Merge pull request #209 from ijackson/for-upstream
M206 fixes, and ancillary improvements
This commit is contained in:
ErikZalm
commit
22aae62ccd
5
.gitignore
vendored
Normal file
5
.gitignore
vendored
Normal file
@ -0,0 +1,5 @@
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*.o
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applet/
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*~
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*.orig
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*.rej
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2
Marlin/.gitignore
vendored
2
Marlin/.gitignore
vendored
@ -1,2 +0,0 @@
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*.o
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applet/
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@ -38,7 +38,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
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// the default values are used whenever there is a change to the data, to prevent
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// wrong data being written to the variables.
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// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
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#define EEPROM_VERSION "V05"
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#define EEPROM_VERSION "V06"
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inline void EEPROM_StoreSettings()
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{
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@ -57,6 +57,7 @@ inline void EEPROM_StoreSettings()
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EEPROM_writeAnything(i,max_xy_jerk);
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EEPROM_writeAnything(i,max_z_jerk);
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EEPROM_writeAnything(i,max_e_jerk);
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EEPROM_writeAnything(i,add_homeing);
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#ifdef PIDTEMP
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EEPROM_writeAnything(i,Kp);
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EEPROM_writeAnything(i,Ki);
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@ -119,6 +120,13 @@ inline void EEPROM_printSettings()
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SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
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SERIAL_ECHOPAIR(" E" ,max_e_jerk);
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SERIAL_ECHOLN("");
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("Home offset (mm):");
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SERIAL_ECHO_START;
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SERIAL_ECHOPAIR(" M206 X",add_homeing[0] );
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SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
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SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
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SERIAL_ECHOLN("");
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#ifdef PIDTEMP
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM("PID settings:");
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@ -153,6 +161,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
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EEPROM_readAnything(i,max_xy_jerk);
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EEPROM_readAnything(i,max_z_jerk);
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EEPROM_readAnything(i,max_e_jerk);
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EEPROM_readAnything(i,add_homeing);
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#ifndef PIDTEMP
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float Kp,Ki,Kd;
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#endif
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@ -183,6 +192,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
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max_xy_jerk=DEFAULT_XYJERK;
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max_z_jerk=DEFAULT_ZJERK;
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max_e_jerk=DEFAULT_EJERK;
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add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
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SERIAL_ECHO_START;
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SERIAL_ECHOLN("Using Default settings:");
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}
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@ -170,6 +170,14 @@ ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
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ALL_CXXFLAGS = -mmcu=$(MCU) $(CXXFLAGS)
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ALL_ASFLAGS = -mmcu=$(MCU) -x assembler-with-cpp $(ASFLAGS)
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# set V=1 (eg, "make V=1") to print the full commands etc.
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ifneq ($V,1)
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Pecho=@echo
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P=@
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else
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Pecho=@:
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P=
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endif
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# Default target.
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all: sizeafter
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@ -178,7 +186,7 @@ build: applet elf hex
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# Creates the object directory
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applet:
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@mkdir -p applet
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$P mkdir -p applet
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# the .cpp for Marlin depends on the .pde
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#applet/$(TARGET).cpp: $(TARGET).pde
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@ -189,10 +197,10 @@ applet/%.cpp: %.pde $(MAKEFILE)
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# Here is the "preprocessing".
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# It creates a .cpp file based with the same name as the .pde file.
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# On top of the new .cpp file comes the WProgram.h header.
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@echo " WR $@"
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@echo '#include "WProgram.h"' > $@
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@echo '#include "$<"' >>$@
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@echo '#include "$(ARDUINO)/main.cpp"' >> $@
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$(Pecho) " WR $@"
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$P echo '#include "WProgram.h"' > $@
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$P echo '#include "$<"' >>$@
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$P echo '#include "$(ARDUINO)/main.cpp"' >> $@
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elf: applet/$(TARGET).elf
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hex: applet/$(TARGET).hex
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@ -213,12 +221,13 @@ endif
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# Display size of file.
