Initial commit. Unusable Marlin 2.0.5.3 core without any custimization.
This commit is contained in:
Knutwurst
294
Marlin/src/module/delta.cpp
Executable file
294
Marlin/src/module/delta.cpp
Executable file
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/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* delta.cpp
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*/
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#include "../inc/MarlinConfig.h"
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#if ENABLED(DELTA)
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#include "delta.h"
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#include "motion.h"
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// For homing:
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#include "planner.h"
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#include "endstops.h"
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#include "../lcd/ultralcd.h"
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#include "../MarlinCore.h"
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#if HAS_BED_PROBE
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#include "probe.h"
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#endif
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#if ENABLED(SENSORLESS_HOMING)
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#include "../feature/tmc_util.h"
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#include "stepper/indirection.h"
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#endif
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#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
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#include "../core/debug_out.h"
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// Initialized by settings.load()
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float delta_height;
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abc_float_t delta_endstop_adj{0};
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float delta_radius,
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delta_diagonal_rod,
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delta_segments_per_second;
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abc_float_t delta_tower_angle_trim;
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xy_float_t delta_tower[ABC];
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abc_float_t delta_diagonal_rod_2_tower;
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float delta_clip_start_height = Z_MAX_POS;
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float delta_safe_distance_from_top();
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/**
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* Recalculate factors used for delta kinematics whenever
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* settings have been changed (e.g., by M665).
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*/
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void recalc_delta_settings() {
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constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER,
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drt = DELTA_DIAGONAL_ROD_TRIM_TOWER;
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delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower
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sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a));
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delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower
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sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b));
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delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower
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sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c));
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delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + drt.a),
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sq(delta_diagonal_rod + drt.b),
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sq(delta_diagonal_rod + drt.c));
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update_software_endstops(Z_AXIS);
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set_all_unhomed();
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}
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/**
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* Get a safe radius for calibration
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*/
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#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
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#if ENABLED(DELTA_AUTO_CALIBRATION)
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float calibration_radius_factor = 1;
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#endif
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float delta_calibration_radius() {
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return calibration_radius_factor * (
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#if HAS_BED_PROBE
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FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), MIN_PROBE_EDGE))
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#else
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DELTA_PRINTABLE_RADIUS
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#endif
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);
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}
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#endif
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/**
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* Delta Inverse Kinematics
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*
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* Calculate the tower positions for a given machine
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* position, storing the result in the delta[] array.
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*
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* This is an expensive calculation, requiring 3 square
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* roots per segmented linear move, and strains the limits
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* of a Mega2560 with a Graphical Display.
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*
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* Suggested optimizations include:
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*
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* - Disable the home_offset (M206) and/or position_shift (G92)
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* features to remove up to 12 float additions.
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*/
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#define DELTA_DEBUG(VAR) do { \
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SERIAL_ECHOLNPAIR_P(PSTR("Cartesian X"), VAR.x, SP_Y_STR, VAR.y, SP_Z_STR, VAR.z); \
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SERIAL_ECHOLNPAIR("Delta A", delta.a, " B", delta.b, " C", delta.c); \
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}while(0)
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void inverse_kinematics(const xyz_pos_t &raw) {
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#if HAS_HOTEND_OFFSET
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// Delta hotend offsets must be applied in Cartesian space with no "spoofing"
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xyz_pos_t pos = { raw.x - hotend_offset[active_extruder].x,
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raw.y - hotend_offset[active_extruder].y,
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raw.z };
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DELTA_IK(pos);
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//DELTA_DEBUG(pos);
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#else
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DELTA_IK(raw);
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//DELTA_DEBUG(raw);
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#endif
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}
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/**
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* Calculate the highest Z position where the
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* effector has the full range of XY motion.
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*/
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float delta_safe_distance_from_top() {
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xyz_pos_t cartesian{0};
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inverse_kinematics(cartesian);
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const float centered_extent = delta.a;
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cartesian.y = DELTA_PRINTABLE_RADIUS;
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inverse_kinematics(cartesian);
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return ABS(centered_extent - delta.a);
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}
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/**
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* Delta Forward Kinematics
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*
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* See the Wikipedia article "Trilateration"
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* https://en.wikipedia.org/wiki/Trilateration
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*
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* Establish a new coordinate system in the plane of the
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* three carriage points. This system has its origin at
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* tower1, with tower2 on the X axis. Tower3 is in the X-Y
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* plane with a Z component of zero.
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* We will define unit vectors in this coordinate system
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* in our original coordinate system. Then when we calculate
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* the Xnew, Ynew and Znew values, we can translate back into
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* the original system by moving along those unit vectors
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* by the corresponding values.
