mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-23 12:04:19 +00:00
Patched up, cleaned up
This commit is contained in:
Scott Lahteine
parent
2911aa7ffa
commit
a2864ab7fe
@ -86,7 +86,7 @@
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// User-specified version info of this build to display in [Pronterface, etc] terminal window during
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// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
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// build by the user have been successfully uploaded into firmware.
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#define STRING_CONFIG_H_AUTHOR "Bob Kuhn, G2/G3 radius testing" // Who made the changes.
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#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
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#define SHOW_BOOTSCREEN
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#define STRING_SPLASH_LINE1 SHORT_BUILD_VERSION // will be shown during bootup in line 1
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#define STRING_SPLASH_LINE2 WEBSITE_URL // will be shown during bootup in line 2
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@ -105,15 +105,24 @@
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//#define SHOW_CUSTOM_BOOTSCREEN
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// @section machine
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// SERIAL_PORT selects which serial port should be used for communication with the host.
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// This allows the connection of wireless adapters (for instance) to non-default port pins.
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// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
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// :[0,1,2,3,4,5,6,7]
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/**
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* Select which serial port on the board will be used for communication with the host.
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* This allows the connection of wireless adapters (for instance) to non-default port pins.
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* Serial port 0 is always used by the Arduino bootloader regardless of this setting.
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*
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* :[0,1,2,3,4,5,6,7]
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*/
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#define SERIAL_PORT 0
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// This determines the communication speed of the printer
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// :[2400,9600,19200,38400,57600,115200,250000]
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#define BAUDRATE 115200
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#define BAUDRATE 250000
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/**
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* This setting determines the communication speed of the printer.
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*
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* 250000 works in most cases, but you might try a lower speed if
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* you commonly experience drop-outs during host printing.
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*
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* :[2400,9600,19200,38400,57600,115200,250000]
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*/
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// Enable the Bluetooth serial interface on AT90USB devices
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//#define BLUETOOTH
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@ -121,7 +130,7 @@
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// The following define selects which electronics board you have.
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// Please choose the name from boards.h that matches your setup
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#ifndef MOTHERBOARD
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#define MOTHERBOARD BOARD_AZTEEG_X3_PRO
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#define MOTHERBOARD BOARD_RAMPS_14_EFB
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#endif
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// Optional custom name for your RepStrap or other custom machine
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@ -169,14 +178,22 @@
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//#define HOTEND_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
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//#define HOTEND_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
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//// The following define selects which power supply you have. Please choose the one that matches your setup
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// 1 = ATX
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// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
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// :{1:'ATX',2:'X-Box 360'}
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#define POWER_SUPPLY 1
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/**
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* Select your power supply here. Use 0 if you haven't connected the PS_ON_PIN
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*
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* 0 = No Power Switch
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* 1 = ATX
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* 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
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*
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* :{0:'No power switch',1:'ATX',2:'X-Box 360'}
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*/
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#define POWER_SUPPLY 0
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// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
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//#define PS_DEFAULT_OFF
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#if POWER_SUPPLY > 0
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// Enable this option to leave the PSU off at startup.
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// Power to steppers and heaters will need to be turned on with M80.
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//#define PS_DEFAULT_OFF
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#endif
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// @section temperature
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@ -222,10 +239,10 @@
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// 110 is Pt100 with 1k pullup (non standard)
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// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
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// Use it for Testing or Development purposes. NEVER for production machine.
