@@ -5843,7 +5825,7 @@ void prepare_move() {
set_current_to_destination();
NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]);
delayed_move_time = millis();
- return;
+ return false;
}
}
delayed_move_time = 0;
@@ -5854,9 +5836,14 @@ void prepare_move() {
active_extruder_parked = false;
}
}
- #endif // DUAL_X_CARRIAGE
+ return true;
+ }
- #if !defined(DELTA) && !defined(SCARA)
+#endif // DUAL_X_CARRIAGE
+
+#if !defined(DELTA) && !defined(SCARA)
+
+ inline bool prepare_move_cartesian() {
// Do not use feedrate_multiplier for E or Z only moves
if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) {
line_to_destination();
@@ -5864,12 +5851,40 @@ void prepare_move() {
else {
#ifdef MESH_BED_LEVELING
mesh_plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], (feedrate/60)*(feedrate_multiplier/100.0), active_extruder);
- return;
+ return false;
#else
line_to_destination(feedrate * feedrate_multiplier / 100.0);
- #endif // MESH_BED_LEVELING
+ #endif
}
- #endif // !(DELTA || SCARA)
+ return true;
+ }
+
+#endif // !DELTA && !SCARA
+
+/**
+ * Prepare a single move and get ready for the next one
+ */
+void prepare_move() {
+ clamp_to_software_endstops(destination);
+ refresh_cmd_timeout();
+
+ #ifdef PREVENT_DANGEROUS_EXTRUDE
+ prevent_dangerous_extrude(current_position[E_AXIS], destination[E_AXIS]);
+ #endif
+
+ #ifdef SCARA
+ if (!prepare_move_scara()) return;
+ #elif defined(DELTA)
+ if (!prepare_move_delta()) return;
+ #endif
+
+ #ifdef DUAL_X_CARRIAGE
+ if (!prepare_move_dual_x_carriage()) return;
+ #endif
+
+ #if !defined(DELTA) && !defined(SCARA)
+ if (!prepare_move_cartesian()) return;
+ #endif
set_current_to_destination();
}
@@ -5889,37 +5904,37 @@ void prepare_arc_move(char isclockwise) {
#if HAS_CONTROLLERFAN
-millis_t lastMotor = 0; // Last time a motor was turned on
-millis_t lastMotorCheck = 0; // Last time the state was checked
-
-void controllerFan() {
- millis_t ms = millis();
- if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
- lastMotorCheck = ms;
- if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
- || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
- #if EXTRUDERS > 1
- || E1_ENABLE_READ == E_ENABLE_ON
- #if HAS_X2_ENABLE
- || X2_ENABLE_READ == X_ENABLE_ON
- #endif
- #if EXTRUDERS > 2
- || E2_ENABLE_READ == E_ENABLE_ON
- #if EXTRUDERS > 3
- || E3_ENABLE_READ == E_ENABLE_ON
+ void controllerFan() {
+ static millis_t lastMotor = 0; // Last time a motor was turned on
+ static millis_t lastMotorCheck = 0; // Last time the state was checked
+ millis_t ms = millis();
+ if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
+ lastMotorCheck = ms;
+ if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
+ || E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
+ #if EXTRUDERS > 1
+ || E1_ENABLE_READ == E_ENABLE_ON
+ #if HAS_X2_ENABLE
+ || X2_ENABLE_READ == X_ENABLE_ON
+ #endif
+ #if EXTRUDERS > 2
+ || E2_ENABLE_READ == E_ENABLE_ON
+ #if EXTRUDERS > 3
+ || E3_ENABLE_READ == E_ENABLE_ON
+ #endif
#endif
#endif
- #endif
- ) {
- lastMotor = ms; //... set time to NOW so the fan will turn on
+ ) {
+ lastMotor = ms; //... set time to NOW so the fan will turn on
+ }
+ uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
+ // allows digital or PWM fan output to be used (see M42 handling)
+ digitalWrite(CONTROLLERFAN_PIN, speed);
+ analogWrite(CONTROLLERFAN_PIN, speed);
}
- uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
- // allows digital or PWM fan output to be used (see M42 handling)
- digitalWrite(CONTROLLERFAN_PIN, speed);
- analogWrite(CONTROLLERFAN_PIN, speed);
}
-}
-#endif
+
+#endif // HAS_CONTROLLERFAN
#ifdef SCARA
void calculate_SCARA_forward_Transform(float f_scara[3])
From b2bd9aae7c67a3d5501b1ead51fe509ab7147665 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Tue, 12 May 2015 04:18:15 -0700
Subject: [PATCH 2/3] SCARA_SEGMENTS_PER_SECOND
---
Marlin/Marlin_main.cpp | 1 +
Marlin/example_configurations/SCARA/Configuration.h | 2 +-
2 files changed, 2 insertions(+), 1 deletion(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index c534c8867e..1dcadf1c4d 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -363,6 +363,7 @@ bool target_direction;
#endif
#ifdef SCARA
+ float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND;
static float delta[3] = { 0 };
float axis_scaling[3] = { 1, 1, 1 }; // Build size scaling, default to 1
#endif
diff --git a/Marlin/example_configurations/SCARA/Configuration.h b/Marlin/example_configurations/SCARA/Configuration.h
index 151b703002..bb552e5f39 100644
--- a/Marlin/example_configurations/SCARA/Configuration.h
+++ b/Marlin/example_configurations/SCARA/Configuration.h
@@ -30,7 +30,7 @@ Here are some standard links for getting your machine calibrated:
// You might need Z-Min endstop on SCARA-Printer to use this feature. Actually untested!
// Uncomment to use Morgan scara mode
#define SCARA
-#define scara_segments_per_second 200 //careful, two much will decrease performance...
+#define SCARA_SEGMENTS_PER_SECOND 200 // If movement is choppy try lowering this value
// Length of inner support arm
#define Linkage_1 150 //mm Preprocessor cannot handle decimal point...
// Length of outer support arm Measure arm lengths precisely and enter
From 27ad381e253e538d2f20997e0d46cc02c342f988 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Tue, 12 May 2015 07:52:08 -0700
Subject: [PATCH 3/3] Allow fractional seconds in G4 and M0
---
Marlin/Marlin_main.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 1dcadf1c4d..a0fb564a69 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1793,7 +1793,7 @@ inline void gcode_G4() {
millis_t codenum = 0;
if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
- if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait
+ if (code_seen('S')) codenum = code_value() * 1000; // seconds to wait
st_synchronize();
refresh_cmd_timeout();
@@ -2660,7 +2660,7 @@ inline void gcode_G92() {
hasP = codenum > 0;
}
if (code_seen('S')) {
- codenum = code_value_short() * 1000UL; // seconds to wait
+ codenum = code_value() * 1000; // seconds to wait
hasS = codenum > 0;
}
char* starpos = strchr(src, '*');