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FormerLurker 2020-05-07 15:49:44 -05:00 • committed by Alex Voinea
parent 4aa5a75301
commit 58d9916d54
4 changed files with 38 additions and 62 deletions
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12
Firmware/ConfigurationStore.cpp
View file

@ -171,7 +171,7 @@ void Config_PrintSettings(uint8_t level)
} }
// Arc Interpolation Settings // Arc Interpolation Settings
printf_P(PSTR( printf_P(PSTR(
"%SArc Settings: N=Arc segment length max (mm) S=Arc segment length Min (mm), R=Min arc segments, F=Arc segments per second.\n%S M214 N%.2f S%.2f R%d F%d\n"), "%SArc Settings: P=Arc segment length max (mm) S=Arc segment length Min (mm), R=Min arc segments, F=Arc segments per second.\n%S M214 P%.2f S%.2f R%d F%d\n"),
echomagic, echomagic, cs.mm_per_arc_segment, cs.min_mm_per_arc_segment, cs.min_arc_segments, cs.arc_segments_per_sec); echomagic, echomagic, cs.mm_per_arc_segment, cs.min_mm_per_arc_segment, cs.min_arc_segments, cs.arc_segments_per_sec);
} }
#endif #endif
@ -282,10 +282,11 @@ bool Config_RetrieveSettings()
} }
} }
// Initialize arc interpolation settings if they are not already (Not sure about this bit, please review) // Initialize arc interpolation settings if they are not already (Not sure about this bit, please review)
if (0xff == cs.mm_per_arc_segment) cs.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT; if (is_uninitialized(cs.mm_per_arc_segment, sizeof(float))) cs.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
if (0xff == cs.min_mm_per_arc_segment) cs.min_mm_per_arc_segment = DEFAULT_MIN_MM_PER_ARC_SEGMENT; if (is_uninitialized(cs.min_mm_per_arc_segment, sizeof(float))) cs.min_mm_per_arc_segment = DEFAULT_MIN_MM_PER_ARC_SEGMENT;
if (0xff == cs.min_arc_segments) cs.min_arc_segments = DEFAULT_MIN_ARC_SEGMENTS; if (is_uninitialized(cs.min_arc_segments, sizeof(uint16_t))) cs.min_arc_segments = DEFAULT_MIN_ARC_SEGMENTS;
if (0xff == cs.arc_segments_per_sec) cs.arc_segments_per_sec = DEFAULT_ARC_SEGMENTS_PER_SEC; if (is_uninitialized(cs.arc_segments_per_sec, sizeof(uint16_t))) cs.arc_segments_per_sec = DEFAULT_ARC_SEGMENTS_PER_SEC;
#ifdef TMC2130 #ifdef TMC2130
for (uint8_t j = X_AXIS; j <= Y_AXIS; j++) for (uint8_t j = X_AXIS; j <= Y_AXIS; j++)
@ -357,3 +358,4 @@ SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Hardcoded Default Settings Loaded"); SERIAL_ECHOLNPGM("Hardcoded Default Settings Loaded");
} }

5
Firmware/ConfigurationStore.h
View file

@ -42,8 +42,8 @@ typedef struct
// Arc Interpolation Settings, configurable via M214 // Arc Interpolation Settings, configurable via M214
float mm_per_arc_segment; float mm_per_arc_segment;
float min_mm_per_arc_segment; float min_mm_per_arc_segment;
int min_arc_segments; // If less than or equal to zero, this is disabled uint16_t min_arc_segments; // If less than or equal to zero, this is disabled
int arc_segments_per_sec; // If less than or equal to zero, this is disabled uint16_t arc_segments_per_sec; // If less than or equal to zero, this is disabled
} M500_conf; } M500_conf;
extern M500_conf cs; extern M500_conf cs;
@ -67,5 +67,4 @@ FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_Prin
inline uint8_t calibration_status() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS); } inline uint8_t calibration_status() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS); }
inline void calibration_status_store(uint8_t status) { eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS, status); } inline void calibration_status_store(uint8_t status) { eeprom_update_byte((uint8_t*)EEPROM_CALIBRATION_STATUS, status); }
inline bool calibration_status_pinda() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA); } inline bool calibration_status_pinda() { return eeprom_read_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA); }
#endif//CONFIG_STORE_H #endif//CONFIG_STORE_H

