whitespace correction
This commit is contained in:
PavelSindler
parent
cc74edfa13
commit
ffe93b2ca9
1 changed files with 199 additions and 199 deletions
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@ -2958,169 +2958,169 @@ void process_commands()
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break;
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#endif //FWRETRACT
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case 28: //G28 Home all Axis one at a time
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{
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st_synchronize();
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{
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st_synchronize();
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#if 0
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SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
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SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
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SERIAL_ECHOPGM("G28, initial "); print_world_coordinates();
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SERIAL_ECHOPGM("G28, initial "); print_physical_coordinates();
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#endif
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// Flag for the display update routine and to disable the print cancelation during homing.
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homing_flag = true;
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// Which axes should be homed?
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bool home_x = code_seen(axis_codes[X_AXIS]);
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bool home_y = code_seen(axis_codes[Y_AXIS]);
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bool home_z = code_seen(axis_codes[Z_AXIS]);
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// calibrate?
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bool calib = code_seen('C');
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// Either all X,Y,Z codes are present, or none of them.
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bool home_all_axes = home_x == home_y && home_x == home_z;
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if (home_all_axes)
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// No X/Y/Z code provided means to home all axes.
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home_x = home_y = home_z = true;
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// Flag for the display update routine and to disable the print cancelation during homing.
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homing_flag = true;
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// Which axes should be homed?
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bool home_x = code_seen(axis_codes[X_AXIS]);
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bool home_y = code_seen(axis_codes[Y_AXIS]);
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bool home_z = code_seen(axis_codes[Z_AXIS]);
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// calibrate?
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bool calib = code_seen('C');
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// Either all X,Y,Z codes are present, or none of them.
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bool home_all_axes = home_x == home_y && home_x == home_z;
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if (home_all_axes)
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// No X/Y/Z code provided means to home all axes.
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home_x = home_y = home_z = true;
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#ifdef ENABLE_AUTO_BED_LEVELING
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plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
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plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
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#endif //ENABLE_AUTO_BED_LEVELING
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// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
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// the planner will not perform any adjustments in the XY plane.
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// Wait for the motors to stop and update the current position with the absolute values.
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world2machine_revert_to_uncorrected();
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// Reset world2machine_rotation_and_skew and world2machine_shift, therefore
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// the planner will not perform any adjustments in the XY plane.
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// Wait for the motors to stop and update the current position with the absolute values.
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world2machine_revert_to_uncorrected();
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// For mesh bed leveling deactivate the matrix temporarily.
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// It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
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// in a single axis only.
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// In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
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// For mesh bed leveling deactivate the matrix temporarily.
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// It is necessary to disable the bed leveling for the X and Y homing moves, so that the move is performed
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// in a single axis only.
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// In case of re-homing the X or Y axes only, the mesh bed leveling is restored after G28.
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#ifdef MESH_BED_LEVELING
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uint8_t mbl_was_active = mbl.active;
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mbl.active = 0;
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current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
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uint8_t mbl_was_active = mbl.active;
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mbl.active = 0;
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current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
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#endif
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// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
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// consumed during the first movements following this statement.
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if (home_z)
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babystep_undo();
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// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
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// consumed during the first movements following this statement.
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if (home_z)
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babystep_undo();
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saved_feedrate = feedrate;
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saved_feedmultiply = feedmultiply;
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feedmultiply = 100;
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previous_millis_cmd = millis();
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saved_feedrate = feedrate;
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saved_feedmultiply = feedmultiply;
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feedmultiply = 100;
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previous_millis_cmd = millis();
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enable_endstops(true);
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enable_endstops(true);
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memcpy(destination, current_position, sizeof(destination));
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feedrate = 0.0;
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memcpy(destination, current_position, sizeof(destination));
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feedrate = 0.0;
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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if(home_z)
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homeaxis(Z_AXIS);
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#endif
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#if Z_HOME_DIR > 0 // If homing away from BED do Z first
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if(home_z)
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homeaxis(Z_AXIS);
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#endif
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#ifdef QUICK_HOME
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// In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
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if(home_x && home_y) //first diagonal move
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{
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current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
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#ifdef QUICK_HOME
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// In the quick mode, if both x and y are to be homed, a diagonal move will be performed initially.