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#define DUMMY_THERMISTOR_998_VALUE 25
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//#define DUMMY_THERMISTOR_998_VALUE 25
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//#define DUMMY_THERMISTOR_999_VALUE 100
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// :{ '0': "Not used",'1':"100k / 4.7k - EPCOS",'2':"200k / 4.7k - ATC Semitec 204GT-2",'3':"Mendel-parts / 4.7k",'4':"10k !! do not use for a hotend. Bad resolution at high temp. !!",'5':"100K / 4.7k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)",'6':"100k / 4.7k EPCOS - Not as accurate as Table 1",'7':"100k / 4.7k Honeywell 135-104LAG-J01",'8':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT",'9':"100k / 4.7k GE Sensing AL03006-58.2K-97-G1",'10':"100k / 4.7k RS 198-961",'11':"100k / 4.7k beta 3950 1%",'12':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT (calibrated for Makibox hot bed)",'13':"100k Hisens 3950 1% up to 300°C for hotend 'Simple ONE ' & hotend 'All In ONE'",'20':"PT100 (Ultimainboard V2.x)",'51':"100k / 1k - EPCOS",'52':"200k / 1k - ATC Semitec 204GT-2",'55':"100k / 1k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)",'60':"100k Maker's Tool Works Kapton Bed Thermistor beta=3950",'66':"Dyze Design 4.7M High Temperature thermistor",'70':"the 100K thermistor found in the bq Hephestos 2",'71':"100k / 4.7k Honeywell 135-104LAF-J01",'147':"Pt100 / 4.7k",'1047':"Pt1000 / 4.7k",'110':"Pt100 / 1k (non-standard)",'1010':"Pt1000 / 1k (non standard)",'-3':"Thermocouple + MAX31855 (only for sensor 0)",'-2':"Thermocouple + MAX6675 (only for sensor 0)",'-1':"Thermocouple + AD595",'998':"Dummy 1",'999':"Dummy 2" }
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#define TEMP_SENSOR_0 998
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#define TEMP_SENSOR_0 1
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#define TEMP_SENSOR_1 0
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#define TEMP_SENSOR_2 0
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#define TEMP_SENSOR_3 0
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@ -355,8 +372,9 @@
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#define EXTRUDE_MINTEMP 170
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// This option prevents a single extrusion longer than EXTRUDE_MAXLENGTH.
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// Note that for Bowden Extruders a too-small value here may prevent loading.
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#define PREVENT_LENGTHY_EXTRUDE
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#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH)
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#define EXTRUDE_MAXLENGTH 200
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//===========================================================================
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//======================== Thermal Runaway Protection =======================
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@ -403,9 +421,9 @@
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#define USE_XMIN_PLUG
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#define USE_YMIN_PLUG
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#define USE_ZMIN_PLUG
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#define USE_XMAX_PLUG
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#define USE_YMAX_PLUG
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#define USE_ZMAX_PLUG
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//#define USE_XMAX_PLUG
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//#define USE_YMAX_PLUG
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//#define USE_ZMAX_PLUG
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// coarse Endstop Settings
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#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
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@ -422,13 +440,13 @@
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#endif
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// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
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#define X_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
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#define Y_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
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#define Z_MIN_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
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#define X_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
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#define Y_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
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#define Z_MAX_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
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#define Z_MIN_PROBE_ENDSTOP_INVERTING true // set to true to invert the logic of the endstop.
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#define X_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
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#define Y_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
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#define Z_MIN_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
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#define X_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
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#define Y_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
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#define Z_MAX_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
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#define Z_MIN_PROBE_ENDSTOP_INVERTING false // set to true to invert the logic of the endstop.
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//=============================================================================
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@ -436,20 +454,56 @@
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//=============================================================================
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// @section motion
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#define DEFAULT_AXIS_STEPS_PER_UNIT {8*24.8139,8*24.8139,8*24.8139,100}
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#define DEFAULT_MAX_FEEDRATE {35, 35, 25, 25} // (mm/sec)
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#define DEFAULT_MAX_ACCELERATION {3000,3000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
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/**
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* Default Settings
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*
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* These settings can be reset by M502
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*
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* Note that if EEPROM is enabled, saved values will override these.
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*/
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
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#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration in mm/s^2 for retracts
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#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
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/**
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* Default Axis Steps Per Unit (steps/mm)
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* Override with M92
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*/
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#define DEFAULT_AXIS_STEPS_PER_UNIT { 80, 80, 4000, 500 }
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// "Jerk" specifies the minimum speed change that requires acceleration.
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// When changing speed and direction, if the difference is less than the
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// value set here, it may happen instantaneously.
