diff --git a/Marlin/Conditionals.h b/Marlin/Conditionals.h
index 8399c4bf6399fd788b73b338e3afbf28c4fca1b8..f98c05d4f82ca1330ec5c5f8eca5b0a33738cf8b 100644
--- a/Marlin/Conditionals.h
+++ b/Marlin/Conditionals.h
@@ -4,6 +4,10 @@
*/
#ifndef CONDITIONALS_H
+#ifndef M_PI
+ #define M_PI 3.1415926536
+#endif
+
#ifndef CONFIGURATION_LCD // Get the LCD defines which are needed first
#define CONFIGURATION_LCD
@@ -252,7 +256,7 @@
* Advance calculated values
*/
#ifdef ADVANCE
- #define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+ #define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * M_PI)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS] / EXTRUSION_AREA)
#endif
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 45a94e82e3431579855c9fd852f6528ad1a98430..e0441714b193f2d22f5cb8c19af243b3dc8492c6 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -29,6 +29,8 @@
#define BIT(b) (1<<(b))
#define TEST(n,b) (((n)&BIT(b))!=0)
+#define RADIANS(d) ((d)*M_PI/180.0)
+#define DEGREES(r) ((d)*180.0/M_PI)
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 7e9ac15a0937f8b13ef739296641f74828bf0af4..ee5f694c601a7499f023fe4fed70445c42a52b42 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -1034,6 +1034,12 @@ inline void line_to_destination() {
inline void sync_plan_position() {
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
+#ifdef DELTA
+ inline void sync_plan_position_delta() {
+ calculate_delta(current_position);
+ plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+ }
+#endif
#ifdef ENABLE_AUTO_BED_LEVELING
@@ -1109,8 +1115,7 @@ inline void sync_plan_position() {
long stop_steps = st_get_position(Z_AXIS);
float mm = start_z - float(start_steps - stop_steps) / axis_steps_per_unit[Z_AXIS];
current_position[Z_AXIS] = mm;
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+ sync_plan_position_delta();
#else // !DELTA
@@ -1262,7 +1267,7 @@ inline void sync_plan_position() {
if (servo_endstops[Z_AXIS] >= 0) {
#if Z_RAISE_AFTER_PROBING > 0
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_AFTER_PROBING);
+ do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_AFTER_PROBING);
st_synchronize();
#endif
@@ -1345,7 +1350,7 @@ inline void sync_plan_position() {
#if Z_RAISE_BETWEEN_PROBINGS > 0
if (retract_action == ProbeStay) {
- do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], Z_RAISE_BETWEEN_PROBINGS);
+ do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
st_synchronize();
}
#endif
@@ -1550,62 +1555,57 @@ void refresh_cmd_timeout(void)
}
#ifdef FWRETRACT
+
void retract(bool retracting, bool swapretract = false) {
- if(retracting && !retracted[active_extruder]) {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- destination[E_AXIS]=current_position[E_AXIS];
- if (swapretract) {
- current_position[E_AXIS]+=retract_length_swap/volumetric_multiplier[active_extruder];
- } else {
- current_position[E_AXIS]+=retract_length/volumetric_multiplier[active_extruder];
- }
- plan_set_e_position(current_position[E_AXIS]);
- float oldFeedrate = feedrate;
+
+ if (retracting == retracted[active_extruder]) return;
+
+ float oldFeedrate = feedrate;
+
+ for (int i = 0; i < NUM_AXIS; i++) destination[i] = current_position[i];
+
+ if (retracting) {
+
feedrate = retract_feedrate * 60;
