From e087a99a10b2c11a34876ea2ba4042a77f918544 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <sourcetree@thinkyhead.com>
Date: Mon, 11 Apr 2016 01:03:10 -0700
Subject: [PATCH] Some cleanup of st_get_pos functions
---
Marlin/planner.cpp | 12 ++++++++++++
Marlin/stepper.cpp | 19 +++++++++++++------
Marlin/stepper.h | 2 +-
3 files changed, 26 insertions(+), 7 deletions(-)
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 318b5bdb283..e32c61230e5 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -1090,6 +1090,12 @@ float junction_deviation = 0.1;
} // plan_buffer_line()
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
+
+ /**
+ * Get the XYZ position of the steppers as a vector_3.
+ *
+ * On CORE machines XYZ is derived from ABC.
+ */
vector_3 plan_get_position() {
vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
@@ -1102,8 +1108,14 @@ float junction_deviation = 0.1;
return position;
}
+
#endif // AUTO_BED_LEVELING_FEATURE && !DELTA
+/**
+ * Directly set the planner XYZ position (hence the stepper positions).
+ *
+ * On CORE machines stepper ABC will be translated from the given XYZ.
+ */
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
void plan_set_position(float x, float y, float z, const float& e)
#else
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index a371361c28b..4bfe74ad153 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -1099,15 +1099,22 @@ void st_set_e_position(const long& e) {
CRITICAL_SECTION_END;
}
-long st_get_position(uint8_t axis) {
+/**
+ * Get a stepper's position in steps.
+ */
+long st_get_position(AxisEnum axis) {
CRITICAL_SECTION_START;
long count_pos = count_position[axis];
CRITICAL_SECTION_END;
return count_pos;
}
+/**
+ * Get an axis position according to stepper position(s)
+ * For CORE machines apply translation from ABC to XYZ.
+ */
float st_get_axis_position_mm(AxisEnum axis) {
- float axis_pos;
+ float axis_steps;
#if ENABLED(COREXY) | ENABLED(COREXZ)
if (axis == X_AXIS || axis == CORE_AXIS_2) {
CRITICAL_SECTION_START;
@@ -1116,14 +1123,14 @@ float st_get_axis_position_mm(AxisEnum axis) {
CRITICAL_SECTION_END;
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
- axis_pos = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
+ axis_steps = (pos1 + ((axis == X_AXIS) ? pos2 : -pos2)) / 2.0f;
}
else
- axis_pos = st_get_position(axis);
+ axis_steps = st_get_position(axis);
#else
- axis_pos = st_get_position(axis);
+ axis_steps = st_get_position(axis);
#endif
- return axis_pos / axis_steps_per_unit[axis];
+ return axis_steps / axis_steps_per_unit[axis];
}
void finishAndDisableSteppers() {
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index aecbf580293..b0230b8cd23 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -61,7 +61,7 @@ void st_set_position(const long& x, const long& y, const long& z, const long& e)
void st_set_e_position(const long& e);
// Get current position in steps
-long st_get_position(uint8_t axis);
+long st_get_position(AxisEnum axis);
// Get current axis position in mm
float st_get_axis_position_mm(AxisEnum axis);