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update code base to Marlin 2.0.9.2

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This commit is contained in:
Stefan Kalscheuer
2021-10-03 18:57:12 +02:00
parent b9d7ba838e
commit 7077da3591
2617 changed files with 332093 additions and 103438 deletions
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79
Marlin/src/gcode/host/M114.cpp Executable file → Normal file
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@@ -16,7 +16,7 @@
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
@@ -34,34 +34,34 @@
#include "../../core/debug_out.h"
#endif
void report_xyze(const xyze_pos_t &pos, const uint8_t n=XYZE, const uint8_t precision=3) {
void report_all_axis_pos(const xyze_pos_t &pos, const uint8_t n=XYZE, const uint8_t precision=3) {
char str[12];
LOOP_L_N(a, n) {
SERIAL_CHAR(' ', axis_codes[a], ':');
if (pos[a] >= 0) SERIAL_CHAR(' ');
SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
}
SERIAL_EOL();
}
inline void report_xyz(const xyze_pos_t &pos) { report_xyze(pos, 3); }
inline void report_linear_axis_pos(const xyze_pos_t &pos) { report_all_axis_pos(pos, XYZ); }
void report_xyz(const xyz_pos_t &pos, const uint8_t precision=3) {
void report_linear_axis_pos(const xyz_pos_t &pos, const uint8_t precision=3) {
char str[12];
LOOP_XYZ(a) {
SERIAL_CHAR(' ', XYZ_CHAR(a), ':');
LOOP_LINEAR_AXES(a) {
SERIAL_CHAR(' ', AXIS_CHAR(a), ':');
SERIAL_ECHO(dtostrf(pos[a], 1, precision, str));
}
SERIAL_EOL();
}
void report_current_position_detail() {
// Position as sent by G-code
SERIAL_ECHOPGM("\nLogical:");
report_xyz(current_position.asLogical());
report_linear_axis_pos(current_position.asLogical());
// Cartesian position in native machine space
SERIAL_ECHOPGM("Raw: ");
report_xyz(current_position);
report_linear_axis_pos(current_position);
xyze_pos_t leveled = current_position;
@@ -69,24 +69,20 @@
// Current position with leveling applied
SERIAL_ECHOPGM("Leveled:");
planner.apply_leveling(leveled);
report_xyz(leveled);
report_linear_axis_pos(leveled);
// Test planner un-leveling. This should match the Raw result.
SERIAL_ECHOPGM("UnLevel:");
xyze_pos_t unleveled = leveled;
planner.unapply_leveling(unleveled);
report_xyz(unleveled);
report_linear_axis_pos(unleveled);
#endif
#if IS_KINEMATIC
// Kinematics applied to the leveled position
#if IS_SCARA
SERIAL_ECHOPGM("ScaraK: ");
#else
SERIAL_ECHOPGM("DeltaK: ");
#endif
SERIAL_ECHOPGM(TERN(IS_SCARA, "ScaraK: ", "DeltaK: "));
inverse_kinematics(leveled); // writes delta[]
report_xyz(delta);
report_linear_axis_pos(delta);
#endif
planner.synchronize();
@@ -129,6 +125,15 @@
#if AXIS_IS_L64XX(Z4)
REPORT_ABSOLUTE_POS(Z4);
#endif
#if AXIS_IS_L64XX(I)
REPORT_ABSOLUTE_POS(I);
#endif
#if AXIS_IS_L64XX(J)
REPORT_ABSOLUTE_POS(J);
#endif
#if AXIS_IS_L64XX(K)
REPORT_ABSOLUTE_POS(K);
#endif
#if AXIS_IS_L64XX(E0)
REPORT_ABSOLUTE_POS(E0);
#endif
@@ -157,7 +162,7 @@
#endif // HAS_L64XX
SERIAL_ECHOPGM("Stepper:");
LOOP_XYZE(i) {
LOOP_LOGICAL_AXES(i) {
SERIAL_CHAR(' ', axis_codes[i], ':');
SERIAL_ECHO(stepper.position((AxisEnum)i));
}
@@ -169,17 +174,25 @@
planner.get_axis_position_degrees(B_AXIS)
};
SERIAL_ECHOPGM("Degrees:");
report_xyze(deg, 2);
report_all_axis_pos(deg, 2);
#endif
SERIAL_ECHOPGM("FromStp:");
get_cartesian_from_steppers(); // writes 'cartes' (with forward kinematics)
xyze_pos_t from_steppers = { cartes.x, cartes.y, cartes.z, planner.get_axis_position_mm(E_AXIS) };
report_xyze(from_steppers);
xyze_pos_t from_steppers = LOGICAL_AXIS_ARRAY(
planner.get_axis_position_mm(E_AXIS),
cartes.x, cartes.y, cartes.z,
planner.get_axis_position_mm(I_AXIS),
planner.get_axis_position_mm(J_AXIS),
planner.get_axis_position_mm(K_AXIS)
);
report_all_axis_pos(from_steppers);
const xyze_float_t diff = from_steppers - leveled;
SERIAL_ECHOPGM("Diff: ");
report_xyze(diff);
SERIAL_ECHOPGM("Diff: ");
report_all_axis_pos(diff);
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
}
#endif // M114_DETAIL
@@ -195,7 +208,7 @@
void GcodeSuite::M114() {
#if ENABLED(M114_DETAIL)
if (parser.seen('D')) {
if (parser.seen_test('D')) {
#if DISABLED(M114_LEGACY)
planner.synchronize();
#endif
@@ -203,18 +216,20 @@ void GcodeSuite::M114() {
report_current_position_detail();
return;
}
if (parser.seen('E')) {
SERIAL_ECHOLNPAIR("Count E:", stepper.position(E_AXIS));
return;
}
#if HAS_EXTRUDERS
if (parser.seen_test('E')) {
SERIAL_ECHOLNPGM("Count E:", stepper.position(E_AXIS));
return;
}
#endif
#endif
#if ENABLED(M114_REALTIME)
if (parser.seen('R')) { report_real_position(); return; }
if (parser.seen_test('R')) { report_real_position(); return; }
#endif
#if ENABLED(M114_LEGACY)
planner.synchronize();
#endif
TERN_(M114_LEGACY, planner.synchronize());
report_current_position_projected();
TERN_(FULL_REPORT_TO_HOST_FEATURE, report_current_grblstate_moving());
}