42
Firmware/Marlin_main.cpp
View file

@ -4162,6 +4162,7 @@ extern uint8_t st_backlash_y;
//!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting //!@n M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop], stays in mm regardless of M200 setting
//!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec] //!@n M208 - set recover=unretract length S[positive mm surplus to the M207 S*] F[feedrate mm/sec]
//!@n M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. //!@n M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
//!@n M214 - Set Arc Parameters (Use M500 to store in eeprom) P<MM_PER_ARC_SEGMENT> S<MIN_MM_PER_ARC_SEGMENT> R<MIN_ARC_SEGMENTS> F<ARC_SEGMENTS_PER_SEC>
//!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y> //!@n M218 - set hotend offset (in mm): T<extruder_number> X<offset_on_X> Y<offset_on_Y>
//!@n M220 S<factor in percent>- set speed factor override percentage //!@n M220 S<factor in percent>- set speed factor override percentage
//!@n M221 S<factor in percent>- set extrude factor override percentage //!@n M221 S<factor in percent>- set extrude factor override percentage
@ -7508,10 +7509,10 @@ Sigma_Exit:
#### Usage #### Usage
M214 [N] [S] [R] [F] M214 [P] [S] [R] [F]
#### Parameters #### Parameters
- `N` - A float representing the max and default millimeters per arc segment. Must be greater than 0. - `P` - A float representing the max and default millimeters per arc segment. Must be greater than 0.
- `S` - A float representing the minimum allowable millimeters per arc segment. Set to 0 to disable - `S` - A float representing the minimum allowable millimeters per arc segment. Set to 0 to disable
- `R` - An int representing the minimum number of segments per arcs of any radius, - `R` - An int representing the minimum number of segments per arcs of any radius,
except when the results in segment lengths greater than or less than the minimum except when the results in segment lengths greater than or less than the minimum
@ -7519,36 +7520,29 @@ Sigma_Exit:
- 'F' - An int representing the number of segments per second, unless this results in segment lengths - 'F' - An int representing the number of segments per second, unless this results in segment lengths
greater than or less than the minimum and maximum segment length. Set to 0 to disable. greater than or less than the minimum and maximum segment length. Set to 0 to disable.
*/ */
case 214: //!@n M214 - Set Arc Parameters (Use M500 to store in eeprom) N<MM_PER_ARC_SEGMENT> S<MIN_MM_PER_ARC_SEGMENT> R<MIN_ARC_SEGMENTS> F<ARC_SEGMENTS_PER_SEC> case 214: //!@n M214 - Set Arc Parameters (Use M500 to store in eeprom) P<MM_PER_ARC_SEGMENT> S<MIN_MM_PER_ARC_SEGMENT> R<MIN_ARC_SEGMENTS> F<ARC_SEGMENTS_PER_SEC>
{ {
// Extract N // Extract N
float n = cs.mm_per_arc_segment; float p = cs.mm_per_arc_segment;
float s = cs.min_mm_per_arc_segment; float s = cs.min_mm_per_arc_segment;
int r = cs.min_arc_segments; uint16_t r = cs.min_arc_segments;
int f = cs.arc_segments_per_sec; uint16_t f = cs.arc_segments_per_sec;
// Extract N // Extract N
if (code_seen('N')) if (code_seen('P'))
{ {
n = code_value(); p = code_value_float();
if (n <= 0 || (s != 0 && n <= s)) if (p <= 0 || (s != 0 && p <= s))
{ {
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
SERIAL_ECHOLNPGM("\"(1)");
break; break;
} }
} }
// Extract S // Extract S
if (code_seen('S')) if (code_seen('S'))
{ {
s = code_value(); s = code_value_float();
if (s < 0 || s >= n) if (s < 0 || s >= p)
{ {
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
SERIAL_ECHOLNPGM("\"(1)");
break; break;
} }
} }
@ -7559,10 +7553,6 @@ Sigma_Exit:
r = code_value(); r = code_value();
if (r < 0) if (r < 0)
{ {
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
SERIAL_ECHOLNPGM("\"(1)");
break; break;
} }
} }
@ -7572,14 +7562,10 @@ Sigma_Exit:
f = code_value(); f = code_value();
if (f < 0) if (f < 0)
{ {
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(CMDBUFFER_CURRENT_STRING);
SERIAL_ECHOLNPGM("\"(1)");
break; break;
} }
} }
cs.mm_per_arc_segment = n; cs.mm_per_arc_segment = p;
cs.min_mm_per_arc_segment = s; cs.min_mm_per_arc_segment = s;
cs.min_arc_segments = r; cs.min_arc_segments = r;
cs.arc_segments_per_sec = f; cs.arc_segments_per_sec = f;