- retracted[active_extruder]=true;
+ current_position[E_AXIS] += (swapretract ? retract_length_swap : retract_length) / volumetric_multiplier[active_extruder];
+ plan_set_e_position(current_position[E_AXIS]);
prepare_move();
- if(retract_zlift > 0.01) {
- current_position[Z_AXIS]-=retract_zlift;
-#ifdef DELTA
- calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
-#else
- sync_plan_position();
-#endif
- prepare_move();
- }
- feedrate = oldFeedrate;
- } else if(!retracting && retracted[active_extruder]) {
- destination[X_AXIS]=current_position[X_AXIS];
- destination[Y_AXIS]=current_position[Y_AXIS];
- destination[Z_AXIS]=current_position[Z_AXIS];
- destination[E_AXIS]=current_position[E_AXIS];
- if(retract_zlift > 0.01) {
- current_position[Z_AXIS]+=retract_zlift;
-#ifdef DELTA
- calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
-#else
- sync_plan_position();
-#endif
- //prepare_move();
+
+ if (retract_zlift > 0.01) {
+ current_position[Z_AXIS] -= retract_zlift;
+ #ifdef DELTA
+ sync_plan_position_delta();
+ #else
+ sync_plan_position();
+ #endif
+ prepare_move();
}
- if (swapretract) {
- current_position[E_AXIS]-=(retract_length_swap+retract_recover_length_swap)/volumetric_multiplier[active_extruder];
- } else {
- current_position[E_AXIS]-=(retract_length+retract_recover_length)/volumetric_multiplier[active_extruder];
+ }
+ else {
+
+ if (retract_zlift > 0.01) {
+ current_position[Z_AXIS] + =retract_zlift;
+ #ifdef DELTA
+ sync_plan_position_delta();
+ #else
+ sync_plan_position();
+ #endif
+ //prepare_move();
}
- plan_set_e_position(current_position[E_AXIS]);
- float oldFeedrate = feedrate;
+
feedrate = retract_recover_feedrate * 60;
- retracted[active_extruder] = false;
+ float move_e = swapretract ? retract_length_swap + retract_recover_length_swap : retract_length + retract_recover_length;
+ current_position[E_AXIS] -= move_e / volumetric_multiplier[active_extruder];
+ plan_set_e_position(current_position[E_AXIS]);
prepare_move();
- feedrate = oldFeedrate;
}
- } //retract
-#endif //FWRETRACT
+
+ feedrate = oldFeedrate;
+ retracted[active_extruder] = retract;
+
+ } // retract()
+
+#endif // FWRETRACT
#ifdef Z_PROBE_SLED
@@ -1613,40 +1613,32 @@ void refresh_cmd_timeout(void)
#define SLED_DOCKING_OFFSET 0
#endif
-//
-// Method to dock/undock a sled designed by Charles Bell.
-//
-// dock[in] If true, move to MAX_X and engage the electromagnet
-// offset[in] The additional distance to move to adjust docking location
-//
-static void dock_sled(bool dock, int offset=0) {
- int z_loc;
-
- if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
- LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
- return;
- }
-
- if (dock) {
- do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
- current_position[Y_AXIS],
- current_position[Z_AXIS]);
- // turn off magnet
- digitalWrite(SERVO0_PIN, LOW);
- } else {
- if (current_position[Z_AXIS] < (Z_RAISE_BEFORE_PROBING + 5))
- z_loc = Z_RAISE_BEFORE_PROBING;
- else
- z_loc = current_position[Z_AXIS];
- do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset,
- Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
- // turn on magnet
- digitalWrite(SERVO0_PIN, HIGH);
- }
-}
-#endif
+ //
+ // Method to dock/undock a sled designed by Charles Bell.
