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Apply leveling for DELTA,

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- Fix `prepare_move` function not calling `adjust_delta`
- Add more shorthand for plan_buffer_line.
- Fix wrong `federate` usage, assuming they are all mm/m
- Minor `stepper.cpp` cleanup
This commit is contained in:
Scott Lahteine 2015-03-29 23:16:12 -07:00
parent ce44bee28b
commit d73b169de3
2 changed files with 585 additions and 527 deletions
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996
Marlin/Marlin_main.cpp
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File diff suppressed because it is too large Load Diff

116
Marlin/stepper.cpp
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@ -507,83 +507,107 @@ ISR(TIMER1_COMPA_vect) {
} }
if (TEST(out_bits, Z_AXIS)) { // -direction if (TEST(out_bits, Z_AXIS)) { // -direction
Z_APPLY_DIR(INVERT_Z_DIR,0); Z_APPLY_DIR(INVERT_Z_DIR,0);
count_direction[Z_AXIS] = -1; count_direction[Z_AXIS] = -1;
if (check_endstops)
{ if (check_endstops) {
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
#ifndef Z_DUAL_ENDSTOPS #if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
UPDATE_ENDSTOP(z, Z, min, MIN);
#else #ifdef Z_DUAL_ENDSTOPS
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#if defined(Z2_MIN_PIN) && Z2_MIN_PIN > -1 bool z_min_endstop = READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING,
bool z2_min_endstop=(READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING); z2_min_endstop =
#else #if defined(Z2_MIN_PIN) && Z2_MIN_PIN >= 0
bool z2_min_endstop=z_min_endstop; READ(Z2_MIN_PIN) != Z2_MIN_ENDSTOP_INVERTING
#endif #else
if(((z_min_endstop && old_z_min_endstop) || (z2_min_endstop && old_z2_min_endstop)) && (current_block->steps[Z_AXIS] > 0)) z_min_endstop
{ #endif
;
bool z_min_both = z_min_endstop && old_z_min_endstop,
z2_min_both = z2_min_endstop && old_z2_min_endstop;
if ((z_min_both || z2_min_both) && current_block->steps[Z_AXIS] > 0) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit = true;
if (!(performing_homing) || ((performing_homing)&&(z_min_endstop && old_z_min_endstop)&&(z2_min_endstop && old_z2_min_endstop))) //if not performing home or if both endstops were trigged during homing... if (!performing_homing || (performing_homing && z_min_both && z2_min_both)) //if not performing home or if both endstops were trigged during homing...
{
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
}
} }
old_z_min_endstop = z_min_endstop; old_z_min_endstop = z_min_endstop;
old_z2_min_endstop = z2_min_endstop; old_z2_min_endstop = z2_min_endstop;
#endif
#endif #else // !Z_DUAL_ENDSTOPS
}
UPDATE_ENDSTOP(z, Z, min, MIN);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MIN_PIN
} // check_endstops
} }
else { // +direction else { // +direction
Z_APPLY_DIR(!INVERT_Z_DIR,0); Z_APPLY_DIR(!INVERT_Z_DIR,0);
count_direction[Z_AXIS] = 1; count_direction[Z_AXIS] = 1;
if (check_endstops) { if (check_endstops) {
#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0 #if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
#ifndef Z_DUAL_ENDSTOPS
UPDATE_ENDSTOP(z, Z, max, MAX); #ifdef Z_DUAL_ENDSTOPS
#else
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING); bool z_max_endstop = READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING,
#if defined(Z2_MAX_PIN) && Z2_MAX_PIN > -1 z2_max_endstop =
bool z2_max_endstop=(READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING); #if defined(Z2_MAX_PIN) && Z2_MAX_PIN >= 0
#else READ(Z2_MAX_PIN) != Z2_MAX_ENDSTOP_INVERTING
bool z2_max_endstop=z_max_endstop; #else
#endif z_max_endstop
if(((z_max_endstop && old_z_max_endstop) || (z2_max_endstop && old_z2_max_endstop)) && (current_block->steps[Z_AXIS] > 0)) #endif
{ ;
bool z_max_both = z_max_endstop && old_z_max_endstop,
z2_max_both = z2_max_endstop && old_z2_max_endstop;
if ((z_max_both || z2_max_both) && current_block->steps[Z_AXIS] > 0) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit = true;
// if (z_max_endstop && old_z_max_endstop) SERIAL_ECHOLN("z_max_endstop = true"); // if (z_max_both) SERIAL_ECHOLN("z_max_endstop = true");
// if (z2_max_endstop && old_z2_max_endstop) SERIAL_ECHOLN("z2_max_endstop = true"); // if (z2_max_both) SERIAL_ECHOLN("z2_max_endstop = true");
if (!performing_homing || (performing_homing && z_max_both && z2_max_both)) //if not performing home or if both endstops were trigged during homing...
if (!(performing_homing) || ((performing_homing)&&(z_max_endstop && old_z_max_endstop)&&(z2_max_endstop && old_z2_max_endstop))) //if not performing home or if both endstops were trigged during homing...
{
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
}
} }
old_z_max_endstop = z_max_endstop; old_z_max_endstop = z_max_endstop;
old_z2_max_endstop = z2_max_endstop; old_z2_max_endstop = z2_max_endstop;
#endif
#endif #else // !Z_DUAL_ENDSTOPS
}
} UPDATE_ENDSTOP(z, Z, max, MAX);
#endif // !Z_DUAL_ENDSTOPS
#endif // Z_MAX_PIN
} // check_endstops
} // +direction
#ifndef ADVANCE #ifndef ADVANCE
if (TEST(out_bits, E_AXIS)) { // -direction if (TEST(out_bits, E_AXIS)) { // -direction
REV_E_DIR(); REV_E_DIR();
count_direction[E_AXIS]=-1; count_direction[E_AXIS] = -1;
} }
else { // +direction else { // +direction
NORM_E_DIR(); NORM_E_DIR();
count_direction[E_AXIS]=1; count_direction[E_AXIS] = 1;
} }
#endif //!ADVANCE #endif //!ADVANCE
// Take multiple steps per interrupt (For high speed moves) // Take multiple steps per interrupt (For high speed moves)
for (int8_t i=0; i < step_loops; i++) { for (int8_t i = 0; i < step_loops; i++) {
#ifndef AT90USB #ifndef AT90USB
MSerial.checkRx(); // Check for serial chars. MSerial.checkRx(); // Check for serial chars.
#endif #endif