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*
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* Variable names matched to Marlin, c-version, and avoid the
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* use of any vector library.
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*
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* by Andreas Hardtung 2016-06-07
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* based on a Java function from "Delta Robot Kinematics V3"
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* by Steve Graves
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*
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* The result is stored in the cartes[] array.
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*/
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void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) {
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// Create a vector in old coordinates along x axis of new coordinate
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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 },
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// Get the reciprocal of Magnitude of vector.
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d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2),
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// Create unit vector by multiplying by the inverse of the magnitude.
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ex[3] = { p12[0] * inv_d, p12[1] * inv_d, p12[2] * inv_d },
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// Get the vector from the origin of the new system to the third point.
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p13[3] = { delta_tower[C_AXIS].x - delta_tower[A_AXIS].x, delta_tower[C_AXIS].y - delta_tower[A_AXIS].y, z3 - z1 },
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// Use the dot product to find the component of this vector on the X axis.
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i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2],
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// Create a vector along the x axis that represents the x component of p13.
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iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i };
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// Subtract the X component from the original vector leaving only Y. We use the
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// variable that will be the unit vector after we scale it.
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float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] };
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// The magnitude and the inverse of the magnitude of Y component
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const float j2 = sq(ey[0]) + sq(ey[1]) + sq(ey[2]), inv_j = RSQRT(j2);
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// Convert to a unit vector
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ey[0] *= inv_j; ey[1] *= inv_j; ey[2] *= inv_j;
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// The cross product of the unit x and y is the unit z
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// float[] ez = vectorCrossProd(ex, ey);
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const float ez[3] = {
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ex[1] * ey[2] - ex[2] * ey[1],
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ex[2] * ey[0] - ex[0] * ey[2],
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ex[0] * ey[1] - ex[1] * ey[0]
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},
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// We now have the d, i and j values defined in Wikipedia.
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// Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew
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Xnew = (delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.b + d2) * inv_d * 0.5,
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Ynew = ((delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.c + sq(i) + j2) * 0.5 - i * Xnew) * inv_j,
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Znew = SQRT(delta_diagonal_rod_2_tower.a - HYPOT2(Xnew, Ynew));
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// Start from the origin of the old coordinates and add vectors in the
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// old coords that represent the Xnew, Ynew and Znew to find the point
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// in the old system.
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cartes.set(delta_tower[A_AXIS].x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew,
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delta_tower[A_AXIS].y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew,
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z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew);
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}
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/**
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* A delta can only safely home all axes at the same time
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* This is like quick_home_xy() but for 3 towers.
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*/
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void home_delta() {
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if (DEBUGGING(LEVELING)) DEBUG_POS(">>> home_delta", current_position);
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// Init the current position of all carriages to 0,0,0
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current_position.reset();
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destination.reset();
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sync_plan_position();
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// Disable stealthChop if used. Enable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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sensorless_t stealth_states {
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tmc_enable_stallguard(stepperX),
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tmc_enable_stallguard(stepperY),
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tmc_enable_stallguard(stepperZ)
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};
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#endif
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// Move all carriages together linearly until an endstop is hit.
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current_position.z = (delta_height + 10
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#if HAS_BED_PROBE
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- probe.offset.z
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#endif
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);
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line_to_current_position(homing_feedrate(Z_AXIS));
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planner.synchronize();
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// Re-enable stealthChop if used. Disable diag1 pin on driver.
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#if ENABLED(SENSORLESS_HOMING)
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tmc_disable_stallguard(stepperX, stealth_states.x);
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tmc_disable_stallguard(stepperY, stealth_states.y);
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tmc_disable_stallguard(stepperZ, stealth_states.z);
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#endif
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endstops.validate_homing_move();
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// At least one carriage has reached the top.
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// Now re-home each carriage separately.
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homeaxis(A_AXIS);
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homeaxis(B_AXIS);
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homeaxis(C_AXIS);
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// Set all carriages to their home positions
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// Do this here all at once for Delta, because
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// XYZ isn't ABC. Applying this per-tower would
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// give the impression that they are the same.
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LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i);
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sync_plan_position();
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#if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_MM)
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constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_MM;
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if (endstop_backoff.z) {
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current_position.z -= ABS(endstop_backoff.z) * Z_HOME_DIR;
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line_to_current_position(homing_feedrate(Z_AXIS));
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}
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#endif
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if (DEBUGGING(LEVELING)) DEBUG_POS("<<< home_delta", current_position);
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}
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#endif // DELTA
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