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Undo babystepping in Z before G28 / G80, if applied already. 

Update babystepsTodo atomically (disable / enable interrupts).
Disable debugging outputs on the serial line from the X/Y calibration code.
OctoPrint fix - fixes a hangup after G28: Link the G28->G80 G codes
by calling the G80 code directly without pushing it into the command buffer.
SD card driver patch to support the Toshiba FlashAir SD/WiFi card.
This commit is contained in:
bubnikv 2016-07-18 17:28:54 +02:00
parent 3c21438392
commit 2e6e4542c9
5 changed files with 78 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

63
Firmware/Marlin_main.cpp
View File

@ -235,7 +235,8 @@ byte b[2];
int value; int value;
}; };
int babystepLoad[3]; // Number of baby steps applied
int babystepLoadZ = 0;
float homing_feedrate[] = HOMING_FEEDRATE; float homing_feedrate[] = HOMING_FEEDRATE;
// Currently only the extruder axis may be switched to a relative mode. // Currently only the extruder axis may be switched to a relative mode.
@ -738,7 +739,7 @@ void enquecommand(const char *cmd, bool from_progmem)
cmdqueue_dump_to_serial(); cmdqueue_dump_to_serial();
#endif /* CMDBUFFER_DEBUG */ #endif /* CMDBUFFER_DEBUG */
} else { } else {
SERIAL_ECHO_START; SERIAL_ERROR_START;
SERIAL_ECHORPGM(MSG_Enqueing); SERIAL_ECHORPGM(MSG_Enqueing);
if (from_progmem) if (from_progmem)
SERIAL_PROTOCOLRPGM(cmd); SERIAL_PROTOCOLRPGM(cmd);
@ -770,7 +771,7 @@ void enquecommand_front(const char *cmd, bool from_progmem)
cmdqueue_dump_to_serial(); cmdqueue_dump_to_serial();
#endif /* CMDBUFFER_DEBUG */ #endif /* CMDBUFFER_DEBUG */
} else { } else {
SERIAL_ECHO_START; SERIAL_ERROR_START;
SERIAL_ECHOPGM("Enqueing to the front: \""); SERIAL_ECHOPGM("Enqueing to the front: \"");
if (from_progmem) if (from_progmem)
SERIAL_PROTOCOLRPGM(cmd); SERIAL_PROTOCOLRPGM(cmd);
@ -1907,6 +1908,11 @@ void process_commands()
// Wait for the motors to stop and update the current position with the absolute values. // Wait for the motors to stop and update the current position with the absolute values.
world2machine_revert_to_uncorrected(); world2machine_revert_to_uncorrected();
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
// consumed during the first movements following this statement.
babystepsTodoZsubtract(babystepLoadZ);
babystepLoadZ = 0;
saved_feedrate = feedrate; saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply; saved_feedmultiply = feedmultiply;
feedmultiply = 100; feedmultiply = 100;
@ -2114,11 +2120,12 @@ void process_commands()
previous_millis_cmd = millis(); previous_millis_cmd = millis();
endstops_hit_on_purpose(); endstops_hit_on_purpose();
#ifndef MESH_BED_LEVELING #ifndef MESH_BED_LEVELING
// If MESH_BED_LEVELING is not active, then it is the original Prusa i3.
// Offer the user to load the baby step value, which has been adjusted at the previous print session.
if(card.sdprinting) { if(card.sdprinting) {
EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoad[2]); EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoadZ);
if(babystepLoad[2] != 0){ if(babystepLoadZ != 0)
lcd_adjust_z(); lcd_adjust_z();
}
} }
#endif #endif
@ -2139,7 +2146,8 @@ void process_commands()
st_synchronize(); st_synchronize();
// Push the commands to the front of the message queue in the reverse order! // Push the commands to the front of the message queue in the reverse order!
// There shall be always enough space reserved for these commands. // There shall be always enough space reserved for these commands.
enquecommand_front_P((PSTR("G80"))); // enquecommand_front_P((PSTR("G80")));