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HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
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ELFSIZE = $(SIZE) applet/$(TARGET).elf
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ELFSIZE = $(SIZE) --mcu=$(MCU) -C applet/$(TARGET).elf; \
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$(SIZE) applet/$(TARGET).elf
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sizebefore:
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@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
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$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
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sizeafter: build
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@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
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$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
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# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
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@ -241,8 +250,8 @@ extcoff: $(TARGET).elf
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.PRECIOUS: .o
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.elf.hex:
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@echo " COPY $@"
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@$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
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$(Pecho) " COPY $@"
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$P $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
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.elf.eep:
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-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
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@ -258,29 +267,29 @@ extcoff: $(TARGET).elf
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# Link: create ELF output file from library.
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applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a Configuration.h
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@echo " CXX $@"
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@$(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
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$(Pecho) " CXX $@"
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$P $(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
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applet/core.a: $(OBJ)
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@for i in $(OBJ); do echo " AR $$i"; $(AR) rcs applet/core.a $$i; done
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$P for i in $(OBJ); do echo " AR $$i"; $(AR) rcs applet/core.a $$i; done
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applet/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE)
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@echo " CC $@"
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@$(CC) -MMD -c $(ALL_CFLAGS) $< -o $@
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$(Pecho) " CC $@"
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$P $(CC) -MMD -c $(ALL_CFLAGS) $< -o $@
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applet/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE)
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@echo " CXX $@"
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@$(CXX) -MMD -c $(ALL_CXXFLAGS) $< -o $@
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$(Pecho) " CXX $@"
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$P $(CXX) -MMD -c $(ALL_CXXFLAGS) $< -o $@
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# Target: clean project.
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clean:
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@echo " RM applet/*"
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@$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
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$(Pecho) " RM applet/*"
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$P $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
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applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp applet/core.a \
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$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
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@echo " RMDIR applet/"
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@rm -rf applet
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$(Pecho) " RMDIR applet/"
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$P rm -rf applet
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.PHONY: all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter
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@ -84,7 +84,11 @@ const char echomagic[] PROGMEM ="echo:";
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#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
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#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
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#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}
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#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
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void serial_echopair_P(const char *s_P, float v);
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void serial_echopair_P(const char *s_P, double v);
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void serial_echopair_P(const char *s_P, unsigned long v);
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//things to write to serial from Programmemory. saves 400 to 2k of RAM.
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@ -169,6 +173,7 @@ bool IsStopped();
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void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
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void prepare_arc_move(char isclockwise);
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void clamp_to_software_endstops(float target[3]);
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#ifdef FAST_PWM_FAN
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void setPwmFrequency(uint8_t pin, int val);
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@ -183,6 +188,8 @@ extern float homing_feedrate[];
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extern bool axis_relative_modes[];
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extern float current_position[NUM_AXIS] ;
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extern float add_homeing[3];
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extern float min_pos[3];
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extern float max_pos[3];
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extern unsigned char FanSpeed;
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// Handling multiple extruders pins
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@ -1,3 +1,5 @@
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/* -*- c++ -*- */
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/*
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Reprap firmware based on Sprinter and grbl.
