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Comment and clean up some vars

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This commit is contained in:
Scott Lahteine 2016-10-04 21:32:37 -05:00
parent 8910bb7c97
commit 46839c222a
1 changed files with 92 additions and 54 deletions
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144
Marlin/Marlin_main.cpp
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@ -286,23 +286,73 @@ bool Running = true;
uint8_t marlin_debug_flags = DEBUG_NONE; uint8_t marlin_debug_flags = DEBUG_NONE;
float current_position[NUM_AXIS] = { 0.0 }; /**
static float destination[NUM_AXIS] = { 0.0 }; * Cartesian Current Position
bool axis_known_position[XYZ] = { false }; * Used to track the logical position as moves are queued.
bool axis_homed[XYZ] = { false }; * Used by 'line_to_current_position' to do a move after changing it.
* Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'.
*/
float current_position[XYZE] = { 0.0 };
/**
* Cartesian Destination
* A temporary position, usually applied to 'current_position'.
* Set with 'gcode_get_destination' or 'set_destination_to_current'.
* 'line_to_destination' sets 'current_position' to 'destination'.
*/
static float destination[XYZE] = { 0.0 };
/**
* axis_homed
* Flags that each linear axis was homed.
* XYZ on cartesian, ABC on delta, ABZ on SCARA.
*
* axis_known_position
* Flags that the position is known in each linear axis. Set when homed.
* Cleared whenever a stepper powers off, potentially losing its position.
*/
bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false };
/**
* GCode line number handling. Hosts may opt to include line numbers when
* sending commands to Marlin, and lines will be checked for sequentiality.
* M110 S<int> sets the current line number.
*/
static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0;
/**
* GCode Command Queue
* A simple ring buffer of BUFSIZE command strings.
*
* Commands are copied into this buffer by the command injectors
* (immediate, serial, sd card) and they are processed sequentially by
* the main loop. The process_next_command function parses the next
* command and hands off execution to individual handler functions.
*/
static char command_queue[BUFSIZE][MAX_CMD_SIZE]; static char command_queue[BUFSIZE][MAX_CMD_SIZE];
static char* current_command, *current_command_args; static uint8_t cmd_queue_index_r = 0, // Ring buffer read position
static uint8_t cmd_queue_index_r = 0, cmd_queue_index_w = 0, // Ring buffer write position
cmd_queue_index_w = 0, commands_in_queue = 0; // Count of commands in the queue
commands_in_queue = 0;
/**
* Current GCode Command
* When a GCode handler is running, these will be set
*/
static char *current_command, // The command currently being executed
*current_command_args, // The address where arguments begin
*seen_pointer; // Set by code_seen(), used by the code_value functions
/**
* Next Injected Command pointer. NULL if no commands are being injected.
* Used by Marlin internally to ensure that commands initiated from within
* are enqueued ahead of any pending serial or sd card commands.
*/
static const char *injected_commands_P = NULL;
#if ENABLED(INCH_MODE_SUPPORT) #if ENABLED(INCH_MODE_SUPPORT)
float linear_unit_factor = 1.0; float linear_unit_factor = 1.0, volumetric_unit_factor = 1.0;
float volumetric_unit_factor = 1.0;
#endif #endif
#if ENABLED(TEMPERATURE_UNITS_SUPPORT) #if ENABLED(TEMPERATURE_UNITS_SUPPORT)
TempUnit input_temp_units = TEMPUNIT_C; TempUnit input_temp_units = TEMPUNIT_C;
#endif #endif
@ -320,13 +370,13 @@ float constexpr homing_feedrate_mm_s[] = {
MMM_TO_MMS(HOMING_FEEDRATE_Z), 0 MMM_TO_MMS(HOMING_FEEDRATE_Z), 0
}; };
static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s; static float feedrate_mm_s = MMM_TO_MMS(1500.0), saved_feedrate_mm_s;
int feedrate_percentage = 100, saved_feedrate_percentage; int feedrate_percentage = 100, saved_feedrate_percentage,
flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100);
bool axis_relative_modes[] = AXIS_RELATIVE_MODES; bool axis_relative_modes[] = AXIS_RELATIVE_MODES,
int flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); volumetric_enabled = false;
bool volumetric_enabled = false; float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA),
float filament_size[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(DEFAULT_NOMINAL_FILAMENT_DIA); volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
float volumetric_multiplier[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0);
// The distance that XYZ has been offset by G92. Reset by G28. // The distance that XYZ has been offset by G92. Reset by G28.