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#define DEFAULT_XYJERK 20.0 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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#define DEFAULT_EJERK 5.0 // (mm/sec)
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/**
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* Default Max Feed Rate (mm/s)
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* Override with M203
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*/
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#define DEFAULT_MAX_FEEDRATE { 300, 300, 5, 25 }
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/**
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* Default Max Acceleration (change/s) change = mm/s
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* Override with M201
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*
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* Maximum start speed for accelerated moves: { X, Y, Z, E }
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*/
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#define DEFAULT_MAX_ACCELERATION { 3000, 3000, 100, 10000 }
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/**
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* Default Acceleration (change/s) change = mm/s
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* Override with M204
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*
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* M204 P Acceleration
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* M204 R Retract Acceleration
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* M204 T Travel Acceleration
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*/
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#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration for printing moves
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#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration for retracts
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#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration for travel (non printing) moves
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/**
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* Defult Jerk (mm/s)
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*
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* "Jerk" specifies the minimum speed change that requires acceleration.
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* When changing speed and direction, if the difference is less than the
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* value set here, it may happen instantaneously.
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*/
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#define DEFAULT_XYJERK 20.0
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#define DEFAULT_ZJERK 0.4
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#define DEFAULT_EJERK 5.0
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//===========================================================================
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@ -474,6 +528,7 @@
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//#define FIX_MOUNTED_PROBE
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// The BLTouch probe emulates a servo probe.
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// The default connector is SERVO 0. Set Z_ENDSTOP_SERVO_NR below to override.
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//#define BLTOUCH
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// Z Servo Probe, such as an endstop switch on a rotating arm.
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@ -610,9 +665,9 @@
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// @section machine
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// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
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#define INVERT_X_DIR true // positive is away from the motor
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#define INVERT_Y_DIR false // positive is towards the motor
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#define INVERT_Z_DIR true // positive is away from the motor
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#define INVERT_X_DIR false
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#define INVERT_Y_DIR true
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#define INVERT_Z_DIR false
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// @section extruder
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@ -640,12 +695,12 @@
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// @section machine
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// Travel limits after homing (units are in mm)
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#define X_MIN_POS -100
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#define Y_MIN_POS -100
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#define Z_MIN_POS -100
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#define X_MAX_POS 375
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#define Y_MAX_POS 450
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#define Z_MAX_POS 450
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#define X_MIN_POS 0
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#define Y_MIN_POS 0
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#define Z_MIN_POS 0
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#define X_MAX_POS 200
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#define Y_MAX_POS 200
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#define Z_MAX_POS 200
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//===========================================================================
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//========================= Filament Runout Sensor ==========================
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@ -1005,7 +1060,7 @@
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// SD Card support is disabled by default. If your controller has an SD slot,
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// you must uncomment the following option or it won't work.
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//
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#define SDSUPPORT
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//#define SDSUPPORT
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//
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// SD CARD: SPI SPEED
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@ -1022,7 +1077,7 @@
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//
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// Use CRC checks and retries on the SD communication.
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//
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#define SD_CHECK_AND_RETRY
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//#define SD_CHECK_AND_RETRY
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//
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// ENCODER SETTINGS
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@ -244,16 +244,16 @@
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// Dual Y Steppers
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// Uncomment this option to drive two Y axis motors.
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// The next unused E driver will be assigned to the second Y stepper.
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#define Y_DUAL_STEPPER_DRIVERS
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//#define Y_DUAL_STEPPER_DRIVERS
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#if ENABLED(Y_DUAL_STEPPER_DRIVERS)
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// Set true if the two Y motors need to rotate in opposite directions
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#define INVERT_Y2_VS_Y_DIR false
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#define INVERT_Y2_VS_Y_DIR true
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#endif
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// A single Z stepper driver is usually used to drive 2 stepper motors.
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// Uncomment this option to use a separate stepper driver for each Z axis motor.
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// The next unused E driver will be assigned to the second Z stepper.
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#define Z_DUAL_STEPPER_DRIVERS
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//#define Z_DUAL_STEPPER_DRIVERS
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#if ENABLED(Z_DUAL_STEPPER_DRIVERS)
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@ -532,6 +532,12 @@
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// Support for G5 with XYZE destination and IJPQ offsets. Requires ~2666 bytes.
