CMS/Marlin
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Follow up fixes to various PRs. (#13334)

Browse Source 
- Ensure `MarlinUI:get_progress` is defined for `ExtUI`.
- Fix for `BACKLASH_SMOOTHING` with small segments.
  `BACKLASH_SMOOTHING` with extremely small segments failed to fully correct due to the correction factor being rounded down. Rounding up ensures the entire backlash will converge to zero even for small segments.
- Add pinout for the beta revision `EINSY_RETRO`.
- Update soft endstops with tool offsets (for toolchange et. al. move clamping) (#12568)
This commit is contained in:
Marcio Teixeira 2019-03-08 21:13:24 -07:00 committed by Scott Lahteine
parent c7d618b4d9
commit 00fc43144a
10 changed files with 155 additions and 122 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
Marlin/src/gcode/calibrate/G425.cpp
View File

@ -143,18 +143,15 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
}
#if HOTENDS > 1
inline void set_nozzle(measurements_t &m, const uint8_t extruder) {
if (extruder != active_extruder) {
park_above_object(m, CALIBRATION_MEASUREMENT_UNKNOWN);
tool_change(extruder);
}
}
#endif
inline void reset_nozzle_offsets() {
constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
}
#if HAS_HOTEND_OFFSET
inline void normalize_hotend_offsets() {
for (uint8_t e = 1; e < HOTENDS; e++) {
@ -167,7 +164,7 @@ inline void park_above_object(measurements_t &m, const float uncertainty) {
hotend_offset[Z_AXIS][0] = 0;
}
#endif // HOTENDS > 1
#endif
inline bool read_calibration_pin() {
#if HAS_CALIBRATION_PIN
@ -526,7 +523,7 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
probe_sides(m, uncertainty);
// Adjust the hotend offset
#if HOTENDS > 1
#if HAS_HOTEND_OFFSET
#if HAS_X_CENTER
hotend_offset[X_AXIS][extruder] += m.pos_error[X_AXIS];
#endif
@ -534,7 +531,6 @@ inline void calibrate_toolhead(measurements_t &m, const float uncertainty, const
hotend_offset[Y_AXIS][extruder] += m.pos_error[Y_AXIS];
#endif
hotend_offset[Z_AXIS][extruder] += m.pos_error[Z_AXIS];
normalize_hotend_offsets();
#endif
@ -565,8 +561,11 @@ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty)
HOTEND_LOOP() calibrate_toolhead(m, uncertainty, e);
#if HOTENDS > 1
#if HAS_HOTEND_OFFSET
normalize_hotend_offsets();
#endif
#if HOTENDS > 1
set_nozzle(m, 0);
#endif
}
@ -585,8 +584,8 @@ inline void calibrate_all_toolheads(measurements_t &m, const float uncertainty)
inline void calibrate_all() {
measurements_t m;
#if HOTENDS > 1
reset_nozzle_offsets();
#if HAS_HOTEND_OFFSET
reset_hotend_offsets();
#endif
TEMPORARY_BACKLASH_CORRECTION(1.0f);

4
Marlin/src/gcode/feature/pause/M125.cpp
View File

@ -68,8 +68,8 @@ void GcodeSuite::M125() {
if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
#if HAS_HOTEND_OFFSET && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
park_point.x += hotend_offset[X_AXIS][active_extruder];
park_point.y += hotend_offset[Y_AXIS][active_extruder];
#endif
#if ENABLED(SDSUPPORT)

4
Marlin/src/gcode/feature/pause/M600.cpp
View File

@ -110,8 +110,8 @@ void GcodeSuite::M600() {
if (parser.seenval('Y')) park_point.y = parser.linearval('Y');
#if HAS_HOTEND_OFFSET && DISABLED(DUAL_X_CARRIAGE) && DISABLED(DELTA)
park_point.x += (active_extruder ? hotend_offset[X_AXIS][active_extruder] : 0);
park_point.y += (active_extruder ? hotend_offset[Y_AXIS][active_extruder] : 0);
park_point.x += hotend_offset[X_AXIS][active_extruder];
park_point.y += hotend_offset[Y_AXIS][active_extruder];
#endif
#if ENABLED(MMU2_MENUS)

