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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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84
Marlin/src/module/delta.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/>.
*
*/
@@ -34,7 +34,7 @@
// For homing:
#include "planner.h"
#include "endstops.h"
#include "../lcd/ultralcd.h"
#include "../lcd/marlinui.h"
#include "../MarlinCore.h"
#if HAS_BED_PROBE
@@ -54,11 +54,12 @@ float delta_height;
abc_float_t delta_endstop_adj{0};
float delta_radius,
delta_diagonal_rod,
delta_segments_per_second;
segments_per_second;
abc_float_t delta_tower_angle_trim;
xy_float_t delta_tower[ABC];
abc_float_t delta_diagonal_rod_2_tower;
float delta_clip_start_height = Z_MAX_POS;
abc_float_t delta_diagonal_rod_trim;
float delta_safe_distance_from_top();
@@ -67,43 +68,20 @@ float delta_safe_distance_from_top();
* settings have been changed (e.g., by M665).
*/
void recalc_delta_settings() {
constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER,
drt = DELTA_DIAGONAL_ROD_TRIM_TOWER;
constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER;
delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + drt.a),
sq(delta_diagonal_rod + drt.b),
sq(delta_diagonal_rod + drt.c));
delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + delta_diagonal_rod_trim.a),
sq(delta_diagonal_rod + delta_diagonal_rod_trim.b),
sq(delta_diagonal_rod + delta_diagonal_rod_trim.c));
update_software_endstops(Z_AXIS);
set_all_unhomed();
}
/**
* Get a safe radius for calibration
*/
#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
#if ENABLED(DELTA_AUTO_CALIBRATION)
float calibration_radius_factor = 1;
#endif
float delta_calibration_radius() {
return calibration_radius_factor * (
#if HAS_BED_PROBE
FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), MIN_PROBE_EDGE))
#else
DELTA_PRINTABLE_RADIUS
#endif
);
}
#endif
/**
* Delta Inverse Kinematics
*
@@ -121,8 +99,8 @@ void recalc_delta_settings() {
*/
#define DELTA_DEBUG(VAR) do { \
SERIAL_ECHOLNPAIR_P(PSTR("Cartesian X"), VAR.x, SP_Y_STR, VAR.y, SP_Z_STR, VAR.z); \
SERIAL_ECHOLNPAIR("Delta A", delta.a, " B", delta.b, " C", delta.c); \
SERIAL_ECHOLNPGM_P(PSTR("Cartesian X"), VAR.x, SP_Y_STR, VAR.y, SP_Z_STR, VAR.z); \
SERIAL_ECHOLNPGM_P(PSTR("Delta A"), delta.a, SP_B_STR, delta.b, SP_C_STR, delta.c); \
}while(0)
void inverse_kinematics(const xyz_pos_t &raw) {
@@ -177,7 +155,7 @@ float delta_safe_distance_from_top() {
*
* The result is stored in the cartes[] array.
*/
void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) {
void forward_kinematics(const_float_t z1, const_float_t z2, const_float_t z3) {
// Create a vector in old coordinates along x axis of new coordinate
const float p12[3] = { delta_tower[B_AXIS].x - delta_tower[A_AXIS].x, delta_tower[B_AXIS].y - delta_tower[A_AXIS].y, z2 - z1 },
@@ -233,7 +211,8 @@ void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3)
* This is like quick_home_xy() but for 3 towers.
*/
void home_delta() {
if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
DEBUG_SECTION(log_home_delta, "home_delta", DEBUGGING(LEVELING));
// Init the current position of all carriages to 0,0,0
current_position.reset();
destination.reset();
@@ -241,27 +220,28 @@ void home_delta() {
// Disable stealthChop if used. Enable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
sensorless_t stealth_states {
tmc_enable_stallguard(stepperX),
tmc_enable_stallguard(stepperY),
tmc_enable_stallguard(stepperZ)
};
TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS));
TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS));
TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS));
TERN_(I_SENSORLESS, sensorless_t stealth_states_i = start_sensorless_homing_per_axis(I_AXIS));
TERN_(J_SENSORLESS, sensorless_t stealth_states_j = start_sensorless_homing_per_axis(J_AXIS));
TERN_(K_SENSORLESS, sensorless_t stealth_states_k = start_sensorless_homing_per_axis(K_AXIS));
#endif
// Move all carriages together linearly until an endstop is hit.
current_position.z = (delta_height + 10
#if HAS_BED_PROBE
- probe.offset.z
#endif
);
current_position.z = DIFF_TERN(HAS_BED_PROBE, delta_height + 10, probe.offset.z);
line_to_current_position(homing_feedrate(Z_AXIS));
planner.synchronize();
TERN_(HAS_DELTA_SENSORLESS_PROBING, endstops.report_states());
// Re-enable stealthChop if used. Disable diag1 pin on driver.
#if ENABLED(SENSORLESS_HOMING)
tmc_disable_stallguard(stepperX, stealth_states.x);
tmc_disable_stallguard(stepperY, stealth_states.y);
tmc_disable_stallguard(stepperZ, stealth_states.z);
#if ENABLED(SENSORLESS_HOMING) && DISABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)
TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x));
TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y));
TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z));
TERN_(I_SENSORLESS, end_sensorless_homing_per_axis(I_AXIS, stealth_states_i));
TERN_(J_SENSORLESS, end_sensorless_homing_per_axis(J_AXIS, stealth_states_j));
TERN_(K_SENSORLESS, end_sensorless_homing_per_axis(K_AXIS, stealth_states_k));
#endif
endstops.validate_homing_move();
@@ -276,19 +256,17 @@ void home_delta() {
// Do this here all at once for Delta, because
// XYZ isn't ABC. Applying this per-tower would
// give the impression that they are the same.
LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
LOOP_ABC(i) set_axis_is_at_home((AxisEnum)i);
sync_plan_position();
#if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_MM)
constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_MM;
#if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_POST_MM)
constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM;
if (endstop_backoff.z) {
current_position.z -= ABS(endstop_backoff.z) * Z_HOME_DIR;
line_to_current_position(homing_feedrate(Z_AXIS));
}
#endif
if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
}
#endif // DELTA