float position_shift[XYZ] = { 0 }; float position_shift[XYZ] = { 0 };
@ -364,12 +414,6 @@ const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static int serial_count = 0; static int serial_count = 0;
// GCode parameter pointer used by code_seen(), code_value_float(), etc.
static char* seen_pointer;
// Next Immediate GCode Command pointer. NULL if none.
const char* queued_commands_P = NULL;
const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42 const int sensitive_pins[] = SENSITIVE_PINS; ///< Sensitive pin list for M42
// Inactivity shutdown // Inactivity shutdown
@ -706,32 +750,32 @@ extern "C" {
* Inject the next "immediate" command, when possible. * Inject the next "immediate" command, when possible.
* Return true if any immediate commands remain to inject. * Return true if any immediate commands remain to inject.
*/ */
static bool drain_queued_commands_P() { static bool drain_injected_commands_P() {
if (queued_commands_P != NULL) { if (injected_commands_P != NULL) {
size_t i = 0; size_t i = 0;
char c, cmd[30]; char c, cmd[30];
strncpy_P(cmd, queued_commands_P, sizeof(cmd) - 1); strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1);
cmd[sizeof(cmd) - 1] = '\0'; cmd[sizeof(cmd) - 1] = '\0';
while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command
cmd[i] = '\0'; cmd[i] = '\0';
if (enqueue_and_echo_command(cmd)) { // success? if (enqueue_and_echo_command(cmd)) { // success?
if (c) // newline char? if (c) // newline char?
queued_commands_P += i + 1; // advance to the next command injected_commands_P += i + 1; // advance to the next command
else else
queued_commands_P = NULL; // nul char? no more commands injected_commands_P = NULL; // nul char? no more commands
} }
} }
return (queued_commands_P != NULL); // return whether any more remain return (injected_commands_P != NULL); // return whether any more remain
} }
/** /**
* Record one or many commands to run from program memory. * Record one or many commands to run from program memory.
* Aborts the current queue, if any. * Aborts the current queue, if any.
* Note: drain_queued_commands_P() must be called repeatedly to drain the commands afterwards * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards
*/ */
void enqueue_and_echo_commands_P(const char* pgcode) { void enqueue_and_echo_commands_P(const char* pgcode) {
queued_commands_P = pgcode; injected_commands_P = pgcode;
drain_queued_commands_P(); // first command executed asap (when possible) drain_injected_commands_P(); // first command executed asap (when possible)
} }
void clear_command_queue() { void clear_command_queue() {
@ -1085,14 +1129,14 @@ inline void get_serial_commands() {
/** /**
* Add to the circular command queue the next command from: * Add to the circular command queue the next command from:
* - The command-injection queue (queued_commands_P) * - The command-injection queue (injected_commands_P)
* - The active serial input (usually USB) * - The active serial input (usually USB)
* - The SD card file being actively printed * - The SD card file being actively printed
*/ */
void get_available_commands() { void get_available_commands() {
// if any immediate commands remain, don't get other commands yet // if any immediate commands remain, don't get other commands yet
if (drain_queued_commands_P()) return; if (drain_injected_commands_P()) return;
get_serial_commands(); get_serial_commands();
@ -8862,15 +8906,11 @@ void prepare_move_to_destination() {
uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT)); uint16_t segments = floor(mm_of_travel / (MM_PER_ARC_SEGMENT));
if (segments == 0) segments = 1; if (segments == 0) segments = 1;
float theta_per_segment = angular_travel / segments;
float linear_per_segment = linear_travel / segments;
float extruder_per_segment = extruder_travel / segments;
/** /**
* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector, * Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
* and phi is the angle of rotation. Based on the solution approach by Jens Geisler. * and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
* r_T = [cos(phi) -sin(phi); * r_T = [cos(phi) -sin(phi);
* sin(phi) cos(phi] * r ; * sin(phi) cos(phi)] * r ;
* *
* For arc generation, the center of the circle is the axis of rotation and the radius vector is * For arc generation, the center of the circle is the axis of rotation and the radius vector is
* defined from the circle center to the initial position. Each line segment is formed by successive * defined from the circle center to the initial position. Each line segment is formed by successive
@ -8893,13 +8933,12 @@ void prepare_move_to_destination() {
* This is important when there are successive arc motions. * This is important when there are successive arc motions.