28
Marlin/src/lcd/ultralcd.cpp
View File

@ -397,20 +397,6 @@ bool MarlinUI::get_blink() {
#endif
#endif
#if HAS_PRINT_PROGRESS
uint8_t MarlinUI::get_progress() {
#if ENABLED(LCD_SET_PROGRESS_MANUALLY)
uint8_t &progress = progress_bar_percent;
#else
uint8_t progress = 0;
#endif
#if ENABLED(SDSUPPORT)
if (IS_SD_PRINTING()) progress = card.percentDone();
#endif
return progress;
}
#endif
void MarlinUI::status_screen() {
#if HAS_LCD_MENU
@ -1321,4 +1307,18 @@ void MarlinUI::update() {
set_status_P(msg, -1);
}
#if HAS_PRINT_PROGRESS
uint8_t MarlinUI::get_progress() {
#if ENABLED(LCD_SET_PROGRESS_MANUALLY)
uint8_t &progress = progress_bar_percent;
#else
uint8_t progress = 0;
#endif
#if ENABLED(SDSUPPORT)
if (IS_SD_PRINTING()) progress = card.percentDone();
#endif
return progress;
}
#endif
#endif // HAS_SPI_LCD || EXTENSIBLE_UI

10
Marlin/src/module/configuration_store.cpp
View File

@ -2028,15 +2028,7 @@ void MarlinSettings::reset() {
#endif
#if HAS_HOTEND_OFFSET
constexpr float tmp4[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
static_assert(
tmp4[X_AXIS][0] == 0 && tmp4[Y_AXIS][0] == 0 && tmp4[Z_AXIS][0] == 0,
"Offsets for the first hotend must be 0.0."
);
LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp4[i][e];
#if ENABLED(DUAL_X_CARRIAGE)
hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
#endif
reset_hotend_offsets();
#endif
#if EXTRUDERS > 1