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//#define BEZIER_CURVE_SUPPORT
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// G38 Probe Target
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//#define G38_2_3
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#if ENABLED(G38_2_3)
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#define G38_MINIMUM_MOVE 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
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#endif
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// Moves (or segments) with fewer steps than this will be joined with the next move
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#define MIN_STEPS_PER_SEGMENT 6
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@ -209,10 +209,9 @@ void manage_inactivity(bool ignore_stepper_queue = false);
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#endif // !MIXING_EXTRUDER
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#define G38_2_3
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#ifdef G38_2_3
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extern bool G38_flag ; //flag to tell the interrupt handler that a G38 command is being run
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extern bool G38_flag_pass ; //flag from the interrupt handler to indicate if the endstop went active
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#if ENABLED(G38_2_3)
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extern bool G38_move, // flag to tell the interrupt handler that a G38 command is being run
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G38_endstop_hit; // flag from the interrupt handler to indicate if the endstop went active
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#endif
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/**
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@ -117,7 +117,7 @@
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* G30 - Single Z probe, probes bed at current XY location.
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* G31 - Dock sled (Z_PROBE_SLED only)
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* G32 - Undock sled (Z_PROBE_SLED only)
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* G38 - Probe target - similar to G28 except it uses the Z_Probe for all three axis
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* G38 - Probe target - similar to G28 except it uses the Z_MIN endstop for all three axes
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* G90 - Use Absolute Coordinates
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* G91 - Use Relative Coordinates
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* G92 - Set current position to coordinates given
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@ -277,9 +277,9 @@
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TWIBus i2c;
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#endif
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#ifdef G38_2_3
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bool G38_flag = false; // init G38 flags
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bool G38_flag_pass = false;
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#if ENABLED(G38_2_3)
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bool G38_move = false,
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G38_endstop_hit = false;
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#endif
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bool Running = true;
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@ -1343,7 +1343,7 @@ static void set_home_offset(AxisEnum axis, float v) {
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* SCARA should wait until all XY homing is done before setting the XY
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* current_position to home, because neither X nor Y is at home until
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* both are at home. Z can however be homed individually.
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*
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*
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*/
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static void set_axis_is_at_home(AxisEnum axis) {
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#if ENABLED(DEBUG_LEVELING_FEATURE)
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@ -2331,146 +2331,6 @@ static void clean_up_after_endstop_or_probe_move() {
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#endif // AUTO_BED_LEVELING_BILINEAR
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#ifdef G38_2_3
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#define G38_minimum_move 0.0275 // minimum distance in mm that will produce a move (determined using the print statement in check_move)
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bool check_move() //checks that at least one of the axis in the command line has an actual move
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// motion planner only does moves of 0.001mm and larger
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{
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bool move_flag = false;
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for(int8_t i=0; i < 3; i++) {
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/* debug used to determine prints
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SERIAL_PROTOCOLPGM("axis: ");
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SERIAL_PROTOCOL(axis_codes[i]);
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SERIAL_PROTOCOLPGM(" code_seen : ");
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SERIAL_PROTOCOL(code_seen(axis_codes[i]));
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SERIAL_PROTOCOLPGM(" destination : ");
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SERIAL_PROTOCOL(destination[i]);
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SERIAL_PROTOCOLPGM(" current : ");
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SERIAL_PROTOCOL(current_position[i]);
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SERIAL_PROTOCOLPGM(" dif x 1000 : ");
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SERIAL_PROTOCOLLN((destination[i] - current_position[i]) * 1000);
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*/
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if (code_seen(axis_codes[i]) && (fabs(destination[i] - current_position[i]) >= G38_minimum_move)) move_flag = true ;
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/*
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?? 0.0275mm produced a move on my machine along with an updated current position.
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0.0265mm did NOT produce a move and did NOT change the current position
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this is very different than the 0.001 in the planner.