*/ */
// Vector rotation matrix values // Vector rotation matrix values
float cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation float arc_target[XYZE],
float sin_T = theta_per_segment; theta_per_segment = angular_travel / segments,
linear_per_segment = linear_travel / segments,
float arc_target[NUM_AXIS]; extruder_per_segment = extruder_travel / segments,
float sin_Ti, cos_Ti, r_new_Y; sin_T = theta_per_segment,
uint16_t i; cos_T = 1 - 0.5 * sq(theta_per_segment); // Small angle approximation
int8_t count = 0;
// Initialize the linear axis // Initialize the linear axis
arc_target[Z_AXIS] = current_position[Z_AXIS]; arc_target[Z_AXIS] = current_position[Z_AXIS];
@ -8911,18 +8950,18 @@ void prepare_move_to_destination() {
millis_t next_idle_ms = millis() + 200UL; millis_t next_idle_ms = millis() + 200UL;
for (i = 1; i < segments; i++) { // Iterate (segments-1) times int8_t count = 0;
for (uint16_t i = 1; i < segments; i++) { // Iterate (segments-1) times
thermalManager.manage_heater(); thermalManager.manage_heater();
millis_t now = millis(); if (ELAPSED(millis(), next_idle_ms)) {
if (ELAPSED(now, next_idle_ms)) { next_idle_ms = millis() + 200UL;
next_idle_ms = now + 200UL;
idle(); idle();
} }
if (++count < N_ARC_CORRECTION) { if (++count < N_ARC_CORRECTION) {
// Apply vector rotation matrix to previous r_X / 1 // Apply vector rotation matrix to previous r_X / 1
r_new_Y = r_X * sin_T + r_Y * cos_T; float r_new_Y = r_X * sin_T + r_Y * cos_T;
r_X = r_X * cos_T - r_Y * sin_T; r_X = r_X * cos_T - r_Y * sin_T;
r_Y = r_new_Y; r_Y = r_new_Y;
} }
@ -8931,7 +8970,7 @@ void prepare_move_to_destination() {
// Compute exact location by applying transformation matrix from initial radius vector(=-offset). // Compute exact location by applying transformation matrix from initial radius vector(=-offset).
// To reduce stuttering, the sin and cos could be computed at different times. // To reduce stuttering, the sin and cos could be computed at different times.
// For now, compute both at the same time. // For now, compute both at the same time.
cos_Ti = cos(i * theta_per_segment); float cos_Ti = cos(i * theta_per_segment),
sin_Ti = sin(i * theta_per_segment); sin_Ti = sin(i * theta_per_segment);
r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti; r_X = -offset[X_AXIS] * cos_Ti + offset[Y_AXIS] * sin_Ti;
r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti; r_Y = -offset[X_AXIS] * sin_Ti - offset[Y_AXIS] * cos_Ti;
@ -9202,8 +9241,7 @@ void prepare_move_to_destination() {
float calculate_volumetric_multiplier(float diameter) { float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0; if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5; return 1.0 / (M_PI * diameter * 0.5 * diameter * 0.5);
return 1.0 / (M_PI * d2 * d2);
} }
void calculate_volumetric_multipliers() { void calculate_volumetric_multipliers() {