41
Firmware/motion_control.cpp
View file

@ -28,26 +28,15 @@
// segment is configured in settings.mm_per_arc_segment. // segment is configured in settings.mm_per_arc_segment.
void mc_arc(float* position, float* target, float* offset, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder) void mc_arc(float* position, float* target, float* offset, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder)
{ {
// Extract the position to reduce indexing at the cost of a few bytes of mem
float p_x = position[X_AXIS];
float p_y = position[Y_AXIS];
float p_z = position[Z_AXIS];
float p_e = position[E_AXIS];
float t_x = target[X_AXIS];
float t_y = target[Y_AXIS];
float t_z = target[Z_AXIS];
float t_e = target[E_AXIS];
float r_axis_x = -offset[X_AXIS]; // Radius vector from center to current location float r_axis_x = -offset[X_AXIS]; // Radius vector from center to current location
float r_axis_y = -offset[Y_AXIS]; float r_axis_y = -offset[Y_AXIS];
float center_axis_x = p_x - r_axis_x; float center_axis_x = position[X_AXIS] - r_axis_x;
float center_axis_y = p_y - r_axis_y; float center_axis_y = position[Y_AXIS] - r_axis_y;
float travel_z = t_z - p_z; float travel_z = target[Z_AXIS] - position[Z_AXIS];
float extruder_travel_total = t_e - p_e; float extruder_travel_total = target[E_AXIS] - position[E_AXIS];
float rt_x = t_x - center_axis_x; float rt_x = target[X_AXIS] - center_axis_x;
float rt_y = t_y - center_axis_y; float rt_y = target[Y_AXIS] - center_axis_y;
// 20200419 - Add a variable that will be used to hold the arc segment length // 20200419 - Add a variable that will be used to hold the arc segment length
float mm_per_arc_segment = cs.mm_per_arc_segment; float mm_per_arc_segment = cs.mm_per_arc_segment;
@ -90,7 +79,7 @@ void mc_arc(float* position, float* target, float* offset, float feed_rate, floa
//20141002:full circle for G03 did not work, e.g. G03 X80 Y80 I20 J0 F2000 is giving an Angle of zero so head is not moving //20141002:full circle for G03 did not work, e.g. G03 X80 Y80 I20 J0 F2000 is giving an Angle of zero so head is not moving
//to compensate when start pos = target pos && angle is zero -> angle = 2Pi //to compensate when start pos = target pos && angle is zero -> angle = 2Pi
if (p_x == t_x && p_y == t_y && angular_travel_total == 0) if (position[X_AXIS] == target[X_AXIS] && position[Y_AXIS] == target[Y_AXIS] && angular_travel_total == 0)
{ {
angular_travel_total += 2 * M_PI; angular_travel_total += 2 * M_PI;
} }
@ -148,18 +137,18 @@ void mc_arc(float* position, float* target, float* offset, float feed_rate, floa
r_axis_y = r_axisi; r_axis_y = r_axisi;
// Update arc_target location // Update arc_target location
p_x = center_axis_x + r_axis_x; position[X_AXIS] = center_axis_x + r_axis_x;
p_y = center_axis_y + r_axis_y; position[Y_AXIS] = center_axis_y + r_axis_y;
p_z += linear_per_segment; position[Z_AXIS] += linear_per_segment;
p_e += segment_extruder_travel; position[E_AXIS] += segment_extruder_travel;
// We can't clamp to the target because we are interpolating! We would need to update a position, clamp to it // We can't clamp to the target because we are interpolating! We would need to update a position, clamp to it
// after updating from calculated values. // after updating from calculated values.
//clamp_to_software_endstops(position); clamp_to_software_endstops(position);
plan_buffer_line(p_x, p_y, p_z, p_e, feed_rate, extruder); plan_buffer_line(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS], feed_rate, extruder);
} }
} }
// Ensure last segment arrives at target location. // Ensure last segment arrives at target location.
// Here we could clamp, but why bother. We would need to update our current position, clamp to it // Here we could clamp, but why bother. We would need to update our current position, clamp to it
//clamp_to_software_endstops(target); clamp_to_software_endstops(target);
plan_buffer_line(t_x, t_y, t_z, t_e, feed_rate, extruder); plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder);
} }