+ //
+ // dock[in] If true, move to MAX_X and engage the electromagnet
+ // offset[in] The additional distance to move to adjust docking location
+ //
+ static void dock_sled(bool dock, int offset=0) {
+ if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
+ LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
+ return;
+ }
+
+ if (dock) {
+ do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, current_position[Y_AXIS], current_position[Z_AXIS]);
+ digitalWrite(SERVO0_PIN, LOW); // turn off magnet
+ } else {
+ float z_loc = current_position[Z_AXIS];
+ if (z_loc < Z_RAISE_BEFORE_PROBING + 5) z_loc = Z_RAISE_BEFORE_PROBING;
+ do_blocking_move_to(X_MAX_POS + SLED_DOCKING_OFFSET + offset, Y_PROBE_OFFSET_FROM_EXTRUDER, z_loc);
+ digitalWrite(SERVO0_PIN, HIGH); // turn on magnet
+ }
+ }
+
+#endif // Z_PROBE_SLED
/**
*
@@ -1798,8 +1790,7 @@ inline void gcode_G28() {
HOMEAXIS(Y);
HOMEAXIS(Z);
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+ sync_plan_position_delta();
#else // NOT DELTA
@@ -1826,7 +1817,9 @@ inline void gcode_G28() {
#endif
#ifdef QUICK_HOME
- if (home_all_axis || (homeX && homeY)) { //first diagonal move
+
+ if (home_all_axis || (homeX && homeY)) { // First diagonal move
+
current_position[X_AXIS] = current_position[Y_AXIS] = 0;
#ifdef DUAL_X_CARRIAGE
@@ -1837,21 +1830,20 @@ inline void gcode_G28() {
#endif
sync_plan_position();
- 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);
- feedrate = homing_feedrate[X_AXIS];
- if (homing_feedrate[Y_AXIS] < feedrate) feedrate = homing_feedrate[Y_AXIS];
- if (max_length(X_AXIS) > max_length(Y_AXIS)) {
- feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
- } else {
- feedrate *= sqrt(pow(max_length(X_AXIS) / max_length(Y_AXIS), 2) + 1);
- }
+
+ float mlx = max_length(X_AXIS), mly = max_length(Y_AXIS),
+ mlratio = mlx>mly ? mly/mlx : mlx/mly;
+
+ destination[X_AXIS] = 1.5 * mlx * x_axis_home_dir;
+ destination[Y_AXIS] = 1.5 * mly * home_dir(Y_AXIS);
+ feedrate = min(homing_feedrate[X_AXIS], homing_feedrate[Y_AXIS]) * sqrt(mlratio * mlratio + 1);
line_to_destination();
st_synchronize();
axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS);
sync_plan_position();
+
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
line_to_destination();
@@ -1865,7 +1857,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = destination[Z_AXIS];
#endif
}
- #endif //QUICK_HOME
+ #endif // QUICK_HOME
// Home X
if (home_all_axis || homeX) {
@@ -1947,7 +1939,7 @@ inline void gcode_G28() {
&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
current_position[Z_AXIS] = 0;
- plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
+ plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
line_to_destination();
@@ -1986,8 +1978,7 @@ inline void gcode_G28() {
#endif // else DELTA
#ifdef SCARA
- calculate_delta(current_position);
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
+ sync_plan_position_delta();
#endif
#ifdef ENDSTOPS_ONLY_FOR_HOMING
@@ -2826,9 +2817,7 @@ inline void gcode_M42() {
inline void gcode_M48() {
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
- int verbose_level = 1, n = 0, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
- double X_current, Y_current, Z_current;
- double X_probe_location, Y_probe_location, Z_start_location, ext_position;
+ int verbose_level = 1, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value();
@@ -2849,11 +2838,12 @@ inline void gcode_M42() {
}
}
- X_current = X_probe_location = st_get_position_mm(X_AXIS);
- Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
- Z_current = st_get_position_mm(Z_AXIS);
- Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
- ext_position = st_get_position_mm(E_AXIS);
+ double X_probe_location, Y_probe_location,
+ X_current = X_probe_location = st_get_position_mm(X_AXIS),
+ Y_current = Y_probe_location = st_get_position_mm(Y_AXIS),
+ Z_current = st_get_position_mm(Z_AXIS),
+ Z_start_location = Z_current + Z_RAISE_BEFORE_PROBING,