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0.001" is .0254mm so maybe the 0.0275 observed comes from digital storage limitations/conversion/rounding
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*/
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}
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return move_flag;
|
||||
}
|
||||
|
||||
|
||||
static void G38_run_probe(bool *G38_pass_fail) {
|
||||
|
||||
G38_flag = true; //tell the interrupt handler that we're doing a G38 probe
|
||||
*G38_pass_fail = false;
|
||||
|
||||
#ifdef X_HOME_BUMP_MM
|
||||
#ifdef Y_HOME_BUMP_MM
|
||||
#ifdef Z_HOME_BUMP_MM
|
||||
float G38_X_retract_mm = home_bump_mm(X_AXIS);
|
||||
float G38_Y_retract_mm = home_bump_mm(Y_AXIS);
|
||||
float G38_Z_retract_mm = home_bump_mm(Z_AXIS);
|
||||
|
||||
#else
|
||||
|
||||
float G38_X_retract_mm = 5;
|
||||
float G38_Y_retract_mm = 5;
|
||||
float G38_Z_retract_mm = 2;
|
||||
|
||||
#endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// only retract the axis if the axis is in the command
|
||||
if( (!code_seen('X') || (code_value_axis_units(X_AXIS) == 0))) G38_X_retract_mm = 0;
|
||||
if( (!code_seen('Y') || (code_value_axis_units(Y_AXIS) == 0))) G38_Y_retract_mm = 0;
|
||||
if( (!code_seen('Z') || (code_value_axis_units(Z_AXIS) == 0))) G38_Z_retract_mm = 0;
|
||||
|
||||
// change the direction of the retract if needed
|
||||
if ((destination[X_AXIS] - current_position[X_AXIS])>0) G38_X_retract_mm = -G38_X_retract_mm;
|
||||
if ((destination[Y_AXIS] - current_position[Y_AXIS])>0) G38_Y_retract_mm = -G38_Y_retract_mm;
|
||||
if ((destination[Z_AXIS] - current_position[Z_AXIS])>0) G38_Z_retract_mm = -G38_Z_retract_mm;
|
||||
|
||||
|
||||
stepper.synchronize(); // wait until the machine is idle
|
||||
|
||||
bool save_endstops = endstops.enabled; //remember state of endstops so we can retore them at the end
|
||||
endstops.enable(true);
|
||||
|
||||
// move until you reach the destination or hit an endstop or hit the target
|
||||
// it's an error unless have hit the target
|
||||
G38_flag_pass = false;
|
||||
*G38_pass_fail = false;
|
||||
|
||||
planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate_mm_s, active_extruder);
|
||||
stepper.synchronize();
|
||||
|
||||
// we have to let the planner know where we are right now as it is not where we said to go.
|
||||
// and we need to update current_position[axis]
|
||||
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
|
||||
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
|
||||
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
|
||||
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS] , current_position[Z_AXIS] , current_position[E_AXIS]);
|
||||
|
||||
*G38_pass_fail = G38_flag_pass ; // only care if hit target on the first move
|
||||
|
||||
if (*G38_pass_fail) { // no sense in doing the remaining moves if we didn't hit the endstop
|
||||
// move away the retract distance
|
||||
float xPosition = current_position[X_AXIS] + G38_X_retract_mm;
|
||||
float yPosition = current_position[Y_AXIS] + G38_Y_retract_mm;
|
||||
float zPosition = current_position[Z_AXIS] + G38_Z_retract_mm;
|
||||
|
||||
|
||||
|
||||
// disable endstops on retract otherwise sometimes can't get away
|
||||
endstops.enable(false);
|
||||
G38_flag = false;
|
||||
|
||||
planner.buffer_line(xPosition, yPosition , zPosition , current_position[E_AXIS], feedrate_mm_s/4, active_extruder);
|
||||
stepper.synchronize();
|
||||
|
||||
|
||||
// move back slowly
|
||||
xPosition -= G38_X_retract_mm * 2;
|
||||
yPosition -= G38_Y_retract_mm * 2;
|
||||
zPosition -= G38_Z_retract_mm * 2;
|
||||
|
||||
|
||||
// enable endstops on move back
|
||||
endstops.enable(true);
|
||||
G38_flag = true;
|
||||
|
||||
planner.buffer_line(xPosition, yPosition , zPosition , current_position[E_AXIS], feedrate_mm_s/4, active_extruder);
|
||||
stepper.synchronize();
|
||||
|
||||
// we have to let the planner know where we are right now as it is not where we said to go.