goto case_G80;
} }
#endif #endif
@ -2334,6 +2342,7 @@ void process_commands()
* *
*/ */
case 80: case 80:
case_G80:
{ {
if (!IS_SD_PRINTING) if (!IS_SD_PRINTING)
{ {
@ -2354,9 +2363,14 @@ void process_commands()
} }
mbl.reset(); mbl.reset();
// Reset baby stepping to zero, if the babystepping has already been loaded before. The babystepsTodo value will be
// consumed during the first movements following this statement.
babystepsTodoZsubtract(babystepLoadZ);
babystepLoadZ = 0;
// Cycle through all points and probe them // Cycle through all points and probe them
// First move up. // First move up. During this first movement, the babystepping will be reverted.
current_position[Z_AXIS] = MESH_HOME_Z_SEARCH; current_position[Z_AXIS] = MESH_HOME_Z_SEARCH;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
// The move to the first calibration point. // The move to the first calibration point.
@ -2450,8 +2464,9 @@ void process_commands()
{ {
if(eeprom_read_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET) == 0x01) if(eeprom_read_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET) == 0x01)
{ {
EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoad[2]); // End of G80: Apply the baby stepping value.
babystepsTodo[Z_AXIS] = babystepLoad[2]; EEPROM_read_B(EEPROM_BABYSTEP_Z,&babystepLoadZ);
babystepsTodoZadd(babystepLoadZ);
} }
} }
} }
@ -2497,7 +2512,7 @@ void process_commands()
break; break;
/** /**
* G83: Babystep in Z and store to EEPROM * G83: Prusa3D specific: Babystep in Z and store to EEPROM
*/ */
case 83: case 83:
{ {
@ -2505,15 +2520,16 @@ void process_commands()
int BabyPosition = code_seen('P') ? code_value() : 0; int BabyPosition = code_seen('P') ? code_value() : 0;
if (babystepz != 0) { if (babystepz != 0) {
//FIXME Vojtech: What shall be the index of the axis Z: 3 or 4?
// Is the axis indexed starting with zero or one?
if (BabyPosition > 4) { if (BabyPosition > 4) {
SERIAL_PROTOCOLLNPGM("Index out of bounds"); SERIAL_PROTOCOLLNPGM("Index out of bounds");
}else{ }else{
// Save it to the eeprom // Save it to the eeprom
babystepLoad[2] = babystepz; babystepLoadZ = babystepz;
EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoad[2]); EEPROM_save_B(EEPROM_BABYSTEP_Z0+(BabyPosition*2),&babystepLoadZ);
// adjist the Z // adjust the Z
babystepsTodo[Z_AXIS] = babystepLoad[2]; babystepsTodoZadd(babystepLoadZ);
} }
} }
@ -2521,27 +2537,30 @@ void process_commands()
} }
break; break;
/** /**
* G84: UNDO Babystep Z (move Z axis back) * G84: Prusa3D specific: UNDO Babystep Z (move Z axis back)
*/ */
case 84: case 84:
babystepsTodo[Z_AXIS] = -babystepLoad[2]; babystepsTodoZsubtract(babystepLoadZ);
// babystepLoadZ = 0;
break; break;
/** /**
* G85: Pick best babystep * G85: Prusa3D specific: Pick best babystep
*/ */
case 85: case 85:
lcd_pick_babystep(); lcd_pick_babystep();
break; break;
/** /**
* G86: Disable babystep correction after home * G86: Prusa3D specific: Disable babystep correction after home.
* This G-code will be performed at the start of a calibration script.
*/ */
case 86: case 86:
eeprom_write_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET, 0xFF); eeprom_write_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET, 0xFF);
break; break;
/** /**
* G87: Enable babystep correction after home * G87: Prusa3D specific: Enable babystep correction after home
* This G-code will be performed at the end of a calibration script.
*/ */
case 87: case 87:
eeprom_write_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET, 0x01); eeprom_write_byte((unsigned char*)EEPROM_BABYSTEP_Z_SET, 0x01);