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Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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@ -141,6 +143,8 @@ volatile bool feedmultiplychanged=false;
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volatile int extrudemultiply=100; //100->1 200->2
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float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
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float add_homeing[3]={0,0,0};
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float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
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float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
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uint8_t active_extruder = 0;
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unsigned char FanSpeed=0;
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@ -199,6 +203,13 @@ bool Stopped=false;
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void get_arc_coordinates();
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void serial_echopair_P(const char *s_P, float v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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void serial_echopair_P(const char *s_P, double v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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void serial_echopair_P(const char *s_P, unsigned long v)
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{ serialprintPGM(s_P); SERIAL_ECHO(v); }
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extern "C"{
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extern unsigned int __bss_end;
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extern unsigned int __heap_start;
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@ -541,33 +552,66 @@ bool code_seen(char code)
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return (strchr_pointer != NULL); //Return True if a character was found
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}
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#define HOMEAXIS(LETTER) \
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if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
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{ \
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current_position[LETTER##_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[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
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feedrate = homing_feedrate[LETTER##_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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st_synchronize();\
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\
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current_position[LETTER##_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[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
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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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\
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destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
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feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
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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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\
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current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\
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destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
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feedrate = 0.0;\
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endstops_hit_on_purpose();\
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#define DEFINE_PGM_READ_ANY(type, reader) \
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static inline type pgm_read_any(const type *p) \
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{ return pgm_read_##reader##_near(p); }
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DEFINE_PGM_READ_ANY(float, float);
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DEFINE_PGM_READ_ANY(signed char, byte);
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#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
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static const PROGMEM type array##_P[3] = \
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{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
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static inline type array(int axis) \
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{ return pgm_read_any(&array##_P[axis]); }
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XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
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XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
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XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
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XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
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XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
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XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
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static void axis_is_at_home(int axis) {
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current_position[axis] = base_home_pos(axis) + add_homeing[axis];
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min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
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max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
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}
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static void homeaxis(int axis) {
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#define HOMEAXIS_DO(LETTER) \
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((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
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if (axis==X_AXIS ? HOMEAXIS_DO(X) :
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axis==Y_AXIS ? HOMEAXIS_DO(Y) :
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axis==Z_AXIS ? HOMEAXIS_DO(Z) :
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0) {
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current_position[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[axis] = 1.5 * max_length(axis) * home_dir(axis);
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feedrate = homing_feedrate[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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st_synchronize();
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current_position[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[axis] = -home_retract_mm(axis) * home_dir(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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st_synchronize();
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destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
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feedrate = homing_feedrate[axis]/2 ;
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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(axis);
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destination[axis] = current_position[axis];
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feedrate = 0.0;
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endstops_hit_on_purpose();
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}
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}
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#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
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void process_commands()
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{
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unsigned long codenum; //throw away variable
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@ -676,8 +720,8 @@ void process_commands()
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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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current_position[X_AXIS] = X_HOME_POS;
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current_position[Y_AXIS] = Y_HOME_POS;
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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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@ -1539,19 +1583,25 @@ void get_arc_coordinates()
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}
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}
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void prepare_move()
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void clamp_to_software_endstops(float target[3])
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{
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if (min_software_endstops) {
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if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS;
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if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
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if (destination[Z_AXIS] < Z_MIN_POS) destination[Z_AXIS] = Z_MIN_POS;
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if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
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if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
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if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
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}
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if (max_software_endstops) {
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if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
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if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
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if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS;
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if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
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if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
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if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
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}
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}
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void prepare_move()
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{
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clamp_to_software_endstops(destination);
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previous_millis_cmd = millis();
|
||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
|
||||
for(int8_t i=0; i < NUM_AXIS; i++) {
|
||||
|
||||
@ -125,17 +125,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
|
||||
arc_target[axis_linear] += linear_per_segment;
|
||||
arc_target[E_AXIS] += extruder_per_segment;
|
||||
|
||||
if (min_software_endstops) {
|
||||
if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS;
|
||||
if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS;
|
||||
if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS;
|
||||
}
|
||||
|
||||
if (max_software_endstops) {
|
||||
if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH;
|
||||
if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH;
|
||||
if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH;
|
||||
}
|
||||
clamp_to_software_endstops(arc_target);
|
||||
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
|
||||
|
||||
}
|
||||
|
||||
@ -152,6 +152,7 @@ Movement variables:
|
||||
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
|
||||
* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
|
||||
* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
|
||||
* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
|
||||
* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
|
||||
* M221 - set the extrude multiplying S:factor in percent
|
||||
* M400 - Finish all buffered moves.
|
||||
|
||||
Loading…
Reference in New Issue
Block a user