|
||||
// and we need to update current_position[axis]
|
||||
current_position[X_AXIS] = stepper.get_axis_position_mm(X_AXIS);
|
||||
current_position[Y_AXIS] = stepper.get_axis_position_mm(Y_AXIS);
|
||||
current_position[Z_AXIS] = stepper.get_axis_position_mm(Z_AXIS);
|
||||
planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS] , current_position[Z_AXIS] , current_position[E_AXIS]);
|
||||
|
||||
}
|
||||
|
||||
// clean_up_after_endstop_move();
|
||||
|
||||
endstops.enable(save_endstops); //restore endstops to same state as when we started
|
||||
|
||||
endstops.hit_on_purpose();
|
||||
G38_flag = false; //tell the interrupt handler that we're done
|
||||
|
||||
}
|
||||
|
||||
#endif //G38_2_3
|
||||
|
||||
|
||||
/**
|
||||
* Home an individual linear axis
|
||||
*/
|
||||
@ -4306,25 +4166,93 @@ inline void gcode_G28() {
|
||||
|
||||
#endif // HAS_BED_PROBE
|
||||
|
||||
#ifdef G38_2_3
|
||||
inline void gcode_G38(float code_num) {
|
||||
#if ENABLED(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) || ENABLED(Z_MIN_PROBE_ENDSTOP) //must have valid Z_MIN_PROBE definition for this command to work
|
||||
if ((code_num == 38.2 || code_num == 38.3 ) && (code_seen('X') || code_seen('Y') || code_seen('Z'))) {
|
||||
gcode_get_destination(); // For X Y Z E F
|
||||
if (check_move()) { // see if the commanded movement will result in a physical movement
|
||||
bool G38_pass_fail = false;
|
||||
G38_run_probe(&G38_pass_fail);
|
||||
if (!G38_pass_fail && (code_num == 38.2) ) SERIAL_PROTOCOLLNPGM(" ERROR - failed to reach target ");
|
||||
}
|
||||
}
|
||||
}
|
||||
#else
|
||||
|
||||
SERIAL_PROTOCOLLNPGM(" ERROR - Z_MIN_PROBE must be enabled ");
|
||||
}
|
||||
#endif
|
||||
#endif //G38_2_3
|
||||
#if ENABLED(G38_2_3)
|
||||
|
||||
static bool G38_run_probe() {
|
||||
|
||||
bool G38_pass_fail = false;
|
||||
|
||||
// Get direction of move and retract
|
||||
float retract_mm[XYZ];
|
||||
LOOP_XYZ(i) {
|
||||
float dist = destination[i] - current_position[i];
|
||||
retract_mm[i] = fabs(dist) < G38_MINIMUM_MOVE ? 0 : home_bump_mm(i) * (dist > 0 ? -1 : 1);
|
||||
}
|
||||
|
||||
stepper.synchronize(); // wait until the machine is idle
|
||||
|
||||
// Move until destination reached or target hit
|
||||
endstops.enable(true);
|
||||
G38_move = true;
|
||||
G38_endstop_hit = false;
|
||||
prepare_move_to_destination();
|
||||
stepper.synchronize();
|
||||
G38_move = false;
|
||||
|
||||
endstops.hit_on_purpose();
|
||||
set_current_from_steppers_for_axis(ALL_AXES);
|
||||
SYNC_PLAN_POSITION_KINEMATIC();
|
||||
|
||||
// Only do remaining moves if target was hit
|
||||
if (G38_endstop_hit) {
|
||||
|
||||
G38_pass_fail = true;
|
||||
|
||||
// Move away by the retract distance
|
||||
set_destination_to_current();
|
||||
LOOP_XYZ(i) destination[i] += retract_mm[i];
|
||||
endstops.enable(false);
|
||||
prepare_move_to_destination();
|
||||
stepper.synchronize();
|
||||
|
||||
feedrate_mm_s /= 4;
|
||||
|
||||
// Bump the target more slowly
|
||||
LOOP_XYZ(i) destination[i] -= retract_mm[i] * 2;
|
||||
|
||||