4
Firmware/Sd2Card.cpp
View File

@ -500,10 +500,14 @@ bool Sd2Card::readData(uint8_t* dst, uint16_t count) {
spiRec(); spiRec();
#endif #endif
chipSelectHigh(); chipSelectHigh();
// Toshiba FlashAir Patch. Purge pending status byte.
spiSend(0XFF);
return true; return true;
fail: fail:
chipSelectHigh(); chipSelectHigh();
// Toshiba FlashAir Patch. Purge pending status byte.
spiSend(0XFF);
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------

18
Firmware/mesh_bed_calibration.cpp
View File

@ -580,7 +580,7 @@ static inline bool vec_undef(const float v[2])
void world2machine_initialize() void world2machine_initialize()
{ {
SERIAL_ECHOLNPGM("world2machine_initialize()"); // SERIAL_ECHOLNPGM("world2machine_initialize()");
float cntr[2] = { float cntr[2] = {
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0)), eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+0)),
eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4)) eeprom_read_float((float*)(EEPROM_BED_CALIBRATION_CENTER+4))
@ -596,7 +596,7 @@ void world2machine_initialize()
bool reset = false; bool reset = false;
if (vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) { if (vec_undef(cntr) || vec_undef(vec_x) || vec_undef(vec_y)) {
SERIAL_ECHOLNPGM("Undefined bed correction matrix."); // SERIAL_ECHOLNPGM("Undefined bed correction matrix.");
reset = true; reset = true;
} }
else { else {
@ -632,6 +632,7 @@ void world2machine_initialize()
world2machine_reset(); world2machine_reset();
} else { } else {
world2machine_update(vec_x, vec_y, cntr); world2machine_update(vec_x, vec_y, cntr);
/*
SERIAL_ECHOPGM("world2machine_initialize() loaded: "); SERIAL_ECHOPGM("world2machine_initialize() loaded: ");
MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5); MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5);
SERIAL_ECHOPGM(", "); SERIAL_ECHOPGM(", ");
@ -645,6 +646,7 @@ void world2machine_initialize()
SERIAL_ECHOPGM(", "); SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_shift[1], 5); MYSERIAL.print(world2machine_shift[1], 5);
SERIAL_ECHOLNPGM(""); SERIAL_ECHOLNPGM("");
*/
} }
} }
@ -695,7 +697,7 @@ static inline void update_current_position_z()
// At the current position, find the Z stop. // At the current position, find the Z stop.
inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter) inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter)
{ {
SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 1"); // SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 1");
bool endstops_enabled = enable_endstops(true); bool endstops_enabled = enable_endstops(true);
bool endstop_z_enabled = enable_z_endstop(false); bool endstop_z_enabled = enable_z_endstop(false);
float z = 0.f; float z = 0.f;
@ -720,9 +722,9 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter)
update_current_position_z(); update_current_position_z();
if (! endstop_z_hit_on_purpose()) if (! endstop_z_hit_on_purpose())
goto error; goto error;
SERIAL_ECHOPGM("Bed find_bed_induction_sensor_point_z low, height: "); // SERIAL_ECHOPGM("Bed find_bed_induction_sensor_point_z low, height: ");
MYSERIAL.print(current_position[Z_AXIS], 5); // MYSERIAL.print(current_position[Z_AXIS], 5);
SERIAL_ECHOLNPGM(""); // SERIAL_ECHOLNPGM("");
z += current_position[Z_AXIS]; z += current_position[Z_AXIS];
} }
current_position[Z_AXIS] = z; current_position[Z_AXIS] = z;
@ -731,11 +733,11 @@ inline bool find_bed_induction_sensor_point_z(float minimum_z, uint8_t n_iter)
enable_endstops(endstops_enabled); enable_endstops(endstops_enabled);
enable_z_endstop(endstop_z_enabled); enable_z_endstop(endstop_z_enabled);
SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 3"); // SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 3");
return true; return true;
error: error:
SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 4"); // SERIAL_ECHOLNPGM("find_bed_induction_sensor_point_z 4");
enable_endstops(endstops_enabled); enable_endstops(endstops_enabled);
enable_z_endstop(endstop_z_enabled); enable_z_endstop(endstop_z_enabled);
return false; return false;

20
Firmware/temperature.h
View File

@ -73,7 +73,25 @@ extern float current_temperature_bed;
#ifdef BABYSTEPPING #ifdef BABYSTEPPING
extern volatile int babystepsTodo[3]; extern volatile int babystepsTodo[3];
#endif #endif
inline void babystepsTodoZadd(int n)
{
if (n != 0) {
CRITICAL_SECTION_START
babystepsTodo[Z_AXIS] += n;
CRITICAL_SECTION_END
}
}
inline void babystepsTodoZsubtract(int n)
{
if (n != 0) {
CRITICAL_SECTION_START
babystepsTodo[Z_AXIS] -= n;
CRITICAL_SECTION_END
}
}
//high level conversion routines, for use outside of temperature.cpp //high level conversion routines, for use outside of temperature.cpp
//inline so that there is no performance decrease. //inline so that there is no performance decrease.
//deg=degreeCelsius //deg=degreeCelsius

4
Firmware/ultralcd.cpp
View File

@ -1093,7 +1093,9 @@ static void lcd_move_z() {
static void _lcd_babystep(int axis, const char *msg) { static void _lcd_babystep(int axis, const char *msg) {
if (encoderPosition != 0) if (encoderPosition != 0)
{ {
CRITICAL_SECTION_START
babystepsTodo[axis] += (int)encoderPosition; babystepsTodo[axis] += (int)encoderPosition;
CRITICAL_SECTION_END
babystepMem[axis] += (int)encoderPosition; babystepMem[axis] += (int)encoderPosition;
babystepMemMM[axis] = babystepMem[axis]/axis_steps_per_unit[Z_AXIS]; babystepMemMM[axis] = babystepMem[axis]/axis_steps_per_unit[Z_AXIS];
delay(50); delay(50);
@ -1188,7 +1190,9 @@ void lcd_adjust_z() {
EEPROM_read_B(EEPROM_BABYSTEP_X, &babystepMem[0]); EEPROM_read_B(EEPROM_BABYSTEP_X, &babystepMem[0]);
EEPROM_read_B(EEPROM_BABYSTEP_Y, &babystepMem[1]); EEPROM_read_B(EEPROM_BABYSTEP_Y, &babystepMem[1]);
EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystepMem[2]); EEPROM_read_B(EEPROM_BABYSTEP_Z, &babystepMem[2]);
CRITICAL_SECTION_START
babystepsTodo[Z_AXIS] = babystepMem[2]; babystepsTodo[Z_AXIS] = babystepMem[2];
CRITICAL_SECTION_END
} else { } else {
babystepMem[0] = 0; babystepMem[0] = 0;
babystepMem[1] = 0; babystepMem[1] = 0;