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if(home_x && home_y) //first diagonal move
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{
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current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
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int x_axis_home_dir = home_dir(X_AXIS);
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int x_axis_home_dir = home_dir(X_AXIS);
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
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feedrate = homing_feedrate[X_AXIS];
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if(homing_feedrate[Y_AXIS]<feedrate)
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feedrate = homing_feedrate[Y_AXIS];
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if (max_length(X_AXIS) > max_length(Y_AXIS)) {
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feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
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} else {
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feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
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}
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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axis_is_at_home(X_AXIS);
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axis_is_at_home(Y_AXIS);
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = current_position[X_AXIS];
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destination[Y_AXIS] = current_position[Y_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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feedrate = 0.0;
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st_synchronize();
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endstops_hit_on_purpose();
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current_position[X_AXIS] = destination[X_AXIS];
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current_position[Y_AXIS] = destination[Y_AXIS];
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current_position[Z_AXIS] = destination[Z_AXIS];
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
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feedrate = homing_feedrate[X_AXIS];
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if(homing_feedrate[Y_AXIS]<feedrate)
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feedrate = homing_feedrate[Y_AXIS];
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if (max_length(X_AXIS) > max_length(Y_AXIS)) {
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feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
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} else {
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feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
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}
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#endif /* QUICK_HOME */
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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st_synchronize();
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axis_is_at_home(X_AXIS);
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axis_is_at_home(Y_AXIS);
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = current_position[X_AXIS];
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destination[Y_AXIS] = current_position[Y_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
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feedrate = 0.0;
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st_synchronize();
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endstops_hit_on_purpose();
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current_position[X_AXIS] = destination[X_AXIS];
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current_position[Y_AXIS] = destination[Y_AXIS];
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current_position[Z_AXIS] = destination[Z_AXIS];
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}
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#endif /* QUICK_HOME */
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#ifdef TMC2130
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if(home_x)
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{
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if (!calib)
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homeaxis(X_AXIS);
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else
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tmc2130_home_calibrate(X_AXIS);
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}
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if(home_x)
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{
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if (!calib)
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homeaxis(X_AXIS);
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else
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tmc2130_home_calibrate(X_AXIS);
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}
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if(home_y)
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{
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if (!calib)
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homeaxis(Y_AXIS);
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else
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tmc2130_home_calibrate(Y_AXIS);
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}
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if(home_y)
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{
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if (!calib)
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homeaxis(Y_AXIS);
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else
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tmc2130_home_calibrate(Y_AXIS);
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}
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#endif //TMC2130
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if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
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current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
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if(code_seen(axis_codes[X_AXIS]) && code_value_long() != 0)
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current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
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if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
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current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
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if(code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0)
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current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
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#if Z_HOME_DIR < 0 // If homing towards BED do Z last
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#ifndef Z_SAFE_HOMING
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if(home_z) {
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#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
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destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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st_synchronize();
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#endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
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#if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
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if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
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{
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#if Z_HOME_DIR < 0 // If homing towards BED do Z last
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#ifndef Z_SAFE_HOMING
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if(home_z) {
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#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
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destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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st_synchronize();
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#endif // defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
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#if (defined(MESH_BED_LEVELING) && !defined(MK1BP)) // If Mesh bed leveling, moxve X&Y to safe position for home
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if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS] ))
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{
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homeaxis(X_AXIS);
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homeaxis(Y_AXIS);
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}
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// 1st mesh bed leveling measurement point, corrected.
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world2machine_initialize();
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world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
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world2machine_reset();
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if (destination[Y_AXIS] < Y_MIN_POS)
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destination[Y_AXIS] = Y_MIN_POS;
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destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
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feedrate = homing_feedrate[Z_AXIS]/10;
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current_position[Z_AXIS] = 0;
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enable_endstops(false);
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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st_synchronize();
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current_position[X_AXIS] = destination[X_AXIS];
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current_position[Y_AXIS] = destination[Y_AXIS];
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enable_endstops(true);
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endstops_hit_on_purpose();
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homeaxis(Z_AXIS);
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#else // MESH_BED_LEVELING
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homeaxis(Z_AXIS);
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#endif // MESH_BED_LEVELING
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}
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#else // defined(Z_SAFE_HOMING): Z Safe mode activated.
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if(home_all_axes) {
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}
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// 1st mesh bed leveling measurement point, corrected.
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world2machine_initialize();
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world2machine(pgm_read_float(bed_ref_points), pgm_read_float(bed_ref_points+1), destination[X_AXIS], destination[Y_AXIS]);
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world2machine_reset();
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if (destination[Y_AXIS] < Y_MIN_POS)
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destination[Y_AXIS] = Y_MIN_POS;
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destination[Z_AXIS] = MESH_HOME_Z_SEARCH; // Set destination away from bed
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feedrate = homing_feedrate[Z_AXIS]/10;
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current_position[Z_AXIS] = 0;
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enable_endstops(false);
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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st_synchronize();
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current_position[X_AXIS] = destination[X_AXIS];
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current_position[Y_AXIS] = destination[Y_AXIS];
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enable_endstops(true);
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endstops_hit_on_purpose();
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homeaxis(Z_AXIS);
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#else // MESH_BED_LEVELING
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homeaxis(Z_AXIS);
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#endif // MESH_BED_LEVELING
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}
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#else // defined(Z_SAFE_HOMING): Z Safe mode activated.
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if(home_all_axes) {
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destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
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destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
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@ -3134,23 +3134,23 @@ void process_commands()
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current_position[Y_AXIS] = destination[Y_AXIS];
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homeaxis(Z_AXIS);
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}
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// Let's see if X and Y are homed and probe is inside bed area.
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if(home_z) {
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}
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// Let's see if X and Y are homed and probe is inside bed area.