endstops.enable(true);
|
||||
G38_move = true;
|
||||
prepare_move_to_destination();
|
||||
stepper.synchronize();
|
||||
G38_move = false;
|
||||
|
||||
set_current_from_steppers_for_axis(ALL_AXES);
|
||||
SYNC_PLAN_POSITION_KINEMATIC();
|
||||
}
|
||||
|
||||
endstops.hit_on_purpose();
|
||||
endstops.not_homing();
|
||||
return G38_pass_fail;
|
||||
}
|
||||
|
||||
/**
|
||||
* G38.2 - probe toward workpiece, stop on contact, signal error if failure
|
||||
* G38.3 - probe toward workpiece, stop on contact
|
||||
*
|
||||
* Like G28 except uses Z min endstop for all axes
|
||||
*/
|
||||
inline void gcode_G38(bool is_38_2) {
|
||||
// Get X Y Z E F
|
||||
gcode_get_destination();
|
||||
|
||||
setup_for_endstop_or_probe_move();
|
||||
|
||||
// If any axis has enough movement, do the move
|
||||
LOOP_XYZ(i)
|
||||
if (fabs(destination[i] - current_position[i]) >= G38_MINIMUM_MOVE) {
|
||||
if (!code_seen('F')) feedrate_mm_s = homing_feedrate_mm_s[i];
|
||||
// If G38.2 fails throw an error
|
||||
if (!G38_run_probe() && is_38_2) {
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM("Failed to reach target");
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
clean_up_after_endstop_or_probe_move();
|
||||
}
|
||||
|
||||
#endif // G38_2_3
|
||||
|
||||
/**
|
||||
* G92: Set current position to given X Y Z E
|
||||
@ -7447,23 +7375,32 @@ void process_next_command() {
|
||||
// Skip spaces to get the numeric part
|
||||
while (*cmd_ptr == ' ') cmd_ptr++;
|
||||
|
||||
// Allow for decimal point in command
|
||||
#if ENABLED(G38_2_3)
|
||||
uint8_t subcode = 0;
|
||||
#endif
|
||||
|
||||
uint16_t codenum = 0; // define ahead of goto
|
||||
|
||||
// Bail early if there's no code
|
||||
bool code_is_good = NUMERIC(*cmd_ptr);
|
||||
if (!code_is_good) goto ExitUnknownCommand;
|
||||
|
||||
#ifdef G38_2_3
|
||||
double codenum_float;
|
||||
codenum_float = atof(cmd_ptr); //allow for decimal point in command
|
||||
#endif
|
||||
|
||||
// Get and skip the code number
|
||||
do {
|
||||
codenum = (codenum * 10) + (*cmd_ptr - '0');
|
||||
cmd_ptr++;
|
||||
} while (NUMERIC(*cmd_ptr));
|
||||
|
||||
// Allow for decimal point in command
|
||||
#if ENABLED(G38_2_3)
|
||||
if (*cmd_ptr == '.') {
|
||||
cmd_ptr++;
|
||||
while (NUMERIC(*cmd_ptr))
|
||||
subcode = (subcode * 10) + (*cmd_ptr++ - '0');
|
||||
}
|
||||
#endif
|
||||
|
||||
// Skip all spaces to get to the first argument, or nul
|
||||
while (*cmd_ptr == ' ') cmd_ptr++;
|
||||
|
||||
@ -7564,12 +7501,13 @@ void process_next_command() {
|
||||
#endif // Z_PROBE_SLED
|
||||
#endif // HAS_BED_PROBE
|
||||
|
||||
#ifdef G38_2_3
|
||||
case 38: //G38.2 & G38.3
|
||||
gcode_G38(codenum_float);
|
||||
#if ENABLED(G38_2_3)
|
||||
case 38: // G38.2 & G38.3
|
||||
if (subcode == 2 || subcode == 3)
|
||||
gcode_G38(subcode == 2);
|
||||
break;
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
case 90: // G90
|
||||
relative_mode = false;
|
||||
break;
|
||||
@ -9078,7 +9016,7 @@ void prepare_move_to_destination() {
|
||||
* Morgan SCARA Inverse Kinematics. Results in delta[].