150
Marlin/src/module/motion.cpp
View File

@ -106,6 +106,17 @@ float destination[XYZE]; // = { 0 }
// Extruder offsets
#if HAS_HOTEND_OFFSET
float hotend_offset[XYZ][HOTENDS]; // Initialized by settings.load()
void reset_hotend_offsets() {
constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z };
static_assert(
tmp[X_AXIS][0] == 0 && tmp[Y_AXIS][0] == 0 && tmp[Z_AXIS][0] == 0,
"Offsets for the first hotend must be 0.0."
);
LOOP_XYZ(i) HOTEND_LOOP() hotend_offset[i][e] = tmp[i][e];
#if ENABLED(DUAL_X_CARRIAGE)
hotend_offset[X_AXIS][1] = MAX(X2_HOME_POS, X2_MAX_POS);
#endif
}
#endif
// The feedrate for the current move, often used as the default if
@ -130,11 +141,23 @@ const float homing_feedrate_mm_s[XYZ] PROGMEM = {
float cartes[XYZ];
#if IS_KINEMATIC
float delta[ABC];
#endif
#if HAS_SCARA_OFFSET
float scara_home_offset[ABC];
float delta[ABC];
#if HAS_SCARA_OFFSET
float scara_home_offset[ABC];
#endif
#if HAS_SOFTWARE_ENDSTOPS
float soft_endstop_radius, soft_endstop_radius_2;
#elif IS_SCARA
constexpr float soft_endstop_radius = SCARA_PRINTABLE_RADIUS,
soft_endstop_radius_2 = sq(SCARA_PRINTABLE_RADIUS);
#else // DELTA
constexpr float soft_endstop_radius = DELTA_PRINTABLE_RADIUS,
soft_endstop_radius_2 = sq(DELTA_PRINTABLE_RADIUS);
#endif
#endif
/**
@ -440,47 +463,6 @@ void clean_up_after_endstop_or_probe_move() {
float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
#if IS_KINEMATIC
float soft_endstop_radius, soft_endstop_radius_2;
#endif
/**
* Constrain the given coordinates to the software endstops.
*
* For DELTA/SCARA the XY constraint is based on the smallest
* radius within the set software endstops.
*/
void clamp_to_software_endstops(float target[XYZ]) {
if (!soft_endstops_enabled) return;
#if IS_KINEMATIC
const float dist_2 = HYPOT2(target[X_AXIS], target[Y_AXIS]);
if (dist_2 > soft_endstop_radius_2) {
const float ratio = soft_endstop_radius / SQRT(dist_2); // 200 / 300 = 0.66
target[X_AXIS] *= ratio;
target[Y_AXIS] *= ratio;
}
#else
#if ENABLED(MIN_SOFTWARE_ENDSTOP_X)
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
#endif
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_X)
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
#endif
#endif
#if ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
#if ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
}
/**
* Software endstops can be used to monitor the open end of
* an axis that has a hardware endstop on the other end. Or
@ -490,7 +472,11 @@ void clean_up_after_endstop_or_probe_move() {
* the software endstop positions must be refreshed to remain
* at the same positions relative to the machine.
*/
void update_software_endstops(const AxisEnum axis) {
void update_software_endstops(const AxisEnum axis
#if HAS_HOTEND_OFFSET
, const uint8_t old_tool_index/*=0*/, const uint8_t new_tool_index/*=0*/
#endif
) {
#if ENABLED(DUAL_X_CARRIAGE)
@ -499,7 +485,7 @@ void clean_up_after_endstop_or_probe_move() {
// In Dual X mode hotend_offset[X] is T1's home position
const float dual_max_x = MAX(hotend_offset[X_AXIS][1], X2_MAX_POS);
if (active_extruder != 0) {
if (new_tool_index != 0) {
// T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger)
soft_endstop_min[X_AXIS] = X2_MIN_POS;
soft_endstop_max[X_AXIS] = dual_max_x;
@ -538,6 +524,22 @@ void clean_up_after_endstop_or_probe_move() {
default: break;
}
#elif HAS_HOTEND_OFFSET
// Software endstops are relative to the tool 0 workspace, so
// the movement limits must be shifted by the tool offset to
// retain the same physical limit when other tools are selected.
if (old_tool_index != new_tool_index) {
const float offs = hotend_offset[axis][new_tool_index] - hotend_offset[axis][old_tool_index];
soft_endstop_min[axis] += offs;
soft_endstop_max[axis] += offs;
}
else {
const float offs = hotend_offset[axis][active_extruder];
soft_endstop_min[axis] = base_min_pos(axis) + offs;
soft_endstop_max[axis] = base_max_pos(axis) + offs;
}
#else
soft_endstop_min[axis] = base_min_pos(axis);
@ -554,7 +556,59 @@ void clean_up_after_endstop_or_probe_move() {
#endif
}
#endif
#endif // HAS_SOFTWARE_ENDSTOPS
/**
* Constrain the given coordinates to the software endstops.
*
* For DELTA/SCARA the XY constraint is based on the smallest
* radius within the set software endstops.
*/
void clamp_to_software_endstops(float target[XYZ]) {
if (!soft_endstops_enabled) return;
#if IS_KINEMATIC
#if HAS_HOTEND_OFFSET && ENABLED(DELTA)
// The effector center position will be the target minus the hotend offset.
const float offx = hotend_offset[X_AXIS][active_extruder], offy = hotend_offset[Y_AXIS][active_extruder];
#else
// SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset.
constexpr float offx = 0, offy = 0;
#endif
const float dist_2 = HYPOT2(target[X_AXIS] - offx, target[Y_AXIS] - offy);
if (dist_2 > soft_endstop_radius_2) {
const float ratio = (soft_endstop_radius) / SQRT(dist_2); // 200 / 300 = 0.66
target[X_AXIS] *= ratio;
target[Y_AXIS] *= ratio;
}
#else
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X)
NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X)
NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y)
NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y)
NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]);
#endif
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z)
NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]);
#endif
#if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z)
NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]);
#endif
}
#if !UBL_SEGMENTED
#if IS_KINEMATIC