+ ext_position = st_get_position_mm(E_AXIS);
if (code_seen('E') || code_seen('e'))
engage_probe_for_each_reading++;
@@ -2936,33 +2926,29 @@ inline void gcode_M42() {
if (engage_probe_for_each_reading) retract_z_probe();
- for (n=0; n < n_samples; n++) {
+ for (uint16_t n=0; n < n_samples; n++) {
- do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
+ do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if (n_legs) {
- double radius=0.0, theta=0.0;
- int l;
- int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
- radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go
- theta = (float)((unsigned long)millis() % 360L) / (360. / (2 * 3.1415926)); // turn into radians
+ unsigned long ms = millis();
+ double radius = ms % (X_MAX_LENGTH / 4), // limit how far out to go
+ theta = RADIANS(ms % 360L);
+ float dir = (ms & 0x0001) ? 1 : -1; // clockwise or counter clockwise
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
- //SERIAL_ECHOPAIR(" direction: ",rotational_direction);
+ //SERIAL_ECHOPAIR(" direction: ",dir);
//SERIAL_EOL;
- float dir = rotational_direction ? 1 : -1;
- for (l = 0; l < n_legs - 1; l++) {
- theta += dir * (float)((unsigned long)millis() % 20L) / (360.0/(2*3.1415926)); // turn into radians
-
- radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L);
+ for (int l = 0; l < n_legs - 1; l++) {
+ ms = millis();
+ theta += RADIANS(dir * (ms % 20L));
+ radius += (ms % 10L) - 5L;
if (radius < 0.0) radius = -radius;
X_current = X_probe_location + cos(theta) * radius;
Y_current = Y_probe_location + sin(theta) * radius;
-
- // Make sure our X & Y are sane
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
@@ -2972,10 +2958,13 @@ inline void gcode_M42() {
SERIAL_EOL;
}
- do_blocking_move_to( X_current, Y_current, Z_current );
- }
- do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
- }
+ do_blocking_move_to(X_current, Y_current, Z_current);
+
+ } // n_legs loop
+
+ do_blocking_move_to(X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
+
+ } // n_legs
if (engage_probe_for_each_reading) {
engage_z_probe();
@@ -2991,46 +2980,49 @@ inline void gcode_M42() {
// Get the current mean for the data points we have so far
//
sum = 0.0;
- for (j=0; j<=n; j++) sum += sample_set[j];
- mean = sum / (double (n+1));
+ for (int j = 0; j <= n; j++) sum += sample_set[j];
+ mean = sum / (n + 1);
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum = 0.0;
- for (j=0; j<=n; j++) sum += (sample_set[j]-mean) * (sample_set[j]-mean);
- sigma = sqrt( sum / (double (n+1)) );
+ for (int j = 0; j <= n; j++) {
+ float ss = sample_set[j] - mean;
+ sum += ss * ss;
+ }
+ sigma = sqrt(sum / (n + 1));
if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1);
- SERIAL_PROTOCOL(" of ");
+ SERIAL_PROTOCOLPGM(" of ");
SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
- }
-
- if (verbose_level > 2) {
- SERIAL_PROTOCOL(" mean: ");
- SERIAL_PROTOCOL_F(mean,6);
- SERIAL_PROTOCOL(" sigma: ");
- SERIAL_PROTOCOL_F(sigma,6);
+ if (verbose_level > 2) {
+ SERIAL_PROTOCOLPGM(" mean: ");
+ SERIAL_PROTOCOL_F(mean,6);
+ SERIAL_PROTOCOLPGM(" sigma: ");
+ SERIAL_PROTOCOL_F(sigma,6);
+ }
}
if (verbose_level > 0) SERIAL_EOL;
- plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
- current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
+ plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location, current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
if (engage_probe_for_each_reading) {
- retract_z_probe();
+ retract_z_probe();
delay(1000);
}
}
- retract_z_probe();
- delay(1000);
+ if (!engage_probe_for_each_reading) {
+ retract_z_probe();
+ delay(1000);
+ }
clean_up_after_endstop_move();
@@ -4674,9 +4666,7 @@ inline void gcode_T() {
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#ifdef DELTA
- calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
- //sent position to plan_set_position();
- plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
+ sync_plan_position_delta();
#else
sync_plan_position();
#endif