|
||||
*
|
||||
* See http://forums.reprap.org/read.php?185,283327
|
||||
*
|
||||
*
|
||||
* Maths and first version by QHARLEY.
|
||||
* Integrated into Marlin and slightly restructured by Joachim Cerny.
|
||||
*/
|
||||
|
||||
@ -851,6 +851,17 @@
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/**
|
||||
* G38 Probe Target
|
||||
*/
|
||||
#if ENABLED(G38_2_3)
|
||||
#if !HAS_BED_PROBE
|
||||
#error "G38_2_3 requires a bed probe."
|
||||
#elif !IS_CARTESIAN
|
||||
#error "G38_2_3 requires a Cartesian machine."
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/**
|
||||
* Make sure only one display is enabled
|
||||
*
|
||||
|
||||
@ -243,33 +243,27 @@ void Endstops::update() {
|
||||
// COPY_BIT: copy the value of COPY_BIT to BIT in bits
|
||||
#define COPY_BIT(bits, COPY_BIT, BIT) SET_BIT(bits, BIT, TEST(bits, COPY_BIT))
|
||||
|
||||
|
||||
#if defined(G38_2_3) && defined(Z_MIN_PIN) && Z_MIN_PIN > -1 // If G38 command then check Z_MIN for every axis and every direction
|
||||
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
|
||||
#define _UPDATE_ENDSTOP(AXIS,MINMAX,CODE) do { \
|
||||
UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
|
||||
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
|
||||
_ENDSTOP_HIT(AXIS); \
|
||||
stepper.endstop_triggered(_AXIS(AXIS)); \
|
||||
} \
|
||||
if (G38_flag) {\
|
||||
UPDATE_ENDSTOP_BIT(Z, MIN); \
|
||||
if (TEST_ENDSTOP(_ENDSTOP(Z, MIN)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
|
||||
_ENDSTOP_HIT(AXIS); \
|
||||
stepper.endstop_triggered(_AXIS(AXIS)); \
|
||||
G38_flag_pass = true;\
|
||||
} \
|
||||
CODE; \
|
||||
} \
|
||||
} while(0)
|
||||
#else
|
||||
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
|
||||
UPDATE_ENDSTOP_BIT(AXIS, MINMAX); \
|
||||
if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX)) && stepper.current_block->steps[_AXIS(AXIS)] > 0) { \
|
||||
_ENDSTOP_HIT(AXIS); \
|
||||
stepper.endstop_triggered(_AXIS(AXIS)); \
|
||||
} \
|
||||
} while(0)
|
||||
|
||||
#endif
|
||||
|
||||
#if ENABLED(G38_2_3) && PIN_EXISTS(Z_MIN) // If G38 command then check Z_MIN for every axis and every direction
|
||||
|
||||
#define UPDATE_ENDSTOP(AXIS,MINMAX) do { \
|
||||
_UPDATE_ENDSTOP(AXIS,MINMAX,NOOP); \
|
||||
if (G38_move) _UPDATE_ENDSTOP(Z, MIN, G38_endstop_hit = true); \
|
||||
} while(0)
|
||||
|
||||
#else
|
||||
|
||||
#define UPDATE_ENDSTOP(AXIS,MINMAX) _UPDATE_ENDSTOP(AXIS,MINMAX,NOOP)
|
||||
|
||||
#endif
|
||||
|
||||
#if ENABLED(COREXY) || ENABLED(COREXZ)
|
||||
// Head direction in -X axis for CoreXY and CoreXZ bots.
|
||||
|
||||
Loading…
Reference in New Issue
Block a user