29
Marlin/src/module/motion.h
View File

@ -90,10 +90,6 @@ extern int16_t feedrate_percentage;
constexpr uint8_t active_extruder = 0;
#endif
#if HAS_HOTEND_OFFSET
extern float hotend_offset[XYZ][HOTENDS];
#endif
FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float(p); }
FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte(p); }
@ -115,19 +111,30 @@ XYZ_DEFS(signed char, home_dir, HOME_DIR);
#define update_workspace_offset(x) NOOP
#endif
#if HAS_HOTEND_OFFSET
extern float hotend_offset[XYZ][HOTENDS];
void reset_hotend_offsets();
#else
constexpr float hotend_offset[XYZ][HOTENDS] = { { 0 }, { 0 }, { 0 } };
#endif
#if HAS_SOFTWARE_ENDSTOPS
extern bool soft_endstops_enabled;
extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ];
void clamp_to_software_endstops(float target[XYZ]);
void update_software_endstops(const AxisEnum axis);
void update_software_endstops(const AxisEnum axis
#if HAS_HOTEND_OFFSET
, const uint8_t old_tool_index=0, const uint8_t new_tool_index=0
#endif
);
#else
constexpr bool soft_endstops_enabled = false;
constexpr float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS };
#define clamp_to_software_endstops(x) NOOP
#define update_software_endstops(x) NOOP
constexpr bool soft_endstops_enabled = true;
constexpr float soft_endstop_min[XYZ] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS },
soft_endstop_max[XYZ] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
#define update_software_endstops(...) NOOP
#endif
void clamp_to_software_endstops(float target[XYZ]);
void report_current_position();
inline void set_current_from_destination() { COPY(current_position, destination); }

2
Marlin/src/module/planner.cpp
View File

@ -1626,7 +1626,7 @@ void Planner::synchronize() {
if (reversing == (error_correction < 0)) {
if (segment_proportion == 0)
segment_proportion = MIN(1.0f, block->millimeters / backlash_smoothing_mm);
error_correction *= segment_proportion;
error_correction = ceil(segment_proportion * error_correction);
}
else
error_correction = 0; // Don't take up any backlash in this segment, as it would subtract steps

25
Marlin/src/module/tool_change.cpp
View File

@ -735,23 +735,8 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
const float old_feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : feedrate_mm_s;
feedrate_mm_s = fr_mm_s > 0.0 ? fr_mm_s : XY_PROBE_FEEDRATE_MM_S;
#if ENABLED(DUAL_X_CARRIAGE)
#if HAS_SOFTWARE_ENDSTOPS
// Update the X software endstops early
active_extruder = tmp_extruder;
update_software_endstops(X_AXIS);
active_extruder = !tmp_extruder;
const float minx = soft_endstop_min[X_AXIS], maxx = soft_endstop_max[X_AXIS];
#else
// No software endstops? Use the configured limits
const float minx = tmp_extruder ? X2_MIN_POS : X1_MIN_POS,
maxx = tmp_extruder ? X2_MAX_POS : X1_MAX_POS;
#endif
// Don't move the new extruder out of bounds
if (!WITHIN(current_position[X_AXIS], minx, maxx)) no_move = true;
#if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
update_software_endstops(X_AXIS, active_extruder, tmp_extruder);
#endif
set_destination_from_current();
@ -772,7 +757,7 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
planner.synchronize();
}
#if HOTENDS > 1
#if HAS_HOTEND_OFFSET
#if ENABLED(DUAL_X_CARRIAGE)
constexpr float xdiff = 0;
#else
@ -914,10 +899,6 @@ void tool_change(const uint8_t tmp_extruder, const float fr_mm_s/*=0.0*/, bool n
enable_solenoid_on_active_extruder();
#endif
#if HAS_SOFTWARE_ENDSTOPS && ENABLED(DUAL_X_CARRIAGE)
update_software_endstops(X_AXIS);
#endif
#if ENABLED(MK2_MULTIPLEXER)
if (tmp_extruder >= E_STEPPERS) return invalid_extruder_error(tmp_extruder);
select_multiplexed_stepper(tmp_extruder);

4
Marlin/src/pins/pins_EINSY_RETRO.h
View File

@ -176,8 +176,8 @@
#define BTN_EN2 19
#else
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_ENABLE 18 // On 0.6b, use 61
#define LCD_PINS_D4 19 // On 0.6b, use 59
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71