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if(home_z) {
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if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
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&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
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&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
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&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
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&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
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&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
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&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
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&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
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&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
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current_position[Z_AXIS] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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st_synchronize();
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current_position[Z_AXIS] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
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feedrate = max_feedrate[Z_AXIS];
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
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st_synchronize();
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homeaxis(Z_AXIS);
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homeaxis(Z_AXIS);
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} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
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LCD_MESSAGERPGM(MSG_POSITION_UNKNOWN);
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SERIAL_ECHO_START;
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@ -3160,72 +3160,72 @@ void process_commands()
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SERIAL_ECHO_START;
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SERIAL_ECHOLNRPGM(MSG_ZPROBE_OUT);
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}
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}
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#endif // Z_SAFE_HOMING
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#endif // Z_HOME_DIR < 0
|
||||
}
|
||||
#endif // Z_SAFE_HOMING
|
||||
#endif // Z_HOME_DIR < 0
|
||||
|
||||
if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
|
||||
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
if(code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
|
||||
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
if(home_z)
|
||||
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
|
||||
#endif
|
||||
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
|
||||
#endif
|
||||
|
||||
// Set the planner and stepper routine positions.
|
||||
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position
|
||||
// contains the machine coordinates.
|
||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
||||
|
||||
// Set the planner and stepper routine positions.
|
||||
// At this point the mesh bed leveling and world2machine corrections are disabled and current_position
|
||||
// contains the machine coordinates.
|
||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
||||
|
||||
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
||||
#ifdef ENDSTOPS_ONLY_FOR_HOMING
|
||||
enable_endstops(false);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
feedrate = saved_feedrate;
|
||||
feedmultiply = saved_feedmultiply;
|
||||
previous_millis_cmd = millis();
|
||||
endstops_hit_on_purpose();
|
||||
feedrate = saved_feedrate;
|
||||
feedmultiply = saved_feedmultiply;
|
||||
previous_millis_cmd = millis();
|
||||
endstops_hit_on_purpose();
|
||||
#ifndef MESH_BED_LEVELING
|
||||
// If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
|
||||
// Offer the user to load the baby step value, which has been adjusted at the previous print session.
|
||||
if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
|
||||
lcd_adjust_z();
|
||||
// If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
|
||||
// Offer the user to load the baby step value, which has been adjusted at the previous print session.
|
||||
if(card.sdprinting && eeprom_read_word((uint16_t *)EEPROM_BABYSTEP_Z))
|
||||
lcd_adjust_z();
|
||||
#endif
|
||||
|
||||
// Load the machine correction matrix
|
||||
world2machine_initialize();
|
||||
// and correct the current_position XY axes to match the transformed coordinate system.
|
||||
world2machine_update_current();
|
||||
// Load the machine correction matrix
|
||||
world2machine_initialize();
|
||||
// and correct the current_position XY axes to match the transformed coordinate system.
|
||||
world2machine_update_current();
|
||||
|
||||
#if (defined(MESH_BED_LEVELING) && !defined(MK1BP))
|
||||
if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
|
||||
{
|
||||
if (! home_z && mbl_was_active) {
|
||||
// Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
|
||||
mbl.active = true;
|
||||
// and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
|
||||
current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
st_synchronize();
|
||||
homing_flag = false;
|
||||
// Push the commands to the front of the message queue in the reverse order!
|
||||
// There shall be always enough space reserved for these commands.
|
||||
// enquecommand_front_P((PSTR("G80")));
|
||||
goto case_G80;
|
||||
}
|
||||
if (code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen('W') || code_seen(axis_codes[Z_AXIS]))
|
||||
{
|
||||
if (! home_z && mbl_was_active) {
|
||||
// Re-enable the mesh bed leveling if only the X and Y axes were re-homed.
|
||||
mbl.active = true;
|
||||
// and re-adjust the current logical Z axis with the bed leveling offset applicable at the current XY position.
|
||||
current_position[Z_AXIS] -= mbl.get_z(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
st_synchronize();
|
||||
homing_flag = false;
|
||||
// Push the commands to the front of the message queue in the reverse order!
|
||||
// There shall be always enough space reserved for these commands.
|
||||
// enquecommand_front_P((PSTR("G80")));
|
||||
goto case_G80;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (farm_mode) { prusa_statistics(20); };
|
||||
if (farm_mode) { prusa_statistics(20); };
|
||||
|
||||
homing_flag = false;
|
||||
homing_flag = false;
|
||||
#if 0
|
||||
SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
|
||||
SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
|
||||
SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
|
||||
SERIAL_ECHOPGM("G28, final "); print_world_coordinates();
|
||||
SERIAL_ECHOPGM("G28, final "); print_physical_coordinates();
|
||||
SERIAL_ECHOPGM("G28, final "); print_mesh_bed_leveling_table();
|
||||
#endif
|
||||
break;
|
||||
break;
|
||||
}
|
||||
#ifdef ENABLE_AUTO_BED_LEVELING
|
||||
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
|
||||
|
|
|
|||
Loading…
Reference in a new issue